CN105228799A - Stopper mechanism, articulation mechanism and robot - Google Patents
Stopper mechanism, articulation mechanism and robot Download PDFInfo
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- CN105228799A CN105228799A CN201380076695.5A CN201380076695A CN105228799A CN 105228799 A CN105228799 A CN 105228799A CN 201380076695 A CN201380076695 A CN 201380076695A CN 105228799 A CN105228799 A CN 105228799A
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- shank
- rotary body
- stopper mechanism
- pendulum mass
- abutting part
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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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of stopper mechanism, articulation mechanism and the robot that the movable range of rotary body can be limited in arbitrary scope.Stopper mechanism possesses fixed body, shank, shank guide and brake body.Rotary body pivots, and fixed body and rotary body are arranged to coaxial.Shank is movably arranged at the arbitrary one in rotary body or fixed body.Shank guide, along with the rotation of rotary body, can make shank radially move.Brake body is arranged at the arbitrary another one in rotary body or fixed body, and abuts with the shank moving predetermined distance and limit the rotation of rotary body.
Description
Technical field
The present invention relates to stopper mechanism, articulation mechanism and robot.
Background technology
In the past, known a kind of robot possessing multiarticulate robots arm.Multiple gonnecting rod bodies of robots arm connect via articulation mechanism.Gonnecting rod body sways via articulation mechanism, but for its slewing area, is subject to action control, the employing frame for movement action control based on software, or the action control both combination.
As the stopper mechanism carrying out frame for movement action control, such as, there is following stopper mechanism, it possesses: the pendular body that the first abutting part and the second abutting part are arranged across pivot; And abut with the first abutting part and the second abutting part the brake body arranged freely.Further, pendular body is arranged at the arbitrary one in rotary body or fixed body, and brake body is arranged at the arbitrary another one in rotary body or fixed body, thus the rotation (for example, referring to patent document 1) of restriction rotary body.
Prior art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 07-68485 publication
Summary of the invention
The problem to be solved in the present invention
But the frame for movement stopper mechanism being in the past representative with patent document 1, the movable range till making rotary body force to stop is narrower.
This stopper mechanism is being applicable to such as robot etc., and when making gonnecting rod body and rotary body carry out in linkage rotating, the slewing area of gonnecting rod body is insufficient, and robot sometimes can not be made successfully to carry out the operation specified.
A scheme of embodiment completes in view of the above problems, its objective is and provides a kind of stopper mechanism, articulation mechanism and the robot that the movable range of rotary body can be limited in arbitrary scope.
For the technical scheme of dealing with problems
The stopper mechanism that a scheme of embodiment relates to possesses rotary body, fixed body, shank, shank guide and brake body.Rotary body pivots, and fixed body is arranged to coaxial with described rotary body.Shank is movably arranged at the arbitrary one in described rotary body or described fixed body.In addition, shank guide, along with the rotation of described rotary body, can make described shank radially move.Further, brake body is arranged at the arbitrary another one in described rotary body or described fixed body, and abuts with the described shank moving predetermined distance and limit the rotation of described rotary body.
Invention effect
According to a scheme of embodiment, a kind of stopper mechanism, articulation mechanism and the robot that the movable range of rotary body can be limited in arbitrary scope can be provided.
Accompanying drawing explanation
Fig. 1 is the side view representing the robot that embodiment relates to.
A part for described robot is amplified the figure represented by Fig. 2.
Fig. 3 A is the stereogram observing the stopper mechanism that embodiment relates to from oblique upper.
Fig. 3 B is the stereogram observing described stopper mechanism from oblique below.
Fig. 4 is the top view being provided with the plate body of shank guide of described stopper mechanism.
Fig. 5 A is to represent the side view of described stopper mechanism with section.
A part of Fig. 5 A is amplified the figure represented by Fig. 5 B.
Fig. 6 is the figure representing the shank of carrying out movement in described stopper mechanism and the position relationship of brake body.
Fig. 7 A is the figure of the action representing described stopper mechanism.
Fig. 7 B is the figure of the action representing described stopper mechanism.
Fig. 7 C is the figure of the action representing described stopper mechanism.
Fig. 7 D is the figure of the action representing described stopper mechanism.
Fig. 7 E is the figure of the action representing described stopper mechanism.
Detailed description of the invention
Below, with reference to accompanying drawing, the embodiment of the stopper mechanism of rotary body disclosed in the present application, articulation mechanism and robot is described in detail.In addition, the invention is not restricted to embodiment shown below.
Fig. 1 is the side view representing the robot 1 that embodiment relates to, and a part for robot 1 is amplified the figure represented by Fig. 2.As shown in the figure, robot 1 of the present embodiment possesses: be arranged on the trunk 12 on base station 11; The arm 13 linked with this trunk 12; And be arranged on the toggle link portion 14 of front end of arm 13.
That is, robot 1 of the present embodiment is using base station 11, trunk 12, arm 13 and toggle link portion 14 etc. as gonnecting rod body, and these parts are linked via articulation mechanism.So, the robot 1 as so-called articulated robot has following structure, possesses the pair of links body linked by articulation mechanism.
Base station 11 is fixed on installation surface 100.Trunk 12 is rotatably arranged on this base station 11 to horizontal direction via the rotating part 2 be made up of articulation mechanism.That is, as shown in Figure 2, trunk 12 links with the driving shaft 21 as the motor 20 of the drive source of rotating part 2, and rotates centered by vertical axis 2a.
In addition, as shown in Figure 1, rotatably link via the joint portion be made up of articulation mechanism respectively as the first arm 131 of gonnecting rod body and the second arm 132, thus form the arm 13 linked with trunk 12.
That is, the first arm 131 via the first joint portion 3a in front-rear direction (in Fig. 1 for left and right directions) be rotatably attached on trunk 12.In addition, the second arm 132 is vertically rotatably attached at the leading section of the first arm 131 via second joint portion 3b.So, the first joint portion 3a making the first arm 131 swing, the second joint portion 3b that the second arm 132 is swung are made up of the articulation mechanism with the driving shaft linked with drive source respectively.
Toggle link portion 14 similarly rotatably links via the third joint 3c be made up of articulation mechanism.
As shown in Figure 2, stopper mechanism 4 of the present embodiment is arranged at the rotating part 2 be made up of articulation mechanism.That is, possess the rotating part 2 that base station 11 and trunk 12 link: the driving shaft 21 extended from motor 20; Not shown decelerator; And adopt frame for movement to limit the stopper mechanism 4 of the spinning movement of trunk 12.
The trunk 12 of robot 1 of the present embodiment, on the basis of operation program, can carry out the revolution action of positive and negative more than 360 degree.Stopper mechanism 4 is corresponding with trunk 12 movable in this wide region, even if trunk 12 turns round for exceeding the scope of regulation, frame for movement also can be adopted to force to stop trunk 12.
Thus, by adopting stopper mechanism 4 of the present embodiment, such as, even if the wide region around action etc., revolution range being set as more than 360 degree making trunk 12 carry out repeatedly to a direction, robot 1 also can guarantee security.
In addition, the responsiveness of the gonnecting rod body (in this case trunk 12) of robot 1 has tendency more stable when to have passed through the stipulated time from action starts.Thus, when making robot 1 carry out certain operation such as painting operation, weld job, by expanding the movable range of gonnecting rod body, can operating speed be stablized, and then operation inequality can be reduced as far as possible.
At this, with reference to Fig. 2 ~ Fig. 5 B, specifically describe the stopper mechanism 4 that articulation mechanism possesses.Fig. 3 A is the stereogram observing the stopper mechanism 4 that embodiment relates to from oblique upper, and Fig. 3 B is the stereogram observing stopper mechanism 4 from oblique below.In addition, Fig. 4 is the top view of the plate body 45 being provided with shank guide 44 of stopper mechanism 4.And Fig. 5 A is with section to represent the side view of stopper mechanism 4, and Fig. 5 B is a figure part of Fig. 5 A represented enlargedly.
As shown in Fig. 3 A and Fig. 3 B, stopper mechanism 4 possesses rotary body 41, fixed body 42, shank 43, shank guide 44 and brake body 46.
Rotary body 41 is formed as having the discoid of specific thickness, can rotate (with reference to Fig. 5 A) around rotating shaft 400.Further, as shown in Fig. 3 B, Fig. 5 A and Fig. 5 B, in the radial direction, be formed with the groove portion 410 of linearity, one end 43a of shank 43 is inserted into this groove portion 410 sliding freely.That is, shank 43 is arranged to move freely along the radial direction of rotary body 41 and fixed body 42.
Be equipped with fixed body 42 across predetermined distance coaxially with rotary body 41, this fixed body 42 is formed as the discoid of diameter roughly the same with rotary body 41.Further, this fixed body 42 is provided with brake body 46.Thus, when the shank 43 moving predetermined distance along radial direction in the groove portion 410 at rotary body 41 abuts with brake body 46, the rotation of rotary body 41 can be limited.
In addition, the thickness of fixed body 42 of the present embodiment is greater than the thickness of rotary body 41, but also can be identical thickness or thinner thickness.In addition, as shown in Figure 5A, rotary body 41 and fixed body 42 are solid construction, but also can be hollow structures.
As shown in Figure 4, shank guide 44 is formed by the Vorticose slit being formed in plate body 45, along with the rotation of rotary body 41, shank 43 can be made to move along radial direction.
Specifically, shank guide 44 is, the radial direction of plate body 45 is formed the vortex shape slit of many slits.In addition, at this, top 44a and the terminal 44b of slit are arranged on the position relative to the roughly the same angle in the center of plate body 45.
As shown in Figure 5A, be formed with the plate body 45 of this shank guide 44, form by with the plectane of fixed body 42 and the roughly the same diameter of rotary body 41, this plate body 45 is folded between fixed body 42 and rotary body 41.That is, at the interarea of fixed body 42, circumferentially erect across interval and be provided with multiple link post 47, plate body 45 by end bearing before multiple link post 47, and links coaxially with fixed body 42.
Further, as shown in Fig. 5 A and Fig. 5 B, the Vorticose slit forming shank guide 44 is inserted in the other end 43b side of shank 43.
According to this structure, when rotary body 41 rotates, by the shank 43 that Vorticose slit and shank guide 44 guide, move in the mode revolved round the sun relative to fixed body 42, relative to rotary body 41, linearly move in groove portion 410.
That is, utilize the groove portion 410 of rotary body 41 circumferentially to move to limit shank 43, therefore, rotary body 41 often revolves and turns around, and relative to rotary body 41, shank 43 moves along radial direction.So, shank guide 44, along with the rotation of rotary body 41, can make shank 43 move along radial direction.
In addition, as shown in Fig. 5 A and Fig. 5 B, shank 43 is following structure, is inserted through and is formed thinner to one end 43a in groove portion 410 and the other end 43b side be inserted through to shank guide 44, divide be formed with those widened sections 43c at middle part.Such as, when arranging stopper mechanism 4 with the attitude shown in Fig. 5 A, if arranged in the mode making those widened sections 43c be placed on plate body 45, then the movement of shank 43 can successfully be carried out.
In addition, if prepare two mutually isostructural plate bodys 45, to make the mode of those widened sections 43c between two plate bodys 45,45 arrange shank 43, even if then the attitude of such as stopper mechanism 4 changes in the mode be reversed, the movement of shank 43 also successfully can be carried out.
In addition, in the present embodiment, shank 43 is arranged on rotary body 41 side, brake body 46 is arranged on fixed body 42 side, but also both can be arranged on mutual opposition side.
Below, with reference to Fig. 5 B ~ Fig. 7 E, the structure of brake body 46 of the present embodiment and action thereof are described.Fig. 6 is the figure of the shank 43 of the carrying out movement represented in stopper mechanism 4 and the position relationship of brake body 46.In addition, Fig. 7 A ~ Fig. 7 E is the figure of the action representing stopper mechanism 4.
As shown in Fig. 5 B ~ Fig. 7 E, brake body 46 possesses first, second pendulum mass 46a, 46b of the roughly isosceles right triangle rotatably arranged centered by pivot 46c.That is, be set to following structure: on pivot 46c, be set up in parallel multiple pendulum mass (the first pendulum mass 46a and the second pendulum mass 46b).
First pendulum mass 46a and the second pendulum mass 46b is all set to as follows: first abutting part 461 that can abut with shank 43 and the second abutting part 462 are arranged across pivot 46c, and the first pendulum mass 46a and the second pendulum mass 46b is pivotally 46c swing separately.In the present embodiment, separate space 46d and configure the first pendulum mass 46a and the second pendulum mass 46b, this space 46d has the width of the distance larger than the diameter of shank 43.In addition, the hunting range centered by pivot 46c of the first pendulum mass 46a and the second pendulum mass 46b is set to 90 degree.
Further, when shank 43 abuts from a direction with any one the first abutting part 461 or the second abutting part 462, the motion of restriction rotary body 41.On the other hand, when shank 43 abuts from another direction with any one the first abutting part 461 or the second abutting part 462, pendulum mass 46a, 46b are swung.
That is, in stopper mechanism 4 of the present embodiment, as shown in Fig. 7 A ~ Fig. 7 E, at shank 43 relative to brake body 46 relatively in the progressive situation in side shown in arrow 500, when abutting with the second abutting part 462, restriction rotary body 41 motion.Be limited under the state that shank 43 abuts with pendulum mass 46a, 46b mobile (Fig. 7 E), its result, shank 43 makes installed rotary body 41 stop the rotation via groove portion 410.
On the contrary, when shank 43 abuts with the first abutting part 461, shank 43 pushes over pendulum mass 46a, 46b and makes it swing.That is, as shown in Fig. 7 B, Fig. 7 D, shank 43, only by pivotally 46c rotation, just can maintain the spinning movement of rotary body 41.
Due to stopper mechanism 4 is set to above-described structure, therefore, it is possible at random set the movable range (revolution amount) of trunk 12.Such as, suitably set as the number of the pendulum mass 46a (46b) of the structure of brake body 46 or the abutting part 461 (462) of pendulum mass 46a (46b) width, form shank guide 44 vortex shape slit slit between the width etc. of spacing.By setting like this, the movable range (revolution amount) of trunk 12 easily can be set.
At this, use the action that Fig. 6 ~ Fig. 7 E illustrates when the trunk 12 of the robot 1 shown in Fig. 1 and Fig. 2 has carried out rotating at base station 11 practically, revolution amount becomes the stopper mechanism 4 when setting above.In addition, primary importance P1 ~ the 5th position P5 of the position of the expression shank 43 shown in Fig. 6, at this, respectively with the position one_to_one corresponding of the shank 43 shown in Fig. 7 A ~ Fig. 7 E.
In the stopper mechanism 4 that the rotating part 2 shown in Fig. 1 and Fig. 2 possesses, rotary body 41 links with trunk 12 side of robot 1, and the fixed body 42 of stopper mechanism 4 links with base station 11 side of robot 1.
Further, when trunk 12 to be positioned at relative to base station 11 not to position and the initial position of the pivotal neutrality in any direction, as shown in Figure 7 A, shank 43 is positioned at the front of first abutting part 461 of the first pendulum mass 46a.Now, in figure 6, shank 43 is positioned at primary importance P1.
Further, trunk 12 in setting range in pivotal situation, shank 43 from the position P1 in Fig. 6 through position P2 ~ position P4 until move between the front of position P5.
In the position P2 shown in Fig. 6, as shown in Figure 7 B, shank 43 abuts with first abutting part 461 of the first pendulum mass 46a and pushes over this first abutting part 461 and pass through.That is, first abutting part 461 of the first pendulum mass 46a is from the state shown in Fig. 7 A, as shown in Figure 7 B, rotates, thus become centered by pivot 46c to the direction of arrow 600, and in the accompanying drawings, the first abutting part 461 is positioned at below, and the second abutting part 462 is positioned at top.
Secondly, in the position P3 shown in Fig. 6, shank 43 is through being formed in the space 46d between the first pendulum mass 46a and the second pendulum mass 46b (with reference to Fig. 5 B).Thus, the first pendulum mass 46a shown in Fig. 7 C and the attitude of the second pendulum mass 46b do not change for the state shown in Fig. 7 B.
Its this, in the position P4 shown in Fig. 6, as illustrated in fig. 7d, shank 43 abuts with first abutting part 461 of the second pendulum mass 46b and pushes over this first abutting part 461 and pass through.That is, first abutting part 461 of the second pendulum mass 46b is from the state shown in Fig. 7 C, as illustrated in fig. 7d, rotates, thus become centered by pivot 46c to the direction of arrow 700, and in the accompanying drawings, the first abutting part 461 is positioned at below, and the second abutting part 462 is positioned at top.
Shank 43 is from the position P1 in Fig. 6 until in during carrying out movement between the front of position P5, trunk 12 turns round in set movable range on base station 11.For a certain reason, when trunk 12 exceedes set movable range and carries out rotating, shank 43 moves from the position P4 of Fig. 6 to position P5.
In the position P5 shown in Fig. 6, as seen in figure 7e, shank 43 abuts with first abutting part 462 of the second pendulum mass 46b.In this condition, the second pendulum mass 46b does not swing, and plays the function as brake.Thus, the movement of shank 43 is stopped, its result, and rotary body 41 is also forcibly stopped.That is, the trunk 12 linked with rotary body 41 is forcibly stopped.
As mentioned above, according to the present embodiment, the stopper mechanism 4 of structure shown below can be realized.
That is, structurally, stopper mechanism 4 possesses: the rotary body 41 pivoted; Coaxial fixed body 42 is arranged to this rotary body 41; Shank 43; Shank guide 44; And brake body 46.Shank 43 is movably arranged at the arbitrary one in rotary body 41 or fixed body 42.Shank guide 44, along with the rotation of rotary body 41, can make shank 43 radially move.Brake body 46 is arranged at the arbitrary another one in rotary body 41 or fixed body 42, and abuts with the shank 43 moving predetermined distance and limit the rotation of rotary body 41.
In addition, shank guide 44 is the slits inserting shank 43, is formed on the plate body 45 be folded between fixed body 42 and rotary body 41 with vortex shape, can realize rotary body 41 and often revolve the stopper mechanism 4 making the shank 43 radially structure of movement when turning around.
In addition, can realize the stopper mechanism 4 of following structure: shank 43 is arranged at rotary body 41, brake body 46 is arranged at fixed body 42, and the plate body 45 being formed with described slit links coaxially with fixed body 42.
In addition, can realize the stopper mechanism 4 of following structure: rotary body 41 has the groove portion 410 of linearity, one end 43a inserting the shank 43 of described slit is inserted into this groove portion 410 sliding freely.
In addition, can realize the stopper mechanism 4 of following structure: brake body 46 is pendulum masses, this pendulum mass is set to swing freely centered by pivot 46c, and the first abutting part 461 and the second abutting part 462 are arranged across pivot 46c.In this case, any one in shank 43 and the first abutting part 461 or the second abutting part 462, limits the motion of rotary body 41, on the other hand, from another direction abuts, pendulum mass is swung from a direction abuts.
And, the stopper mechanism 4 being set side by side with multiple pendulum mass on pivot 46c can be realized.Such as, can realize with identical structure separately pivotally the first pendulum mass 46a of swinging of 46c and the stopper mechanism 4 that is set up in parallel of the second pendulum mass 46b.
In addition, according to the present embodiment, can realize following articulation mechanism, it possesses above-mentioned each stopper mechanism 4 and driving shaft 21, and driving shaft 21 makes the gonnecting rod bodies such as base station 11, trunk 12, arm 13 and toggle link portion 14 rotate.As articulation mechanism, specifically, be above-mentioned rotating part 2, first joint portion 3a, second joint portion 3b or third joint 3c.
In addition, according to the present embodiment, can realize following robot 1, it possesses: above-mentioned articulation mechanism; Driving shaft 21 to this articulation mechanism transmits the motor 20 (drive source) of power; And at least one group of gonnecting rod body to link via described articulation mechanism.At this, gonnecting rod body refers to the base station 11 of above-mentioned robot 1, trunk 12, arm 13 and toggle link portion 14 etc.
In addition, in robot 1 of the present embodiment, describe structure stopper mechanism 4 being arranged at rotating part 2, but be not limited to rotating part 2, also can be arranged on other joint portions.In this case, frame for movement can be adopted in desired scope to limit the rotating range around axle in the first arm 131, second arm 132, toggle link portion 14 etc.
As described above, the stopper mechanism 4 related to according to the present embodiment, can be limited in the movable range of rotary body 41 in the arbitrary scope more than 360 degree.Thus, freely can specify the slewing area needed for rotary body 41, and can be applicable to being used in various rotating mechanism, improve the free degree of purposes.
Further, in robot 1, such as, according to the movable range set in the gonnecting rod body of trunk 12 grade, the rotation of the gonnecting rod body on the position of the regulation stopping having exceeded this movable range can be forced.
In addition, by the movable range of rotary body 41 being set to exceed the arbitrary scope of 360 degree, the state Xia Shi robot 1 that can stabilize in the responsiveness of the gonnecting rod body of robot 1 carries out operation, therefore, it is possible to it is unequal to reduce operation as far as possible.
Can easily derive further effect and variation for those skilled in the art.Thus, mode widely of the present invention is not limited to the above and the specific detailed content described and representational embodiment.Therefore, not departing from the spirit or scope of total inventive concept that appending claims and equivalent thereof define, various change can be carried out.
Description of reference numerals
1: robot, 2: rotating part (articulation mechanism), the 3a: the first joint portion, 3b: second joint portion, 3c: third joint, 4: stopper mechanism, 12: trunk (gonnecting rod body), 20: motor (drive source), 21: driving shaft, 41: rotary body, 42: fixed body, 43: shank, 44: shank guide, 45: plate body, 46: brake body, 46a: the first pendulum mass, 46b: the second pendulum mass, 46c: pivot, 410: groove portion, 461: the first abutting parts, 462: the second abutting parts.
Claims (8)
1. a stopper mechanism, is characterized in that, possesses:
Rotary body, it pivots;
Fixed body, it is arranged to coaxial with this rotary body;
Shank, it is movably arranged at the arbitrary one in described rotary body or described fixed body;
Shank guide, it is along with the rotation of described rotary body, and described shank can be made radially to move; And
Brake body, it is arranged at the arbitrary another one in described rotary body or described fixed body, and abuts with the described shank moving predetermined distance and limit the rotation of described rotary body.
2. stopper mechanism according to claim 1, is characterized in that,
Described shank guide is the slit inserting described shank, described shank guide is formed in the plate body be folded between described fixed body and described rotary body with vortex shape, described rotary body often revolves described shank guide when turning around makes described shank radially move.
3. stopper mechanism according to claim 2, is characterized in that,
Described shank is arranged at described rotary body, and described brake body is arranged at described fixed body, and the plate body and the described fixed body that are formed with described slit link coaxially.
4. stopper mechanism according to claim 3, is characterized in that,
Described rotary body has the groove portion of linearity, and the one end being inserted into the described shank of described slit is inserted into described groove portion sliding freely.
5. stopper mechanism according to any one of claim 1 to 4, is characterized in that,
Described brake body is pendulum mass, described pendulum mass is rotatably arranged centered by pivot, and the first abutting part of described pendulum mass and the second abutting part are arranged across described pivot, when described shank abuts from a direction with any one described first abutting part or described second abutting part, limit the rotation of described rotary body, on the other hand, abutting from other direction, described pendulum mass is swung.
6. stopper mechanism according to claim 5, is characterized in that,
Described pivot is set side by side with multiple described pendulum mass.
7. an articulation mechanism, is characterized in that, possesses:
Stopper mechanism according to claim 1; And
Make the driving shaft that gonnecting rod body rotates.
8. a robot, is characterized in that, possesses:
Articulation mechanism according to claim 7;
Drive source, its described driving shaft to this articulation mechanism transmits power; And
Gonnecting rod body described at least one group, it links via described articulation mechanism.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2013/067553 WO2014207846A1 (en) | 2013-06-26 | 2013-06-26 | Stopper mechanism, joint mechanism, and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105228799A true CN105228799A (en) | 2016-01-06 |
Family
ID=52141252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380076695.5A Pending CN105228799A (en) | 2013-06-26 | 2013-06-26 | Stopper mechanism, articulation mechanism and robot |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPWO2014207846A1 (en) |
| KR (1) | KR20160003812A (en) |
| CN (1) | CN105228799A (en) |
| WO (1) | WO2014207846A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6683577B2 (en) * | 2016-09-16 | 2020-04-22 | 株式会社神戸製鋼所 | Mechanical stopper device and robot |
| KR102648105B1 (en) * | 2016-12-29 | 2024-03-18 | 엘지전자 주식회사 | Guidance robot |
| KR101955548B1 (en) * | 2017-08-25 | 2019-03-08 | 주식회사 토룩 | Actuator unit and actuator module |
| WO2021144965A1 (en) * | 2020-01-17 | 2021-07-22 | ヤマハ発動機株式会社 | Absolute encoder, and actuator comprising absolute encoder |
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| CN2188441Y (en) * | 1994-04-15 | 1995-02-01 | 韩学林 | Automatic loose-tight centring chuck |
| JPH07167244A (en) * | 1993-12-15 | 1995-07-04 | Fujitsu Ltd | Rotation angle control mechanism for output shaft |
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| CN103079777A (en) * | 2011-04-27 | 2013-05-01 | 日本电产三协株式会社 | Rotation range restriction mechanism for rotating body, and industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0768485A (en) * | 1993-09-03 | 1995-03-14 | Mitsubishi Electric Corp | Rotary joint device |
-
2013
- 2013-06-26 JP JP2015523720A patent/JPWO2014207846A1/en active Pending
- 2013-06-26 WO PCT/JP2013/067553 patent/WO2014207846A1/en active Application Filing
- 2013-06-26 CN CN201380076695.5A patent/CN105228799A/en active Pending
- 2013-06-26 KR KR1020157033909A patent/KR20160003812A/en not_active Application Discontinuation
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07167244A (en) * | 1993-12-15 | 1995-07-04 | Fujitsu Ltd | Rotation angle control mechanism for output shaft |
| CN2188441Y (en) * | 1994-04-15 | 1995-02-01 | 韩学林 | Automatic loose-tight centring chuck |
| JPH10202574A (en) * | 1997-01-17 | 1998-08-04 | Tokico Ltd | Rotation angle limiting mechanism for robot |
| CN1857837A (en) * | 2006-05-31 | 2006-11-08 | 重庆大学 | Electric chuck unit |
| CN103079777A (en) * | 2011-04-27 | 2013-05-01 | 日本电产三协株式会社 | Rotation range restriction mechanism for rotating body, and industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109103137A (en) * | 2018-08-17 | 2018-12-28 | 浙江雅市晶科技有限公司 | A kind of grabbing device of semiconductor haulage equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2014207846A1 (en) | 2014-12-31 |
| KR20160003812A (en) | 2016-01-11 |
| JPWO2014207846A1 (en) | 2017-02-23 |
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