JP2006520454A - ナット、ネジおよびケーブルを備える伝達装置 - Google Patents
ナット、ネジおよびケーブルを備える伝達装置 Download PDFInfo
- Publication number
- JP2006520454A JP2006520454A JP2006505849A JP2006505849A JP2006520454A JP 2006520454 A JP2006520454 A JP 2006520454A JP 2006505849 A JP2006505849 A JP 2006505849A JP 2006505849 A JP2006505849 A JP 2006505849A JP 2006520454 A JP2006520454 A JP 2006520454A
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- JP
- Japan
- Prior art keywords
- pulley
- cable
- screw
- transmission device
- nut
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 24
- 230000007704 transition Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
Images
Classifications
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- 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
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0622—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member for converting reciprocating movement into oscillating movement and vice versa, the reciprocating movement is perpendicular to the axis of oscillation
-
- 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
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H2019/0695—Generating pivoting movement of a joint
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18656—Carriage surrounded, guided, and primarily supported by member other than screw [e.g., linear guide, etc.]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18664—Shaft moves through rotary drive means
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (6)
- モータ(5)により回されるナット(6)と、前記ナット内に係合するネジ(7)と、前記ナットの回転を停止する手段(10、11)と、および前記ネジ(7)へ装着され、かつ駆動される器具(1、26)が装着するケーブル(8)を備える伝達装置であって、前記装置は、大径の基本滑車(18)と小径の基本滑車(16)から成る、前記モータに関して固定される回転軸を有する二重滑車(14)から構成されるので、前記ケーブルは、2本の連続するケーブルラインから構成され、その一方のライン(12)が、前記小径の基本滑車と前記ネジとの間に張られ、また他方のライン(20)が、前記大径の基本滑車と前記駆動される器具との間に張られることを特徴とする伝達装置。
- 前記伝達装置は、大径の基本滑車と小径の基本滑車から成る第2の二重滑車(15)であって、前記二重滑車の間に位置するネジを有する第2の二重滑車と、および2本の連続するケーブルラインから構成される第2のケーブルとを備え、前記第2のケーブルの一方のラインが、前記小径の基本滑車と前記ネジとの間に張られ、また他方のラインが、前記大径の基本滑車と前記駆動される器具との間に張られることを特徴とする請求項1に記載の伝達装置。
- 前記大径の基本滑車と前記駆動される器具との間に張られる前記ケーブルライン(20、21)は、前記ネジの片側へ移行する単一のケーブルの連続部分であることを特徴とする請求項2に記載の伝達装置。
- 前記伝達装置は、単一の張力調整器具を備えることを特徴とする請求項3に記載の伝達装置。
- 前記張力調整器具は、前記モータに関して前記第2の二重滑車の軸用の位置調整器具であることを特徴とする請求項4に記載の伝達装置。
- 前記伝達装置は、案内滑車(29)の使用を包含し、前記滑車上で、前記大径の基本滑車と前記器具との間に張られる前記ラインが、前記滑車が半回転する間に走行し、また前記案内滑車が前記二重滑車よりも前記ナットに近く設けられることを特徴とする請求項1に記載の伝達装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0350046A FR2852373B1 (fr) | 2003-03-14 | 2003-03-14 | Transmission a vis, ecrou et cable |
FR0350046 | 2003-03-14 | ||
PCT/FR2004/050101 WO2004083683A1 (fr) | 2003-03-14 | 2004-03-11 | Transmission a vis, ecrou et cable |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006520454A true JP2006520454A (ja) | 2006-09-07 |
JP4772666B2 JP4772666B2 (ja) | 2011-09-14 |
Family
ID=32893400
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006505849A Expired - Lifetime JP4772666B2 (ja) | 2003-03-14 | 2004-03-11 | ナット、ネジおよびケーブルを備える伝達装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7389974B2 (ja) |
EP (1) | EP1620664B1 (ja) |
JP (1) | JP4772666B2 (ja) |
DE (1) | DE602004001992T2 (ja) |
FR (1) | FR2852373B1 (ja) |
WO (1) | WO2004083683A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014201098A (ja) * | 2013-04-02 | 2014-10-27 | 永興電機工業株式会社 | 車載用荷役台昇降装置 |
JP2015521263A (ja) * | 2012-05-09 | 2015-07-27 | コミサリヤ ア レネルジ アトミクエ ウ エネルジ アルタナティブ | フレキシブルトランスミッションを使用する、オフセットしたモーターを備えるシリンダー、及びこのようなシリンダーを使用するロボットアーム |
KR101749572B1 (ko) | 2016-08-05 | 2017-07-03 | 삼성전자주식회사 | 로봇 관절 구동장치 및 이를 포함하는 로봇 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101061332B (zh) * | 2004-11-17 | 2011-08-17 | 利纳克有限公司 | 线性驱动器 |
ATE546355T1 (de) * | 2007-07-11 | 2012-03-15 | Harken Italy Spa | Verfahren zur betätigung der schoten von segelbooten |
ITPI20080037A1 (it) * | 2008-04-30 | 2009-11-01 | Scuola Superiore Di Studi Universitari S Anna | Attuatore compatto e leggero a escursione angolare limitata e elevata coppia |
IT1392212B1 (it) * | 2008-11-25 | 2012-02-22 | Bossan | Dispositivo per la movimentazione automatica di nodi di macchine ad assi controllati |
KR20100077504A (ko) * | 2008-12-29 | 2010-07-08 | 삼성전자주식회사 | 로봇용 관절구동장치 및 이를 구비한 로봇 |
US7810793B1 (en) * | 2009-06-17 | 2010-10-12 | Hiwin Mikrosystem Corp. | Pulley actuator |
FR2949451B1 (fr) * | 2009-09-02 | 2011-08-26 | Commissariat Energie Atomique | Verin a cable et dispositif d'assistance aux personnes integrant un tel verin |
KR20110026935A (ko) * | 2009-09-09 | 2011-03-16 | 삼성전자주식회사 | 로봇 관절 구동장치 및 이를 포함하는 로봇 |
US20110137423A1 (en) * | 2009-12-04 | 2011-06-09 | Hsiang Ouyang | Mechanical joint imitating creatures' joints |
KR101706094B1 (ko) * | 2010-01-14 | 2017-02-14 | 삼성전자주식회사 | 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법 |
FR3008916B1 (fr) * | 2013-07-26 | 2015-08-07 | Commissariat Energie Atomique | Procede de commande d'un segment de bras de comanipulateur |
US10883578B2 (en) | 2015-02-23 | 2021-01-05 | Tolomatic, Inc. | High speed rod-style linear actuator |
DE102017209597A1 (de) * | 2017-06-07 | 2018-12-13 | Siemens Aktiengesellschaft | Befestigungseinheit zum Befestigen eines Spannglieds an eine Einheit |
JP6773703B2 (ja) * | 2018-03-13 | 2020-10-21 | ファナック株式会社 | ロボット |
FR3086361B1 (fr) * | 2018-09-25 | 2021-07-23 | Commissariat Energie Atomique | Transmission hybride a raideur augmentee pour verin a cable |
FR3091325B1 (fr) * | 2018-12-27 | 2021-03-05 | Commissariat Energie Atomique | Transmission pour vérin à câble à ancrage d’écrou décalés |
FR3115084B1 (fr) * | 2020-10-13 | 2022-11-25 | Commissariat Energie Atomique | Actionneur à câble à compacité améliorée |
FR3137146A1 (fr) * | 2022-06-23 | 2023-12-29 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Actionneur à câble à compacité améliorée |
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JPH09505384A (ja) * | 1994-09-07 | 1997-05-27 | コミツサリア タ レネルジー アトミーク | 伸縮システム |
JP3082255U (ja) * | 2001-05-30 | 2001-12-07 | 萬 勝 林 | 駆動装置 |
JP2003535288A (ja) * | 2000-05-26 | 2003-11-25 | コミツサリア タ レネルジー アトミーク | スクリューとナットとスクリューに対して取り付けられたケーブルとからなる伝達機構 |
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-
2003
- 2003-03-14 FR FR0350046A patent/FR2852373B1/fr not_active Expired - Fee Related
-
2004
- 2004-03-11 WO PCT/FR2004/050101 patent/WO2004083683A1/fr active IP Right Grant
- 2004-03-11 DE DE602004001992T patent/DE602004001992T2/de not_active Expired - Lifetime
- 2004-03-11 US US10/548,980 patent/US7389974B2/en not_active Expired - Fee Related
- 2004-03-11 EP EP04719504A patent/EP1620664B1/fr not_active Expired - Lifetime
- 2004-03-11 JP JP2006505849A patent/JP4772666B2/ja not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH09505384A (ja) * | 1994-09-07 | 1997-05-27 | コミツサリア タ レネルジー アトミーク | 伸縮システム |
JP2003535288A (ja) * | 2000-05-26 | 2003-11-25 | コミツサリア タ レネルジー アトミーク | スクリューとナットとスクリューに対して取り付けられたケーブルとからなる伝達機構 |
JP3082255U (ja) * | 2001-05-30 | 2001-12-07 | 萬 勝 林 | 駆動装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015521263A (ja) * | 2012-05-09 | 2015-07-27 | コミサリヤ ア レネルジ アトミクエ ウ エネルジ アルタナティブ | フレキシブルトランスミッションを使用する、オフセットしたモーターを備えるシリンダー、及びこのようなシリンダーを使用するロボットアーム |
JP2014201098A (ja) * | 2013-04-02 | 2014-10-27 | 永興電機工業株式会社 | 車載用荷役台昇降装置 |
KR101749572B1 (ko) | 2016-08-05 | 2017-07-03 | 삼성전자주식회사 | 로봇 관절 구동장치 및 이를 포함하는 로봇 |
Also Published As
Publication number | Publication date |
---|---|
FR2852373B1 (fr) | 2005-04-15 |
JP4772666B2 (ja) | 2011-09-14 |
FR2852373A1 (fr) | 2004-09-17 |
US7389974B2 (en) | 2008-06-24 |
EP1620664A1 (fr) | 2006-02-01 |
EP1620664B1 (fr) | 2006-08-16 |
WO2004083683A1 (fr) | 2004-09-30 |
DE602004001992T2 (de) | 2007-03-29 |
DE602004001992D1 (de) | 2006-09-28 |
US20060191362A1 (en) | 2006-08-31 |
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