KR102080740B1 - 회전 액추에이터 및 로봇 - Google Patents

회전 액추에이터 및 로봇 Download PDF

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Publication number
KR102080740B1
KR102080740B1 KR1020187028014A KR20187028014A KR102080740B1 KR 102080740 B1 KR102080740 B1 KR 102080740B1 KR 1020187028014 A KR1020187028014 A KR 1020187028014A KR 20187028014 A KR20187028014 A KR 20187028014A KR 102080740 B1 KR102080740 B1 KR 102080740B1
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KR
South Korea
Prior art keywords
shaft
input shaft
fixed
rotating shaft
joint part
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KR1020187028014A
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English (en)
Korean (ko)
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KR20180118178A (ko
Inventor
유우 아유자와
도시하루 와카바야시
다쿠로우 요네무라
Original Assignee
니혼덴산가부시키가이샤
니폰 덴산 심포 가부시키가이샤
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Publication of KR20180118178A publication Critical patent/KR20180118178A/ko
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Publication of KR102080740B1 publication Critical patent/KR102080740B1/ko
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    • 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
    • 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
    • B25J17/0258—Two-dimensional joints
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C32/00—Bearings not otherwise provided for
    • F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
    • F16C32/0406—Magnetic bearings
    • 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
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • 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
    • H02K7/003—Couplings; Details of shafts

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Retarders (AREA)
KR1020187028014A 2016-03-30 2017-02-27 회전 액추에이터 및 로봇 Active KR102080740B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPJP-P-2016-067468 2016-03-30
JP2016067468A JP6739205B2 (ja) 2016-03-30 2016-03-30 回転アクチュエータおよびロボット
PCT/JP2017/007348 WO2017169418A1 (ja) 2016-03-30 2017-02-27 回転アクチュエータおよびロボット

Publications (2)

Publication Number Publication Date
KR20180118178A KR20180118178A (ko) 2018-10-30
KR102080740B1 true KR102080740B1 (ko) 2020-02-24

Family

ID=59963134

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020187028014A Active KR102080740B1 (ko) 2016-03-30 2017-02-27 회전 액추에이터 및 로봇

Country Status (7)

Country Link
US (1) US20190036419A1 (enExample)
EP (1) EP3439152B1 (enExample)
JP (1) JP6739205B2 (enExample)
KR (1) KR102080740B1 (enExample)
CN (1) CN109075660B (enExample)
TW (1) TW201736756A (enExample)
WO (1) WO2017169418A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102300477B1 (ko) 2020-12-24 2021-09-09 김민성 회전 및 탈착이 가능한 커넥터

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* Cited by examiner, † Cited by third party
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JP6955350B2 (ja) * 2017-03-13 2021-10-27 株式会社シマノ ピニオンギアおよびスピニングリール
DE102017211540A1 (de) * 2017-07-06 2019-01-10 Siemens Aktiengesellschaft Getriebemotoreinheit
JP6659649B2 (ja) * 2017-10-10 2020-03-04 ファナック株式会社 関節軸構造および水平多関節型ロボット
JP7170389B2 (ja) * 2017-11-28 2022-11-14 住友重機械工業株式会社 ギヤモータ
CN109176595B (zh) * 2018-10-19 2023-11-24 杭州宇树科技有限公司 机器人双关节单元及应用其的足式机器人和协作机械臂
CN110293546A (zh) * 2019-06-24 2019-10-01 深圳航天龙海特智能装备有限公司 集成驱动器
CN111360868A (zh) * 2020-03-24 2020-07-03 北京理工大学 仿生机器人并联驱动关节的肢体结构和仿生机器人
CN111409097B (zh) * 2020-04-01 2022-08-19 燕山大学 一种机器人用紧凑型关节驱动装置
CN114043523B (zh) * 2021-12-28 2023-03-21 哈尔滨工业大学 一种模块化机器人关节
WO2023181204A1 (ja) * 2022-03-23 2023-09-28 株式会社Fuji ロボット
FR3155152A1 (fr) * 2023-11-15 2025-05-16 Weez-U Welding Actionneur pour un bras robotisé à configuration améliorée
JP2025183769A (ja) * 2024-06-05 2025-12-17 住友重機械工業株式会社 アクチュエータ

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JP2525043Y2 (ja) * 1989-09-27 1997-02-05 株式会社ハーモニック・ドライブ・システムズ 回転駆動装置の絶対位置検出装置
WO2005118204A1 (ja) * 2004-06-01 2005-12-15 Harmonic Drive Systems Inc. 鉄系合金とアルミニウム系合金の固相接合方法
JP2006149139A (ja) * 2004-11-24 2006-06-08 Yaskawa Electric Corp 中空アクチュエータ

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JPH11206047A (ja) * 1998-01-14 1999-07-30 Tamagawa Seiki Co Ltd モータ構造
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JP2525043Y2 (ja) * 1989-09-27 1997-02-05 株式会社ハーモニック・ドライブ・システムズ 回転駆動装置の絶対位置検出装置
WO2005118204A1 (ja) * 2004-06-01 2005-12-15 Harmonic Drive Systems Inc. 鉄系合金とアルミニウム系合金の固相接合方法
JP2006149139A (ja) * 2004-11-24 2006-06-08 Yaskawa Electric Corp 中空アクチュエータ

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102300477B1 (ko) 2020-12-24 2021-09-09 김민성 회전 및 탈착이 가능한 커넥터

Also Published As

Publication number Publication date
EP3439152B1 (en) 2021-04-14
JP2017184430A (ja) 2017-10-05
KR20180118178A (ko) 2018-10-30
JP6739205B2 (ja) 2020-08-12
US20190036419A1 (en) 2019-01-31
TW201736756A (zh) 2017-10-16
EP3439152A4 (en) 2019-11-13
WO2017169418A1 (ja) 2017-10-05
EP3439152A1 (en) 2019-02-06
CN109075660A (zh) 2018-12-21
CN109075660B (zh) 2021-07-23

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