CN116917094B - 关节机构和多关节装置 - Google Patents

关节机构和多关节装置

Info

Publication number
CN116917094B
CN116917094B CN202280013516.2A CN202280013516A CN116917094B CN 116917094 B CN116917094 B CN 116917094B CN 202280013516 A CN202280013516 A CN 202280013516A CN 116917094 B CN116917094 B CN 116917094B
Authority
CN
China
Prior art keywords
bevel gear
movable range
joint mechanism
axis
rotates
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
CN202280013516.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN116917094A (zh
Inventor
深町胜嗣
外川圭司
大泽洋
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.)
Sony Interactive Entertainment Inc
Original Assignee
Sony Interactive Entertainment Inc
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 Sony Interactive Entertainment Inc filed Critical Sony Interactive Entertainment Inc
Publication of CN116917094A publication Critical patent/CN116917094A/zh
Application granted granted Critical
Publication of CN116917094B publication Critical patent/CN116917094B/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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J17/0258—Two-dimensional joints
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
CN202280013516.2A 2021-03-30 2022-03-17 关节机构和多关节装置 Active CN116917094B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021057986 2021-03-30
JP2021-057986 2021-03-30
PCT/JP2022/012415 WO2022209984A1 (ja) 2021-03-30 2022-03-17 関節機構、多関節装置

Publications (2)

Publication Number Publication Date
CN116917094A CN116917094A (zh) 2023-10-20
CN116917094B true CN116917094B (zh) 2026-03-27

Family

ID=83456159

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280013516.2A Active CN116917094B (zh) 2021-03-30 2022-03-17 关节机构和多关节装置

Country Status (5)

Country Link
US (1) US12403617B2 (https=)
EP (1) EP4316753A4 (https=)
JP (1) JP7546148B2 (https=)
CN (1) CN116917094B (https=)
WO (1) WO2022209984A1 (https=)

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3419158A (en) * 1963-01-14 1968-12-31 Jerome H. Lemelson Adjustable machinery joint
JPS59166493A (ja) * 1983-03-10 1984-09-19 松下電器産業株式会社 工業用ロボツト
JPS6228194A (ja) * 1985-07-29 1987-02-06 フアナツク株式会社 工業用ロボツトの動作範囲規制装置
JPH0413285U (https=) 1990-05-17 1992-02-03
JPH10202574A (ja) * 1997-01-17 1998-08-04 Tokico Ltd ロボットの回動角度制限機構
JP3951076B2 (ja) * 1998-03-26 2007-08-01 株式会社安川電機 工業用ロボット
JP2003117858A (ja) 1999-09-20 2003-04-23 Sony Corp ロボットの歩行制御装置及び歩行制御方法
JP4998623B2 (ja) * 2010-04-16 2012-08-15 トヨタ自動車株式会社 回転制限装置、ロボット関節および歩行補助装具
CN108136575B (zh) * 2015-07-21 2022-05-27 卡索机器人有限公司 关节组件
CN107738259B (zh) * 2017-10-13 2023-09-29 中国科学院深圳先进技术研究院 外骨骼机器人关节
JP6705794B2 (ja) * 2017-12-01 2020-06-03 ファナック株式会社 ストッパを備えるロボット
CN112008741B (zh) * 2020-09-11 2024-12-31 天津大学 一种高精度工业喷涂机器人
US12146554B2 (en) * 2021-11-02 2024-11-19 Michael C. Glaum Counter rotating gear case for a drive unit

Also Published As

Publication number Publication date
US20240066722A1 (en) 2024-02-29
US12403617B2 (en) 2025-09-02
EP4316753A1 (en) 2024-02-07
JP7546148B2 (ja) 2024-09-05
WO2022209984A1 (ja) 2022-10-06
JPWO2022209984A1 (https=) 2022-10-06
EP4316753A4 (en) 2025-04-02
CN116917094A (zh) 2023-10-20

Similar Documents

Publication Publication Date Title
JP2022122889A (ja) 外科用ロボットアーム
US10744637B2 (en) Robot
JP6740339B2 (ja) 直動伸縮機構及びロボットアーム機構
CN116917094B (zh) 关节机构和多关节装置
JP2539796B2 (ja) 関節型ロボット
JP2026032256A (ja) パラレルリンク機構およびリンク作動装置
JP7175212B2 (ja) 重力補償機構付パラレルリンク作動装置
US11613028B2 (en) Joint unit
JP4131086B2 (ja) ロボットの関節部構造
JP3995449B2 (ja) パラレルメカニズム
JPH04315589A (ja) ７自由度関節形マニプレータ
JP7402466B2 (ja) 上部ユニットの姿勢可変装置
WO2016092627A1 (ja) ロボット
JP7612481B2 (ja) 球面リンク機構及び球面リンク作動装置
JP2023005544A5 (https=)
JP7248729B2 (ja) アームユニット
JP7629378B2 (ja) パラレルリンク機構およびリンク作動装置
US20230264343A1 (en) Wearable Robot
JP2020082247A (ja) 多関節ロボット
JP7731744B2 (ja) 筋力補助装置
JP2018167365A (ja) ロボットアーム
JPWO2022209984A5 (https=)
KR20250152162A (ko) 관절장치
WO2017170302A1 (ja) 直動伸縮機構及びロボットアーム機構

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant