WO2013062375A3 - 위치 피드백이 가능한 사이클로이드 감속기 - Google Patents

위치 피드백이 가능한 사이클로이드 감속기 Download PDF

Info

Publication number
WO2013062375A3
WO2013062375A3 PCT/KR2012/008901 KR2012008901W WO2013062375A3 WO 2013062375 A3 WO2013062375 A3 WO 2013062375A3 KR 2012008901 W KR2012008901 W KR 2012008901W WO 2013062375 A3 WO2013062375 A3 WO 2013062375A3
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
eccentric shafts
gears
enabled
circumferential surface
Prior art date
Application number
PCT/KR2012/008901
Other languages
English (en)
French (fr)
Other versions
WO2013062375A2 (ko
Inventor
김병수
이정호
Original Assignee
로보티즈
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 로보티즈 filed Critical 로보티즈
Publication of WO2013062375A2 publication Critical patent/WO2013062375A2/ko
Publication of WO2013062375A3 publication Critical patent/WO2013062375A3/ko

Links

Classifications

    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)

Abstract

본 발명의 일 실시예에 의하면, 사이클로이드 감속기는, 실장공간 및 상기 실장공간의 내주면으로부터 돌출되어 상기 내주면을 따라 형성되는 복수의 핀기어들을 가지는 케이스; 외부로부터 동력이 입력되어 회전가능한 입력기어; 상기 입력기어의 회전중심으로부터 편심되며, 상기 입력기어로부터 순차적으로 돌출된 제1 및 제2 편심축; 상기 제1 및 제2 편심축 상에 각각 설치되며, 상기 제1 및 제2 편심축의 회전에 따라 상기 핀기어와 접촉하여 각각 회전하는 제1 및 제2 판기어; 상기 판기어에 고정되어 상기 판기어와 함께 회전하는 출력부재; 그리고 상기 출력부재의 회전을 감지하며, 감지된 결과를 전기적 신호로 변환하여 전송하는 위치검출기를 포함한다.
PCT/KR2012/008901 2011-10-26 2012-10-26 위치 피드백이 가능한 사이클로이드 감속기 WO2013062375A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2011-0110069 2011-10-26
KR1020110110069A KR101308738B1 (ko) 2011-10-26 2011-10-26 싸이클로이드 감속기의 위치 피드백 장치

Publications (2)

Publication Number Publication Date
WO2013062375A2 WO2013062375A2 (ko) 2013-05-02
WO2013062375A3 true WO2013062375A3 (ko) 2013-06-20

Family

ID=48168733

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/008901 WO2013062375A2 (ko) 2011-10-26 2012-10-26 위치 피드백이 가능한 사이클로이드 감속기

Country Status (2)

Country Link
KR (1) KR101308738B1 (ko)
WO (1) WO2013062375A2 (ko)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105813812B (zh) * 2014-04-28 2017-09-12 株式会社乐博特思 带有输入输出位置反馈的多输入方式减速器
CN106678283A (zh) * 2017-01-17 2017-05-17 北京因时机器人科技有限公司 一种带位置反馈的小型直线驱动器
KR102151386B1 (ko) * 2017-05-08 2020-09-03 (주)로보티즈 위치 피드백 장치가 내장된 감속기
CN107127749A (zh) * 2017-07-13 2017-09-05 北京因时机器人科技有限公司 关节型机器人及其直线驱动器
TWI655380B (zh) * 2017-12-29 2019-04-01 州巧科技股份有限公司 平板型減速機
KR20200000044U (ko) 2019-08-16 2020-01-06 (주)에일리언로봇 자기센서를 이용한 일체형 액추에이터
KR200491796Y1 (ko) 2019-12-09 2020-06-04 (주)에일리언로봇 초소형 사이클로이드 타입 감속기를 이용한 일체형 액추에이터
CN112476476A (zh) * 2020-11-09 2021-03-12 苏州博安捷机器人科技有限公司 机器人驱动关节
KR102288868B1 (ko) * 2021-01-05 2021-08-11 주식회사 디엔지위드 기어 모터
CN115750691B (zh) * 2022-12-16 2023-07-11 新昌县海纳人和轴承有限公司 一种高稳定rv减速器及其检测方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004183784A (ja) * 2002-12-03 2004-07-02 Nidec-Shimpo Corp 動力伝達用回転部材、動力伝達装置、回転駆動装置及び画像形成装置の画像形成部駆動装置
JP2006217779A (ja) * 2005-02-07 2006-08-17 Yasuo Fujii 減速機一体型アクチュエータ
JP2006234005A (ja) * 2005-02-22 2006-09-07 Aisin Seiki Co Ltd モータ組込みハイポサイクロイド減速機
KR100884819B1 (ko) * 2007-10-24 2009-02-23 주식회사 해성산전 다단형 싸이클로이드 감속기

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2684154A1 (fr) * 1991-11-21 1993-05-28 Staubli Sa Ets Reducteur de vitesse du type cyclouidal pour robots et autres manipulateurs industriels.
KR101115509B1 (ko) * 2009-12-16 2012-03-13 김대열 다축 싸이클로이드 감속기

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004183784A (ja) * 2002-12-03 2004-07-02 Nidec-Shimpo Corp 動力伝達用回転部材、動力伝達装置、回転駆動装置及び画像形成装置の画像形成部駆動装置
JP2006217779A (ja) * 2005-02-07 2006-08-17 Yasuo Fujii 減速機一体型アクチュエータ
JP2006234005A (ja) * 2005-02-22 2006-09-07 Aisin Seiki Co Ltd モータ組込みハイポサイクロイド減速機
KR100884819B1 (ko) * 2007-10-24 2009-02-23 주식회사 해성산전 다단형 싸이클로이드 감속기

Also Published As

Publication number Publication date
KR101308738B1 (ko) 2013-09-16
KR20130045692A (ko) 2013-05-06
WO2013062375A2 (ko) 2013-05-02

Similar Documents

Publication Publication Date Title
WO2013062375A3 (ko) 위치 피드백이 가능한 사이클로이드 감속기
WO2015086750A3 (en) Compact integrated motor-gear drive unit with cycloidal reduction and device incorporating this unit
WO2012049557A3 (en) Electric vehicle drive system
GB2490446A (en) Apparatus for tightening threaded fasteners
MX367205B (es) Amortiguador de vibración para un dispositivo de transmisión de par de torsión de un vehículo a motor.
IN2014DN03168A (ko)
AU2014319735A8 (en) Vehicle power unit
WO2010108602A3 (de) Getriebe
WO2013010740A3 (de) Getriebe-antriebseinrichtung
WO2011056683A3 (en) Hand brake torque input coupler and indicator
WO2012122108A3 (en) Roller clutch
WO2012009356A3 (en) Right angle drive having dual shaft bearings
WO2012151019A3 (en) Tandem electric motor vehicle drive system
WO2016097775A3 (en) Drive mechanism
WO2012115379A3 (en) Gear type connection device for transmitting rotating power of rotors of rotary engine to output gear shaft
MY172975A (en) Seedling planting device
WO2015053792A8 (en) Vehicle transfer case with variable angle joint
WO2012000469A3 (de) Kurbelwellenriemenscheibe
WO2014070008A3 (en) Rocking device for rocking a pushchair, wheel and pushchair provided therewith and method therefor
WO2012130506A3 (de) Elektrische maschine mit einer einen rotor tragenden rotorwelle für einen fahrzeugantriebsstrang
WO2013009087A3 (ko) 무접촉 박판 이송 장치
WO2014181234A3 (en) Mechanism for transferring power of contra-rotating rotors to single shaft
WO2011140154A3 (en) Cutting device on moveable platform
UA72893U (ru) Устройство для измерения вращающего момента на вращающемся валу с переменной частотой
WO2013025362A3 (en) Interlock system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12842978

Country of ref document: EP

Kind code of ref document: A2

122 Ep: pct application non-entry in european phase

Ref document number: 12842978

Country of ref document: EP

Kind code of ref document: A2