JP2016510864A - トルク伝達装置、アクチュエータ、ロボット - Google Patents
トルク伝達装置、アクチュエータ、ロボット Download PDFInfo
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- JP2016510864A JP2016510864A JP2015561985A JP2015561985A JP2016510864A JP 2016510864 A JP2016510864 A JP 2016510864A JP 2015561985 A JP2015561985 A JP 2015561985A JP 2015561985 A JP2015561985 A JP 2015561985A JP 2016510864 A JP2016510864 A JP 2016510864A
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- Prior art keywords
- bellows
- torque transmission
- transmission device
- absorption
- inner ring
- 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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- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/80—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive in which a fluid is used
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
- F16D3/64—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts
- F16D3/66—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts the elements being metallic, e.g. in the form of coils
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/16—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material
- F16F15/161—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material characterised by the fluid damping devices, e.g. passages, orifices
-
- 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
-
- 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
- Y10S901/23—Electric motor
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Reciprocating Pumps (AREA)
- Manipulator (AREA)
- Vibration Prevention Devices (AREA)
- Fluid-Damping Devices (AREA)
Abstract
Description
Claims (11)
- トルク伝達装置(3)において、
前記トルク伝達装置(3)は、
内側リング(5)と、
ニュートラルポジション(25)から正の回動方向(17)又は負の回動方向(18)において、前記内側リング(5)に対して回動可能に配置されている、外側リング(4)と、
正の吸収ベローズ(9)及び負の吸収ベローズ(10)を含む少なくとも一組の吸収ベローズ(9,10)と、
少なくとも一つのガススプリング(13)と、
前記少なくとも一つのガススプリング(13)と接続されている調整ユニットと、を備えており、
前記吸収ベローズ(9,10)は、前記外側リング(4)と前記内側リング(5)との間において、前記正の吸収ベローズ(9)が前記内側リング(5)の前記正の回動方向(17)への回動時に圧縮されるように、且つ、前記負の吸収ベローズ(10)が前記内側リング(5)の前記負の回動方向(18)への回動時に圧縮されるように配置されており、
前記吸収ベローズ(9,10)は、前記少なくとも一つのガススプリング(13)と流体が案内されるように接続されていることを特徴とする、トルク伝達装置(3)。 - 前記少なくとも一つのガススプリング(13)は、気密に閉じられたガス圧室(28)と、前記ガス圧室(28)内に突出した伝達ベローズ(14)と、前記ガス圧室(28)に突出した調整ベローズ(15)とを有しており、
前記吸収ベローズ(9,10)は、前記伝達ベローズ(14)と流体が案内されるように接続されており、
前記調整ユニットは、前記調整ベローズ(15)と流体が案内されるように接続されている、請求項1に記載のトルク伝達装置(3)。 - 前記調整ユニットは、リザーバ(11)及びポンプ(12)を有している、請求項2に記載のトルク伝達装置(3)。
- 前記ポンプ(12)は、ピエゾポンプ(12)である、請求項3に記載のトルク伝達装置(3)。
- 前記トルク伝達装置(3)は、前記調整ユニットと接続されている二つのガススプリング(13)を有しており、
少なくとも一つの前記正の吸収ベローズ(9)は、前記二つのガススプリング(13)のうちの一方と流体が案内されるように接続されており、且つ、少なくとも一つの前記負の吸収ベローズ(10)は、前記二つのガススプリング(13)のうちの他方と流体が案内されるように接続されている、請求項1乃至4のいずれか一項に記載のトルク伝達装置(3)。 - 前記調整ユニットは、ガススプリング(13)毎に別個のポンプ(12)を有している、請求項5に記載のトルク伝達装置(3)。
- 前記トルク伝達装置(3)は、二組の吸収ベローズ(9,10)を有している、請求項1乃至6のいずれか一項に記載のトルク伝達装置(3)。
- 前記トルク伝達装置(3)は、実質的に、円形の基底面を備えている円筒の形状を有している、請求項1乃至7のいずれか一項に記載のトルク伝達装置(3)。
- 前記ベローズ(9,10,14,15)のうちの少なくとも一つは金属ベローズである、請求項1乃至8のいずれか一項に記載のトルク伝達装置(3)。
- 請求項1乃至9のいずれか一項に記載のトルク伝達装置(3)と、ロータ(21)及びステータ(22)を有しているサーボモータ(2)とを備えており、前記サーボモータ(2)の前記ステータ(22)は、前記トルク伝達装置(3)の前記外側リング(4)又は前記内側リング(5)と相対回動不能に接続されていることを特徴とする、アクチュエータ(1)。
- 請求項10に記載のアクチュエータ(1)及び機械ユニット(27)を備えており、前記アクチュエータ(1)は、前記機械ユニット(27)と力伝達式又はトルク伝達式に接続されていることを特徴とする、ロボット(26)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013204588.3 | 2013-03-15 | ||
DE102013204588.3A DE102013204588A1 (de) | 2013-03-15 | 2013-03-15 | Drehmomentübertragungsvorrichtung, Aktor, Roboter |
PCT/EP2014/050710 WO2014139702A1 (de) | 2013-03-15 | 2014-01-15 | Drehmomentübertragungsvorrichtung, aktor, roboter |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016510864A true JP2016510864A (ja) | 2016-04-11 |
JP6395733B2 JP6395733B2 (ja) | 2018-09-26 |
Family
ID=49998256
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015561985A Active JP6395733B2 (ja) | 2013-03-15 | 2014-01-15 | トルク伝達装置、アクチュエータ、ロボット |
Country Status (7)
Country | Link |
---|---|
US (1) | US9841061B2 (ja) |
EP (1) | EP2941577A1 (ja) |
JP (1) | JP6395733B2 (ja) |
KR (1) | KR102151686B1 (ja) |
CN (1) | CN105051407B (ja) |
DE (1) | DE102013204588A1 (ja) |
WO (1) | WO2014139702A1 (ja) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150314454A1 (en) | 2013-03-15 | 2015-11-05 | JIBO, Inc. | Apparatus and methods for providing a persistent companion device |
JP2016522465A (ja) | 2013-03-15 | 2016-07-28 | ジボ インコーポレイテッド | 永続性コンパニオンデバイスを提供するための装置及び方法 |
JP6556697B2 (ja) * | 2013-04-24 | 2019-08-07 | マーケット ユニバーシティー | 広い剛性範囲を有する可変剛性アクチュエータ |
USD746886S1 (en) * | 2014-05-23 | 2016-01-05 | JIBO, Inc. | Robot |
DE102014215315B4 (de) * | 2014-08-04 | 2017-02-09 | Fwbi Friedrich-Wilhelm-Bessel-Institut Forschungsgesellschaft Mit Beschränkter Haftung, Bremen | Antriebsvorrichtung mit einstellbarer Nachgiebigkeit für einen Bewegungsapparat, Verfahren zum Steuern einer solchen und Bewegungsapparat |
DE102018200413B3 (de) | 2018-01-11 | 2019-06-27 | Festo Ag & Co. Kg | Robotervorrichtung und Verfahren |
CN111727211A (zh) | 2018-02-09 | 2020-09-29 | Ppg工业俄亥俄公司 | 涂料组合物 |
EP3670959B1 (en) * | 2018-12-19 | 2023-04-05 | Claverham Limited | Rotary damper, actuator and method of damping rotary motion |
DE112019005798T5 (de) | 2019-02-12 | 2021-08-26 | Cummins Inc. | Integrierte Stösselanordnung |
DE102021100431A1 (de) * | 2021-01-12 | 2022-07-14 | Hasse & Wrede Gmbh | Drehschwingungsdämpfer oder Drehschwingungstilger |
DE102021111413B3 (de) | 2021-05-03 | 2022-06-09 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Aktuatorsystem sowie Verfahren zur Federsteifigkeitsanpassung in einem Aktuatorsystem |
GB2617354A (en) * | 2022-04-05 | 2023-10-11 | Prec Robotics Limited | A joint coupling |
CN114918979B (zh) * | 2022-06-30 | 2024-04-26 | 上海擎朗智能科技有限公司 | 一种浮动托盘及机器人 |
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JP2001509866A (ja) * | 1997-01-29 | 2001-07-24 | ハネウエル・インコーポレーテッド | 荷重絶縁装置 |
JP2005098464A (ja) * | 2003-09-26 | 2005-04-14 | Fujikura Rubber Ltd | ばね剛性可変空気ばね除振ユニット |
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JP2012152865A (ja) * | 2011-01-27 | 2012-08-16 | Yaskawa Electric Corp | ロボット及びロボットシステム |
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-
2013
- 2013-03-15 DE DE102013204588.3A patent/DE102013204588A1/de not_active Withdrawn
-
2014
- 2014-01-15 JP JP2015561985A patent/JP6395733B2/ja active Active
- 2014-01-15 US US14/777,250 patent/US9841061B2/en active Active - Reinstated
- 2014-01-15 WO PCT/EP2014/050710 patent/WO2014139702A1/de active Application Filing
- 2014-01-15 CN CN201480015982.XA patent/CN105051407B/zh active Active
- 2014-01-15 KR KR1020157029763A patent/KR102151686B1/ko active IP Right Grant
- 2014-01-15 EP EP14700859.3A patent/EP2941577A1/de not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE1911285A1 (de) * | 1969-03-05 | 1970-09-24 | Steinheil Lear Siegler Ag | Drehwinkeluebertragungsvorrichtung,insbesondere in optischen Geraeten |
JP2001509866A (ja) * | 1997-01-29 | 2001-07-24 | ハネウエル・インコーポレーテッド | 荷重絶縁装置 |
JP2005098464A (ja) * | 2003-09-26 | 2005-04-14 | Fujikura Rubber Ltd | ばね剛性可変空気ばね除振ユニット |
JP2008502863A (ja) * | 2004-06-12 | 2008-01-31 | シーメンス アクチエンゲゼルシヤフト | 駆動軸のねじり加振を減衰させる装置 |
EP2083192A2 (de) * | 2008-01-22 | 2009-07-29 | ZF Friedrichshafen AG | Torsionsschwingungsdämpferanordnung, insbesondere für den Antriebsstrang eines Fahrzeugs |
JP2012152865A (ja) * | 2011-01-27 | 2012-08-16 | Yaskawa Electric Corp | ロボット及びロボットシステム |
Also Published As
Publication number | Publication date |
---|---|
JP6395733B2 (ja) | 2018-09-26 |
CN105051407B (zh) | 2017-04-05 |
WO2014139702A1 (de) | 2014-09-18 |
DE102013204588A1 (de) | 2014-09-18 |
KR102151686B1 (ko) | 2020-09-03 |
US20160025150A1 (en) | 2016-01-28 |
CN105051407A (zh) | 2015-11-11 |
KR20150132509A (ko) | 2015-11-25 |
US9841061B2 (en) | 2017-12-12 |
EP2941577A1 (de) | 2015-11-11 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |