ATE548591T1 - Getriebemechanismus und roboter mit dem mechanismus - Google Patents

Getriebemechanismus und roboter mit dem mechanismus

Info

Publication number
ATE548591T1
ATE548591T1 AT05704003T AT05704003T ATE548591T1 AT E548591 T1 ATE548591 T1 AT E548591T1 AT 05704003 T AT05704003 T AT 05704003T AT 05704003 T AT05704003 T AT 05704003T AT E548591 T1 ATE548591 T1 AT E548591T1
Authority
AT
Austria
Prior art keywords
gear
base body
rotational axis
body member
support member
Prior art date
Application number
AT05704003T
Other languages
English (en)
Inventor
Yasuo Hirooka
Yasuhiko Hashimoto
Original Assignee
Kawasaki Heavy Ind Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Application granted granted Critical
Publication of ATE548591T1 publication Critical patent/ATE548591T1/de

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F16H57/022—Adjustment of gear shafts or bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F16H57/022—Adjustment of gear shafts or bearings
    • F16H2057/0222—Lateral adjustment
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/125—Adjustment of backlash during mounting or assembly of gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19502—Pivotally supported
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19623—Backlash take-up
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19628—Pressure distributing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/19647—Parallel axes or shafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/1987—Rotary bodies
    • Y10T74/19893—Sectional
    • Y10T74/19898—Backlash take-up
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Toys (AREA)
AT05704003T 2004-01-23 2005-01-21 Getriebemechanismus und roboter mit dem mechanismus ATE548591T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004016178A JP3706118B2 (ja) 2004-01-23 2004-01-23 歯車支持構造
PCT/JP2005/000782 WO2005071285A1 (ja) 2004-01-23 2005-01-21 歯車機構及び同機構を備えたロボット

Publications (1)

Publication Number Publication Date
ATE548591T1 true ATE548591T1 (de) 2012-03-15

Family

ID=34805481

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05704003T ATE548591T1 (de) 2004-01-23 2005-01-21 Getriebemechanismus und roboter mit dem mechanismus

Country Status (6)

Country Link
US (1) US8555744B2 (de)
EP (1) EP1707844B1 (de)
JP (1) JP3706118B2 (de)
KR (1) KR100854821B1 (de)
AT (1) ATE548591T1 (de)
WO (1) WO2005071285A1 (de)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1020226A4 (nl) * 2011-10-07 2013-06-04 Vcst Ind Products Tandwieltrein en verplaatsingshulpmiddel daarvoor.
JP2014000612A (ja) * 2012-06-15 2014-01-09 Fanuc Ltd 産業用ロボットの手首構造部
AT512916B1 (de) * 2012-06-19 2013-12-15 Avl List Gmbh Stirnradgetriebe
CN103542082B (zh) * 2012-07-16 2016-04-27 鸿富锦精密工业（深圳）有限公司 齿轮传动机构及机械臂连接结构
JP5972713B2 (ja) * 2012-08-28 2016-08-17 日本電産サンキョー株式会社 カメラモジュール
CN104070533B (zh) * 2013-03-28 2016-12-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP6568336B2 (ja) * 2013-06-06 2019-08-28 株式会社オティックス バックラッシュ調整方法
JP6418782B2 (ja) * 2014-05-16 2018-11-07 キヤノン株式会社 ロボットシステムの制御方法、プログラム、記録媒体、ロボットシステム、及び診断装置
KR102250260B1 (ko) * 2014-07-17 2021-05-10 삼성전자주식회사 연결 모듈 및 이를 포함하는 운동 보조 장치
JP6792381B2 (ja) * 2016-09-02 2020-11-25 アルプスアルパイン株式会社 回転伝達装置
CN108818599B (zh) * 2018-06-26 2022-03-22 共享智能装备有限公司 桁架机器人夹持装置
DE102019115113B4 (de) * 2019-06-05 2021-06-17 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Antriebsstranganordnung für ein Kraftfahrzeug sowie Verfahren zur Anpassung eines Nulldurchgangsbereiches einer derartigen Antriebsstranganordnung
JP6933737B2 (ja) * 2020-01-17 2021-09-08 日本トムソン株式会社 回転テーブル
CN112728014A (zh) * 2020-12-25 2021-04-30 杭州宇树科技有限公司 一种抗过载冲击的行星减速器及机器人关节和四足机器人
JP2022170482A (ja) * 2021-04-28 2022-11-10 ナブテスコ株式会社 動力伝達装置、及び、ギヤ機構の噛み合い調整装置

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1864348A (en) * 1930-05-15 1932-06-21 Gen Electric Apparatus for transmitting rotary motion
US2397777A (en) * 1942-11-02 1946-04-02 Harry A Severson Gearing
US2737056A (en) * 1953-09-14 1956-03-06 John R Baumgartner Backlash eliminator
US2895342A (en) * 1955-07-29 1959-07-21 Thomas S Hayhurst Gearing
US2810299A (en) * 1956-02-13 1957-10-22 Thomas D Partridge Gear wear compensator
US3171212A (en) * 1962-07-11 1965-03-02 Gen Precision Inc Gear mechanism
US3331256A (en) * 1965-01-22 1967-07-18 George O Morris Shaft adjustment means
GB1141884A (en) * 1966-05-23 1969-02-05 Imp Metal Ind Kynoch Ltd Improvements in or relating to gear train assemblies
US3523003A (en) * 1968-06-20 1970-08-04 K M F Dev Corp Gearing system for rotary engine
US3657940A (en) * 1970-11-19 1972-04-25 William S Wagner Adjustable roll drive
FR2221981A5 (de) * 1973-03-14 1974-10-11 France Etat
JPS63185595A (ja) 1987-01-28 1988-08-01 フアナツク株式会社 産業用ロボツトの手首
JPS644948U (de) 1987-06-26 1989-01-12
DE4003042A1 (de) * 1989-03-06 1990-09-20 Erhard Kosch Spielfreier zahnradantrieb
US4942777A (en) * 1989-03-13 1990-07-24 Fife Morton E Device for cyclically varying the phase relationship between two rotating shafts
US5540112A (en) * 1992-05-26 1996-07-30 Caterpillar Inc. Backlash adjustment mechanism
JPH0735846U (ja) * 1993-12-09 1995-07-04 ダイニック株式会社 歯車の逆転阻止兼安全装置
JPH07332440A (ja) 1994-05-31 1995-12-22 Pentel Kk 動力伝達装置
JPH0847878A (ja) 1994-08-05 1996-02-20 Seijirou Kawada 関節機構
US6070482A (en) * 1997-04-21 2000-06-06 Nidec Copal Corporation Gear module
US6109129A (en) * 1997-05-08 2000-08-29 Cummins Engine Company, Inc. Apparatus and method for adjusting a gear
DE29819820U1 (de) * 1998-11-06 1999-01-21 P.I.V. Antrieb Werner Reimers Gmbh & Co Kg, 61352 Bad Homburg Getriebe insbesondere für Doppelschneckenextruder
JP3747152B2 (ja) 2000-09-20 2006-02-22 光洋精工株式会社 ギヤ機構および電動パワーステアリング装置
JP4682379B2 (ja) 2000-12-05 2011-05-11 川崎重工業株式会社 ダブルアームおよびそれを備えたロボット
DE10320328B4 (de) * 2003-05-06 2007-09-27 C. Rob. Hammerstein Gmbh & Co. Kg Untersetzungsgetriebe für eine Verstellvorrichtung eines Kraftfahrzeugsitzes

Also Published As

Publication number Publication date
JP3706118B2 (ja) 2005-10-12
JP2005207532A (ja) 2005-08-04
EP1707844A1 (de) 2006-10-04
US20080048090A1 (en) 2008-02-28
EP1707844A4 (de) 2008-11-26
EP1707844B1 (de) 2012-03-07
US8555744B2 (en) 2013-10-15
KR20060122911A (ko) 2006-11-30
KR100854821B1 (ko) 2008-08-27
WO2005071285A1 (ja) 2005-08-04

Similar Documents

Publication Publication Date Title
ATE548591T1 (de) Getriebemechanismus und roboter mit dem mechanismus
WO2007002651A3 (en) Gear-driven balance shaft apparatus with backlash control
ATE506554T1 (de) Planetenradgetriebe
MX2008010015A (es) Cambiador de focos de luz que se puede personalizar con copa de succion y control.
EP1863734A4 (de) Parallelroboter
MA30881B1 (fr) Suiveur solaire de deux axes
DE602006018224D1 (de) Reibrührschweissvorrichtung
TW200722247A (en) Link device and carrying robot
ATE434505T1 (de) Roboterhandgelenk
EP2093027A4 (de) Gelenkmechanismus und gelenkvorrichtung
ES2144619T3 (es) Tren de engranajes para ajustar el retrovisor de un vehiculo.
ATE458130T1 (de) Variabler ventilmechanismus
EP1985530A3 (de) Fahrradbetätigungsvorrichtung
BR112012017272A2 (pt) tensionador
EP2147756A4 (de) Transfer-roboter
BRPI0818592A2 (pt) dispositivo de suporte de peça a trabalhar
WO2011080270A3 (de) Vorrichtung, insbesondere heliostat oder photovoltaikeinrichtung
ATE514531T1 (de) Industrieroboter und steuerungsverfahren
ATE531545T1 (de) Mechanismus zum ändern von relativen positionen und lagen von zwei miteinander verbundenen objekten
CA2562894A1 (en) Methods and apparatus for minimizing backlash in a planetary gear mechanism
EP1792694A4 (de) Armstruktur für roboter
ATE467780T1 (de) Reibradaktuator
ATE463025T1 (de) Tafelansteuerungsvorrichtung
JP2017162758A (ja) 駆動装置
FR2894341B1 (fr) Dispositif electromecanique comportant un element pouvant tourner autour d'au moins un premier et un deuxieme axe de rotation