CN103133604A - 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
- CN103133604A CN103133604A CN2011103730958A CN201110373095A CN103133604A CN 103133604 A CN103133604 A CN 103133604A CN 2011103730958 A CN2011103730958 A CN 2011103730958A CN 201110373095 A CN201110373095 A CN 201110373095A CN 103133604 A CN103133604 A CN 103133604A
- Authority
- CN
- China
- Prior art keywords
- gear
- adjusting
- adjusting gear
- flange
- adjustment piece
- 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.)
- Pending
Links
Images
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
- B25J9/10—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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
-
- 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
- F16H2057/0224—Lateral adjustment using eccentric bushes
-
- 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
- Y10T74/1956—Adjustable
- Y10T74/19565—Relative movable axes
- Y10T74/1957—Parallel 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
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Abstract
Description
机械手臂 | 100 |
第一机械臂 | 10 |
本体 | 11 |
凹槽 | 111 |
凸伸部 | 12 |
防护罩 | 13 |
第二机械臂 | 30 |
连接组件 | 50 |
连接件 | 51 |
本体 | 511 |
凸缘部 | 513 |
轴承 | 53 |
驱动组件 | 70 |
驱动件 | 71 |
驱动轴 | 73 |
齿轮传动装置 | 90 |
传动机构 | 91 |
齿轮间隙调整机构 | 93 |
安装板 | 911 |
安装部 | 9111 |
凸伸部 | 9113 |
第一齿轮 | 913 |
第一调节齿轮 | 914 |
第一轮齿部 | 9141 |
第二轮齿部 | 9143 |
轴部 | 9145 |
第二齿轮 | 915 |
第二调节齿轮 | 916 |
轮齿部 | 9161 |
轴部 | 9163 |
第三齿轮 | 917 |
轴承 | 918 |
输出轴 | 919 |
本体 | 9191 |
端部 | 9193 |
支撑板 | 931 |
第一调整件 | 933 |
第二调整件 | 935 |
紧固件 | 934 |
第一轴承 | 937 |
第二轴承 | 939 |
第一限位孔 | 9311 |
第二限位孔 | 9313 |
第一刻度线 | 9315 |
本体 | 9331 |
凸缘 | 9333 |
收容孔 | 9335 |
条形孔 | 9337 |
第二刻度线 | 9339 |
Claims (10)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2011103730958A CN103133604A (zh) | 2011-11-22 | 2011-11-22 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
TW100143026A TWI474906B (zh) | 2011-11-22 | 2011-11-24 | 齒輪傳動裝置及具有該齒輪傳動裝置之機械手臂 |
US13/427,919 US20130125695A1 (en) | 2011-11-22 | 2012-03-23 | Gear transmission device and robot arm using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2011103730958A CN103133604A (zh) | 2011-11-22 | 2011-11-22 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN103133604A true CN103133604A (zh) | 2013-06-05 |
Family
ID=48425516
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2011103730958A Pending CN103133604A (zh) | 2011-11-22 | 2011-11-22 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20130125695A1 (zh) |
CN (1) | CN103133604A (zh) |
TW (1) | TWI474906B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103395069A (zh) * | 2013-08-13 | 2013-11-20 | 戴文钟 | 能增加二部件间相对摆动角度的传动机构 |
CN108638047A (zh) * | 2018-06-21 | 2018-10-12 | 广州启帆工业机器人有限公司 | 具有精密传动装置的机械手 |
CN108708939A (zh) * | 2018-06-21 | 2018-10-26 | 广州启帆工业机器人有限公司 | 一种消隙齿轮箱 |
CN109434820A (zh) * | 2018-11-23 | 2019-03-08 | 上海工程技术大学 | 一种六自由度工业机器人 |
CN113400340A (zh) * | 2021-06-24 | 2021-09-17 | 库卡机器人制造(上海)有限公司 | 齿轮组件、人工关节和机器人 |
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 |
CN103332231B (zh) * | 2013-07-12 | 2015-08-05 | 天津理工大学 | 可移动模块化自重构机器人 |
JP6443456B2 (ja) * | 2014-11-26 | 2018-12-26 | 株式会社安川電機 | ロボットアーム、ロボットシステム |
CN106113079B (zh) * | 2016-07-01 | 2018-09-25 | 江苏捷帝机器人股份有限公司 | 一种柔性抓取机械手的机械关节 |
CN108067867B (zh) * | 2016-11-15 | 2019-07-26 | 中国科学院沈阳计算技术研究所有限公司 | 调整圆锥齿轮啮合间隙的方法 |
CN110434892B (zh) * | 2019-07-12 | 2021-03-02 | 上海交通大学 | 一种可重构机器人的对接机构 |
CN111836492B (zh) * | 2020-07-19 | 2021-06-15 | 陕西西咸新区沣西新城能源发展有限公司 | 一种电气自动化控制装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3888134A (en) * | 1974-06-03 | 1975-06-10 | Lawrence Thomas Miranda | Eccentric shaft mounting apparatus |
US4554044A (en) * | 1984-03-07 | 1985-11-19 | Harris Graphics Corporation | Collating apparatus with adjustable gear |
CN102069504A (zh) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102107434A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4147071A (en) * | 1978-02-01 | 1979-04-03 | Trw Inc. | Low backlash gear reduction assembly |
SE453580B (sv) * | 1986-06-12 | 1988-02-15 | Asea Ab | Robothandled med glappjustering |
JPH03287392A (ja) * | 1990-03-30 | 1991-12-18 | Toyoda Mach Works Ltd | 多関節ロボット |
JP4196831B2 (ja) * | 2001-12-03 | 2008-12-17 | 日本精工株式会社 | 電動パワーステアリング装置 |
CN101426621B (zh) * | 2006-04-21 | 2013-10-02 | Abb公司 | 用于工业机器人的锥齿轮装置的侧隙调整装置 |
US8540596B2 (en) * | 2008-04-25 | 2013-09-24 | Varibox Ip (Pty) Ltd. | Incremental variable transmission |
TWI418452B (zh) * | 2009-11-20 | 2013-12-11 | Ind Tech Res Inst | 機械手臂之腕關節結構 |
JP2011125958A (ja) * | 2009-12-17 | 2011-06-30 | Konica Minolta Business Technologies Inc | チャック装置およびロボットアーム |
TWI428522B (zh) * | 2009-12-22 | 2014-03-01 | Hon Hai Prec Ind Co Ltd | 齒輪傳動裝置 |
TWI461271B (zh) * | 2010-02-01 | 2014-11-21 | Hon Hai Prec Ind Co Ltd | 機器人臂部件 |
-
2011
- 2011-11-22 CN CN2011103730958A patent/CN103133604A/zh active Pending
- 2011-11-24 TW TW100143026A patent/TWI474906B/zh not_active IP Right Cessation
-
2012
- 2012-03-23 US US13/427,919 patent/US20130125695A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3888134A (en) * | 1974-06-03 | 1975-06-10 | Lawrence Thomas Miranda | Eccentric shaft mounting apparatus |
US4554044A (en) * | 1984-03-07 | 1985-11-19 | Harris Graphics Corporation | Collating apparatus with adjustable gear |
CN102069504A (zh) * | 2009-11-23 | 2011-05-25 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102107434A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103395069A (zh) * | 2013-08-13 | 2013-11-20 | 戴文钟 | 能增加二部件间相对摆动角度的传动机构 |
CN108638047A (zh) * | 2018-06-21 | 2018-10-12 | 广州启帆工业机器人有限公司 | 具有精密传动装置的机械手 |
CN108708939A (zh) * | 2018-06-21 | 2018-10-26 | 广州启帆工业机器人有限公司 | 一种消隙齿轮箱 |
CN108638047B (zh) * | 2018-06-21 | 2023-06-02 | 广州启帆工业机器人有限公司 | 具有精密传动装置的机械手 |
CN109434820A (zh) * | 2018-11-23 | 2019-03-08 | 上海工程技术大学 | 一种六自由度工业机器人 |
CN109434820B (zh) * | 2018-11-23 | 2022-02-01 | 上海工程技术大学 | 一种六自由度工业机器人 |
CN113400340A (zh) * | 2021-06-24 | 2021-09-17 | 库卡机器人制造(上海)有限公司 | 齿轮组件、人工关节和机器人 |
Also Published As
Publication number | Publication date |
---|---|
US20130125695A1 (en) | 2013-05-23 |
TWI474906B (zh) | 2015-03-01 |
TW201321151A (zh) | 2013-06-01 |
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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 | ||
C41 | Transfer of patent application or patent right or utility model | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20160621 Address after: 518000 Guangdong Province, Shenzhen New District of Longhua City, Dalang street, Hua Sheng Lu Yong Jingxuan commercial building 1608 Applicant after: Jinyang Shenzhen sea Network Intelligent Technology Co., Ltd. Address before: 518109 Guangdong city of Shenzhen province Baoan District Longhua Town Industrial Zone tabulaeformis tenth East Ring Road No. 2 two Applicant before: Hongfujin Precise Industry (Shenzhen) Co., Ltd. Applicant before: Hon Hai Precision Industry Co., Ltd. |
|
RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130605 |
|
RJ01 | Rejection of invention patent application after publication |