CN104070533A - 机器人臂部件 - Google Patents
机器人臂部件 Download PDFInfo
- Publication number
- CN104070533A CN104070533A CN201310103693.2A CN201310103693A CN104070533A CN 104070533 A CN104070533 A CN 104070533A CN 201310103693 A CN201310103693 A CN 201310103693A CN 104070533 A CN104070533 A CN 104070533A
- Authority
- CN
- China
- Prior art keywords
- gear
- mechanical arm
- adjusting
- adjusting gear
- bevel gear
- 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.)
- Granted
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/25—Gearing
- Y10S901/26—Gearing including bevel gear
-
- 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
第一机械臂 | 10 |
第一本体 | 11 |
第一收容部 | 111 |
第二收容部 | 113 |
开口 | 115 |
连接部 | 117 |
第一盖体 | 13 |
第一收容腔 | 15 |
间隙调节组件 | 17 |
基板 | 171 |
调节孔 | 1711 |
凸轴 | 173 |
调节件 | 175 |
第二机械臂 | 30 |
第二本体 | 31 |
第一连接部 | 311 |
第二连接部 | 313 |
第二盖体 | 33 |
第一传动组件 | 35 |
第一锥齿轮 | 351 |
第二锥齿轮 | 353 |
第一调节齿轮 | 355 |
第一中间齿轮 | 357 |
第二调节齿轮 | 359 |
第二收容腔 | 37 |
第一容置部 | 371 |
第二容置部 | 373 |
第三机械臂 | 50 |
第三本体 | 53 |
受动部 | 531 |
安装部 | 533 |
第二传动组件 | 55 |
第三锥齿轮 | 551 |
第四锥齿轮 | 553 |
第三调节齿轮 | 555 |
第二中间齿轮 | 556 |
第四调节齿轮 | 557 |
第五锥齿轮 | 558 |
第六锥齿轮 | 559 |
Claims (10)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310103693.2A CN104070533B (zh) | 2013-03-28 | 2013-03-28 | 机器人臂部件 |
TW102112025A TWI513558B (zh) | 2013-03-28 | 2013-04-03 | 機器人臂部件 |
US14/215,150 US9156161B2 (en) | 2013-03-28 | 2014-03-17 | Robot arm assembly |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310103693.2A CN104070533B (zh) | 2013-03-28 | 2013-03-28 | 机器人臂部件 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104070533A true CN104070533A (zh) | 2014-10-01 |
CN104070533B CN104070533B (zh) | 2016-12-28 |
Family
ID=51592349
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310103693.2A Active CN104070533B (zh) | 2013-03-28 | 2013-03-28 | 机器人臂部件 |
Country Status (3)
Country | Link |
---|---|
US (1) | US9156161B2 (zh) |
CN (1) | CN104070533B (zh) |
TW (1) | TWI513558B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104802163A (zh) * | 2015-04-01 | 2015-07-29 | 湖北骐通机电工程有限公司 | 机器人手腕体 |
CN106625642A (zh) * | 2016-11-18 | 2017-05-10 | 山东科技大学 | 一种用于护栏板浸渍工艺的上下料机械手 |
CN107838941A (zh) * | 2017-10-13 | 2018-03-27 | 江苏捷帝机器人股份有限公司 | 一种多向固定位活动机器人关节铸件 |
CN114310866A (zh) * | 2022-03-10 | 2022-04-12 | 珞石(北京)科技有限公司 | 机器人关节及关节间齿轮齿隙调节方法 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
USD895704S1 (en) * | 2018-05-18 | 2020-09-08 | Universal Robots A/S | Robot joint having an input flange and an output flange |
USD898090S1 (en) * | 2018-05-18 | 2020-10-06 | Universal Robots A/S | Toothed connection flange for a robot joint |
USD890829S1 (en) * | 2019-03-15 | 2020-07-21 | Misty Robotics, Inc. | Flange for a robotic arm |
USD891494S1 (en) * | 2019-03-15 | 2020-07-28 | Misty Robotics, Inc. | Socket for a Robotic arm |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3888134A (en) * | 1974-06-03 | 1975-06-10 | Lawrence Thomas Miranda | Eccentric shaft mounting apparatus |
EP0279591B1 (en) * | 1987-02-11 | 1991-04-24 | Cincinnati Milacron Inc. | Robotic manipulator |
GB2243142B (en) * | 1990-03-30 | 1994-05-11 | Toyoda Machine Works Ltd | Articulated robot |
CN2363131Y (zh) * | 1999-02-09 | 2000-02-09 | 中国科学院沈阳自动化研究所 | 消除间隙装置 |
US6415678B1 (en) * | 1999-08-03 | 2002-07-09 | Nachi-Fujikoshi Corp. | Wrist mechanism of industrial robot |
US20080048090A1 (en) * | 2004-01-23 | 2008-02-28 | Kawasaki Jukogyo Kabushiki Kaisha | Gear Mechanism and Robot Having the Same |
CN102049787A (zh) * | 2009-11-06 | 2011-05-11 | 鸿富锦精密工业(深圳)有限公司 | 齿轮侧隙调整装置及采用该调整装置的工业机器人 |
CN102343592A (zh) * | 2010-08-05 | 2012-02-08 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102441894A (zh) * | 2010-10-11 | 2012-05-09 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE453580B (sv) * | 1986-06-12 | 1988-02-15 | Asea Ab | Robothandled med glappjustering |
JP4776823B2 (ja) * | 2001-07-23 | 2011-09-21 | Hoya株式会社 | ギヤバックラッシ除去機構及びモータ駆動装置 |
WO2007002651A2 (en) * | 2005-06-27 | 2007-01-04 | Metaldyne Company, Llc | Gear-driven balance shaft apparatus with backlash control |
TWI461271B (zh) * | 2010-02-01 | 2014-11-21 | Hon Hai Prec Ind Co Ltd | 機器人臂部件 |
JP5356319B2 (ja) * | 2010-06-22 | 2013-12-04 | 八鹿鉄工株式会社 | 植付機 |
TW201204963A (en) * | 2010-07-26 | 2012-02-01 | Hon Hai Prec Ind Co Ltd | Gear transmission device and robot arm having the same |
TW201217127A (en) * | 2010-10-18 | 2012-05-01 | Hon Hai Prec Ind Co Ltd | Manipulator arm assemblies |
-
2013
- 2013-03-28 CN CN201310103693.2A patent/CN104070533B/zh active Active
- 2013-04-03 TW TW102112025A patent/TWI513558B/zh not_active IP Right Cessation
-
2014
- 2014-03-17 US US14/215,150 patent/US9156161B2/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3888134A (en) * | 1974-06-03 | 1975-06-10 | Lawrence Thomas Miranda | Eccentric shaft mounting apparatus |
EP0279591B1 (en) * | 1987-02-11 | 1991-04-24 | Cincinnati Milacron Inc. | Robotic manipulator |
GB2243142B (en) * | 1990-03-30 | 1994-05-11 | Toyoda Machine Works Ltd | Articulated robot |
CN2363131Y (zh) * | 1999-02-09 | 2000-02-09 | 中国科学院沈阳自动化研究所 | 消除间隙装置 |
US6415678B1 (en) * | 1999-08-03 | 2002-07-09 | Nachi-Fujikoshi Corp. | Wrist mechanism of industrial robot |
US20080048090A1 (en) * | 2004-01-23 | 2008-02-28 | Kawasaki Jukogyo Kabushiki Kaisha | Gear Mechanism and Robot Having the Same |
CN102049787A (zh) * | 2009-11-06 | 2011-05-11 | 鸿富锦精密工业(深圳)有限公司 | 齿轮侧隙调整装置及采用该调整装置的工业机器人 |
CN102343592A (zh) * | 2010-08-05 | 2012-02-08 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102441894A (zh) * | 2010-10-11 | 2012-05-09 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104802163A (zh) * | 2015-04-01 | 2015-07-29 | 湖北骐通机电工程有限公司 | 机器人手腕体 |
CN106625642A (zh) * | 2016-11-18 | 2017-05-10 | 山东科技大学 | 一种用于护栏板浸渍工艺的上下料机械手 |
CN107838941A (zh) * | 2017-10-13 | 2018-03-27 | 江苏捷帝机器人股份有限公司 | 一种多向固定位活动机器人关节铸件 |
CN114310866A (zh) * | 2022-03-10 | 2022-04-12 | 珞石(北京)科技有限公司 | 机器人关节及关节间齿轮齿隙调节方法 |
CN114310866B (zh) * | 2022-03-10 | 2022-05-27 | 珞石(北京)科技有限公司 | 机器人关节及关节间齿轮齿隙调节方法 |
Also Published As
Publication number | Publication date |
---|---|
TW201501889A (zh) | 2015-01-16 |
US9156161B2 (en) | 2015-10-13 |
US20140290418A1 (en) | 2014-10-02 |
CN104070533B (zh) | 2016-12-28 |
TWI513558B (zh) | 2015-12-21 |
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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 | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20190524 Address after: 518109 Guangzhou Guanlan Foxconn Hongguan Science Park B workshop 5 C09 buildings 4 floors, C07 buildings 2 floors, C08 buildings 3 floors 4 floors, C04 buildings 1 floors Patentee after: SHENZHENSHI YUZHAN PRECISION TECHNOLOGY Co.,Ltd. Address before: 518109, No. two, No. tenth, East Ring Road, Pinus tabulaeformis Industrial Zone, Longhua Town, Baoan District, Guangdong, Shenzhen, 2 Co-patentee before: HON HAI PRECISION INDUSTRY Co.,Ltd. Patentee before: HONG FU JIN PRECISION INDUSTRY (SHENZHEN) Co.,Ltd. |
|
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: 518109 Foxconn H5 plant 101, No. 2, Donghuan 2nd Road, Fukang community, Longhua street, Longhua District, Shenzhen, Guangdong Province; plant 5, building C09, 4th floor, building C07, 2nd floor, building C08, 3rd floor, 4th floor, building C04, zone B, Foxconn Hongguan science and Technology Park, Fucheng Dasan community, Guanlan street, Guangdong Province Patentee after: Fulian Yuzhan Technology (Shenzhen) Co.,Ltd. Address before: 518109 Guangzhou Guanlan Foxconn Hongguan Science Park B workshop 5 C09 buildings 4 floors, C07 buildings 2 floors, C08 buildings 3 floors 4 floors, C04 buildings 1 floors Patentee before: SHENZHENSHI YUZHAN PRECISION TECHNOLOGY Co.,Ltd. |