JP2020168697A - ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法 - Google Patents
ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法 Download PDFInfo
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- JP2020168697A JP2020168697A JP2019072307A JP2019072307A JP2020168697A JP 2020168697 A JP2020168697 A JP 2020168697A JP 2019072307 A JP2019072307 A JP 2019072307A JP 2019072307 A JP2019072307 A JP 2019072307A JP 2020168697 A JP2020168697 A JP 2020168697A
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- Prior art keywords
- speed reducer
- jig
- fixed
- movable
- support portion
- 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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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims description 7
- 230000005484 gravity Effects 0.000 claims abstract description 24
- 210000000707 wrist Anatomy 0.000 description 8
- 238000013459 approach Methods 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 7
- 239000000725 suspension Substances 0.000 description 7
- 230000002093 peripheral effect Effects 0.000 description 4
- 239000012636 effector Substances 0.000 description 3
- 239000002783 friction material Substances 0.000 description 3
- 239000000314 lubricant Substances 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000010422 painting Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Classifications
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
- B66C23/027—Pivot axis separated from column axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
-
- 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
- B25J19/0066—Means or methods for maintaining or repairing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
- B66C11/04—Underhung trolleys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
- B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
-
- 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
- F16H57/00—General details of gearing
- F16H2057/0062—Tools specially adapted for assembly of transmissions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
Description
12,72 固定部
14,76,102,132 可動部
16 支持部
32,136 回動部材
34,104,106 直動部材
44 吊り下げ装置
46 取付部材
Claims (9)
- ロボットの第1要素と第2要素とを互いに減速動作可能に接続する減速機を、該第1要素から該第2要素を分離しているときに支持する治具であって、
前記第1要素又は前記第2要素に着脱可能に取り付けられる固定部と、
前記固定部に回動式又は直動式に移動可能に取り付けられる可動部と、
前記可動部に取り付けられ、前記減速機を重力方向に吊り下げて支持する支持部と、を備える、治具。 - 前記可動部は、前記固定部に対し回動して前記支持部を水平方向へ移動させる、請求項1に記載の治具。
- 前記可動部は、
前記固定部に取り付けられる第1の回動部材と、
前記第1の回動部材に取り付けられる第2の回動部材と、を有する、請求項2に記載の治具。 - 前記可動部は、前記固定部に対し直動して前記支持部を水平方向へ移動させる、請求項1に記載の治具。
- 前記可動部は、
前記固定部に取り付けられる第1の直動部材と、
前記第1の直動部材に取り付けられる第2の直動部材と、を有する、請求項4に記載の治具。 - 前記可動部は、前記固定部に対し回動及び直動して前記支持部を水平方向へ移動させる、請求項2〜5のいずれか1項に記載の治具。
- 前記支持部は、前記減速機に着脱可能に取り付けられ、前記重力方向に沿って往復動する取付部材を有する、請求項1〜6のいずれか1項に記載の治具。
- 請求項1〜7のいずれか1項に記載の治具を用いて前記減速機を交換する方法であって、
分離された前記第1要素及び前記第2要素の一方に固定された前記減速機に、前記支持部を固定し、
前記第1要素及び前記第2要素の一方から前記減速機を取り外し、前記支持部で前記減速機を重力方向に吊り下げて支持し、
前記可動部を前記固定部に対し移動させることで、前記支持部に支持された前記減速機を前記第1要素及び前記第2要素の一方から離反するように移動させる、方法。 - 前記減速機を移動させた後に、前記支持部から前記減速機を取り外し、該支持部に新たな減速機を固定して該支持部で該新たな減速機を重力方向に吊り下げて支持し、
前記可動部を前記固定部に対し移動させることで、前記支持部に支持された前記新たな減速機を、前記第1要素及び前記第2要素の一方へ向かって移動させ、
前記新たな減速機を前記第1要素及び前記第2要素の一方に固定する、請求項8に記載の方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019072307A JP7068224B2 (ja) | 2019-04-04 | 2019-04-04 | ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法 |
DE102020108674.1A DE102020108674A1 (de) | 2019-04-04 | 2020-03-30 | Haltevorrichtung, die ein untersetzungsgetriebe eines roboters trägt, und verfahren zum austausch eines untersetzungsgetriebes unter verwendung der haltevorrichtung |
US16/838,027 US11698125B2 (en) | 2019-04-04 | 2020-04-02 | Jig supporting reduction gear of robot and method of replacing reduction gear using jig |
CN202010255648.9A CN111792541A (zh) | 2019-04-04 | 2020-04-02 | 治具以及更换减速器的方法 |
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JP2019072307A JP7068224B2 (ja) | 2019-04-04 | 2019-04-04 | ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法 |
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JP2020168697A true JP2020168697A (ja) | 2020-10-15 |
JP7068224B2 JP7068224B2 (ja) | 2022-05-16 |
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JP2019072307A Active JP7068224B2 (ja) | 2019-04-04 | 2019-04-04 | ロボットの減速機を支持する治具、及び治具を用いて減速機を交換する方法 |
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US (1) | US11698125B2 (ja) |
JP (1) | JP7068224B2 (ja) |
CN (1) | CN111792541A (ja) |
DE (1) | DE102020108674A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7288159B1 (ja) * | 2023-01-23 | 2023-06-06 | ファナック株式会社 | パラレルリンクロボットの組立方法、搬送方法、分解方法および組立セット |
JP7290813B1 (ja) * | 2023-01-23 | 2023-06-13 | ファナック株式会社 | パラレルリンクロボットの組立方法および分解方法 |
KR102551890B1 (ko) * | 2023-03-16 | 2023-07-05 | (주)수성하이테크 | 반도체 장비 구성에 대한 아크 스프레이 코팅을 위한 로봇 암 장치 |
Families Citing this family (1)
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JP2022113462A (ja) * | 2021-01-25 | 2022-08-04 | セイコーエプソン株式会社 | ロボット、取り付け方法、取り外し方法、固定部材およびメンテナンスシステム |
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2019
- 2019-04-04 JP JP2019072307A patent/JP7068224B2/ja active Active
-
2020
- 2020-03-30 DE DE102020108674.1A patent/DE102020108674A1/de active Pending
- 2020-04-02 CN CN202010255648.9A patent/CN111792541A/zh active Pending
- 2020-04-02 US US16/838,027 patent/US11698125B2/en active Active
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JPH01295790A (ja) * | 1988-05-20 | 1989-11-29 | Mitsubishi Electric Corp | 作業用ロボットの吊り上げ装置 |
JPH05116091A (ja) * | 1991-10-25 | 1993-05-14 | Toyoda Mach Works Ltd | ロボツトの保守用具 |
JPH05318379A (ja) * | 1992-03-19 | 1993-12-03 | Toyoda Mach Works Ltd | ロボットの保全工具 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP7288159B1 (ja) * | 2023-01-23 | 2023-06-06 | ファナック株式会社 | パラレルリンクロボットの組立方法、搬送方法、分解方法および組立セット |
JP7290813B1 (ja) * | 2023-01-23 | 2023-06-13 | ファナック株式会社 | パラレルリンクロボットの組立方法および分解方法 |
KR102551890B1 (ko) * | 2023-03-16 | 2023-07-05 | (주)수성하이테크 | 반도체 장비 구성에 대한 아크 스프레이 코팅을 위한 로봇 암 장치 |
Also Published As
Publication number | Publication date |
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JP7068224B2 (ja) | 2022-05-16 |
CN111792541A (zh) | 2020-10-20 |
US20200318726A1 (en) | 2020-10-08 |
US11698125B2 (en) | 2023-07-11 |
DE102020108674A1 (de) | 2020-10-08 |
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