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US 2017/0001304 A1Published application
Actuator
AssigneeDenso Wave Incorporated
InventorYusuke KATO
Life of this patent
Estimating the term…
Abstract
A plurality of intermediate shafts, which are placed between an input shaft and an output shaft, respectively includes a large diameter gear and a small diameter gear. The large diameter gear of each intermediate shaft is meshed with a corresponding one of an input gear of the input shaft or the small diameter gear of another one of the intermediate shafts located on the input shaft side. The small diameter gear of each intermediate shaft is meshed with a corresponding one of an output shaft of the output shaft or the large diameter gear of another one of the intermediate shafts located on the output shaft side.
Claims6
An actuator to be used at a joint of a robot, comprising:
- an electric motor;
- an input shaft member that is rotated about an axis of the input shaft member by rotation of the electric motor;
- an input gear that is fixed to and is rotated integrally with the input shaft member;
- an output shaft member that is rotated about an axis of the output shaft member and has a through-hole, which is formed to extend in an axial direction of the output shaft member and receives an electric line used to control the robot;
- an output gear that is fixed to and is rotated integrally with the output shaft member;
- at least two intermediate shaft members, each of which is rotated about an axis of the intermediate shaft member;
- at least two large diameter gears, each of which is fixed to and is rotated integrally with a corresponding one of the at least two intermediate shaft members;
- at least two small diameter gears, each of which is fixed to and is rotated integrally with the corresponding one of the at least two intermediate shaft members, wherein a diameter of each of the at least two small diameter gears is smaller than a diameter of the large diameter gear, which is fixed to the corresponding one of the at least two intermediate shaft members;
- and
- two angle sensing devices, which respectively sense rotational angles of two sensing-subject shaft members among the input shaft member and the at least two intermediate shaft members, wherein:
- the large diameter gear of each of the at least two intermediate shaft members is meshed with a corresponding one of:
- the input gear;
- and
- the small diameter gear that is fixed to another one of the at least two intermediate shaft members, which is located on a side where the input shaft member is placed;
- and
- the small diameter gear of each of the at least two intermediate shaft members is meshed with a corresponding one of:
- the output gear;
- and
- the large diameter gear that is fixed to another one of the at least two intermediate shaft members, which is located on a side where the output shaft member is placed.
16 more elements
An actuator to be used at a joint of a robot, comprising:
- an electric motor;
- an input shaft member that is rotated about an axis of the input shaft member by rotation of the electric motor;
- an input gear that is fixed to and is rotated integrally with the input shaft member;
- an output shaft member that is rotated about an axis of the output shaft member and has a through-hole, which is formed to extend in an axial direction of the output shaft member and receives an electric line used to control the robot;
- an output gear that is fixed to and is rotated integrally with the output shaft member;
- an intermediate shaft member that is rotated about an axis of the intermediate shaft member;
- a large diameter gear that is fixed to and is rotated integrally with the intermediate shaft member;
- a small diameter gear that is fixed to and is rotated integrally with the intermediate shaft member, wherein a diameter of the small diameter gear is smaller than a diameter of the large diameter gear, which is fixed to the intermediate shaft member;
- and
- two angle sensing devices, which respectively sense a rotational angle of the input shaft member and a rotational angle of the intermediate shaft member, wherein:
- the large diameter gear, which is fixed to the intermediate shaft member, is meshed with the input gear;
- and
- the small diameter gear, which is fixed to the intermediate shaft member, is meshed with the output gear.
10 more elements
Dependencies are inferred from the claim text.