JP6872267B2 - 半中空型アクチュエータモジュール - Google Patents
半中空型アクチュエータモジュール Download PDFInfo
- Publication number
- JP6872267B2 JP6872267B2 JP2019536185A JP2019536185A JP6872267B2 JP 6872267 B2 JP6872267 B2 JP 6872267B2 JP 2019536185 A JP2019536185 A JP 2019536185A JP 2019536185 A JP2019536185 A JP 2019536185A JP 6872267 B2 JP6872267 B2 JP 6872267B2
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- JP
- Japan
- Prior art keywords
- housing
- semi
- hollow
- actuator module
- idler
- 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.)
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- 230000008878 coupling Effects 0.000 claims description 35
- 238000010168 coupling process Methods 0.000 claims description 35
- 238000005859 coupling reaction Methods 0.000 claims description 35
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 230000002265 prevention Effects 0.000 claims description 3
- 230000000994 depressogenic effect Effects 0.000 claims description 2
- 230000035515 penetration Effects 0.000 claims 2
- 230000000149 penetrating effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- 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
- 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
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/02—Details
- H02G3/08—Distribution boxes; Connection or junction boxes
- H02G3/081—Bases, casings or covers
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/02—Details
- H02G3/08—Distribution boxes; Connection or junction boxes
- H02G3/18—Distribution boxes; Connection or junction boxes providing line outlets
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Motor Or Generator Frames (AREA)
Description
Claims (10)
- モータ、減速機及び制御回路が内蔵される半中空型アクチュエータモジュールであって、
前記モータに連結される駆動側(active)シャフトが貫通結合される第1のハウジングと、
前記第1のハウジングに結合され、前記駆動側シャフトに対応する位置にアイドラ部が結合される第2のハウジングとを含み、
前記アイドラ部は、
内部に中空部が形成される円板状の被動側(passive)アイドラと、
中心部に向かって陥没して形成される貫通溝を外周面に有し、前記被動側アイドラを前記第2のハウジングに回転可能に固定する結合部材とを含み、
前記中空部と、前記貫通溝とを介して、前記第2のハウジング内にケーブルが通され、
前記第2のハウジングは、中心部に向かって陥没した形状の移動溝が前記貫通溝に対応する位置に形成され、
前記ケーブルは、前記移動溝を介して前記第2のハウジング内に通される
ことを特徴とする半中空型アクチュエータモジュール。 - 前記結合部材は、前記被動側アイドラの中空部に挿入され、前記第2のハウジングに結合される
請求項1に記載の半中空型アクチュエータモジュール。 - 前記被動側アイドラは、
結合孔が備えられ、内部に中空部が形成される円板と、
前記円板の内周面から垂直に延びて形成される係止突起とを含み、
前記結合部材は、
長手方向に中空部が形成されて前記第2のハウジングに結合され、前記貫通溝が形成される円筒と、
前記貫通溝が形成される領域を除く前記円筒の一端から垂直に延びる離脱防止段差とを含む
請求項2に記載の半中空型アクチュエータモジュール。 - 前記第1のハウジングの側面に、ケーブルの端部のコネクタに接続可能な端子部が形成される
請求項1に記載の半中空型アクチュエータモジュール。 - 前記第2のハウジングの側面に貫通部が形成され、前記貫通部を介して、前記端子部に接続されるケーブルが前記第2のハウジング内に通される
請求項4に記載の半中空型アクチュエータモジュール。 - 前記端子部は、前記第1のハウジングの両側面にそれぞれ備えられる
請求項4に記載の半中空型アクチュエータモジュール。 - 前記第2のハウジングは、
前記結合部材が結合される上段部と、
前記上段部と同じ高さに備えられる下段部と、
前記上段部と前記下段部との間に備えられ、前記第1のハウジングに向かって凹んだ形状の上下段連結部とを含む
請求項4に記載の半中空型アクチュエータモジュール。 - 前記上段部は、前記アイドラ部が装着される位置に装着溝が前記第1のハウジングに向かって凹んだ形状に形成される
請求項7に記載の半中空型アクチュエータモジュール。 - 前記上下段連結部に結合され、前記端子部に接続されるケーブルの端部のコネクタの脱落を防止する側面突出部を有するカバー部をさらに含む
請求項7に記載の半中空型アクチュエータモジュール。 - 前記駆動側シャフトと前記被動側アイドラは、同軸上に備えられる
請求項1に記載の半中空型アクチュエータモジュール。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020170008602A KR101867277B1 (ko) | 2017-01-18 | 2017-01-18 | 반중공형 액추에이터 모듈 |
KR10-2017-0008602 | 2017-01-18 | ||
PCT/KR2017/003024 WO2018135698A1 (ko) | 2017-01-18 | 2017-03-21 | 반중공형 액추에이터 모듈 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020504680A JP2020504680A (ja) | 2020-02-13 |
JP6872267B2 true JP6872267B2 (ja) | 2021-05-19 |
Family
ID=62628736
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019536185A Active JP6872267B2 (ja) | 2017-01-18 | 2017-03-21 | 半中空型アクチュエータモジュール |
Country Status (5)
Country | Link |
---|---|
US (1) | US10792805B2 (ja) |
JP (1) | JP6872267B2 (ja) |
KR (1) | KR101867277B1 (ja) |
CN (1) | CN110114192B (ja) |
WO (1) | WO2018135698A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110682324A (zh) * | 2019-09-18 | 2020-01-14 | 广东工业大学 | 一种可全角度旋转的柔性机械臂关节 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62208888A (ja) * | 1986-03-11 | 1987-09-14 | フアナツク株式会社 | 産業用ロボツトのケ−ブル処理装置 |
US5313129A (en) * | 1993-08-05 | 1994-05-17 | Ametek Technical Motor Division | Sleeve bearing ground lead for motors |
US5625244A (en) * | 1995-09-25 | 1997-04-29 | General Motors Corporation | Fan and slip ring assembly |
US5704100A (en) * | 1996-03-01 | 1998-01-06 | Federal-Hoffman, Inc. | Retaining clip system |
KR100749540B1 (ko) * | 2007-01-12 | 2007-08-14 | (주)로보티즈 | 액추에이터 모듈 |
US8251158B2 (en) * | 2008-11-08 | 2012-08-28 | Black & Decker Inc. | Multi-speed power tool transmission with alternative ring gear configuration |
KR101115067B1 (ko) * | 2009-05-14 | 2012-02-28 | 이규원 | 아이들 플랜지의 탈착이 용이한 서보 액추에이터 모듈 |
KR101124830B1 (ko) * | 2009-05-14 | 2012-03-26 | 이규원 | 다축 연결형 액추에이터 모듈 |
WO2011125579A1 (ja) * | 2010-03-31 | 2011-10-13 | 株式会社ニコン | モータ装置、モータ装置の製造方法及びロボット装置 |
JP2011218488A (ja) * | 2010-04-09 | 2011-11-04 | Toyota Motor Corp | 関節構造 |
KR101200461B1 (ko) * | 2010-06-04 | 2012-11-12 | (주)로보티즈 | 2자유도를 갖는 액츄에이터 모듈 및 이를 이용한 로봇 관절 구조 |
KR101225139B1 (ko) * | 2010-06-29 | 2013-01-22 | 삼성중공업 주식회사 | 도킹구조 |
CN103140387B (zh) * | 2010-09-09 | 2016-04-06 | 本田技研工业株式会社 | 具有安全气囊模块的方向盘构造 |
JP5866160B2 (ja) * | 2011-03-04 | 2016-02-17 | 株式会社ジェイテクト | トルクリミッタ及び伝達比可変装置 |
JP5654950B2 (ja) * | 2011-06-07 | 2015-01-14 | 日立オートモティブシステムズ株式会社 | 内燃機関のバルブタイミング制御装置 |
EP2557031B1 (en) * | 2011-08-09 | 2014-10-22 | LG Innotek Co., Ltd. | Transmission and traction motor module using the same |
KR101352388B1 (ko) * | 2011-10-26 | 2014-01-16 | (주)로보티즈 | 분리형 엑츄에이터 |
KR101384095B1 (ko) * | 2012-09-19 | 2014-04-10 | (주)동부로봇 | 서보모듈용 와이어 하네스 보호장치 |
KR20130018402A (ko) | 2012-12-26 | 2013-02-21 | (주)로보티즈 | 만능결합구조를 가진 액츄에이터 모듈 |
US9168948B2 (en) * | 2013-06-04 | 2015-10-27 | Jtekt Corporation | Steering system |
KR101701236B1 (ko) * | 2015-07-03 | 2017-02-02 | (주)로보티즈 | 액추에이터 모듈 |
KR101796917B1 (ko) * | 2015-07-03 | 2017-11-13 | (주)로보티즈 | 액추에이터 모듈의 아이들러 혼 착탈 장치 |
-
2017
- 2017-01-18 KR KR1020170008602A patent/KR101867277B1/ko active IP Right Grant
- 2017-03-21 CN CN201780080115.8A patent/CN110114192B/zh active Active
- 2017-03-21 US US16/472,241 patent/US10792805B2/en active Active
- 2017-03-21 JP JP2019536185A patent/JP6872267B2/ja active Active
- 2017-03-21 WO PCT/KR2017/003024 patent/WO2018135698A1/ko active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2018135698A1 (ko) | 2018-07-26 |
JP2020504680A (ja) | 2020-02-13 |
US20190321966A1 (en) | 2019-10-24 |
CN110114192A (zh) | 2019-08-09 |
US10792805B2 (en) | 2020-10-06 |
CN110114192B (zh) | 2022-09-06 |
KR101867277B1 (ko) | 2018-06-15 |
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