KR102635551B1 - 로터리 액츄에이터 - Google Patents

로터리 액츄에이터 Download PDF

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Publication number
KR102635551B1
KR102635551B1 KR1020227001800A KR20227001800A KR102635551B1 KR 102635551 B1 KR102635551 B1 KR 102635551B1 KR 1020227001800 A KR1020227001800 A KR 1020227001800A KR 20227001800 A KR20227001800 A KR 20227001800A KR 102635551 B1 KR102635551 B1 KR 102635551B1
Authority
KR
South Korea
Prior art keywords
motor
hollow
shaft
rotor
rotary actuator
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.)
Active
Application number
KR1020227001800A
Other languages
English (en)
Korean (ko)
Other versions
KR20220024698A (ko
Inventor
도루 다케다
Original Assignee
가부시키가이샤 하모닉 드라이브 시스템즈
Priority date (The priority date 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 date listed.)
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Publication of KR20220024698A publication Critical patent/KR20220024698A/ko
Application granted granted Critical
Publication of KR102635551B1 publication Critical patent/KR102635551B1/ko
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Classifications

    • 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
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/52—Fastening salient pole windings or connections thereto
    • H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
    • H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles
    • 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
    • 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
    • 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
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • H02K1/27—Rotor cores with permanent magnets
    • 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
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2793—Rotors axially facing stators
    • 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
    • H02K16/00—Machines with more than one rotor or stator
    • 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
    • H02K21/24—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/26—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors consisting of printed conductors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/32—Windings characterised by the shape, form or construction of the insulation
    • H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/32—Windings characterised by the shape, form or construction of the insulation
    • H02K3/34—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
    • H02K3/345—Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation between conductor and core, e.g. slot insulation
    • 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
    • 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
    • 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
    • H02K7/08—Structural association with bearings
    • H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
    • 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
    • F16H2035/003—Gearings comprising pulleys or toothed members of non-circular shape, e.g. elliptical gears
    • 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
    • H02K2203/00—Specific aspects not provided for in the other groups of this subclass relating to the windings
    • H02K2203/03—Machines characterised by the wiring boards, i.e. printed circuit boards or similar structures for connecting the winding terminations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/12—Machines characterised by the modularity of some components

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Windings For Motors And Generators (AREA)
KR1020227001800A 2019-08-02 2020-07-27 로터리 액츄에이터 Active KR102635551B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JPPCT/JP2019/030436 2019-08-02
JP2019030436 2019-08-02
PCT/JP2020/028629 WO2021024825A1 (ja) 2019-08-02 2020-07-27 ロータリアクチュエータ

Publications (2)

Publication Number Publication Date
KR20220024698A KR20220024698A (ko) 2022-03-03
KR102635551B1 true KR102635551B1 (ko) 2024-02-08

Family

ID=74503799

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020227001800A Active KR102635551B1 (ko) 2019-08-02 2020-07-27 로터리 액츄에이터

Country Status (7)

Country Link
US (1) US12095341B2 (https=)
EP (1) EP4009498B1 (https=)
JP (1) JP7313790B2 (https=)
KR (1) KR102635551B1 (https=)
CN (1) CN114175467B (https=)
TW (1) TWI855184B (https=)
WO (1) WO2021024825A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111390964B (zh) * 2020-04-23 2024-06-21 广州市精谷智能装备有限公司 一种协作机器人一体化关节的轴系结构
WO2023220687A2 (en) * 2022-05-13 2023-11-16 University Of Utah Research Foundation Magnetic cogging parallel-elastic actuator

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120187787A1 (en) * 2011-01-21 2012-07-26 Nidec Sankyo Corporation Motor and rotary drive device
WO2018008692A1 (ja) * 2016-07-05 2018-01-11 日本電産シンポ株式会社 波動歯車減速機用モータユニット

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS498567B1 (https=) * 1970-06-18 1974-02-27
JPS60144769U (ja) * 1984-03-02 1985-09-26 株式会社安川電機 同心多軸アクチユエ−タ
IN170651B (https=) 1984-05-14 1992-05-02 Kenrich Petrochemicals
JPH06791A (ja) * 1992-06-19 1994-01-11 Tokico Ltd ロボットの手首機構
WO1994023911A1 (en) * 1993-04-16 1994-10-27 Brooks Automation, Inc. Articulated arm transfer device
KR0130207Y1 (ko) * 1995-04-18 1999-04-15 구자홍 모터
JP4650913B2 (ja) 2000-04-27 2011-03-16 株式会社ハーモニック・ドライブ・システムズ 中空型波動歯車装置の潤滑剤漏れ防止機構
DE10024907B4 (de) 2000-05-16 2004-05-27 Brose Fahrzeugteile Gmbh & Co. Kg, Coburg Antriebseinheit
EP2190104A1 (en) * 2007-09-11 2010-05-26 Kabushiki Kaisha Yaskawa Denki Hollow actuator
DE112009000487T5 (de) * 2009-02-03 2012-06-21 Harmonic Drive Systems Inc. Getriebemotoranordnung
EP2395085B1 (en) 2009-02-04 2015-06-10 Sungkyunkwan University Foundation for Corporate Collaboration Small interference rna complex with increased intracellular transmission capacity
JP2014011931A (ja) * 2012-07-03 2014-01-20 Seiko Epson Corp 電気機械装置およびそれを用いたアクチュエーター、モーター、ロボット、ロボットハンド
CN205389157U (zh) * 2016-02-17 2016-07-20 谐波传动系统有限公司 中空致动器
TWI728450B (zh) * 2018-09-03 2021-05-21 日商日本電產新寶股份有限公司 驅動裝置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120187787A1 (en) * 2011-01-21 2012-07-26 Nidec Sankyo Corporation Motor and rotary drive device
WO2018008692A1 (ja) * 2016-07-05 2018-01-11 日本電産シンポ株式会社 波動歯車減速機用モータユニット

Also Published As

Publication number Publication date
KR20220024698A (ko) 2022-03-03
EP4009498A4 (en) 2023-08-09
JPWO2021024825A1 (https=) 2021-02-11
US12095341B2 (en) 2024-09-17
EP4009498A1 (en) 2022-06-08
TW202220342A (zh) 2022-05-16
TWI855184B (zh) 2024-09-11
WO2021024825A1 (ja) 2021-02-11
JP7313790B2 (ja) 2023-07-25
CN114175467A (zh) 2022-03-11
US20220255400A1 (en) 2022-08-11
CN114175467B (zh) 2025-10-17
EP4009498B1 (en) 2025-07-23

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PA0105 International application

Patent event date: 20220118

Patent event code: PA01051R01D

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Patent event date: 20231025

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PE0701 Decision of registration

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Patent event date: 20240122

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PR0701 Registration of establishment

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Patent event date: 20240205

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Payment date: 20240205

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