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US 10,122,239 B2Granted
Rotary actuator
AssigneeHarmonic Drive Systems Inc.
InventorSyuhei Kobayashi
Life of this patent
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Abstract
The rotary actuator has an outer rotor type motor assembled coaxially in a device hollow part of a strain wave gearing. One end of the device hollow part is closed by an end cover fixed to an output shaft of the strain wave gearing. A detection part is arranged between the motor and the end cover inside the device hollow part. A rotational position of a rotation detection plate mounted on an inside end surface of the end cover is detected by the detection part, to detect the rotational position of the output shaft. A rotary actuator that is small and compact can be realized.
Claims12
A rotary actuator comprising:
- an outer-rotor-type motor;
- a strain wave gearing which reduces a speed of input rotation inputted from the motor and outputs a reduced-speed rotation;
- a device hollow part extending to pass through a wave generator and an output shaft of the strain wave gearing along a direction of a center axis line of the wave generator and the output shaft;
- an end cover which is fixed to the output shaft so as to rotate integrally therewith, and closes an output-side opening of the device hollow part, the outputs-side opening being exposed on an end face of the output shaft;
- and
- a detection part for detecting rotation of the output shaft,
- wherein the motor has a stator and a rotor assembled in a wave generator-side hollow part of the device hollow part, the wave generator-side hollow part extending to pass through the wave generator;
- and
- the detection part is arranged between the end cover and the motor in the device hollow part.
6 more elements
Dependencies are inferred from the claim text.