JP2011516286A - 2つのピボット連結部を有する電動関節およびこの関節を実装したヒューマノイドロボット - Google Patents
2つのピボット連結部を有する電動関節およびこの関節を実装したヒューマノイドロボット Download PDFInfo
- Publication number
- JP2011516286A JP2011516286A JP2011503412A JP2011503412A JP2011516286A JP 2011516286 A JP2011516286 A JP 2011516286A JP 2011503412 A JP2011503412 A JP 2011503412A JP 2011503412 A JP2011503412 A JP 2011503412A JP 2011516286 A JP2011516286 A JP 2011516286A
- Authority
- JP
- Japan
- Prior art keywords
- joint
- motor
- pivot
- speed reducer
- elements
- 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.)
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Classifications
-
- 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
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/25—Gearing
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/25—Gearing
- Y10S901/26—Gearing including bevel gear
-
- 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
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
-
- 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
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
-
- 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
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Abstract
Description
Claims (6)
- 軸(14、15)が相互に平行でない2つのピボット連結部(16、17)と、平行な軸を有する第一の減速機(51)によって前記2つのピボット連結部の第一の連結部(16)を駆動する第一のモータ(50)と、第二の減速機(53)によって前記2つのピボット連結部の第二の連結部(17)を駆動する第二のモータ(52)と、を備える関節であって、
前記第二のモータ(52)の回転軸は、前記第一のモータ(50)の回転軸に平行であり、前記第二の減速機(53)はかさ歯車(62)を含むことを特徴とする関節。 - 前記かさ歯車(62)はフェースギヤ(67)を含むことを特徴とする請求項1に記載の関節。
- 前記減速機(51、53)の一方は遊星歯車列を含むことを特徴とする請求項1または2に記載の関節。
- 前記減速機(51,53)が逆転可能であることを特徴とする請求項1〜3のいずれか一項に記載の関節。
- 請求項1〜4のいずれか一項に記載の関節(13)を少なくとも1つ含むことを特徴とするヒューマノイドロボット。
- 前記関節(13)は、ロボットの2つの要素を連結し、前記関節(13)の構成要素は前記要素の容積の中と、前記2つの要素の間に配置される球形の容積(70)の中とに収容され、球形の容積(70)は、前記2つの要素の横方向の寸法(d11、d12)より小さな直径を有することを特徴とする請求項5に記載のヒューマノイドロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0801953A FR2929875B1 (fr) | 2008-04-09 | 2008-04-09 | Articulation motorisee a deux liaisons pivots et robots humanoide mettant en oeuvre l'articulation |
FR0801953 | 2008-04-09 | ||
PCT/EP2009/054082 WO2009124904A1 (fr) | 2008-04-09 | 2009-04-06 | Articulation motorisee a deux liaisons pivots et robot humanoide mettant en oeuvre l'articulation |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011516286A true JP2011516286A (ja) | 2011-05-26 |
JP5560495B2 JP5560495B2 (ja) | 2014-07-30 |
Family
ID=39642951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011503412A Active JP5560495B2 (ja) | 2008-04-09 | 2009-04-06 | 2つのピボット連結部を有する電動関節およびこの関節を実装したヒューマノイドロボット |
Country Status (7)
Country | Link |
---|---|
US (1) | US8997599B2 (ja) |
EP (1) | EP2288477B1 (ja) |
JP (1) | JP5560495B2 (ja) |
CN (1) | CN102026782B (ja) |
AT (1) | ATE527088T1 (ja) |
FR (1) | FR2929875B1 (ja) |
WO (1) | WO2009124904A1 (ja) |
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JP2019155588A (ja) * | 2016-08-05 | 2019-09-19 | ファナック株式会社 | 回転軸モジュールおよび多関節ロボット |
US11111984B2 (en) | 2016-08-05 | 2021-09-07 | Fanuc Corporation | Rotary axis module and articulated robot |
JP2021169152A (ja) * | 2015-07-22 | 2021-10-28 | シーエムアール サージカル リミテッドCmr Surgical Limited | ロボットアーム |
US11559882B2 (en) | 2015-07-22 | 2023-01-24 | Cmr Surgical Limited | Torque sensor |
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FR2929875B1 (fr) * | 2008-04-09 | 2012-01-13 | Aldebaran Robotics | Articulation motorisee a deux liaisons pivots et robots humanoide mettant en oeuvre l'articulation |
CN102069493A (zh) * | 2009-11-19 | 2011-05-25 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件及机器人 |
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GB201512966D0 (en) | 2015-07-22 | 2015-09-02 | Cambridge Medical Robotics Ltd | Drive arrangements for robot arms |
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DE102015012959B4 (de) | 2015-10-08 | 2019-01-17 | Franka Emika Gmbh | Robotersystem und Verfahren zur Steuerung eines Robotersystems |
DE102015012961B4 (de) | 2015-10-08 | 2022-05-05 | Kastanienbaum GmbH | Robotersystem |
DE102015012962A1 (de) | 2015-10-08 | 2017-04-13 | Sami Haddadin | Robotersystem |
DE202016001164U1 (de) | 2016-02-22 | 2016-03-10 | Lakeview Innovation Ltd. | Robotergelenkantrieb mit Encoder |
DE102016004787B4 (de) | 2016-04-20 | 2023-02-02 | Franka Emika Gmbh | Antriebsvorrichtung für einen Roboter und Verfahren zu ihrer Herstellung |
DE102016004788A1 (de) | 2016-04-20 | 2017-10-26 | Kastanienbaum GmbH | Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens |
CN106003008A (zh) * | 2016-06-15 | 2016-10-12 | 上海未来伙伴机器人有限公司 | 类人机器人智能电机装置 |
JP6571703B2 (ja) * | 2017-02-13 | 2019-09-04 | ファナック株式会社 | 搬送用ツール |
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CN107825465A (zh) * | 2017-11-14 | 2018-03-23 | 徐州欧普莱斯工业机械有限公司 | 一种防护关节损伤的多关节机械臂 |
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2009
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- 2009-04-06 WO PCT/EP2009/054082 patent/WO2009124904A1/fr active Application Filing
- 2009-04-06 JP JP2011503412A patent/JP5560495B2/ja active Active
- 2009-04-06 US US12/736,449 patent/US8997599B2/en active Active
- 2009-04-06 CN CN2009801168187A patent/CN102026782B/zh active Active
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JPS59174278A (ja) * | 1983-03-22 | 1984-10-02 | Yaskawa Electric Mfg Co Ltd | 産業用ロボツトの手首機構 |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021169152A (ja) * | 2015-07-22 | 2021-10-28 | シーエムアール サージカル リミテッドCmr Surgical Limited | ロボットアーム |
JP7145294B2 (ja) | 2015-07-22 | 2022-09-30 | シーエムアール サージカル リミテッド | ロボットアーム |
US11559882B2 (en) | 2015-07-22 | 2023-01-24 | Cmr Surgical Limited | Torque sensor |
JP2018528089A (ja) * | 2015-08-14 | 2018-09-27 | クベー アーゲー | ロボットシステム及びそのハウジング部品 |
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US11111984B2 (en) | 2016-08-05 | 2021-09-07 | Fanuc Corporation | Rotary axis module and articulated robot |
Also Published As
Publication number | Publication date |
---|---|
WO2009124904A1 (fr) | 2009-10-15 |
EP2288477B1 (fr) | 2011-10-05 |
FR2929875A1 (fr) | 2009-10-16 |
JP5560495B2 (ja) | 2014-07-30 |
US20110048158A1 (en) | 2011-03-03 |
ATE527088T1 (de) | 2011-10-15 |
US8997599B2 (en) | 2015-04-07 |
CN102026782B (zh) | 2013-11-06 |
FR2929875B1 (fr) | 2012-01-13 |
EP2288477A1 (fr) | 2011-03-02 |
CN102026782A (zh) | 2011-04-20 |
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