Patent ID: 9647513
Date: 2017-05-09
CPC Classifications: F16H,G05B,H02K,Y10S,Y10T

Claim:
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, 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 units wherein: the control unit includes a multi-layer board that is coupled to the input hollow shaft, and the multi-layer board includes: a control board on which the motor controller is disposed, an amplification board on which the power converter is disposed, and a power board on which the power supply unit is disposed.