ACTUATOR UNIT, ROBOT INCLUDING THE SAME, AND REDUCING APPARATUS
First Claim
Patent Images
1. An actuator unit, comprising:
- a driving unit that includes;
a motor that generates a rotational force for rotating an object,a decelerator that is connected to the motor and that reduces a rotation speed according to a deceleration ratio, andan encoder that detects rotation information of the motor, wherein the decelerator, the motor, and the encoder are vertically coupled through an input hollow shaft;
a sensor unit that includes;
a sensor frame on which a sensor is mounted,a sensor board that amplifies a signal from the sensor, anda sensor coupling unit that blocks disturbance and noise from the driving unit, the sensor coupling unit being disposed over the driving unit;
a control unit that includes;
a motor controller that controls the motor based on the rotation information of the motor from the encoder,a power converter that converts a current signal from the motor controller into a pulse signal and applies the pulse signal to the motor, anda power supply unit that converts external main power into power suitable for individual elements and that supplies the suitable power, the power supply unit being coupled to the input hollow shaft and under the driving unit; and
a frame unit that includes;
a motor frame that supports the motor,an encoder frame that supports the encoder, anda connection frame that connects the driving unit to the sensor unit.
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Abstract
An actuator unit, a robot including the same, and a reducing apparatus, the actuator unit including a driving unit; a sensor unit; a control unit; and a frame unit.
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Citations
26 Claims
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1. An actuator unit, comprising:
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a driving unit that includes; a motor that generates a rotational force for rotating an object, a decelerator that is connected to the motor and that reduces a rotation speed according to a deceleration ratio, and an encoder that detects rotation information of the motor, wherein the decelerator, the motor, and the encoder are vertically coupled through an input hollow shaft; a sensor unit that includes; a sensor frame on which a sensor is mounted, a sensor board that amplifies a signal from the sensor, and a sensor coupling unit that blocks disturbance and noise from the driving unit, the sensor coupling unit being disposed over the driving unit; a control unit that includes; a motor controller that controls the motor based on the rotation information of the motor from the encoder, a power converter that converts a current signal from the motor controller into a pulse signal and applies the pulse signal to the motor, and a power supply unit that converts external main power into power suitable for individual elements and that supplies the suitable power, the power supply unit being coupled to the input hollow shaft and under the driving unit; and a frame unit that includes; a motor frame that supports the motor, an encoder frame that supports the encoder, and a connection frame that connects the driving unit to the sensor unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An actuator unit, comprising:
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a driving unit that includes; a motor that generates a rotational force for rotating an object, a decelerator that is connected to the motor and that reduces a rotation speed according to a deceleration speed, and an encoder that detects rotation information of the motor, wherein the decelerator, the motor, and the encoder are vertically coupled through an input hollow shaft; a sensor unit that includes; a sensor frame on which a sensor is mounted, a sensor board that amplifies a signal from the sensor, and a sensor coupling unit that blocks disturbance and noise from the driving unit, and is on the driving unit; and a frame unit that includes; a motor frame that supports the motor, an encoder frame that supports the encoder, and a connection frame that connects the driving unit to the sensor unit. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A robot, comprising:
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a base, the base including a high-level controller that generates a control command through computation according to an external task command; a vertical shaft that is inserted into the base and that is vertically moveable; an articulated arm that is coupled to the vertical shaft, the articulated arm including at least two joints and at least one horizontal arm that is connected through the at least two joints; a hand that is coupled to an end joint of the articulated arm, a moving object being holdable in the hand; an actuator unit in each of the at least two joints, the actuator unit rotating the at least one horizontal arm or the hand and including thereinside a control unit that controls rotation; and a communication power cable, the communication power cable including; a communication cable that transmits the control command from the high-level controller, and a power cable that supplies power. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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24. A reducing apparatus, comprising:
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a decelerator that is coupled to a motor, the motor generating a rotational force for rotating an object, and the decelerator reducing a rotation speed according to a deceleration ratio; and a sensor unit that includes; a sensor coupling unit that is coupled to the decelerator, the sensor coupling unit detecting rotational torque of the decelerator and blocking disturbance and noise, a sensor frame that is coupled to the sensor coupling unit and allows a sensor for detecting the rotational torque to be mounted thereon, and a sensor board on the sensor frame, the sensor board amplifying a signal from the sensor. - View Dependent Claims (25, 26)
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Specification