IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0760228
(2010-04-14)
|
등록번호 |
US-8516913
(2013-08-27)
|
발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
5 인용 특허 :
29 |
초록
▼
This invention relates to an actuator and has particular reference to linear and rotary actuators, particularly those for use in the control of robotic arms. The invention provides a relatively low cost means of achieving substantially backlashfree rotary and/or linear motion. There is provided an a
This invention relates to an actuator and has particular reference to linear and rotary actuators, particularly those for use in the control of robotic arms. The invention provides a relatively low cost means of achieving substantially backlashfree rotary and/or linear motion. There is provided an actuator (10) comprising: a first drive pulley (28); a second drive pulley (29), the first drive pulley and the second drive pulley being interconnected to rotate together; a first driven pulley (52; 70); a second driven pulley (53; 72); an endless drive belt (40) engaging the first and second drive pulleys and the first and second driven pulleys; a motor (19) connected to drive the first and second drive pulleys to rotate and drive the endless drive belt; a driven member (50; 88; 71, 73) carrying at least one of the driven pulleys; the first and second drive pulleys being arranged so that upon rotation thereof the circumferential speed of the first drive pulley is different from the circumferential speed of the second drive pulley, the endless drive belt being looped around the drive pulleys and the driven pulleys so that the difference between the circumferential speed of the first drive pulley and the circumferential speed of the second drive pulley causes movement of the driven member.
대표청구항
▼
1. An actuator (10) comprising: a first drive pulley (28);a second drive pulley (29), the first drive pulley and the second drive pulley being interconnected to rotate together;a first driven pulley (52; 70);a second driven pulley (53; 72);a first guide pulley (48);a second guide pulley (49);an endl
1. An actuator (10) comprising: a first drive pulley (28);a second drive pulley (29), the first drive pulley and the second drive pulley being interconnected to rotate together;a first driven pulley (52; 70);a second driven pulley (53; 72);a first guide pulley (48);a second guide pulley (49);an endless drive belt (40) engaging the first and second drive pulleys, the first and second driven pulleys and the first and second guide pulleys;a motor (19) connected to drive the first and second drive pulleys to rotate and drive the endless drive belt;a driven member (50; 88; 71, 73) carrying at least one of the driven pulleys; the first and second drive pulleys being arranged so that upon rotation thereof the circumferential speed of the first drive pulley is different from the circumferential speed of the second drive pulley, the endless drive belt being looped around the drive pulleys, the driven pulleys and the guide pulleys so that the difference between the circumferential speed of the first drive pulley and the circumferential speed of the second drive pulley causes movement of the driven member;wherein each of the drive pulleys, driven pulleys and guide pulleys having a respective axis of rotation, two of the pulleys being angled pulleys, the axis of rotation of the angled pulleys being angled relative to the axis of rotation of the other pulleys whereby the drive belt undergoes twisting movement on the path between the angled pulley and an adjacent pulley. 2. An actuator according to claim 1, wherein the first and second drive pulleys are arranged so that upon rotation thereof the circumferential speeds differ because of the first drive pulley having a different circumferential length than the second drive pulley. 3. An actuator according to claim 1, wherein the driven member is a carriage (50; 88) mounted for linear movement. 4. An actuator according to claim 3, wherein the first driven pulley and the second driven pulley are both mounted upon the carriage (50; 88). 5. An actuator according to claim 4, wherein the driven pulleys (52, 53) are located between the drive pulleys (28, 29) and the guide pulleys (48, 49). 6. An actuator according to claim 5 having a third driven pulley (84) and a fourth driven pulley (85), the drive pulleys (28, 29) and all four of the driven pulleys (52, 53, 84, 85) being mounted upon the driven member (88), wherein the endless drive belt passes from the first drive pulley (28) to the first driven pulley (52), from the first driven pulley to the first guide pulley (48), from the first guide pulley to the third driven pulley (84), from the third driven pulley to the second drive pulley (29), from the second drive pulley to the fourth driven pulley (85), from the fourth driven pulley to the second guide pulley (49), from the second guide pulley to the second driven pulley (53), and from the second driven pulley back to the first drive pulley, the endless drive belt defining a first loop between the first guide pulley and the first and third driven pulleys, and a second loop between the second guide pulley and the second and fourth driven pulleys, rotation of the drive pulleys in a first direction causing an increase in the length of the first loop and a corresponding decrease in the length of the second loop. 7. An actuator according to claim 1, wherein a control line (55; 55a, 55b) is connected to the driven member, movement of the driven member causing corresponding movement of the control line. 8. An actuator according to claim 1, wherein the guide pulleys are the angled pulleys, whereby the drive belt undergoes twisting movement on the path between the guide pulleys and the driven pulleys, but undergoes substantially no lateral movement.
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