JP2016145634A - 駆動力伝達機構 - Google Patents
駆動力伝達機構 Download PDFInfo
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- JP2016145634A JP2016145634A JP2015136763A JP2015136763A JP2016145634A JP 2016145634 A JP2016145634 A JP 2016145634A JP 2015136763 A JP2015136763 A JP 2015136763A JP 2015136763 A JP2015136763 A JP 2015136763A JP 2016145634 A JP2016145634 A JP 2016145634A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D41/00—Freewheels or freewheel clutches
- F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
- F16D41/064—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface the intermediate members wedging by rolling and having a circular cross-section, e.g. balls
- F16D41/066—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface the intermediate members wedging by rolling and having a circular cross-section, e.g. balls all members having the same size and only one of the two surfaces being cylindrical
- F16D41/067—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface the intermediate members wedging by rolling and having a circular cross-section, e.g. balls all members having the same size and only one of the two surfaces being cylindrical and the members being distributed by a separate cage encircling the axis of rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
- F16D1/06—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end
- F16D1/08—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key
- F16D1/09—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key with radial clamping due to axial loading of at least one pair of conical surfaces
- F16D1/093—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key with radial clamping due to axial loading of at least one pair of conical surfaces using one or more elastic segmented conical rings forming at least one of the conical surfaces, the rings being expanded or contracted to effect clamping
- F16D1/095—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key with radial clamping due to axial loading of at least one pair of conical surfaces using one or more elastic segmented conical rings forming at least one of the conical surfaces, the rings being expanded or contracted to effect clamping with clamping effected by ring contraction only
- F16D1/096—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for attachment of a member on a shaft or on a shaft-end with clamping hub; with hub and longitudinal key with radial clamping due to axial loading of at least one pair of conical surfaces using one or more elastic segmented conical rings forming at least one of the conical surfaces, the rings being expanded or contracted to effect clamping with clamping effected by ring contraction only the ring or rings being located between the shaft and the hub
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
- F16D1/10—Quick-acting couplings in which the parts are connected by simply bringing them together axially
- F16D1/108—Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling
- F16D1/112—Quick-acting couplings in which the parts are connected by simply bringing them together axially having retaining means rotating with the coupling and acting by interengaging parts, i.e. positive coupling the interengaging parts comprising torque-transmitting surfaces, e.g. bayonet joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D28/00—Electrically-actuated clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
- F16D3/06—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow axial displacement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D41/00—Freewheels or freewheel clutches
- F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
- F16D41/08—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action
- F16D41/086—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action the intermediate members being of circular cross-section and wedging by rolling
- F16D41/088—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action the intermediate members being of circular cross-section and wedging by rolling the intermediate members being of only one size and wedging by a movement not having an axial component, between inner and outer races, one of which is cylindrical
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D41/00—Freewheels or freewheel clutches
- F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
- F16D41/08—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action
- F16D41/10—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action with self-actuated reversing
- F16D41/105—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action with self-actuated reversing the intermediate members being of circular cross-section, of only one size and wedging by rolling movement not having an axial component between inner and outer races, one of which is cylindrical
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/18—Turning devices for rotatable members, e.g. shafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels
- F16H1/2845—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels by allowing limited movement of the sun gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/0806—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts
- F16H37/0813—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts with only one input shaft
- F16H37/082—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing with a plurality of driving or driven shafts with only one input shaft and additional planetary reduction gears
Abstract
【解決手段】駆動モータ5と電動入力歯車(第1入力部材)1との間に、ブレーキとなるウォーム機構(逆入力遮断機構)6を設け、駆動モータ5からウォーム機構6を介して電動入力歯車1に駆動力が加えられたときには、電動入力歯車1と一体回転する外輪11がローラ13を介して内輪12とロックすることにより、内輪12と一体回転する出力歯車(出力部材)3に駆動力が伝達され、手動入力軸(第2入力部材)2に駆動力が加えられたときは、手動入力軸2と一体回転するロック解除片15が外輪11と内輪12のロック状態を解除した後、内輪12および出力歯車3に駆動力が伝達される構成とした。
【選択図】図1
Description
2 手動入力軸(第2入力部材)
3 出力歯車(出力部材)
4 入力切替クラッチ
5 駆動モータ
6 ウォーム機構(逆入力遮断機構)
10 手動入力部材
11 外輪
12 内輪
13 ローラ
14 コイルばね
15 ロック解除片
15a 柱部
17 出力軸
19 楔形空間
20 ウォーム歯車
21 電動入力軸
22 逆入力遮断クラッチ(逆入力遮断機構)
23 連結歯車
24 波動歯車装置(逆入力遮断機構)
25 ハウジング
30 ウェイブジェネレータ
31 サーキュラースプライン
32 フレックススプライン(第1入力部材)
34 入力ピン
35 接続部材(出力部材)
36 クロスローラ軸受
42 手動入力治具(第2入力部材)
43 操作板
44 回転検出器
47 ピニオン軸
47a 延長軸部
51 遊星歯車機構(減速機構)
52 太陽歯車
53 内歯車
54 遊星歯車
55 キャリア
A 駆動力伝達機構
B 駆動側アーム
C 従動側アーム
D ケーブル
E カバー
T 工具
Claims (16)
- 第1入力部材、第2入力部材および出力部材のそれぞれに連結され、第1入力部材または第2入力部材を回転駆動する駆動力を出力部材に伝達する入力切替クラッチを備えた駆動力伝達機構において、
前記第1入力部材の入力側に、第1入力部材を回転駆動する駆動力を駆動源から第1入力部材に伝達し、前記入力切替クラッチを介して第1入力部材に加えられる逆入力トルクに対してはロックして、前記第1入力部材を停止させる逆入力遮断機構を組み込み、
前記入力切替クラッチは、前記第1入力部材と一体回転する外輪の径方向内側に、前記第2入力部材と同一軸心のまわりに前記出力部材と一体に回転する内輪を配し、前記外輪と内輪との間に複数のローラを配して、前記第1入力部材に前記逆入力遮断機構を介して駆動力が加えられたときは、前記外輪がローラを介して内輪とロックすることにより、前記内輪および出力部材に駆動力が伝達され、前記第2入力部材に駆動力が加えられたときは、前記第2入力部材の回転により前記外輪と内輪のロック状態が解除された後、前記内輪および出力部材に駆動力が伝達されるようにしたものを用いたことを特徴とする駆動力伝達機構。 - 前記入力切替クラッチは、前記内輪の外周面にカム面を周方向に複数設けて、前記外輪の内周円筒面と内輪の各カム面との間に周方向で次第に狭小となる楔形空間を形成し、これらの各楔形空間に前記ローラとそのローラを楔形空間の狭小部へ押し込むばねを組み込み、前記各楔形空間の周方向両側に挿入される柱部を有するロック解除片を前記第2入力部材に回転伝達可能に連結し、前記第2入力部材と内輪との間に、第2入力部材の回転を僅かな角度遅れをもって内輪に伝達するトルク伝達手段を設け、前記第1入力部材に駆動力が加えられたときには、前記第1入力部材と一体回転する外輪がローラを介して内輪とロックすることにより、前記内輪および出力部材に駆動力が伝達され、前記第2入力部材に駆動力が加えられたときは、前記第2入力部材と一体回転するロック解除片の柱部が、回転方向で対向するローラを前記ばねの弾力に抗して楔形空間の広大部へ押しやって前記外輪と内輪のロック状態を解除した後、前記トルク伝達手段によって前記内輪および出力部材に駆動力が伝達されるようにしたものであることを特徴とする請求項1に記載の駆動力伝達機構。
- 前記第1入力部材を電動入力によって回転駆動されるものとし、前記第2入力部材を手動入力によって回転駆動されるものとしたことを特徴とする請求項1または2に記載の駆動力伝達機構。
- 駆動力伝達機構全体を中空構造としたことを特徴とする請求項3に記載の駆動力伝達機構。
- 前記逆入力遮断機構が、前記第1入力部材への駆動力を加えられるウォーム歯車と、前記ウォーム歯車と噛み合い、前記第1入力部材に回転伝達可能に連結されるウォームホイールとを備え、セルフロック機能を有するウォーム機構であることを特徴とする請求項1乃至4のいずれかに記載の駆動力伝達機構。
- 前記逆入力遮断機構が、前記第1入力部材への駆動力を加えられるピニオン軸と、前記ピニオン軸と噛み合い、前記第1入力部材に回転伝達可能に連結されるはすば傘歯車とを備え、セルフロック機能を有するものであることを特徴とする請求項1乃至4のいずれかに記載の駆動力伝達機構。
- 前記逆入力遮断機構が、前記第1入力部材への駆動力を加えられる入力部と、前記第1入力部材に回転伝達可能に連結される出力部と、前記出力部を固定部材にロックするロック手段と、前記入力部の回転により前記出力部と固定部材とのロック状態を解除するロック解除手段と、前記ロック状態が解除されたときに前記入力部の回転を僅かな角度遅れをもって前記出力部に伝達する手段とを備えた逆入力遮断クラッチであることを特徴とする請求項1乃至4のいずれかに記載の駆動力伝達機構。
- 前記逆入力遮断機構が、前記第1入力部材への駆動力を加えられるウェイブジェネレータと、前記ウェイブジェネレータの径方向外側で固定されるサーキュラースプラインと、前記ウェイブジェネレータとサーキュラースプラインとの間に配され、前記第1入力部材に回転伝達可能に連結されるフレックススプラインとを備え、セルフロック機能を有する波動歯車装置であることを特徴とする請求項1乃至4のいずれかに記載の駆動力伝達機構。
- 前記第2入力部材は、駆動力伝達機構全体を貫通し、両端部を回転自在に支持されるものとしたことを特徴とする請求項1乃至8のいずれかに記載の駆動力伝達機構。
- 前記第2入力部材は、前記ロック解除片および内輪に対して着脱可能なものとしたことを特徴とする請求項1乃至8のいずれかに記載の駆動力伝達機構。
- 前記第2入力部材が手動入力によって回転駆動されるものであり、この第2入力部材と人手で操作される手動入力部材との間に、手動入力部材の回転を減速して第2入力部材に伝達する減速機構を設けたことを特徴とする請求項1乃至8のいずれかに記載の駆動力伝達機構。
- 前記減速機構が、前記手動入力部材から駆動力を入力される太陽歯車と、前記太陽歯車の径方向外側に配される内歯車と、前記太陽歯車と内歯車の両方に噛み合う複数の遊星歯車と、前記各遊星歯車を自転可能に支持し、前記第2入力部材と回転伝達可能に連結されるキャリアとからなる遊星歯車機構であり、前記内歯車を前記第1入力部材と一体化したことを特徴とする請求項11に記載の駆動力伝達機構。
- 前記第1入力部材が電動入力によって回転駆動されるものであり、その駆動源となる駆動モータと、前記駆動モータの制御を行うための回転検出器とを別体に配置したことを特徴とする請求項1乃至12のいずれかに記載の駆動力伝達機構。
- 前記回転検出器を前記駆動モータと同軸上に配置したことを特徴とする請求項13に記載の駆動力伝達機構。
- 前記出力部材の回転数を検出する回転検出器を、前記出力部材の径方向外側を覆う固定のカバー部材の内側に設けたことを特徴とする請求項1乃至14のいずれかに記載の駆動力伝達機構。
- ロボットの関節駆動部に組み込まれることを特徴とする請求項1乃至15のいずれかに記載の駆動力伝達機構。
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JP2018099022A (ja) * | 2016-12-05 | 2018-06-21 | 深セン市優必選科技有限公司 | サーボモータ及びロボット |
KR102001540B1 (ko) * | 2019-03-11 | 2019-07-18 | 김몽룡 | 다기능 감속장치 |
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JP2019086138A (ja) * | 2017-11-10 | 2019-06-06 | Ntn株式会社 | 逆入力遮断クラッチ |
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