CA3122857A1 - Compact actuator arrangement - Google Patents

Compact actuator arrangement Download PDF

Info

Publication number
CA3122857A1
CA3122857A1 CA3122857A CA3122857A CA3122857A1 CA 3122857 A1 CA3122857 A1 CA 3122857A1 CA 3122857 A CA3122857 A CA 3122857A CA 3122857 A CA3122857 A CA 3122857A CA 3122857 A1 CA3122857 A1 CA 3122857A1
Authority
CA
Canada
Prior art keywords
output
torque
shaft
actuator
drive shaft
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.)
Pending
Application number
CA3122857A
Other languages
English (en)
French (fr)
Inventor
James B. Klassen
Nathan Armstrong
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Genesis Advanced Technology Inc
Genesis Robotics and Motion Technologies Canada ULC
Original Assignee
Genesis Advanced Technology Inc
Genesis Robotics and Motion Technologies Canada ULC
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 Genesis Advanced Technology Inc, Genesis Robotics and Motion Technologies Canada ULC filed Critical Genesis Advanced Technology Inc
Publication of CA3122857A1 publication Critical patent/CA3122857A1/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • F16H57/025—Support of gearboxes, e.g. torque arms, or attachment to other devices
    • 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
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H19/003—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member
    • F16H19/005—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member for conveying oscillating or limited rotary motion
    • 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
    • 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
    • H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
    • 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
    • H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
    • 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
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
    • H02K5/1732—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings radially supporting the rotary shaft at both ends of the rotor
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
CA3122857A 2019-01-16 2020-01-16 Compact actuator arrangement Pending CA3122857A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962793026P 2019-01-16 2019-01-16
US62/793,026 2019-01-16
PCT/IB2020/050354 WO2020148706A1 (en) 2019-01-16 2020-01-16 Compact actuator arrangement

Publications (1)

Publication Number Publication Date
CA3122857A1 true CA3122857A1 (en) 2020-07-23

Family

ID=69374338

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3122857A Pending CA3122857A1 (en) 2019-01-16 2020-01-16 Compact actuator arrangement

Country Status (5)

Country Link
EP (1) EP3911876A1 (zh)
KR (1) KR20210113341A (zh)
CN (1) CN113286959B (zh)
CA (1) CA3122857A1 (zh)
WO (1) WO2020148706A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201915013D0 (en) * 2019-10-17 2019-12-04 Genesis Robotics And Motion Tech Lp Actuator arrangement
USD958213S1 (en) 2021-01-14 2022-07-19 Genesis Advanced Technology Inc. Actuator
CN117381846A (zh) * 2022-07-05 2024-01-12 苏州艾利特机器人有限公司 一种紧凑型机械臂的动力组件

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4827199A (en) * 1988-03-15 1989-05-02 Graber Industries, Inc. Torque responsive motor-drive assembly
US7101300B2 (en) * 2001-01-23 2006-09-05 Black & Decker Inc. Multispeed power tool transmission
WO2003056209A1 (en) * 2001-12-21 2003-07-10 Aimbridge Pty Ltd An actuator
EP1547568B1 (en) * 2002-08-30 2013-01-02 Honda Giken Kogyo Kabushiki Kaisha Speed reducer for walk assist apparatus
JP3997997B2 (ja) * 2003-05-28 2007-10-24 トヨタ自動車株式会社 電動式駆動装置
JP2005212657A (ja) * 2004-01-30 2005-08-11 Ntn Corp 電動式車輪駆動装置
DE102005034340B4 (de) * 2005-07-22 2013-05-16 PS Automation GmbH Gesellschaft für Antriebstechnik Planetengetriebe und Stellantrieb für Armaturen mit einem Planetengetriebe
JP4989061B2 (ja) * 2005-10-31 2012-08-01 Ｓｋマシナリー株式会社 送り装置
US20090227412A1 (en) * 2008-03-10 2009-09-10 Din-Shan Chang Modular gear train mechanism with an internal motor
IT1394621B1 (it) * 2009-01-23 2012-07-05 Fond Istituto Italiano Di Tecnologia Attuatore lineare e dispositivo di riabilitazione incorporante tale attuatore.
WO2010127701A1 (en) * 2009-05-07 2010-11-11 Abb Research Ltd Pitch and roll robot joint and industrial robot
US8584770B2 (en) * 2010-03-23 2013-11-19 Black & Decker Inc. Spindle bearing arrangement for a power tool
DE102010024604A1 (de) * 2010-06-22 2011-12-22 Schaeffler Technologies Gmbh & Co. Kg Antriebseinheit mit einem elektromotorischen Antrieb für zwei Differenzwellen eines Ausgleichsgetriebes
JP2012223081A (ja) * 2011-04-14 2012-11-12 Jtekt Corp 電動アクチュエータ及び関節装置
US9321172B2 (en) * 2011-05-13 2016-04-26 Hdt Expeditionary Systems, Inc. Modular rotational electric actuator
JP6163298B2 (ja) * 2011-12-08 2017-07-12 株式会社ミツバ 減速装置付電動モータ
US8708854B2 (en) * 2012-01-26 2014-04-29 GM Global Technology Operations LLC Torque transmitting system
JP5598735B2 (ja) * 2012-02-17 2014-10-01 株式会社デンソー 回転式アクチュエータ
CA2877403A1 (en) * 2012-06-19 2013-12-27 Genesis Advanced Technology Inc. Actuator
FR2993333B1 (fr) * 2012-07-11 2014-08-22 Commissariat Energie Atomique Dispositif de transmission de mouvement a reducteur epicycloidal, reducteur epicycloidal et bras de manipulation
US9222555B2 (en) * 2012-08-06 2015-12-29 Cameron International Corporation Linear actuator
US9512912B1 (en) * 2013-06-24 2016-12-06 Redwood Robotics, Inc. Robot actuator utilizing a differential pulley transmission
FR3016015B1 (fr) * 2013-12-30 2017-03-31 Chassis Brakes Int Bv Motoreducteur a train epicycloidal et frein a tambour et dispositif de freinage ainsi equipes
JP6254005B2 (ja) * 2014-02-10 2017-12-27 本田技研工業株式会社 伸縮アクチュエータ
DE102015205101B4 (de) * 2014-06-03 2022-01-13 Magna powertrain gmbh & co kg Getriebe zur bedarfsweisen aufteilung eines antriebsdrehmoments
US9671006B2 (en) * 2014-11-05 2017-06-06 GM Global Technology Operations LLC Vehicle transfer case assembly with one-piece torque-transfer component having sprocket portion and output flange portion
JP6494257B2 (ja) * 2014-11-19 2019-04-03 株式会社東日製作所 アクチュエータ、駆動機器
JP6545005B2 (ja) * 2015-06-08 2019-07-17 株式会社ミツバ リニアアクチュエータ
DE102015215631A1 (de) * 2015-08-17 2017-02-23 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Vorrichtung zum manuellen und/oder elektromotorischen Verstellen oder Feststellen eines ersten Fahrzeugteils und eines zweiten Fahrzeugteils relativ zueinander
DE102015120244A1 (de) * 2015-11-23 2017-05-24 Minebea Co., Ltd. Getriebestufe für eine Getriebeanordnung, Getriebeanordnung und Antriebsvorrichtung mit einem Elektromotor und einer Getriebeanordnung
CA2937988A1 (fr) * 2016-08-05 2018-02-05 2750 - 6666 Q Inc Multiplicateur arel 2
KR20180109532A (ko) * 2017-03-28 2018-10-08 주식회사 만도 액추에이터
JP2018194121A (ja) * 2017-05-19 2018-12-06 トヨタ自動車株式会社 歯車伝動装置
GB201915013D0 (en) * 2019-10-17 2019-12-04 Genesis Robotics And Motion Tech Lp Actuator arrangement

Also Published As

Publication number Publication date
KR20210113341A (ko) 2021-09-15
CN113286959B (zh) 2024-06-14
EP3911876A1 (en) 2021-11-24
WO2020148706A1 (en) 2020-07-23
CN113286959A (zh) 2021-08-20

Similar Documents

Publication Publication Date Title
CA3122857A1 (en) Compact actuator arrangement
US8757029B2 (en) Strain wave gearing and robotic arm
KR101208406B1 (ko) 중공구동모듈
US20220118607A1 (en) Compact actuator arrangement
US20120176007A1 (en) Electric machine device, actuator using the same, motor, robot, and robot hand
KR20050086773A (ko) 표준화 로터리 액튜에이터
EP0710782A1 (en) Planetary gear type speed reducer
JP2015054357A (ja) 関節駆動装置及びロボット
CN115789182A (zh) 旋转减速传递装置
JP2012223081A (ja) 電動アクチュエータ及び関節装置
JP2013099191A (ja) 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。
US8596159B2 (en) Deceleration mechanism
TW202117211A (zh) 波動齒輪裝置
US8820183B2 (en) Deceleration mechanism and transmission device utilized thereby
JP2015074036A (ja) アクチュエータ及びこのアクチュエータを組み込んだロボットの関節構造
JPS63289366A (ja) 運動変換装置
JP7355544B2 (ja) ギヤドモータ
JP7510836B2 (ja) 動力伝達装置およびロボット装置
JP7039097B1 (ja) 波動歯車装置
JP2023109509A (ja) 減速機およびロボット
JP2004299000A (ja) 産業用ロボットの関節駆動装置
KR100798087B1 (ko) 감속기 장착 구동 장치
US20220381330A1 (en) Low profile wave strain gearbox
TW201121739A (en) Robot arm assembly and robot using the same
KR20230141530A (ko) 내부 중공형 스위블 액추에이터