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KR-20260064543-A - DRIVING APPARATUS AND WORKING MACHINE

KR20260064543AKR 20260064543 AKR20260064543 AKR 20260064543AKR-20260064543-A

Abstract

(Project) Provides a technology that can simplify the structure and detect torque acting on an elastic body with high precision. (Solution) The driving device comprises a driving source that generates rotational driving force and an elastic body that connects the driving source and the load. The elastic body is configured to include a torsion bar.

Inventors

  • 사이키 미유키
  • 우에바야시 유이치
  • 히라마츠 도시후미

Assignees

  • 얀마 홀딩스 주식회사

Dates

Publication Date
20260507
Application Date
20251022
Priority Date
20241030

Claims (16)

  1. A driving source that generates rotational driving force, and The above-mentioned drive source and load are connected by an elastic body, and The above elastic body is a driving device comprising a torsion bar.
  2. In Article 1, The above torsion bar is a driving device that constitutes an output shaft for driving the load.
  3. In Article 1, The above torsion bar is a driving device having flange portions on one side and the other side.
  4. In Paragraph 3, A driving device in which the flange portion on the other side is formed to be rotatable with respect to the flange portion on one side.
  5. In Article 4, The above driving source is connected to the other side in the axial direction of the torsion bar, and The above load is a driving device connected to one side of the axial direction in the torsion bar.
  6. In Article 1, A driving device having a detection unit that detects displacement of the torsion bar.
  7. In Article 6, The above torsion bar has a penetration portion that penetrates in the axial direction of the torsion bar, and The above detection part is a driving device formed in the above penetration part.
  8. In Article 7, The above detection unit is, A detection shaft extending in the above axial direction, and A detector that detects displacement of the above detection axis, The above detector is fixed to one side of the axial direction in the torsion bar, and The above detection shaft is a driving device connected to the other side of the axial direction in the above torsion bar.
  9. In Article 8, The above detector is fixed to one end of the axial side of the torsion bar, and The above detection shaft is a driving device connected to the other end of the other side of the axial direction in the above torsion bar.
  10. In Article 8, The above driving source is connected to the other side in the axial direction of the torsion bar, and The above load is a driving device connected to one side of the axial direction in the torsion bar.
  11. In Article 8, The above detector is a driving device composed of an encoder.
  12. In Article 8, A transmission is provided that changes the rotational driving force of the above-mentioned driving source and outputs it to the above-mentioned torsion bar, and The above transmission is a driving device positioned on at least one of the axial side and the other axial side with respect to the torsion bar.
  13. In Article 12, The above transmission is a driving device positioned opposite to the detector with respect to the torsion bar in the above axial direction.
  14. In Article 1, The above driving source is a driving device comprising an electric motor driven by electric power.
  15. A driving device described in any one of claims 1 to 14, and A working machine having the load driven by the above driving device.
  16. A driving source that generates rotational driving force, and The above-mentioned drive source and load are connected by an elastic body, and The above elastic body is a driving device that constitutes an output shaft for driving the load.

Description

Driving apparatus and working machine The present invention relates to a driving device and a working machine. A series elastic actuator equipped with a motor is known as prior art (see, for example, Patent Document 1). FIG. 1 is a side view showing the schematic configuration of an electric shovel, which is an example of a work machine related to one embodiment of the present invention. FIG. 2 is a perspective view from the left rear showing the schematic configuration of a driving device formed on the electric shovel. FIG. 3 is a perspective view from the front right showing the schematic configuration of the driving device. FIG. 4 is a horizontal cross-sectional view showing the configuration of the driving device. FIG. 5 is a perspective view from the left rear showing a schematic configuration of a modified example of the driving device. FIG. 6 is a horizontal cross-sectional view showing the configuration of a modified example of the driving device. The embodiments of the present invention are described below based on the drawings. [1. Schematic Configuration of the Working Machine] FIG. 1 is a side view showing the schematic configuration of an electric shovel (1), which is an example of a work machine related to one embodiment of the present invention. The electric shovel (1) comprises a body (2) and a work part (3). The body (2) is configured to be drivable. However, the body (2) may be configured not to be drivable. That is, for example, the body (2) may be fixed to the ground. Here, directions in this specification are defined as follows. The direction in which the body (2) moves straight is the front-rear direction, and one side of this is designated as "front" and the other side as "rear". In this specification, the side where the working part (3) is located relative to the body (2) is designated as "front". Also, the transverse direction perpendicular to the front-rear direction is designated as the left-right direction, and one side of this is designated as "left" and the other side as "right". In this specification, the side that becomes left when moving from the rear toward the front is designated as "left" and the side that becomes right is designated as "right". Additionally, the direction of gravity perpendicular to the front-rear direction and the left-right direction is designated as the up-down direction, and the upstream side of the direction of gravity is designated as "up" and the downstream side as "down". In the drawings, the front is indicated by the symbol "F", the rear by "B", the left by "L", the right by "R", the up by "U", and the down by "D" as needed. Furthermore, these directions are names used for simplicity and are not intended to limit actual positional relationships or directions. The body (2) has a battery unit (21). The battery unit (21) is composed of, for example, a lithium-ion battery and stores power supplied to each driving device (100) described later. Also, the body (2) rotatably supports the working part (3). The work unit (3) is equipped with a boom (31), an arm (32), and an attachment (33). Each of the boom (31), the arm (32), and the attachment (33) is an example of a load (4). That is, the electric shovel (1) is equipped with a load (4). Furthermore, the load (4) is not limited to the boom (31), the arm (32), and the attachment (33). For example, the load (4) may be a blade (22) rotatably supported on the body (2). The blade (22) is used for stopping, soil removal, etc. Various operations can be performed by driving the boom (31), arm (32), and attachment (33) independently. More specifically, the boom (31) is composed of a metal member that extends while bending in one direction (forward and backward in FIG. 1). Additionally, the boom (31) is not limited to the above configuration and may extend along the above one direction, for example. The base of the boom (31) is rotatably supported on the front part of the body (2). More specifically, the base of the boom (31) is connected to the front part of the body (2) via a boom drive unit (31A). When the boom drive unit (31A) is driven, the boom (31) rotates in the up-down direction and the forward-backward direction relative to the body (2). In addition, the boom (31) may swing (rotate) in the left and right directions, as well as rotate in the up and down and forward and backward directions relative to the body (2). The arm (32) is composed of a metal member that extends in one direction. Additionally, the arm (32) is not limited to the above configuration and may extend while bending in one direction, for example. The base of the arm (32) is rotatably supported at the tip of the boom (31). Specifically, the base of the arm (32) is connected to the tip of the boom (31) via an arm drive unit (32A). When the arm drive unit (32A) is driven, the arm (32) rotates in the up-down direction and the forward-backward direction relative to the boom (31). The attachment (33) has a joint member (331) and an attachment