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Rotary actuator

A technology of rotary actuator and wave generator, applied in the direction of transmission, electric components, control of mechanical energy, etc., can solve problems such as size increase, and achieve the effect of suppressing size increase and improving support rigidity

Active Publication Date: 2017-04-19
HARMONIC DRIVE SYST IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As described in Patent Document 1, the rotary actuator with this structure has a wave gear device, a motor, and an encoder (brake mechanism) arranged in the axial direction, so the dimension in the axial direction is increased.

Method used

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  • Rotary actuator
  • Rotary actuator
  • Rotary actuator

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other Embodiment approach

[0061] The above-mentioned rotary actuators 1 and 1A use a flat type wave gear device 3 . It is also possible to use a top hat type wave gear device instead of the flat type wave gear device 3 .

[0062] In this case, in the above-mentioned rotary actuators 1 and 1A, a top-hat-shaped flexible external gear is arranged instead of the cylindrical flexible external gear and the second rigid internal gear. In addition, it is only necessary to sandwich the annular convex portion of the flexible external tooth gear between the outer ring 23 a of the main bearing and the cylindrical case 28 and fasten these three members.

[0063] According to the difference in the number of teeth between the flexible external gear and the rigid internal gear, the rotation of the motor 2 is decelerated, and the decelerated rotation is taken out by means of the rigid internal gear 21 and the output shaft 6 .

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Abstract

The rotary actuator (1) according to the present invention has an outer rotor type motor (2) installed coaxially inside an apparatus cavity part (4) of a wave gear apparatus (3). One end of the apparatus cavity part (4) is sealed by an end cover (12) affixed to an output shaft (6) of the wave gear apparatus (3). A detection part (15) is provided between the motor (2) and the end cover (12) inside the apparatus cavity part (4). A rotational position of a rotation detection plate (15a) mounted on an inside end surface (12a) of the end cover (12) is detected by the detection part (15), to detect the rotational position of the output shaft (4). The invention thereby provides a rotary actuator that is small and compact.

Description

technical field [0001] The present invention relates to a rotary actuator in which an outer rotor type motor is attached to a hollow portion of a hollow type wave gear device. Background technique [0002] A rotary actuator that decelerates an input rotation from a motor and outputs it by a wave gear device is known. As described in Patent Document 1, the rotary actuator of this configuration has a wave gear unit, a motor, and an encoder (braking mechanism) arranged in the axial direction, and therefore, the dimension in the axial direction is increased. [0003] Patent Document 2 describes a rotary actuator in which a motor is mounted in a hollow portion of a wave gear device. In this rotary actuator, the rotor of the outer rotor type motor is composed of a rigid plug of a wave generator of a wave gear device and a rotor magnet attached to an inner peripheral surface of the rigid plug. As a result, a flat rotary actuator having a small dimension in the axial direction is ...

Claims

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Application Information

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IPC IPC(8): H02K7/116
CPCF16H49/001H02K7/116H02K11/21H02K7/102H02K1/2791H02K7/083H02K1/2786H02K21/22H02K2211/03
Inventor 小林修平
Owner HARMONIC DRIVE SYST IND CO LTD
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