SEMI-HOLLOW ACTUATOR MODULE

• US 20190321966A1
• Filed: 03/21/2017
• Published: 10/24/2019
• Est. Priority Date: 01/18/2017
• Status: Active Grant

• Current Assignee: Robotis Co., Ltd.
• Original Assignee: Robotis Co., Ltd.
• Inventors: KIM, Byoung Soo, EUM, Yong Jin
• Granted Patent: US 10,792,805 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/126 Rotary actuators
• CPC Class Codes: H02G 3/081 Bases, casings or covers
• CPC Class Codes: H02G 3/18 providing line outlets

Abstract

The present invention relates to a semi-hollow actuator module and, more particularly, to a semi-hollow actuator module that has solved the problem that wires (cables) are entangled when an actuator module including a motor and a reducer therein is combined with another actuator module or a module connection member, etc. by improving a connection structure of the wires.

Claims

1. A semi-hollow actuator module including a motor, a reducer, and a control circuit, the semi-hollow actuator module comprising:

a first housing, being coupled to an active shaft configured to be inserted into the first housing, wherein the active shaft is connected to the motor; and

a second housing, being coupled to the first housing, being coupled to an idler assembly, wherein the idler assembly and the active shaft are configured to be located coaxially;

wherein the idler assembly includes;

a passive idler, being disc-shaped and having a hole; and

a coupling member, having a through-groove on an outer circumferential surface of the coupling member and rotatably coupling the idler to the second housing, wherein the through-groove is recessed toward a center of the coupling member, and

wherein a cable is configured to be connected to an inside of the second housing through the hole and the through-groove.

2. The semi-hollow actuator module of claim 1, wherein the coupling member is inserted in the hole of the idler and combined with the second housing.

3. The semi-hollow actuator module of claim 1, wherein the second housing has a moving groove being recessed inward at a position corresponding to the through-groove, and

wherein the cable is configured to be connected to the inside of the second housing through the moving groove.

4. The semi-hollow actuator module of claim 2, wherein the idler has:

a disc having a coupling hole and having a hole in the disc; and

a locking protrusion being vertically extended at an inner circumferential surface of the disc, and

wherein the coupling member has;

a cylindrical body having a longitudinally formed hole, being coupled to the second housing, and having the through-groove; and

an anti-separation step being vertically extended from an end of the cylindrical body except for the area where the through-groove is formed.

5. The semi-hollow actuator module of claim 1, wherein a terminal that can be connected with a connector at an end of the cable is formed at a side surface of the first housing.

6. The semi-hollow actuator module of claim 5, wherein a through-portion is formed at a side surface of the second housing, and

wherein the cable being connected to the terminal can be connected to the inside of the second housing through the through-portion.

7. The semi-hollow actuator module of claim 5, wherein the terminal is disposed on each of both sides of the first housing.

8. The semi-hollow actuator module of claim 5, wherein the second housing has:

an upper end portion to which the coupling member is coupled;

a lower end portion being formed with the same height as the upper end portion; and

an upper-lower end connecting portion being disposed between the upper end portion and the lower end portion and recessed inward.

9. The semi-hollow actuator module of claim 8, wherein the upper end portion has a seat being recessed inward at a position where the idler assembly is seated.

10. The semi-hollow actuator module of claim 8, further comprising a cover being coupled to the upper-lower end connecting portion and having side protrusions preventing separation of the connector at the end of the cable connected to the terminal.

11. The semi-hollow actuator module of claim 1, wherein the shaft and the idler are coaxially disposed.