深圳市鸿栢科技全新智哥伺服电动缸

产品简介:

Company’sstate-of-the-art motors and drives ensure safety and
reliability onrecord-setting gondola system for Germany’s highest
mountain

  该产品采用精密行星滚柱丝杆传动技术,内置无刷伺服电机,适用于具有低、中、高级性能要求的运动控制系统。该产品将内置无刷伺服电机与滚柱丝杆传动结构融为一体,伺服电机转子的旋转运动直接通过滚柱丝杠机构转化为推杆的直线运动。该产品可根据客户的需求进行个性化定制服务。

ZURICH –(BUSINESS WIRE) —

  The product uses precision planetary roller screw drive technology,
built-in brushless servo motor,applicable to a low,medium and
high-level performance motion control system. The product will be built
integrated brushless servo motor and ball screw drive structure, servo
motor rotor rotary motion into linear motion directly by putting a ball
screw mechanism. The product can be customized according to customer
demand for personalized service.

Long queueswaiting to ascend Germany’s tallest mountain may now be
history. And that isnot the only thing historical about the new
ABB-powered cable car system thatopened today and can take as many as
580 passengers an hour to the Zugspitze,the Bavarian Alps peak that is
Germany’s highest.

产品特点:


This pressrelease features multimedia. View the full release
here:http://www.businesswire.com/news/home/20171221005676/en/

1、性能优异,寿命长,维护成本低; 2、负载大,刚性好;

笔记

The cablewaybreaks three world records for a pendular, or hanging, cable
car system: at 127meters, its steel column is the tallest, with 1,950
meters it overcomes thehighest elevation difference and with a total run
of 3,213 meters from basestation to peak, it has the longest span.

3、发热量小,速度控制精度高; 4、结构紧凑,外形美观,应用范围广;

The systemreplaces the 50-year-old Eibsee cableway and will help
overcome the Eibsee’snotoriously long waiting times by transporting
nearly three times the number ofpassengers per hour.

5、安装灵活,易拆卸维修;

Making therecord-breaking new cableway feasible for the operator,
Bayerische ZugspitzbahnBergbahn AG, is an array of innovative technology
from ABB, which has extensiveexperience solving transportation
challenges in the Alps.

主机总体性能参数 OVERALL TECHNICAL DATA

“InSwitzerland, most cableways and chairlifts use ABB motors and
drives,’’ saysHans-Georg Krabbe, Chairman of the Board of ABB AG,
Germany. “We are absolutelydelighted to contribute to such a unique
project in Germany, too.’’

 

from 

Powerful

基本型号

Model

行程

Range

导程

Extent

最大载荷

Load

重量

Weight

HB IES-130

0-200mm

3mm/5mm/7.5mm

70KN

19KG

HB IES-100

0-200mm

3mm/5mm

16KN

11KG

HB IES-80

0-200mm

3mm/5mm

9KN

6.5KG

手臂的设计约束:   20磅的最大力和30英寸磅的扭矩

twin-motor design

 

每个手部组件总共具有14个自由度,并且由前臂,两个DOF腕部以及具有位置,速度和力传感器的十二个DOF手组成。

The demandsposed by the Bayerische Zugspitzbahn for trouble-free
operation andavailability were particularly challenging, requiring a
system capable ofoperating 365 days a year, regardless of wind and
weather. In such a setting,safe and comfortable transport through the
air depends on the perfect interplayof motors, drives and mechanics.

前臂的底部直径为4英寸,长约8英寸,容纳所有十四台电机,

Pulling thegondolas such a long distance at steeps gradients of as much
as 104 percent(about 46°) and a speed of 10.6 meter per second requires
significant power,which is supplied by two 800-KW three-phase AC motors
from ABB that are housedin the cableway’s Valley Station.

手部配备了42个传感器(不包括触觉感测)。//
每个关节都配有嵌入式绝对位置传感器,// 每个电机都配有增量式编码器。//
每个导螺杆组件以及手腕球关节连杆均被装备为应力传感器以提供力反馈。

ABB’s alpine

过去的手工设计[4,5]使用了使用复杂滑轮系统或护套的腱索驱动装置,这两种装置在EVA空间环境中使用时都会造成严重的磨损和可靠性问题。为了避免与肌腱有关的问题,手使用柔性轴将电力从前臂的电动机传输到手指。使用小型模块化导螺杆组件将柔性轴的旋转运动转换为手中的直线运动。结果是一个紧凑而坚固的传动系。

legacy


Since the late19thcentury, ABB has built a lasting reputation for safe,
reliableand energy-efficient transportation in the alpine region.

英文

In the case ofthe world-famous Jungfrau Railway, a 9-kilometer cog
railway that beganoperation in 1912, ABB was responsible for the
electrification that made theroute possible. Today, ABB technologies
still ensure that the Jungfrau Railwaysafely carries more than a million
passengers a year – even during heavysnowfalls – to the Jungfraujoch,
which at 3,454 meters above sea level isEurope’s highest train station.

from 

And the world’ssteepest funicular railway recently went into operation
in Stoos in the SwissAlps, a 1.7-kilometer route whose two 136-passenger
cable cars are powered byhigh-efficiency electric motors designed and
built by ABB. The company alsosupplied other key components for the
system.

Robonaut’s hands set it apart from any previous space manipulator
system. These hands can fit into all the same places currently designed
for an astronaut’s gloved hand. A key feature of the hand is its palm
degree of freedom that allows Robonaut to cup a tool and line up its
long axis with the roll degree of freedom of the forearm, thereby,
permitting tool use in tight spaces with minimum arm motion. Each hand
assembly shown in figure 3 has a total of 14 DOFs, and consists of a
forearm, a two DOF wrist, and a twelve DOF hand complete with position,
velocity, and force sensors. The forearm, which measures four inches in
diameter at its base and is approximately eight inches long, houses all
fourteen motors, the motor control and power electronics, and all of the
wiring for the hand. An exploded view of this assembly is given in
figure 4. Joint travel for the wrist pitch and yaw is designed to meet
or exceed that of a human hand in a pressurized glove. Page 2 Figure 4:
Forearm Assembly The requirements for interacting with planned space
station EVA crew interfaces and tools provided the starting point for
the Robonaut Hand design [1]. Both power and dexterous grasps are
required for manipulating EVA crew tools. Certain tools require single
or multiple finger actuation while being firmly grasped. A maximum force
of 20 lbs and torque of 30 in-lbs are required to remove and install EVA
orbital replaceable units (ORUs) [2]. The hand itself consists of two
sections (figure 5) : a dexterous work set used for manipulation, and a
grasping set which allows the hand to maintain a stable grasp while
manipulating or actuating a given object. This is an essential feature
for tool use [3]. The dexterous set consists of two 3 DOF fingers
(index and middle) and a 3 DOF opposable thumb. The grasping set
consists of two, single DOF fingers (ring and pinkie) and a palm DOF.
All of the fingers are shock mounted into the palm. In order to match
the size of an astronaut’s gloved hand, the motors are mounted outside
the hand, and mechanical power is transmitted through a flexible drive
train. Past hand designs [4,5] have used tendon drives which utilize
complex pulley systems or sheathes, both of which pose serious wear and
reliability problems when used in the EVA space environment. To avoid
the problems associated with tendons, the hand uses flex shafts to
transmit power from the motors in the forearm to the fingers. The rotary
motion of the flex shafts is converted to linear motion in the hand
using small modular leadscrew assemblies. The result is a compact yet
rugged drive train. Figure 5: Hand Anatomy Overall the hand is equipped
with forty-two sensors (not including tactile sensing). Each joint is
equipped with embedded absolute position sensors and each motor is
equipped with incremental encoders. Each of the leadscrew assemblies as
well as the wrist ball joint links are instrumented as load cells to
provide force feedback. In addition to providing standard impedance
control, hand force control algorithms take advantage of the
non-backdriveable finger drive train to minimize motor power
requirements once a desired grasp force is achieved. Hand primitives in
the form of pre-planned trajectories are available to minimize operator
workload when performing repeated tasks.

“Today, it isall about making advancements in terms of energy
efficiency,” says UeliSpinner, Head of Sales, Key Accounts & Service ABB
AG, Switzerland. “Butalso where support, maintenance and service are
concerned, we are the preferredpartners of cableway operators.’’

ABB(ABBN: SIX Swiss Ex)


is a pioneering technology leader in electrification products, robotics
and

译文

motion, industrial automation and power grids, serving customers in
utilities,

from 

industry and transport & infrastructure globally. Continuing a more than

Robonaut的手把它与以前的太空操纵器系统区别开来。这些双手可以装入目前为宇航员的戴手套而设计的所有相同的地方。手的一个关键特征是它的手掌自由度,使得Robonaut可以用一个工具和长轴与前臂的自由度进行排列,从而允许工具在狭小的空间中以最小的手臂运动使用。

125-year history of innovation, ABB today is writing the future of
industrial

图3中所示的每个手部组件总共具有14个自由度,并且由前臂,两个DOF腕部以及具有位置,速度和力传感器的十二个DOF手组成。前臂的底部直径为4英寸,长约8英寸,容纳所有十四台电机,电机控制和电力电子设备,以及所有手持线路。图4给出了该组件的分解图。手腕节距和偏航的联合行程被设计为在加压手套中达到或超过人手。

digitalization and driving the Energy and Fourth Industrial Revolutions.
ABB

图4:前臂装配与计划的空间站EVA乘员接口和工具交互的要求为Robonaut手的设计提供了起点[1]。操纵EVA乘员组工具需要力量和灵巧的抓握。某些工具需要单手或多手指动作,同时牢牢抓住。拆卸和安装EVA轨道可替换单元(ORU)需要20磅的最大力和30英寸磅的扭矩[2]。

operates in more than 100 countries with about 136,000 employees.p;

手由两部分组成(图5):一个用于操作的灵巧工作组,以及一个抓握组件,它允许手在操纵或启动给定物体时保持稳定的抓握。这是工具使用的基本特征[3]。灵巧套装由两个3
DOF手指(食指和中指)和一个3
DOF可对折手指组成。抓握组由两个单DOF手指(无名指和小指)和一个手掌自由度组成。所有的手指都被安装在手掌上。为了匹配宇航员戴着手套的手的大小,电机安装在手外,机械动力通过柔性传动系传递。

过去的手工设计[4,5]使用了使用复杂滑轮系统或护套的腱索驱动装置,这两种装置在EVA空间环境中使用时都会造成严重的磨损和可靠性问题。为了避免与肌腱有关的问题,手使用柔性轴将电力从前臂的电动机传输到手指。使用小型模块化导螺杆组件将柔性轴的旋转运动转换为手中的直线运动。结果是一个紧凑而坚固的传动系。

图5:手部解剖总的来说,手部配备了42个传感器(不包括触觉感测)。每个接头都配有嵌入式绝对位置传感器,每个电机都配有增量式编码器。每个导螺杆组件以及手腕球关节连杆均被装备为称重传感器以提供力反馈。除了提供标准阻抗控制之外,一旦达到期望的抓力,手力控制算法利用非反向驱动手指驱动系统来节约电机能耗要求。预先规划的轨迹形式的手原语可用于在执行重复任务时最大限度地减少操作员的工作量。


Design of the NASA Robonaut Hand R1

C. S. Lovchik, H. A. Aldridge RoboticsTechnology Branch NASA Johnson
Space Center Houston, Texas 77058 Iovchik@jsc.nasa.gov,
haldridg@ems.jsc.nasa.gov Fax: 281-244-5534

Abstract

The design of a highly anthropomorphichuman scale robot hand for space
based operations is described. This fivefinger hand combined with its
integrated wrist and forearm has fourteenindependent degrees of freedom.
The device approximates very well thekinematics and required strength of
an astronaut’s hand when operating througha pressurized space suit
glove. The mechanisms used to meet these requirementsare explained in
detail along with the design philosophy behind them.Integration
experiences reveal the challenges associated with obtaining therequired
capabilities within the desired size. The initial finger controlstrategy
is presented along with examples of obtainable grasps.

描述了用于空间操作的高度拟人化的人类尺度机器人手的设计。这五个手指手与其整合的手腕和前臂相结合,拥有十四个独立的自由度。

该装置在通过加压式太空服手套操作时可非常好地近似于宇航员的手的运动学和所需的强度。详细解释了用于满足这些要求的机制及其背后的设计理念。集成经验揭示了与获得所需大小内的所需功能相关的挑战。呈现初始手指控制策略以及可获得的抓握的例子。

 1 Introduction

The requirements for extra-vehicularactivity (EVA) onboard the
International Space Station (ISS) are expected to beconsiderable. These
maintenance and construction activities are expensive andhazardous.
Astronauts must prepare extensively before they may leave therelative
safety of the space station, including pre-breathing at space suit
airpressure for up to 4 hours. Once outside, the crew person must be
extremelycautious to prevent damage to the suit. The Robotic Systems
Technology Branchat the NASA Johnson Space Center is currently
developing robot systems toreduce the EVA burden on space station crew
and also to serve in a rapidresponse capacity. One such system, Robonaut
is being designed and built tointerface with external space station
systems that only have human interfaces.To this end, the Robonaut hand
[1] provides a high degree of anthropomorphicdexterity ensuring a
compatibility with many of these interfaces. Many groundbreaking
dexterous robot hands [2-7] have been developed over the past
twodecades. These devices make it possible for a robot manipulator to
grasp andmanipulate objects that are not designed to be robotically M.
A. DiftlerAutomation and Robotics Department Lockheed Martin Houston,
Texas 77058 diftler@jsc.nasa.gov Fax: 281-244-5534 compatible. While
several grippers [8-12] havebeen designed for space use and some even
tested in space [8,9,11], nodexterous robotic hand has been flown in
EVA conditions. The Robonaut Hand isone of several hands [13,14] under
development for space EVA use and is closestin size and capability to a
suited astronaut’s hand.

预计国际空间站(ISS)上的车外活动(EVA)要求相当可观。这些维护和建设活动是昂贵且危险的。宇航员必须在可能离开空间站的相对安全之前进行广泛的准备,包括预先呼吸太空服空气压力长达4小时。一旦在室外,机组人员必须非常谨慎,以防止损坏宇航服。美国国家航空航天局约翰逊航天中心的机器人系统技术处目前正在开发机器人系统,以减少空间站人员的EVA负担,并且服务于快速反应能力。一个这样的系统,Robonaut正在设计和建造,以便与只有人机界面的外部空间站系统接口。为此,Robonaut手[1]提供了高度的拟人灵巧性,以确保与许多这些接口的兼容性。在过去的二十年中,已经开发出许多破纪录的灵巧机器人手[2-7]。这些设备使得机器人操纵器能够抓住和操纵未被设计为机器人的物体兼容。虽然有几个夹具[8-12]设计用于空间使用,有些甚至在太空中进行了测试[8,9,11],但没有灵巧的机器人手在EVA条件下飞行。
Robonaut手是空间EVA使用中正在开发的几只手之一[13,14],它的尺寸和能力最接近适合宇航员的手。

 2 Design and Control Philosophy

The requirements for interacting withplanned space station EVA crew
interfaces and tools provided the starting pointfor the Robonaut Hand
design [1]. Both power (enveloping) and dexterous grasps(finger tip)
are required for manipulating EVA crew tools. Certain toolsrequire
single or multiple finger actuation while being firmly grasped. Amaximum
force of 20 lbs. and torque of 30 in-lbs are required to remove
andinstall EVA orbital replaceable units (ORUs) [15]. All EVA tools
and ORUs mustbe retained in the event of a power loss. It is possible to
either buildinterfaces that will be both robotically and EVA compatible
or build a seriesof robot tools to interact with EVA crew interfaces and
tools. However, bothapproaches are extremely costly and will of course
add to a set of spacestation tools and interfaces that are already
planned to be quite extensive.The Robonaut design will make all EVA crew
interfaces and tools roboticallycompatible by making the robot’s hand
EVA compatible. EVA compatibility isdesigned into the hand by
reproducing, as closely.as possible, the size,kinematics, and strength
of the space suited astronaut hand and wrist. Thenumber of fingers and
the joint travel reproduce the workspace for apressurized suit glove.
The Robonaut Hand reproduces many of the necessarygrasps needed for
interacting with EVA interfaces. Staying within this sizeenvelope
guarantees that the Robonaut Hand will be able to fit into all
therequired places. Joint travel for the wrist pitch and yaw is designed
to meetor exceed the human hand in a pressurized glove. The hand and
wrist parts are  sizedto reproduce the necessary strength to meet
maximum EVA crew requirements.Figure1: Robonaut Hand Control system
design for a dexterous robot handmanipulating a variety of tools has
unique problems. The majority of theliterature available, summarized in
[2,16], pertains to dexterous manipulation.This literature
concentrates on using three dexterous fingers to obtain forceclosure and
manipulate an object using only fingertip contact. While useful,this
type of manipulation does not lend itself to tool use. Most EVA tools
arebest used in an enveloping grasp. Two enveloping grasp types, tool
and power,must be supported by the tool-using hand in addition to the
dexterous grasp.Although literature is available on enveloping grasps
[17], it is not asadvanced as the dexterous literature. The main
complication involvesdetermining and controlling the forces at the many
contact areas involved in anenveloping grasp. While work continues on
automating enveloping grasps, a tele-operationcontrol strategy has been
adopted for the Robonaut hand. This method ofoperation was proven with
the NASA DART/FITT system [18]. The DART/FITT systemutilizes Cyber
glove® virtual reality gloves, worn by the operator, to
controlStanford/YPL hands to successfully perform space relevant tasks.
2.1 SpaceCompatibility EVA space compatibility separates the Robonaut
Hand from manyothers. All component materials meetoutgassing
restrictions to prevent contamination that couldinterfere with other
space systems. Parts made of different materials aretoleranced to
perform acceptably under the extreme temperature variationsexperienced
in EVA conditions. Brushless motors are used to ensure long life ina
vacuum. All parts are designed to use proven space lubricants.

与计划的空间站EVA乘员接口和工具交互的要求为Robonaut手设计要求提供了起点[1]。

操纵EVA乘员工具需要力量(包络)和灵巧的抓握(指尖)。某些工具需要单手或多手指动作,同时牢牢抓住。
20磅的最大力量。并需要30英寸磅的扭矩来拆卸和安装EVA轨道可更换单元(ORU)[15]。

所有EVA工具和ORU必须在发生断电时保留。可以构建兼容机器人和EVA的接口,或者构建一系列机器人工具来与EVA机组接口和工具进行交互。然而,这两种方法都是非常昂贵的,并且当然会增加一套空间站工具和接口,这些工具和接口已经计划得相当广泛。
Robonaut设计将使机器人的手EVA兼容,从而使所有EVA机组人机界面和工具机器人兼容。通过尽可能地再现适合宇航员手和手腕的空间的尺寸,运动学和强度,将EVA兼容性设计在手中。手指和联合行程的数量重现了加压套装手套的工作空间。
Robonaut手掌再现了与EVA界面交互所需的许多必要手段。保持在这个尺寸范围内保证Robonaut手将能够适应所有需要的地方。手腕节距和偏航的联合行程被设计为在加压手套中达到或超过人手。手部和腕部的尺寸可以重现必要的强度,以满足最大的EVA机组人员的要求。

图1:Robonaut手控系统设计灵巧的机器人手操纵各种工具具有独特的问题。在[2,16]中总结的大多数文献都涉及到灵巧的操纵。这些文献集中于使用三个灵巧手指来获得力闭合并仅使用指尖接触来操纵物体。虽然有用,但这种类型的操作不适用于工具使用。大多数EVA工具最适合用于包围式抓握。除了灵巧的抓握之外,还必须使用工具用手来支撑两种包络抓握类型,工具和力量。虽然文献可用于包络抓握[17],但它并不像灵巧手那样先进。主要的复杂性包括确定和控制涉及包络抓握的许多接触区域的力。虽然自动化包络抓握的工作仍在继续,但Robonaut手已采用远程操作控制策略。美国国家航空航天局DART
/ FITT系统证明了这种操作方法[18]。 DART /
FITT系统使用由操作员佩戴的Cyber​​glove®虚拟现实手套来控制Stanford /
YPL手以成功执行空间相关任务。

 2.1空间兼容性EVA空间兼容性将Robonaut手与其他许多人分开。所有组件材料均满足除气限制,以防止可能干扰其他空间系统的污染。不同材料制成的零件在EVA条件下经受极端温度变化时具有可接受的性能。无刷电机用于确保真空中的长寿命。所有零件都设计为使用经过验证的空间润滑剂。

 3 Design

The Robonaut Hand (figure 1) has a total offourteen degrees of freedom.
It consists of a forearm which houses the motorsand drive electronics, a
two degree of freedom wrist, and a five finger, twelvedegree of freedom
hand. The forearm, which measures four inches in diameter atits base and
is approximately eight inches long, houses all fourteen motors,
12separate circuit boards, and all of the wiring for the hand. Y= Figure
2: Handcomponents The hand itself is broken down into two sections
(figure 2): adexterous work set which is used for manipulation, and a
grasping set whichallows the hand to maintain a stable grasp while
manipulating or actuating agiven object. This is an essential feature
for tool use [13]. The dexterous setconsists of two three degree of
freedom fingers (pointer and index) and a threedegree of freedom
opposable thumb. The grasping set consists of two, one degreeof freedom
fingers (ring and pinkie) and a palm degree of freedom. All of
thefingers are shock mounted into the palm (figure 2). In order to match
the sizeof an astronaut’s gloved hand, the motors are mounted outside
the hand, andmechanical power is transmitted through a flexible drive
train. Past handdesigns [2,3] have used tendon drives which utilize
complex pulley systems orsheathes, both of which pose serious wear and
reliability problems when used inthe EVA space environment. To avoid the
problems associated with tendons, thehand uses flex shafts to transmit
power from the motors in the forearm to the fingers. The rotary motionof
the flex shafts is converted to linear motion in the hand using
smallmodular leadscre was semblies. The result is acompact yet rugged
drive train.Over all the hand is equipped with forty-three sensors not
including tactilesensing. Each joint is equipped with embedded absolute
position sensors andeach motor is  equipped with incrementalencoders.
Each of the leadscrew assemblies as well as the wristball joint linksare
instrumented as load cells to provide force feedback.

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