WO2009034817A1 - 中空アクチュエータ - Google Patents

中空アクチュエータ Download PDF

Info

Publication number
WO2009034817A1
WO2009034817A1 PCT/JP2008/064783 JP2008064783W WO2009034817A1 WO 2009034817 A1 WO2009034817 A1 WO 2009034817A1 JP 2008064783 W JP2008064783 W JP 2008064783W WO 2009034817 A1 WO2009034817 A1 WO 2009034817A1
Authority
WO
WIPO (PCT)
Prior art keywords
hollow actuator
hollow
brake
motor
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.)
Ceased
Application number
PCT/JP2008/064783
Other languages
English (en)
French (fr)
Inventor
Ryuuichirou Tominaga
Tomohiro Matsuo
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
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 Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to CN2008801023662A priority Critical patent/CN101779363B/zh
Priority to JP2009532120A priority patent/JP5263162B2/ja
Priority to EP08792554A priority patent/EP2190104A1/en
Publication of WO2009034817A1 publication Critical patent/WO2009034817A1/ja
Priority to US12/686,387 priority patent/US8067869B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
    • H02K7/1021—Magnetically influenced friction brakes
    • H02K7/1023—Magnetically influenced friction brakes using electromagnets
    • H02K7/1025—Magnetically influenced friction brakes using electromagnets using axial electromagnets with generally annular air gap
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/17—Rotary driven device adjustable during operation relative to its supporting structure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20341—Power elements as controlling elements

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Motor Or Generator Frames (AREA)
  • Manipulator (AREA)

Abstract

　本発明は、ロボットの関節部に適用できるように軸長を短くできるとともに、確実にブレーキを作用させることができる中空アクチュエータを提供する。 　モータ部（１）と、減速機部（９）と、ブレーキ部（１１）と、回転位置検出部（１６）とから構成され、回転を伝達するシャフト（１５）が中空形状を形成した中空アクチュエータにおいて、前記モータ部（１）と前記ブレーキ部（１１）が同じ室に配置されたものである。
PCT/JP2008/064783 2007-09-11 2008-08-20 中空アクチュエータ Ceased WO2009034817A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN2008801023662A CN101779363B (zh) 2007-09-11 2008-08-20 中空传动装置
JP2009532120A JP5263162B2 (ja) 2007-09-11 2008-08-20 中空アクチュエータ
EP08792554A EP2190104A1 (en) 2007-09-11 2008-08-20 Hollow actuator
US12/686,387 US8067869B2 (en) 2007-09-11 2010-01-13 Hollow actuator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-235028 2007-09-11
JP2007235028 2007-09-11

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/686,387 Continuation US8067869B2 (en) 2007-09-11 2010-01-13 Hollow actuator

Publications (1)

Publication Number Publication Date
WO2009034817A1 true WO2009034817A1 (ja) 2009-03-19

Family

ID=40451826

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/064783 Ceased WO2009034817A1 (ja) 2007-09-11 2008-08-20 中空アクチュエータ

Country Status (6)

Country Link
US (1) US8067869B2 (ja)
EP (1) EP2190104A1 (ja)
JP (1) JP5263162B2 (ja)
CN (1) CN101779363B (ja)
TW (1) TWI431904B (ja)
WO (1) WO2009034817A1 (ja)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101931286A (zh) * 2009-06-19 2010-12-29 株式会社安川电机 减速器内置中空传动装置
JP2011200027A (ja) * 2010-03-19 2011-10-06 Yaskawa Electric Corp 減速ギア付モータ、およびそれを備えた機械装置
EP2463183A2 (en) 2010-12-10 2012-06-13 Kabushiki Kaisha Yaskawa Denki Workpiece positioning device and production system using it
JP2012193822A (ja) * 2011-03-18 2012-10-11 Denso Wave Inc 生産機器の回転軸機構及び回転軸ユニット
WO2019043938A1 (ja) * 2017-09-04 2019-03-07 学校法人 千葉工業大学 自走式掃除機
US20230003593A1 (en) * 2019-12-13 2023-01-05 Neura Robotics GmbH Device for determining the torque and/or rotational angle between a first shaft and a second shaft

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107303235A (zh) * 2016-04-19 2017-10-31 李书贤 助行器的模块化电动轮组
US11571807B2 (en) 2016-10-05 2023-02-07 Robert Darby Drive unit for robotic manipulators
CN110383648A (zh) * 2017-02-28 2019-10-25 索尼公司 致动器
US11312006B2 (en) 2018-03-30 2022-04-26 Fanuc Corporation Robot drive unit and robot
JP6827437B2 (ja) 2018-03-30 2021-02-10 ファナック株式会社 ロボット用駆動ユニット、ロボットおよびシール構造
KR102127054B1 (ko) * 2018-12-20 2020-06-25 주식회사 두산 전기차용 전자 브레이크 시스템
JP7313790B2 (ja) * 2019-08-02 2023-07-25 株式会社ハーモニック・ドライブ・システムズ ロータリアクチュエータ
FR3109481B1 (fr) * 2020-04-15 2024-10-25 Moving Magnet Tech Motoréducteur compact
WO2021219200A1 (de) * 2020-04-28 2021-11-04 Rethink Robotics Gmbh Antriebseinrichtung für ein robotikgelenk
DE102024112848A1 (de) * 2024-05-07 2025-11-13 Kuka Deutschland Gmbh Roboterarm mit modularen Antriebseinheiten und modulare Antriebseinheit hierfür

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH028536Y2 (ja) * 1983-12-06 1990-02-28
JPH0742215A (ja) 1993-08-03 1995-02-10 Matsushita Electric Ind Co Ltd 排水圧送装置
JPH089589A (ja) * 1994-06-16 1996-01-12 Yaskawa Electric Corp ブレーキ付モータ
JPH0811035Y2 (ja) * 1990-10-01 1996-03-29 株式会社安川電機 サーボアクチュエータ
JP2004328898A (ja) * 2003-04-24 2004-11-18 Yaskawa Electric Corp モータ
JP2006149139A (ja) 2004-11-24 2006-06-08 Yaskawa Electric Corp 中空アクチュエータ

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FR2535257A1 (fr) * 1982-11-03 1984-05-04 Soma Europ Transmissions Moyeu a roue a reducteur integre
US4606695A (en) * 1984-05-18 1986-08-19 Kurt Manufacturing Company, Inc. Multiple axis robot arm
JPH0622425Y2 (ja) 1988-06-30 1994-06-15 東ソー株式会社 撹拌機
JPH0742215Y2 (ja) * 1990-09-27 1995-09-27 株式会社安川電機 サーボアクチュエータ
US5040429A (en) * 1990-12-17 1991-08-20 Del Castillo Richard A Mechanical electric motor synchronizer
US5282719A (en) * 1991-05-13 1994-02-01 Alliedsignal Inc. Quad mode fan pitch actuation system for a gas turbine engine
US5913950A (en) * 1996-01-08 1999-06-22 Kanzaki Kokyukoki Mfg. Co., Ltd. Transmission for a working vehicle
US6346784B1 (en) * 1998-04-20 2002-02-12 Pan-Chien Lin Power transmission apparatus
DE60100404T2 (de) * 2000-01-07 2004-08-12 Nissan Motor Co. Ltd. Stufenloses Getriebe
DE10243535A1 (de) * 2001-09-26 2003-04-24 Luk Lamellen & Kupplungsbau Getriebe
EP1361182B1 (en) * 2002-05-08 2005-12-14 Itoh Denki Co., Ltd. Conveying apparatus
JP3856767B2 (ja) * 2003-05-07 2006-12-13 多摩川精機株式会社 ブレーキ付きモータ
ITMI20032000A1 (it) * 2003-10-16 2005-04-17 Univer Spa Cilindro elettrico
EP1526027A3 (en) * 2003-10-23 2006-02-01 Hitachi, Ltd. Power transmission for a motor vehicle comprising an electric driving motor
ATE391043T1 (de) * 2003-12-11 2008-04-15 Kanzaki Kokyukoki Mfg Co Ltd Hydraulisches achsgetriebe und fahrzeug mit solchem achsgetriebe
JP2005253167A (ja) * 2004-03-03 2005-09-15 Hitachi Ltd 車両駆動装置及びそれを用いた電動４輪駆動車両
KR101054421B1 (ko) * 2004-06-24 2011-08-04 엘지전자 주식회사 세탁기의 모터
EP1759046B1 (en) * 2004-06-24 2016-08-10 LG Electronics Inc. A motor for a washing machine
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JP4667078B2 (ja) * 2005-03-07 2011-04-06 トヨタ自動車株式会社 車輌用駆動装置
US20060266146A1 (en) * 2005-05-31 2006-11-30 Waide William M Direct drive electromechanical linear actuators
JP4775551B2 (ja) * 2005-11-16 2011-09-21 株式会社安川電機 ブレーキ付モータ
JP2007288870A (ja) * 2006-04-13 2007-11-01 Yaskawa Electric Corp 中空アクチュエータ
JP4127298B2 (ja) * 2006-06-14 2008-07-30 トヨタ自動車株式会社 車輪車体間距離調整装置および車輪車体間距離調整システム
JP4258538B2 (ja) * 2006-08-29 2009-04-30 トヨタ自動車株式会社 車両用サスペンションシステム
JP4833028B2 (ja) * 2006-11-01 2011-12-07 株式会社ハーモニック・ドライブ・システムズ 波動歯車減速機を備えたアクチュエータ
JP4375409B2 (ja) * 2007-02-13 2009-12-02 トヨタ自動車株式会社 モータジェネレータの構造

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH028536Y2 (ja) * 1983-12-06 1990-02-28
JPH0811035Y2 (ja) * 1990-10-01 1996-03-29 株式会社安川電機 サーボアクチュエータ
JPH0742215A (ja) 1993-08-03 1995-02-10 Matsushita Electric Ind Co Ltd 排水圧送装置
JPH089589A (ja) * 1994-06-16 1996-01-12 Yaskawa Electric Corp ブレーキ付モータ
JP2004328898A (ja) * 2003-04-24 2004-11-18 Yaskawa Electric Corp モータ
JP2006149139A (ja) 2004-11-24 2006-06-08 Yaskawa Electric Corp 中空アクチュエータ

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8375820B2 (en) 2009-06-19 2013-02-19 Kabushiki Kaisha Yaskawa Denki Hollow actuator with built-in reduction gear
EP2264865A3 (en) * 2009-06-19 2015-09-23 Kabushiki Kaisha Yaskawa Denki Hollow actuator with build-in reduction gear
CN101931286A (zh) * 2009-06-19 2010-12-29 株式会社安川电机 减速器内置中空传动装置
JP2011200027A (ja) * 2010-03-19 2011-10-06 Yaskawa Electric Corp 減速ギア付モータ、およびそれを備えた機械装置
US8991037B2 (en) * 2010-12-10 2015-03-31 Kabushiki Kaisha Yaskawa Denki Workpiece positioning device and production system using it
US20120148377A1 (en) * 2010-12-10 2012-06-14 Kabushiki Kaisha Yaskawa Denki Workpiece positioning device and production system using it
EP2463183A2 (en) 2010-12-10 2012-06-13 Kabushiki Kaisha Yaskawa Denki Workpiece positioning device and production system using it
JP2012193822A (ja) * 2011-03-18 2012-10-11 Denso Wave Inc 生産機器の回転軸機構及び回転軸ユニット
WO2019043938A1 (ja) * 2017-09-04 2019-03-07 学校法人 千葉工業大学 自走式掃除機
JPWO2019043938A1 (ja) * 2017-09-04 2020-04-09 学校法人千葉工業大学 自走式掃除機
US20230003593A1 (en) * 2019-12-13 2023-01-05 Neura Robotics GmbH Device for determining the torque and/or rotational angle between a first shaft and a second shaft
JP2023505330A (ja) * 2019-12-13 2023-02-08 ニューラ ロボティクス ゲーエムベーハー 第１シャフトと第２シャフトとの間のトルクおよび／または回転角を判定する装置
JP7588144B2 (ja) 2019-12-13 2024-11-21 ニューラ ロボティクス ゲーエムベーハー 第１シャフトと第２シャフトとの間のトルクおよび／または回転角を判定する装置
US12235176B2 (en) 2019-12-13 2025-02-25 Neura Robotics GmbH Device for determining the torque and/or rotational angle between a first shaft and a second shaft
TWI891691B (zh) * 2019-12-13 2025-08-01 德商諾拉機器人學有限公司 用於判定在第一軸與第二軸之間扭矩及/ 或旋轉角的裝置

Also Published As

Publication number Publication date
US20100107814A1 (en) 2010-05-06
EP2190104A1 (en) 2010-05-26
CN101779363A (zh) 2010-07-14
CN101779363B (zh) 2013-11-20
TWI431904B (zh) 2014-03-21
JP5263162B2 (ja) 2013-08-14
TW200931774A (en) 2009-07-16
JPWO2009034817A1 (ja) 2010-12-24
US8067869B2 (en) 2011-11-29

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