CN116194261B - 关节机构及机器人臂机构 - Google Patents

关节机构及机器人臂机构

Info

Publication number
CN116194261B
CN116194261B CN202180062158.XA CN202180062158A CN116194261B CN 116194261 B CN116194261 B CN 116194261B CN 202180062158 A CN202180062158 A CN 202180062158A CN 116194261 B CN116194261 B CN 116194261B
Authority
CN
China
Prior art keywords
arm
transmission member
piston rod
balancer
joint mechanism
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
CN202180062158.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN116194261A (zh
Inventor
主税慎哉
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN116194261A publication Critical patent/CN116194261A/zh
Application granted granted Critical
Publication of CN116194261B publication Critical patent/CN116194261B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202180062158.XA 2020-09-15 2021-09-10 关节机构及机器人臂机构 Active CN116194261B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020-154724 2020-09-15
JP2020154724 2020-09-15
PCT/JP2021/033300 WO2022059614A1 (ja) 2020-09-15 2021-09-10 関節機構及びロボットアーム機構

Publications (2)

Publication Number Publication Date
CN116194261A CN116194261A (zh) 2023-05-30
CN116194261B true CN116194261B (zh) 2026-03-06

Family

ID=80776648

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180062158.XA Active CN116194261B (zh) 2020-09-15 2021-09-10 关节机构及机器人臂机构

Country Status (5)

Country Link
US (1) US12138789B2 (https=)
JP (1) JP7453398B2 (https=)
CN (1) CN116194261B (https=)
DE (1) DE112021004915T5 (https=)
WO (1) WO2022059614A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025078019A1 (en) * 2023-10-13 2025-04-17 Abb Schweiz Ag Arrangement for industrial robot, and industrial robot
WO2025200722A1 (zh) * 2024-03-29 2025-10-02 深圳康诺思腾科技有限公司 力平衡装置、力平衡系统和医疗辅助系统

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102471043A (zh) * 2009-07-15 2012-05-23 学校法人庆应义塾 载荷补偿装置
CN104070536A (zh) * 2013-03-29 2014-10-01 发那科株式会社 具备平衡器装置的工业用机器人

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3643291A (en) * 1970-10-12 1972-02-22 Revco Inc Combination hinge and closing device for doors
JPS55106787A (en) * 1979-02-05 1980-08-15 Hitachi Ltd Device for balancing gravity
JPS61144993U (https=) * 1985-03-01 1986-09-06
JPS6256299A (ja) 1985-09-03 1987-03-11 日産自動車株式会社 重量物積卸装置
US4801237A (en) 1985-09-03 1989-01-31 Nissan Motor Co., Ltd. Transportation device for commercial and industrial use
FR2588735B1 (fr) * 1985-10-22 1988-08-12 Alpia Sa Dispositif d'equilibrage et de mise en securite du couvercle d'un meuble de classement vertical de plans
JPS63191586A (ja) 1987-02-03 1988-08-09 フアナツク株式会社 壁掛け型関節ロボツト
JP2543539B2 (ja) 1987-10-19 1996-10-16 ファナック株式会社 垂直多関節型ロボットのバランス方法及びバランサ機構
US5138904A (en) * 1990-06-04 1992-08-18 Akr Robotics, Inc. Robot system
US5956465A (en) 1996-04-04 1999-09-21 Nissan Motor Co., Ltd. Production facility with automatic movable body for man-machine cooperation
JP3656328B2 (ja) 1996-07-11 2005-06-08 日産自動車株式会社 位置決め助力アーム
JPH1015875A (ja) 1996-07-08 1998-01-20 Fanuc Ltd 産業用ロボット
KR100434771B1 (ko) * 1996-12-20 2004-07-16 주식회사 로보테크 다관절 로보트의 발란서
DE10042272B4 (de) * 2000-08-29 2012-10-31 Leica Instruments (Singapore) Pte. Ltd. Stativanordnung
CN102990677A (zh) * 2011-09-13 2013-03-27 鸿富锦精密工业（深圳）有限公司 平衡机构及应用该平衡机构的机器人
JP2017013168A (ja) * 2015-06-30 2017-01-19 キヤノン電子株式会社 ロボットアーム装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102471043A (zh) * 2009-07-15 2012-05-23 学校法人庆应义塾 载荷补偿装置
CN104070536A (zh) * 2013-03-29 2014-10-01 发那科株式会社 具备平衡器装置的工业用机器人

Also Published As

Publication number Publication date
DE112021004915T5 (de) 2023-07-20
CN116194261A (zh) 2023-05-30
JPWO2022059614A1 (https=) 2022-03-24
US20230302630A1 (en) 2023-09-28
WO2022059614A1 (ja) 2022-03-24
JP7453398B2 (ja) 2024-03-19
US12138789B2 (en) 2024-11-12

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