JP2020203363A5 - - Google Patents
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- Publication number
- JP2020203363A5 JP2020203363A5 JP2019113538A JP2019113538A JP2020203363A5 JP 2020203363 A5 JP2020203363 A5 JP 2020203363A5 JP 2019113538 A JP2019113538 A JP 2019113538A JP 2019113538 A JP2019113538 A JP 2019113538A JP 2020203363 A5 JP2020203363 A5 JP 2020203363A5
- Authority
- JP
- Japan
- Prior art keywords
- robot
- motor
- screws
- output shaft
- connecting member
- 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
- 239000003638 chemical reducing agent Substances 0.000 claims 6
- 230000002093 peripheral effect Effects 0.000 claims 1
Claims (5)
前記第１部材に対して回動可能に設けられている第２部材と、
前記第１部材に設けられ、出力軸を有し、駆動力を発生するモーターと、
前記第１部材に設けられ、入力軸を有し、前記モーターの駆動力を減速して前記第２部
材に伝達する減速機と、
回転中心軸を有し、前記モーターの出力軸と前記減速機の入力軸とを連結する連結部材
と、
を有し、
前記減速機は、前記減速機の入力軸に対して前記連結部材の回転中心軸を第１方向に偏
心させて位置決めする第１位置決め部を有し、
前記連結部材は、前記連結部材の回転中心軸に対して前記モーターの出力軸を、前記第
１方向に対して反対の方向の第２方向に偏心させて位置決めする第２位置決め部を有する
、
ロボット。 With the first member
A second member rotatably provided with respect to the first member,
A motor provided on the first member, having an output shaft, and generating a driving force,
A speed reducer provided on the first member, having an input shaft, decelerating the driving force of the motor, and transmitting the driving force to the second member.
A connecting member having a rotation center shaft and connecting the output shaft of the motor and the input shaft of the speed reducer,
Have,
The speed reducer deviates the rotation center axis of the connecting member in the first direction with respect to the input shaft of the speed reducer.
It has a first positioning unit that is centered and positioned.
The connecting member has a second positioning portion that positions the output shaft of the motor with respect to the rotation center axis of the connecting member by eccentricity in a second direction opposite to the first direction.
robot.
前記減速機は、
内歯歯車と、
前記内歯歯車に部分的に噛み合う可撓性の外歯歯車と、
前記外歯歯車の内周面に接し、前記外歯歯車を撓めて前記内歯歯車と前記外歯歯車との
噛み合い位置を周方向に移動させる波動発生器と、
を有する、
ロボット。 In the robot according to claim 1,
The reducer
With internal gears,
A flexible external gear that partially meshes with the internal gear,
A wave generator that comes into contact with the inner peripheral surface of the external gear and bends the external gear to move the meshing position between the internal gear and the external gear in the circumferential direction.
Have,
robot.
前記第１位置決め部と前記第２位置決め部との位置関係は、前記モーターの出力軸の軸
方向から見て、前記モーターの出力軸を中心に点対称である、
ロボット。 In the robot according to claim 1 or 2.
The positional relationship between the first positioning portion and the second positioning portion is point-symmetrical with respect to the output shaft of the motor when viewed from the axial direction of the output shaft of the motor.
robot.
前記第１位置決め部は、前記減速機の入力軸に対して前記連結部材を固定する２本のネ
ジを有し、
それぞれの前記ネジのうち、一方の前記ネジの軸方向と、他方の前記ネジの軸方向とは
、互いに直交する、
ロボット。 In the robot according to any one of claims 1 to 3, the robot
The first positioning unit has two screws for fixing the connecting member to the input shaft of the speed reducer.
Of each of the screws, the axial direction of one of the screws and the axial direction of the other screw are orthogonal to each other.
robot.
前記第２位置決め部は、前記連結部材に対して前記モーターの出力軸を固定する２本の
ネジを有し、
それぞれの前記ネジのうち、一方の前記ネジの軸方向と、他方の前記ネジの軸方向とは
、互いに直交する、
ロボット。 In the robot according to any one of claims 1 to 4, the robot
The second positioning portion has two screws for fixing the output shaft of the motor to the connecting member.
Of each of the screws, the axial direction of one of the screws and the axial direction of the other screw are orthogonal to each other.
robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019113538A JP7268491B2 (en) | 2019-06-19 | 2019-06-19 | robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019113538A JP7268491B2 (en) | 2019-06-19 | 2019-06-19 | robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2020203363A JP2020203363A (en) | 2020-12-24 |
| JP2020203363A5 true JP2020203363A5 (en) | 2022-05-25 |
| JP7268491B2 JP7268491B2 (en) | 2023-05-08 |
Family
ID=73837744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019113538A Active JP7268491B2 (en) | 2019-06-19 | 2019-06-19 | robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP7268491B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112021008204T5 (en) * | 2021-10-14 | 2024-10-02 | Yamaha Hatsudoki Kabushiki Kaisha | robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2876755B1 (en) | 2004-10-20 | 2007-01-26 | Pcm Pompes Sa | PUMPING DEVICE WITH PROGRESSIVE CAVITY PUMP |
| JP7151175B2 (en) * | 2017-09-15 | 2022-10-12 | 日本電産株式会社 | transmission and actuator |
-
2019
- 2019-06-19 JP JP2019113538A patent/JP7268491B2/en active Active
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