KR890007478A - 하이브리드 전기-공압 로봇틱 조인트 액튜에이터 - Google Patents

하이브리드 전기-공압 로봇틱 조인트 액튜에이터 Download PDF

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Publication number
KR890007478A
KR890007478A KR1019880014050A KR880014050A KR890007478A KR 890007478 A KR890007478 A KR 890007478A KR 1019880014050 A KR1019880014050 A KR 1019880014050A KR 880014050 A KR880014050 A KR 880014050A KR 890007478 A KR890007478 A KR 890007478A
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KR
South Korea
Prior art keywords
pneumatic
motor
electric
stator
hybrid
Prior art date
Application number
KR1019880014050A
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English (en)
Inventor
제이 페트로스카이 라이맨
Original Assignee
에이.마이크, 쥬니어
웨스팅 하우스 일렉트릭 코오포레이숀
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.)
Filing date
Publication date
Application filed by 에이.마이크, 쥬니어, 웨스팅 하우스 일렉트릭 코오포레이숀 filed Critical 에이.마이크, 쥬니어
Publication of KR890007478A publication Critical patent/KR890007478A/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
    • 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
    • B25J17/0241—One-dimensional joints
    • 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
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/146—Rotary actuators
    • B25J9/148—Rotary actuators of the oscillating vane-type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01C—ROTARY-PISTON OR OSCILLATING-PISTON MACHINES OR ENGINES
    • F01C21/00—Component parts, details or accessories not provided for in groups F01C1/00 - F01C20/00
    • F01C21/008—Driving elements, brakes, couplings, transmissions specially adapted for rotary or oscillating-piston machines or engines

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Manipulator (AREA)
  • Motor Or Generator Cooling System (AREA)
  • Valve Housings (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

내용 없음

Description

하이브리드 전기 - 공압 로봇틱 조인트 액튜에이터
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 하이브리드 구동의 양호한 실시예의 횡단면도.
제2도는 하이브리드 구동의 양호한 실시예의 횡단면도.

Claims (4)

  1. 하우징(17)을 구비한 하이브리드 모터(1)에 있어서, 하이징(17)내에 포함된 공압 고정자 및 공압모터(11)을 형성하도록 상기 공압 고정자와 상호 작용하는 공압로우터(13), 상기 공압 및 전기로우터(13, 12)가 상기 하이브리드 모터의 부하를 분담하는 방법으로 상기 공압로우터(13)에 연결된 전기 로우터(12), 전기모터(10)를 형성하도록 상기 전기 로우터(12)와 상호 작용하는 전기 고정자(18), 전기모터(10)의 과열을 방지도록 감소시켜 공압모터(11)에 의해 가압된 토오크를 연속적으로 조절하는 제어기로 구성되고, 상기 제어기는 토오크의 급속한 변화가 요구될시, 공압모터(11)의 토오크 결손을 보상하도록 전기모터(10)의 토오크를 조절하는 것으로 구성되는 것을 특징으로 하는 하이브리드 모터.
  2. 제1항에 있어서, 공압모터(11)는 베인-형 공압모터(11)인 것을 특징으로 하는 하이브리 모터.
  3. 제1항에 있어서, 공압 고정자와 전기 고정자(18)는 견고하게 연결된 것을 특징으로 하는 하이브리드 모터.
  4. 제1항 또는 제3항에 있어서, 공압과 전기로우터(12, 13)는 견고하게 연결된 것을 특징으로 하는 하이브리드 모터.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019880014050A 1987-10-28 1988-10-28 하이브리드 전기-공압 로봇틱 조인트 액튜에이터 KR890007478A (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/113,845 US4782258A (en) 1987-10-28 1987-10-28 Hybrid electro-pneumatic robot joint actuator
US113,845 1987-10-28

Publications (1)

Publication Number Publication Date
KR890007478A true KR890007478A (ko) 1989-06-20

Family

ID=22351863

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019880014050A KR890007478A (ko) 1987-10-28 1988-10-28 하이브리드 전기-공압 로봇틱 조인트 액튜에이터

Country Status (4)

Country Link
US (1) US4782258A (ko)
EP (1) EP0314014A1 (ko)
JP (1) JPH01144373A (ko)
KR (1) KR890007478A (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN110962156A (zh) * 2019-12-25 2020-04-07 哈尔滨工业大学 一种走油摆动缸一体化关节

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US5160661A (en) * 1989-12-22 1992-11-03 Hoffmann-La Roche Inc. Dioxanylpyridine
DE69207627T2 (de) * 1991-04-09 1996-05-30 Hewlett Packard Co Hybrides Lage- und Kraftregelsystem
US5270625A (en) * 1991-09-25 1993-12-14 Systems, Machines, Automation Components Pneumatic/electric actuator
US5276390A (en) * 1991-10-04 1994-01-04 Hewlett-Packard Company System for hybrid position and force control
DE4203050C2 (de) * 1992-02-04 1994-03-17 Heiko Delecate Elektromotoranordnung und Druckluftmotoranordnung
US5656903A (en) * 1993-10-01 1997-08-12 The Ohio State University Research Foundation Master-slave position and motion control system
SE0400258D0 (sv) * 2004-02-05 2004-02-05 Abb Ab Spot weld gun
US7926269B2 (en) * 2005-02-08 2011-04-19 Massachusetts Institute Of Technology Method for controlling a dynamic system
US7748308B2 (en) * 2005-09-26 2010-07-06 Unico, Inc. Pneumatic biasing of a linear actuator and implementations thereof
US20070124023A1 (en) * 2005-11-30 2007-05-31 Schulte David J Model for robot circulatory system for movement and dexterity
JP4083767B2 (ja) * 2005-12-22 2008-04-30 ファナック株式会社 サーボモータを制御する数値制御装置
JP5011903B2 (ja) * 2006-09-15 2012-08-29 マックス株式会社 手持ち工具
US8336420B2 (en) 2010-06-02 2012-12-25 Disney Enterprises, Inc. Three-axis robotic joint using four-bar linkages to drive differential side gears
US9689251B2 (en) 2014-05-08 2017-06-27 Unico, Inc. Subterranean pump with pump cleaning mode
US9283949B2 (en) * 2014-07-22 2016-03-15 Google Inc. Hybrid hydraulic and electrically actuated mobile robot
US9562547B2 (en) 2014-08-29 2017-02-07 Abb Schweiz Ag Electric hydraulic actuator
US9682473B2 (en) 2014-08-29 2017-06-20 Abb Schweiz Ag Electric fluidic rotary joint actuator with pump
KR101533055B1 (ko) * 2015-02-16 2015-07-02 오택근 관로용 수력 발전장치

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US3348490A (en) * 1965-09-07 1967-10-24 Astro Dynamics Inc Combined electric motor and fluid pump apparatus
US3609071A (en) * 1969-12-10 1971-09-28 United Hydraulics Inc Vanes for fluid power converter
US3971480A (en) * 1974-06-07 1976-07-27 Lynch Corporation Rotary actuator
SU525541A1 (ru) * 1975-01-06 1976-08-25 Предприятие П/Я В-2190 Модуль промышленного робота
FR2352640A1 (fr) * 1976-05-24 1977-12-23 Bretagne Atel Chantiers Telemanipulateur a faible encombrement
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110962156A (zh) * 2019-12-25 2020-04-07 哈尔滨工业大学 一种走油摆动缸一体化关节

Also Published As

Publication number Publication date
US4782258A (en) 1988-11-01
JPH01144373A (ja) 1989-06-06
EP0314014A1 (en) 1989-05-03

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