JP2023029262A - 舵取機及びロボット - Google Patents
舵取機及びロボット Download PDFInfo
- Publication number
- JP2023029262A JP2023029262A JP2022125710A JP2022125710A JP2023029262A JP 2023029262 A JP2023029262 A JP 2023029262A JP 2022125710 A JP2022125710 A JP 2022125710A JP 2022125710 A JP2022125710 A JP 2022125710A JP 2023029262 A JP2023029262 A JP 2023029262A
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- Prior art keywords
- gear
- steering gear
- steering
- output
- potentiometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000838 Al alloy Inorganic materials 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 229910000881 Cu alloy Inorganic materials 0.000 claims description 2
- 229910000640 Fe alloy Inorganic materials 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 9
- 238000010168 coupling process Methods 0.000 description 9
- 238000005859 coupling reaction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008719 thickening Effects 0.000 description 1
Images
Classifications
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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
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
-
- 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
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
- H02K5/225—Terminal boxes or connection arrangements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2211/00—Specific aspects not provided for in the other groups of this subclass relating to measuring or protective devices or electric components
- H02K2211/03—Machines characterised by circuit boards, e.g. pcb
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Power Steering Mechanism (AREA)
- Gear Transmission (AREA)
- Manipulator (AREA)
- General Details Of Gearings (AREA)
Abstract
Description
Claims (12)
- 舵取機本体(1)、上蓋(2)、下蓋(3)及び互いに噛み合う複数のギアを有するギア列を含む舵取機であって、前記ギア列は、前記舵取機本体(1)内に位置し、出力ギア(20)を含み、前記舵取機本体(1)の断面から見ると、この出力ギアは、前記舵取機本体(1)の中央部に位置する、舵取機。
- 舵取機は、中空カップモータ(12)とポテンショメータ(22)とをさらに含み、前記中空カップモータ(12)は、前記出力ギア(20)の下方に設置され、前記ポテンショメータは、前記出力ギア(20)と前記中空カップモータ(12)との間に設置される、請求項1に記載の舵取機。
- 舵取機は、舵取機PCB回路基板(21)をさらに含み、前記ポテンショメータ(22)は、前記舵取機PCB回路基板(21)に固定される、請求項2に記載の舵取機。
- 前記下蓋(3)の下方に舵取歯車(31)が設けられ、アーム舵取機に接続するために用いられる、請求項1~3のいずれか1項に記載の舵取機。
- 前記舵取機は、上アウトレット構造(5)と下アウトレット構造(6)を有し、前記上アウトレット構造(5)は、前記上蓋(2)に設置され、前記下アウトレット構造(6)は、前記下蓋(3)に設置される、請求項1~3のいずれか1項に記載の舵取機。
- 前記ギア列は、前記舵取機本体(1)内に設置される1次ギア(13)と、2次ギア(14)と、3次ギア(15)と、4次ギア(16)と、5次ギア(17)と、6次ギア(18)と、モータギア(23)とをさらに含む、請求項1~3のいずれか1項に記載の舵取機。
- 前記モータギア(23)は、銅合金が選択され、前記1次ギア(13)、2次ギア(14)、3次ギア(15)、4次ギア(16)、5次ギア(17)及び6次ギア(18)は、鉄歯とアルミニウム合金歯が選択され、前記出力ギア(20)は、アルミニウム合金歯が選択される、請求項6に記載の舵取機。
- 前記上蓋(2)の端部には丸孔が開けられており、前記出力ギア(20)は、この丸孔を貫通する、請求項1~3のいずれか1項に記載の舵取機。
- 前記上蓋(2)と前記下蓋(3)は、いずれも複数のねじ孔を有し、上から前記上蓋(2)のねじ孔を貫通する複数のねじ、及び下から前記下蓋(3)のねじ孔を貫通する複数のねじによって、前記上蓋(2)、前記舵取機本体(1)及び前記下蓋(3)を一体化として接続する、請求項1~3のいずれか1項に記載の舵取機。
- 前記出力ギア(20)のギア軸には、油含有軸受(19)が設けられている、請求項1~3のいずれか1項に記載の舵取機。
- 前記舵取機は、前記舵取機本体(1)の外側面に設置される接続ベース(7)を有し、それは前記舵取機本体(1)内に位置する舵取機PCB回路基板(21)に電気的に接続されるとともに、別の舵取機に挿着して電気的に接続されるために用いられる、請求項1~3のいずれか1項に記載の舵取機。
- 請求項1に記載の舵取機を含む、ロボット。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202121934048.1 | 2021-08-18 | ||
CN202121934048.1U CN215733875U (zh) | 2021-08-18 | 2021-08-18 | 一种舵机 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2023029262A true JP2023029262A (ja) | 2023-03-03 |
JP7364278B2 JP7364278B2 (ja) | 2023-10-18 |
Family
ID=79997653
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022125710A Active JP7364278B2 (ja) | 2021-08-18 | 2022-08-05 | 舵取機及びロボット |
Country Status (5)
Country | Link |
---|---|
US (1) | US11976709B2 (ja) |
EP (1) | EP4138278A1 (ja) |
JP (1) | JP7364278B2 (ja) |
CN (1) | CN215733875U (ja) |
WO (1) | WO2023020304A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN215733875U (zh) | 2021-08-18 | 2022-02-01 | 北京森汉科技有限公司 | 一种舵机 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014084989A (ja) * | 2012-10-26 | 2014-05-12 | Canon Inc | 波動歯車装置、駆動装置及びロボット装置 |
JP2015181804A (ja) * | 2014-03-25 | 2015-10-22 | 日本遠隔制御株式会社 | ラジオコントロール用サーボ装置 |
JP2017013620A (ja) * | 2015-06-30 | 2017-01-19 | ナブテスコ株式会社 | 電動舵取機、電動舵取機構、電動舵取ユニット、船舶及び電動舵取機の設計方法 |
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US4147071A (en) * | 1978-02-01 | 1979-04-03 | Trw Inc. | Low backlash gear reduction assembly |
US6255751B1 (en) * | 1999-09-09 | 2001-07-03 | Torex Corporation | Integrated rotary servo actuator |
JP3658369B2 (ja) * | 2001-10-10 | 2005-06-08 | キヤノン株式会社 | 画像形成装置 |
JP2007292200A (ja) * | 2006-04-25 | 2007-11-08 | Shinkosha:Kk | 遊星歯車装置及びサーボモータ |
US8741820B2 (en) * | 2008-12-26 | 2014-06-03 | Citizen Electronics Co., Ltd. | Lubrication kit and small electronic device using the same |
JP2012191769A (ja) * | 2011-03-11 | 2012-10-04 | Canon Inc | 駆動ユニットおよびそれを備える電子機器 |
DE102011054958A1 (de) * | 2011-10-31 | 2013-05-02 | Minebea Co., Ltd. | Gehäuse eines Stellantriebs zur Aufnahme eines Elektromotors und Baueinheit |
US20150064045A1 (en) * | 2012-03-13 | 2015-03-05 | Ntn Corporation | Sintered bearing and manufacturing method for same |
CN204076286U (zh) * | 2014-08-25 | 2015-01-07 | 深圳市优必选科技有限公司 | 一种微型金属齿轮伺服器 |
CN205950775U (zh) * | 2016-04-28 | 2017-02-15 | 深圳飞特模型有限公司 | 一种串行总线diy机器人舵机 |
KR101819185B1 (ko) * | 2016-05-23 | 2018-01-17 | (주)엠알티인터내셔널 | 서보 모터 모듈 |
CN107387676A (zh) * | 2017-07-28 | 2017-11-24 | 刘辉华 | 一种少齿差行星减速结构的舵机 |
CN107528418B (zh) * | 2017-09-28 | 2023-07-14 | 深圳市优必选科技有限公司 | 一种舵机 |
CN107707073B (zh) * | 2017-09-28 | 2023-07-14 | 深圳市优必选科技有限公司 | 一种无刷舵机 |
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-
2021
- 2021-08-18 CN CN202121934048.1U patent/CN215733875U/zh active Active
-
2022
- 2022-08-05 US US17/882,512 patent/US11976709B2/en active Active
- 2022-08-05 WO PCT/CN2022/110529 patent/WO2023020304A1/zh unknown
- 2022-08-05 JP JP2022125710A patent/JP7364278B2/ja active Active
- 2022-08-05 EP EP22188986.8A patent/EP4138278A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014084989A (ja) * | 2012-10-26 | 2014-05-12 | Canon Inc | 波動歯車装置、駆動装置及びロボット装置 |
JP2015181804A (ja) * | 2014-03-25 | 2015-10-22 | 日本遠隔制御株式会社 | ラジオコントロール用サーボ装置 |
JP2017013620A (ja) * | 2015-06-30 | 2017-01-19 | ナブテスコ株式会社 | 電動舵取機、電動舵取機構、電動舵取ユニット、船舶及び電動舵取機の設計方法 |
Also Published As
Publication number | Publication date |
---|---|
WO2023020304A1 (zh) | 2023-02-23 |
CN215733875U (zh) | 2022-02-01 |
US11976709B2 (en) | 2024-05-07 |
US20230055029A1 (en) | 2023-02-23 |
EP4138278A1 (en) | 2023-02-22 |
JP7364278B2 (ja) | 2023-10-18 |
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