CN114423571B - 垂直多关节机器人、单轴机器人以及电动机单元 - Google Patents

垂直多关节机器人、单轴机器人以及电动机单元 Download PDF

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Publication number
CN114423571B
CN114423571B CN201980100503.7A CN201980100503A CN114423571B CN 114423571 B CN114423571 B CN 114423571B CN 201980100503 A CN201980100503 A CN 201980100503A CN 114423571 B CN114423571 B CN 114423571B
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CN
China
Prior art keywords
motor
oil seal
brake
joint shaft
joint
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
CN201980100503.7A
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English (en)
Chinese (zh)
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CN114423571A (zh
Inventor
马目俊文
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.)
Yamaha Motor Co Ltd
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Yamaha Motor Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Publication of CN114423571A publication Critical patent/CN114423571A/zh
Application granted granted Critical
Publication of CN114423571B publication Critical patent/CN114423571B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • B25J9/046—Revolute coordinate type
    • 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
    • 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
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/40—Sealings between relatively-moving surfaces by means of fluid

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)
CN201980100503.7A 2019-09-25 2019-09-25 垂直多关节机器人、单轴机器人以及电动机单元 Active CN114423571B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/037653 WO2021059403A1 (ja) 2019-09-25 2019-09-25 垂直多関節ロボット、単軸ロボットおよびモータユニット

Publications (2)

Publication Number Publication Date
CN114423571A CN114423571A (zh) 2022-04-29
CN114423571B true CN114423571B (zh) 2024-03-05

Family

ID=75164875

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980100503.7A Active CN114423571B (zh) 2019-09-25 2019-09-25 垂直多关节机器人、单轴机器人以及电动机单元

Country Status (5)

Country Link
US (1) US11865710B2 (https=)
JP (1) JP7152615B2 (https=)
CN (1) CN114423571B (https=)
DE (1) DE112019007743T5 (https=)
WO (1) WO2021059403A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024255962A2 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator mit gelenkarm für eine erntemaschine
DE102023115330B4 (de) 2023-06-13 2025-03-06 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Gelenkarm mit Gabelgelenk für einen Manipulator einer Erntemaschine
US20250018565A1 (en) * 2023-07-12 2025-01-16 Canon Kabushiki Kaisha Apparatus, apparatus control method, article manufacturing method, apparatus assembly method, robot, automobile, and recording medium
JP2025085362A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット
CN120516751B (zh) * 2025-07-28 2025-09-30 杭州伏特机器人科技有限公司 一种两级油冷转子关节模组

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0146783A2 (en) * 1983-12-21 1985-07-03 Westinghouse Electric Corporation Improved lightweight electric robotic actuator
JPS6386454U (https=) * 1986-11-27 1988-06-06
JPH0461460U (https=) * 1990-10-01 1992-05-26
JP2002239970A (ja) * 2001-02-16 2002-08-28 Denso Corp ロボットのカバー取付構造
JP2012192497A (ja) * 2011-03-17 2012-10-11 Denso Wave Inc 多関節ロボット
CN104552289A (zh) * 2013-10-29 2015-04-29 精工爱普生株式会社 机器人
CN107685341A (zh) * 2017-08-10 2018-02-13 北京山思跃立科技有限公司 一种机械臂和机械臂关节
CN109693225A (zh) * 2017-10-24 2019-04-30 精工爱普生株式会社 机器人及机器人系统

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6317790U (https=) * 1986-07-22 1988-02-05
JPH11254377A (ja) 1998-03-10 1999-09-21 Denso Corp ロボット
JP2001113488A (ja) 1999-10-15 2001-04-24 Mitsubishi Electric Corp 産業用ロボット
JP2006026748A (ja) 2004-07-12 2006-02-02 Daihen Corp ロボット手首機構およびそれに取り付けられたエンドエフェクタ操作方法
JP5003369B2 (ja) 2007-09-11 2012-08-15 株式会社安川電機 中空アクチュエータ
JP5257263B2 (ja) 2009-06-19 2013-08-07 株式会社安川電機 減速機構内蔵アクチュエータおよびこれを用いた多関節ロボット
JP5491281B2 (ja) 2010-05-26 2014-05-14 株式会社デンソーウェーブ 産業用ロボットのエンドエフェクタ取付用フランジの油止め構造
JP6337432B2 (ja) * 2013-09-10 2018-06-06 セイコーエプソン株式会社 関節駆動装置及びロボット
JP6699213B2 (ja) * 2016-02-12 2020-05-27 日本電産株式会社 電動機付き減速機
WO2018055752A1 (ja) 2016-09-26 2018-03-29 ヤマハ発動機株式会社 減速機付きモータ及び産業用ロボット

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0146783A2 (en) * 1983-12-21 1985-07-03 Westinghouse Electric Corporation Improved lightweight electric robotic actuator
JPS6386454U (https=) * 1986-11-27 1988-06-06
JPH0461460U (https=) * 1990-10-01 1992-05-26
JP2002239970A (ja) * 2001-02-16 2002-08-28 Denso Corp ロボットのカバー取付構造
JP2012192497A (ja) * 2011-03-17 2012-10-11 Denso Wave Inc 多関節ロボット
CN104552289A (zh) * 2013-10-29 2015-04-29 精工爱普生株式会社 机器人
CN107685341A (zh) * 2017-08-10 2018-02-13 北京山思跃立科技有限公司 一种机械臂和机械臂关节
CN109693225A (zh) * 2017-10-24 2019-04-30 精工爱普生株式会社 机器人及机器人系统

Also Published As

Publication number Publication date
DE112019007743T5 (de) 2022-08-04
US20220388152A1 (en) 2022-12-08
WO2021059403A1 (ja) 2021-04-01
JP7152615B2 (ja) 2022-10-13
JPWO2021059403A1 (https=) 2021-04-01
US11865710B2 (en) 2024-01-09
CN114423571A (zh) 2022-04-29

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