JP6708546B2 - 密封型ロボット駆動部 - Google Patents
密封型ロボット駆動部 Download PDFInfo
- Publication number
- JP6708546B2 JP6708546B2 JP2016531047A JP2016531047A JP6708546B2 JP 6708546 B2 JP6708546 B2 JP 6708546B2 JP 2016531047 A JP2016531047 A JP 2016531047A JP 2016531047 A JP2016531047 A JP 2016531047A JP 6708546 B2 JP6708546 B2 JP 6708546B2
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- JP
- Japan
- Prior art keywords
- stator
- drive
- rotor
- aspects
- disclosed embodiment
- 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.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K19/00—Synchronous motors or generators
- H02K19/02—Synchronous motors
- H02K19/10—Synchronous motors for multi-phase current
- H02K19/103—Motors having windings on the stator and a variable reluctance soft-iron rotor without windings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0095—Manipulators transporting wafers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/141—Stator cores with salient poles consisting of C-shaped cores
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
- H02K1/148—Sectional cores
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/24—Rotor cores with salient poles ; Variable reluctance rotors
- H02K1/246—Variable reluctance rotors
-
- 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
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- 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
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- 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
- H02K5/12—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas
- H02K5/128—Casings or enclosures characterised by the shape, form or construction thereof specially adapted for operating in liquid or gas using air-gap sleeves or air-gap discs
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/03—Machines characterised by aspects of the air-gap between rotor and stator
Description
本出願は、2013年11月13日に出願された米国仮特許出願第61/903,813号の利益を主張する通常出願であって、その開示内容の全ては、参照により本明細書に組み込まれる。
例示的な実施形態は、概してロボット駆動部、特に、密封型ロボット駆動部に関する。
Claims (16)
- ハウジングと、
前記ハウジングに取り付けられる駆動部と、
前記駆動部の出力部に接続される少なくとも1つの搬送アームと
を備える搬送装置であって、
前記駆動部は、少なくとも1つのモータを含み、
前記モータは、
透磁性材料の少なくとも1つの突極を有し、隔離環境内に配置されるロータと、
対応するコイルユニットを備えた少なくとも1つの突極を有し、前記隔離環境外に配置されるステータと、
前記隔離環境を隔離するシール部と
を備え、
前記ステータの前記少なくとも1つの突極、および前記ロータの前記少なくとも1つの突極が、前記ロータと前記ステータとの間に閉磁束回路を形成し、
前記シール部は、前記ステータと一体化され、それによって、前記シール部が、前記隔離環境と前記隔離環境外の環境との間の圧力差負荷以外に搬送装置の構造的負荷を受けない、
搬送装置。 - 前記シール部が、前記ステータに取り付けられる膜を備える請求項1記載の搬送装置。
- 前記シール部が、前記ステータに寄り掛かる請求項1記載の搬送装置。
- 前記ステータが、前記シール部を構造的に支持する請求項1記載の搬送装置。
- 前記シール部が、前記ステータの形状に適合する請求項1記載の搬送装置。
- 前記少なくとも1つのモータが、少なくとも2つのモータを備え、
前記少なくとも2つのモータのロータが上下に積み重ねられ、前記少なくとも2つのモータのステータが上下に積み重ねられ、積み重ねられたモータを形成する、または
前記少なくとも2つのモータのロータおよびステータが、共通平面内に配置され、一方が他方の中に径方向に入れ子にされる、
請求項1記載の搬送装置。 - 前記ロータに配置される少なくとも1つのリラクタンスに基づくエンコーダトラックと、
前記少なくとも1つのリラクタンスに基づくエンコーダトラックと相互作用するように構成される、少なくとも1つのリラクタンスに基づく位置フィードバックセンサと
をさらに備える請求項1記載の搬送装置。 - 前記少なくとも1つのモータが、2つ以上のモータを備え、前記2つ以上のモータの各ロータが、同軸駆動シャフト構成のそれぞれの駆動シャフトに連結され、前記同軸駆動シャフト構成が、前記少なくとも1つの搬送アームに連結される請求項1記載の搬送装置。
- 前記ステータが、セグメント化されたステータである請求項1記載の搬送装置。
- 前記駆動部が、軸方向磁束流駆動部または径方向磁束流駆動部として構成される請求項1記載の搬送装置。
- 前記ステータが、積層された突極を含む請求項1記載の搬送装置。
- 前記ロータが、積層された突極を含む請求項1記載の搬送装置。
- 前記駆動部がさらに、駆動伝達部材を含み、
前記ロータが、前記駆動伝達部材に連結され、
前記積層された突極および前記駆動伝達部材が、互いにユニットとして回転する請求項12記載の搬送装置。 - 前記積層された突極が、前記駆動伝達部材に固定され、前記駆動伝達部材に対して軸方向に配列される請求項13記載の搬送装置。
- 前記積層された突極が、前記駆動伝達部材に固定され、前記駆動伝達部材に対して径方向に配列される請求項13記載の搬送装置。
- 前記駆動部が、前記ハウジングに接続される線形駆動部を含み、前記線形駆動部が、前記ロータの回転軸と略平行な方向に前記少なくとも1つの搬送アームを移動させる請求項1記載の搬送装置。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361903813P | 2013-11-13 | 2013-11-13 | |
US61/903,813 | 2013-11-13 | ||
US14/540,072 US9948155B2 (en) | 2013-11-13 | 2014-11-13 | Sealed robot drive |
US14/540,072 | 2014-11-13 | ||
PCT/US2014/065414 WO2015073647A1 (en) | 2013-11-13 | 2014-11-13 | Sealed robot drive |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020019826A Division JP2020103033A (ja) | 2013-11-13 | 2020-02-07 | 密封型ロボット駆動部 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017505091A JP2017505091A (ja) | 2017-02-09 |
JP6708546B2 true JP6708546B2 (ja) | 2020-06-10 |
Family
ID=53058000
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016531047A Active JP6708546B2 (ja) | 2013-11-13 | 2014-11-13 | 密封型ロボット駆動部 |
JP2020019826A Pending JP2020103033A (ja) | 2013-11-13 | 2020-02-07 | 密封型ロボット駆動部 |
JP2022100691A Pending JP2022126795A (ja) | 2013-11-13 | 2022-06-22 | 密封型ロボット駆動部 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
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JP2020019826A Pending JP2020103033A (ja) | 2013-11-13 | 2020-02-07 | 密封型ロボット駆動部 |
JP2022100691A Pending JP2022126795A (ja) | 2013-11-13 | 2022-06-22 | 密封型ロボット駆動部 |
Country Status (4)
Country | Link |
---|---|
US (4) | US9948155B2 (ja) |
JP (3) | JP6708546B2 (ja) |
KR (3) | KR20230034417A (ja) |
WO (1) | WO2015073647A1 (ja) |
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KR20210025733A (ko) | 2021-03-09 |
WO2015073647A1 (en) | 2015-05-21 |
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US20150139770A1 (en) | 2015-05-21 |
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KR102224756B1 (ko) | 2021-03-08 |
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KR20160086393A (ko) | 2016-07-19 |
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