CN102338197B - 齿轮传动装置及具有该齿轮传动装置的机械手臂 - Google Patents
齿轮传动装置及具有该齿轮传动装置的机械手臂 Download PDFInfo
- Publication number
- CN102338197B CN102338197B CN201010231643.9A CN201010231643A CN102338197B CN 102338197 B CN102338197 B CN 102338197B CN 201010231643 A CN201010231643 A CN 201010231643A CN 102338197 B CN102338197 B CN 102338197B
- Authority
- CN
- China
- Prior art keywords
- gear
- output shaft
- input shaft
- adjusting
- sheathed
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
- 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
-
- 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
- Y10T74/1955—Parallel shafts, adjustable gear mesh
-
- 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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Gears, Cams (AREA)
- Gear Transmission (AREA)
Abstract
Description
机械手臂 | 100 |
壳体 | 10 |
第一输入轴 | 21 |
容置孔 | 212 |
第一传动齿轮 | 22 |
第一输出轴 | 24 |
第一齿轮间隙调整机构 | 25 |
第一调节齿轮 | 251 |
第二调节齿轮 | 252 |
弹性件 | 253 |
固定件 | 254 |
第一轴承 | 26 |
第二输入轴 | 31 |
第二轴承 | 32 |
第二传动齿轮 | 35 |
第二输出轴 | 36 |
第二齿轮间隙调整机构 | 37 |
第三轴承 | 38 |
Claims (8)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201010231643.9A CN102338197B (zh) | 2010-07-20 | 2010-07-20 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
US12/975,700 US20120017717A1 (en) | 2010-07-20 | 2010-12-22 | Gear transmission device and robot arm using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201010231643.9A CN102338197B (zh) | 2010-07-20 | 2010-07-20 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102338197A CN102338197A (zh) | 2012-02-01 |
CN102338197B true CN102338197B (zh) | 2014-01-15 |
Family
ID=45492460
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201010231643.9A Expired - Fee Related CN102338197B (zh) | 2010-07-20 | 2010-07-20 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
Country Status (2)
Country | Link |
---|---|
US (1) | US20120017717A1 (zh) |
CN (1) | CN102338197B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107234630A (zh) * | 2017-05-18 | 2017-10-10 | 杭州新松机器人自动化有限公司 | 一种工业机器人腕部齿轮侧隙的调整结构及其使用方法 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN107956863B (zh) * | 2016-10-14 | 2023-06-30 | 昆山金吉品机器有限公司 | 双输出传动机构的齿隙调整装置 |
CN106438972B (zh) * | 2016-11-02 | 2019-03-26 | 哈尔滨工业大学 | 一种可调节齿轮间隙的关节 |
CN106571097B (zh) * | 2016-11-02 | 2019-03-08 | 哈尔滨工业大学 | 一种含间隙空间机械臂模拟装置 |
CN108775395A (zh) * | 2018-07-18 | 2018-11-09 | 常州协润精机有限公司 | 定梁龙门数控铣镗床消隙齿轮箱 |
CN110469637A (zh) * | 2019-09-12 | 2019-11-19 | 卧龙电气驱动集团股份有限公司 | 减速离合器 |
CN113565950B (zh) * | 2021-08-09 | 2022-11-15 | 无锡京华重工装备制造有限公司 | 一种立车c轴用的具有啮合间隙测量功能的消隙结构 |
Citations (5)
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EP0805738B1 (en) * | 1995-01-27 | 1998-12-23 | Asea Brown Boveri Ab | An industrial robot wrist unit |
CN2755358Y (zh) * | 2004-10-29 | 2006-02-01 | 哈尔滨量具刃具集团有限责任公司 | 斜齿圆柱齿轮传动消隙装置 |
EP1777044A2 (en) * | 2005-10-18 | 2007-04-25 | Seiko Epson Corporation | Parallel link mechanism and industrial robot with such a mechanism |
CN200978941Y (zh) * | 2006-07-21 | 2007-11-21 | 北京理工大学 | 消除圆柱齿轮传动回差装置 |
CN101285520A (zh) * | 2008-05-30 | 2008-10-15 | 重庆大学 | 变齿厚圆柱变位齿轮及使用该齿轮的传动装置 |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
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US3563353A (en) * | 1968-06-27 | 1971-02-16 | United Parcel Service General | Automatic reversing clutches with pilot brake |
US3798990A (en) * | 1972-08-25 | 1974-03-26 | Siemens Ag | Motor drive |
DE3267847D1 (en) * | 1982-01-18 | 1986-01-16 | Mavilor Syst Sa | Transmission with orbital motion gears |
US4567788A (en) * | 1982-05-20 | 1986-02-04 | Doug Nash Equipment And Engineering, Inc. | Overdrive transmission |
US4671129A (en) * | 1985-04-19 | 1987-06-09 | Lovrenich Rodger T | Zero backlash shiftable transmission |
DE19928960A1 (de) * | 1999-06-24 | 2000-12-28 | Volkswagen Ag | Zahnradtrieb |
US20020148315A1 (en) * | 2000-07-14 | 2002-10-17 | Mittendorf Robert J. | Adjustable speed reducer assembly |
DE10254527A1 (de) * | 2002-11-22 | 2004-06-09 | Multibrid Entwicklungsges. Mbh | Verfahren zur verlustarmen Drehmomentüberleitung in Planetengetrieben |
US20050016313A1 (en) * | 2003-06-16 | 2005-01-27 | Robertson William C. | Manipulator |
JP2005262340A (ja) * | 2004-03-16 | 2005-09-29 | Fanuc Ltd | 産業用ロボット |
JP4484741B2 (ja) * | 2005-03-24 | 2010-06-16 | 住友重機械工業株式会社 | ロボット手首駆動用動力伝達装置及び動力伝達装置 |
US20090266640A1 (en) * | 2005-11-10 | 2009-10-29 | Nsk Ltd. | Electric power steering apparatus |
ATE534141T1 (de) * | 2006-01-13 | 2011-12-15 | Nabtesco Corp | Antriebsvorrichtung für einen substrattransferroboter mit kühlmittelzirkulationsdurchgang |
JP5017927B2 (ja) * | 2006-05-31 | 2012-09-05 | 日本精工株式会社 | 電動パワーステアリング装置 |
JP2008055560A (ja) * | 2006-08-31 | 2008-03-13 | Fanuc Ltd | ロボットの関節部の密封装置及び関節ロボット |
CN102079094B (zh) * | 2009-11-26 | 2013-11-06 | 鸿富锦精密工业(深圳)有限公司 | 机器人结构 |
DE102007004802B4 (de) * | 2007-01-22 | 2015-02-05 | Pinion Gmbh | Mehrfachgetriebe für ein mit Muskelkraft angetriebenes Fahrzeug |
US7975568B2 (en) * | 2008-04-24 | 2011-07-12 | Asm Technology Singapore Pte Ltd | Robotic arm driving mechanism |
JP5195054B2 (ja) * | 2008-06-11 | 2013-05-08 | パナソニック株式会社 | アームの関節、及びそれを有するロボット |
JP5457922B2 (ja) * | 2010-04-14 | 2014-04-02 | 株式会社ダイヘン | 産業用ロボット |
JP5488494B2 (ja) * | 2011-02-23 | 2014-05-14 | 株式会社安川電機 | ロボットシステム |
-
2010
- 2010-07-20 CN CN201010231643.9A patent/CN102338197B/zh not_active Expired - Fee Related
- 2010-12-22 US US12/975,700 patent/US20120017717A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0805738B1 (en) * | 1995-01-27 | 1998-12-23 | Asea Brown Boveri Ab | An industrial robot wrist unit |
CN2755358Y (zh) * | 2004-10-29 | 2006-02-01 | 哈尔滨量具刃具集团有限责任公司 | 斜齿圆柱齿轮传动消隙装置 |
EP1777044A2 (en) * | 2005-10-18 | 2007-04-25 | Seiko Epson Corporation | Parallel link mechanism and industrial robot with such a mechanism |
CN200978941Y (zh) * | 2006-07-21 | 2007-11-21 | 北京理工大学 | 消除圆柱齿轮传动回差装置 |
CN101285520A (zh) * | 2008-05-30 | 2008-10-15 | 重庆大学 | 变齿厚圆柱变位齿轮及使用该齿轮的传动装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107234630A (zh) * | 2017-05-18 | 2017-10-10 | 杭州新松机器人自动化有限公司 | 一种工业机器人腕部齿轮侧隙的调整结构及其使用方法 |
CN107234630B (zh) * | 2017-05-18 | 2019-07-23 | 杭州新松机器人自动化有限公司 | 一种工业机器人腕部齿轮侧隙的调整结构及其使用方法 |
Also Published As
Publication number | Publication date |
---|---|
CN102338197A (zh) | 2012-02-01 |
US20120017717A1 (en) | 2012-01-26 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
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 | ||
CB03 | Change of inventor or designer information |
Inventor after: Wei Xiaofen Inventor before: Long Bo |
|
CB03 | Change of inventor or designer information | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170505 Address after: 550025 Datian Town, Gao Xin District, Guizhou Patentee after: Gui'an old Lai Fu Technology Co.,Ltd. Address before: 510000 unit 2414-2416, building, No. five, No. 371, Tianhe District, Guangdong, China Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20170505 Address after: 2414-2416, main building, No. five, No. 371, Tianhe District mountain road, Guangzhou, Guangdong, China 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. |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140115 Termination date: 20170720 |
|
CF01 | Termination of patent right due to non-payment of annual fee |