CN116600954B - 平衡器以及机器人系统 - Google Patents

平衡器以及机器人系统

Info

Publication number
CN116600954B
CN116600954B CN202180062669.1A CN202180062669A CN116600954B CN 116600954 B CN116600954 B CN 116600954B CN 202180062669 A CN202180062669 A CN 202180062669A CN 116600954 B CN116600954 B CN 116600954B
Authority
CN
China
Prior art keywords
housing
rod
balancer
sensor
axis
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
CN202180062669.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN116600954A (zh
Inventor
神保亮平
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 CN116600954A publication Critical patent/CN116600954A/zh
Application granted granted Critical
Publication of CN116600954B publication Critical patent/CN116600954B/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
    • 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
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • 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
    • B25J19/06—Safety devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202180062669.1A 2020-09-17 2021-09-13 平衡器以及机器人系统 Active CN116600954B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020156358 2020-09-17
JP2020-156358 2020-09-17
PCT/JP2021/033466 WO2022059632A1 (ja) 2020-09-17 2021-09-13 バランサおよびロボットシステム

Publications (2)

Publication Number Publication Date
CN116600954A CN116600954A (zh) 2023-08-15
CN116600954B true CN116600954B (zh) 2026-03-10

Family

ID=80777000

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180062669.1A Active CN116600954B (zh) 2020-09-17 2021-09-13 平衡器以及机器人系统

Country Status (5)

Country Link
US (1) US12194622B2 (https=)
JP (1) JP7601888B2 (https=)
CN (1) CN116600954B (https=)
DE (1) DE112021003501T5 (https=)
WO (1) WO2022059632A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023180370A (ja) * 2022-06-09 2023-12-21 株式会社不二越 ロボットシステム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0531688A (ja) * 1991-07-22 1993-02-09 Hitachi Ltd 運搬装置
WO2012086055A1 (ja) * 2010-12-24 2012-06-28 株式会社吉田製作所 マニピュレータおよびレーザ装置
JP2019188513A (ja) * 2018-04-24 2019-10-31 ファナック株式会社 ロボット用重力バランサおよびロボット
JP2020085831A (ja) * 2018-11-30 2020-06-04 川崎重工業株式会社 ガス圧検知装置、ガス圧検知装置を備えるロボット及びそのガス圧検知方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6061188U (ja) * 1983-10-04 1985-04-27 エスエムシ−株式会社 回動腕平衡駆動装置
BR9205435A (pt) * 1991-08-30 1994-03-15 Alfred Morgenegg Processo e dispositivo para usinagem interna de tubulacoes inacessiveis
JPH05228884A (ja) * 1992-02-19 1993-09-07 Tokico Ltd 工業用ロボット
JPH06262561A (ja) 1993-03-18 1994-09-20 Tokico Ltd 工業用ロボット
JPH0890484A (ja) * 1994-09-28 1996-04-09 Fanuc Ltd 永久磁石型バランサを備えた産業用ロボット
JPH1015874A (ja) 1996-07-08 1998-01-20 Yaskawa Electric Corp 産業用ロボットの重力補償用ばね装置
JP3142791B2 (ja) 1997-02-12 2001-03-07 株式会社不二越 産業用ロボットのバランサ機構並びに該バランサ機構の取付方法及び調整方法
JP3780520B2 (ja) * 1997-06-18 2006-05-31 株式会社安川電機 産業用ロボット
JP2007007762A (ja) 2005-06-29 2007-01-18 Honda Motor Co Ltd 多関節ロボットの関節部監視装置
EP1905551B1 (en) * 2006-09-27 2010-02-24 Abb Ab Industrial robot with pressurized air supply in balancing device
JP5628953B2 (ja) 2013-03-29 2014-11-19 ファナック株式会社 ガススプリングを備えた多関節ロボット、及びガススプリングの内圧を推定する方法
JP5612150B2 (ja) 2013-03-29 2014-10-22 ファナック株式会社 ガススプリングを備えた多関節ロボット、及びガススプリングの内圧を推定する方法
JP6378482B2 (ja) * 2013-12-25 2018-08-22 川崎重工業株式会社 バランサ装置
DK3208571T3 (en) * 2016-02-18 2019-03-04 Siemens Ag Device for measuring bearing
US10444098B2 (en) * 2017-04-10 2019-10-15 Fanuc Corporation Torque sensor and robot
WO2019130233A1 (en) * 2017-12-27 2019-07-04 Gefran S.P.A. Contactless linear position transducer
JP6882238B2 (ja) * 2018-09-05 2021-06-02 ファナック株式会社 ロボットのバランサのメインテナンス用治具
DE102022206188A1 (de) * 2022-06-21 2023-12-21 Aktiebolaget Skf System zum Bestimmen des Verschleißes eines Lagers und zugehöriges Verfahren

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0531688A (ja) * 1991-07-22 1993-02-09 Hitachi Ltd 運搬装置
WO2012086055A1 (ja) * 2010-12-24 2012-06-28 株式会社吉田製作所 マニピュレータおよびレーザ装置
JP2019188513A (ja) * 2018-04-24 2019-10-31 ファナック株式会社 ロボット用重力バランサおよびロボット
JP2020085831A (ja) * 2018-11-30 2020-06-04 川崎重工業株式会社 ガス圧検知装置、ガス圧検知装置を備えるロボット及びそのガス圧検知方法

Also Published As

Publication number Publication date
WO2022059632A1 (ja) 2022-03-24
DE112021003501T5 (de) 2023-08-10
US12194622B2 (en) 2025-01-14
US20230311345A1 (en) 2023-10-05
JPWO2022059632A1 (https=) 2022-03-24
JP7601888B2 (ja) 2024-12-17
CN116600954A (zh) 2023-08-15

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