CN102069504B - 机器人臂部件 - Google Patents
机器人臂部件 Download PDFInfo
- Publication number
- CN102069504B CN102069504B CN200910310252.3A CN200910310252A CN102069504B CN 102069504 B CN102069504 B CN 102069504B CN 200910310252 A CN200910310252 A CN 200910310252A CN 102069504 B CN102069504 B CN 102069504B
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- rotating shaft
- robot arm
- elastic component
- free end
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
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- 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
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- 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
- F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
- F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
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- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H55/18—Special devices for taking up backlash
- F16H55/20—Special devices for taking up backlash for bevel gears
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
Description
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910310252.3A CN102069504B (zh) | 2009-11-23 | 2009-11-23 | 机器人臂部件 |
US12/728,392 US20110120245A1 (en) | 2009-11-23 | 2010-03-22 | Robot arm assembly |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910310252.3A CN102069504B (zh) | 2009-11-23 | 2009-11-23 | 机器人臂部件 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102069504A CN102069504A (zh) | 2011-05-25 |
CN102069504B true CN102069504B (zh) | 2014-01-22 |
Family
ID=44028356
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200910310252.3A Active CN102069504B (zh) | 2009-11-23 | 2009-11-23 | 机器人臂部件 |
Country Status (2)
Country | Link |
---|---|
US (1) | US20110120245A1 (zh) |
CN (1) | CN102069504B (zh) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102049787B (zh) * | 2009-11-06 | 2014-02-19 | 鸿富锦精密工业(深圳)有限公司 | 采用齿轮侧隙调整装置的工业机器人 |
CN102072279A (zh) * | 2009-11-20 | 2011-05-25 | 鸿富锦精密工业(深圳)有限公司 | 齿轮传动装置 |
CN102259337B (zh) * | 2010-05-28 | 2013-11-06 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
JP5434991B2 (ja) * | 2011-09-01 | 2014-03-05 | 株式会社安川電機 | ロボット |
CN103121215A (zh) * | 2011-11-18 | 2013-05-29 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN103133604A (zh) * | 2011-11-22 | 2013-06-05 | 鸿富锦精密工业(深圳)有限公司 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
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 |
USD781943S1 (en) * | 2014-04-11 | 2017-03-21 | Abb Gomtec Gmbh | Robotic arm component |
CN105257782B (zh) * | 2015-10-26 | 2017-12-08 | 盐城市瑞华机电制造有限公司 | 半自动加粉机用从动机构 |
CN108506424A (zh) * | 2018-06-21 | 2018-09-07 | 珠海格力智能装备有限公司 | 传动机构及具有其的关节结构 |
CN109048869B (zh) * | 2018-09-25 | 2024-05-31 | 深圳市汇川技术股份有限公司 | 腕体传动结构及六轴机器人 |
CN109591048B (zh) * | 2019-01-31 | 2024-02-20 | 浙江钱江机器人有限公司 | 一种机器人的腕部关节结构 |
CN114179071B (zh) * | 2021-12-30 | 2024-06-11 | 伯朗特机器人股份有限公司 | 一种工业机器人末端传动装置 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5894761A (en) * | 1995-01-27 | 1999-04-20 | Asea Brown Boveri Ab | Industrial robot wrist unit |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3572519A (en) * | 1969-04-03 | 1971-03-30 | Aida Tekkosho Kk | Article transfer apparatus adapted to automatically feed material to one of presses or other processing machines |
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2009
- 2009-11-23 CN CN200910310252.3A patent/CN102069504B/zh active Active
-
2010
- 2010-03-22 US US12/728,392 patent/US20110120245A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5894761A (en) * | 1995-01-27 | 1999-04-20 | Asea Brown Boveri Ab | Industrial robot wrist unit |
Also Published As
Publication number | Publication date |
---|---|
US20110120245A1 (en) | 2011-05-26 |
CN102069504A (zh) | 2011-05-25 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170502 Address after: 150060 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee after: HIT SPECIAL ROBOT CO.,LTD. Address before: Tianhe District Tong East Road Guangzhou city Guangdong province 510665 B-101 No. 5, room B-118 Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20170502 Address after: Tianhe District Tong East Road Guangzhou city of Guangdong Province, No. 5, room B-118 B-101 Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: 518109 Guangdong city of Shenzhen province Baoan District Longhua Town Industrial Zone tabulaeformis tenth East Ring Road No. 2 two Co-patentee before: HON HAI PRECISION INDUSTRY Co.,Ltd. Patentee before: HONG FU JIN PRECISION INDUSTRY (SHENZHEN) Co.,Ltd. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220208 Address after: 243000 307 and 308, third floor, building 9, No. 5, Hongqi South Road, economic and Technological Development Zone, Maanshan City, Anhui Province Patentee after: MAANSHAN Hagong special robot Co.,Ltd. Address before: 150060 Heilongjiang Province Harbin Jingkai District Haping Road Concentrated Area Dalian North Road and Xingkai Road Intersection Patentee before: HIT SPECIAL ROBOT CO.,LTD. |
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TR01 | Transfer of patent right |