CN112041130B - 臂型助力装置 - Google Patents

臂型助力装置 Download PDF

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Publication number
CN112041130B
CN112041130B CN201980023297.4A CN201980023297A CN112041130B CN 112041130 B CN112041130 B CN 112041130B CN 201980023297 A CN201980023297 A CN 201980023297A CN 112041130 B CN112041130 B CN 112041130B
Authority
CN
China
Prior art keywords
arm member
frame
end portion
arm
actuator
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
Application number
CN201980023297.4A
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English (en)
Chinese (zh)
Other versions
CN112041130A (zh
Inventor
若杉谕
松本成隆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CKD Corp
Original Assignee
CKD Corp
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Filing date
Publication date
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Publication of CN112041130A publication Critical patent/CN112041130A/zh
Application granted granted Critical
Publication of CN112041130B publication Critical patent/CN112041130B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/068—Arms being part of the undercarriage

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Prostheses (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
CN201980023297.4A 2018-04-17 2019-04-08 臂型助力装置 Active CN112041130B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018079324A JP7028702B2 (ja) 2018-04-17 2018-04-17 アーム型助力装置
JP2018-079324 2018-04-17
PCT/JP2019/015340 WO2019203049A1 (ja) 2018-04-17 2019-04-08 アーム型助力装置

Publications (2)

Publication Number Publication Date
CN112041130A CN112041130A (zh) 2020-12-04
CN112041130B true CN112041130B (zh) 2023-08-04

Family

ID=68240132

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980023297.4A Active CN112041130B (zh) 2018-04-17 2019-04-08 臂型助力装置

Country Status (10)

Country Link
US (1) US11248738B2 (enExample)
EP (1) EP3782777B1 (enExample)
JP (1) JP7028702B2 (enExample)
KR (1) KR102501775B1 (enExample)
CN (1) CN112041130B (enExample)
MX (1) MX2020010717A (enExample)
MY (1) MY204111A (enExample)
SG (1) SG11202009362YA (enExample)
TW (1) TWI776042B (enExample)
WO (1) WO2019203049A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7321876B2 (ja) * 2019-10-11 2023-08-07 Ckd株式会社 アーム型助力装置
JP7387579B2 (ja) * 2020-12-18 2023-11-28 Ckd株式会社 アーム型助力装置
DE112022000266T5 (de) * 2021-02-19 2023-12-14 Fanuc Corporation Verbindungsstruktur
EP4302939A4 (en) 2021-03-03 2024-12-25 Hibot Corporation ROBOT ARM AND ARTICULATED ROBOT ARM
US20230020773A1 (en) * 2021-04-28 2023-01-19 Apptronik, Inc. Deployable robotic arm
NL2030060B1 (en) * 2021-12-07 2023-06-22 Johannes De Haas Fortunatus A carrier device for carrying an object, such as a lamp
NL2030059B1 (en) * 2021-12-07 2023-06-22 R Go Tools B V A carrier device for carrying an object, such as a computer display
WO2023242960A1 (ja) * 2022-06-14 2023-12-21 リバーフィールド株式会社 マニピュレータアーム
JPWO2024047821A1 (enExample) 2022-08-31 2024-03-07

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS595287U (ja) * 1982-07-02 1984-01-13 株式会社小松製作所 ロボツトのハンド装置
CN1660546A (zh) * 2004-02-27 2005-08-31 株式会社大亨 机器人手臂的线缆等的配设构造及具备它的工业用机器人
JP2010076089A (ja) * 2008-08-28 2010-04-08 Nissan Motor Co Ltd 関節駆動装置、および多関節アーム装置
CN101722515A (zh) * 2008-10-17 2010-06-09 施托布利法韦日公司 用于多轴机器人的铰接式结构以及包括这种结构的机器人
CN105829035A (zh) * 2013-12-25 2016-08-03 川崎重工业株式会社 平衡器装置
JP2018051117A (ja) * 2016-09-30 2018-04-05 三鷹光器株式会社 医療用スタンド装置

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JPS5656395A (en) * 1979-10-12 1981-05-18 Hitachi Ltd Industrial multiple joint type robot
JP3500029B2 (ja) * 1997-02-14 2004-02-23 株式会社アイチコーポレーション 作業用アームのバランス装置
JP2003089090A (ja) * 2001-09-17 2003-03-25 Rikogaku Shinkokai 多関節アーム機構
TWM256459U (en) * 2004-04-19 2005-02-01 Chin-Ruei Hung Support arm for suspension type display
US7464909B2 (en) * 2004-11-12 2008-12-16 Chin-Chu Li Supporting shelf
EP1669038B1 (en) * 2004-12-09 2008-02-20 The University of Dundee Device for supporting at least one arm of an operating person during a surgical operation
US7546994B2 (en) * 2006-09-15 2009-06-16 Innovative Office Products, Inc. Extension arm with moving clevis and cable management
US8469323B1 (en) * 2008-04-21 2013-06-25 Yani Deros Modular monitor support assembly
JP5095582B2 (ja) * 2008-11-05 2012-12-12 本田技研工業株式会社 歩行補助装置
TWM368005U (en) * 2009-06-25 2009-11-01 Chen Source Inc Swing arm structure for support rack
US9228696B2 (en) * 2011-03-18 2016-01-05 GCX Corporation Variable height arm structures, systems, and methods
TWM438098U (en) * 2012-04-30 2012-09-21 ming-xian Huang Supporting apparatus
KR20150047076A (ko) * 2013-10-22 2015-05-04 고려대학교 산학협력단 토크 프리 링키지 유니트
TWM534953U (zh) * 2016-07-20 2017-01-01 Modernsolid industrial co ltd 具有雙定力彈簧的支撐裝置
US10845000B2 (en) * 2016-10-21 2020-11-24 Colebrook Bosson Saunders (Products) Limited Display support system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS595287U (ja) * 1982-07-02 1984-01-13 株式会社小松製作所 ロボツトのハンド装置
CN1660546A (zh) * 2004-02-27 2005-08-31 株式会社大亨 机器人手臂的线缆等的配设构造及具备它的工业用机器人
JP2010076089A (ja) * 2008-08-28 2010-04-08 Nissan Motor Co Ltd 関節駆動装置、および多関節アーム装置
CN101722515A (zh) * 2008-10-17 2010-06-09 施托布利法韦日公司 用于多轴机器人的铰接式结构以及包括这种结构的机器人
CN105829035A (zh) * 2013-12-25 2016-08-03 川崎重工业株式会社 平衡器装置
JP2018051117A (ja) * 2016-09-30 2018-04-05 三鷹光器株式会社 医療用スタンド装置

Also Published As

Publication number Publication date
TWI776042B (zh) 2022-09-01
US20210138637A1 (en) 2021-05-13
TW201943518A (zh) 2019-11-16
CN112041130A (zh) 2020-12-04
MY204111A (en) 2024-08-08
EP3782777A1 (en) 2021-02-24
EP3782777A4 (en) 2022-01-19
KR102501775B1 (ko) 2023-02-21
MX2020010717A (es) 2020-11-06
WO2019203049A1 (ja) 2019-10-24
SG11202009362YA (en) 2020-10-29
KR20200141984A (ko) 2020-12-21
US11248738B2 (en) 2022-02-15
JP7028702B2 (ja) 2022-03-02
JP2019181661A (ja) 2019-10-24
EP3782777B1 (en) 2023-04-26

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