JP5573987B1 - 関節機構およびロボット - Google Patents

関節機構およびロボット Download PDF

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Publication number
JP5573987B1
JP5573987B1 JP2013024957A JP2013024957A JP5573987B1 JP 5573987 B1 JP5573987 B1 JP 5573987B1 JP 2013024957 A JP2013024957 A JP 2013024957A JP 2013024957 A JP2013024957 A JP 2013024957A JP 5573987 B1 JP5573987 B1 JP 5573987B1
Authority
JP
Japan
Prior art keywords
unit
joint mechanism
joint
power transmission
shaft
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.)
Expired - Fee Related
Application number
JP2013024957A
Other languages
English (en)
Japanese (ja)
Other versions
JP2014151412A (ja
Inventor
謙太郎 田中
敦 一番ケ瀬
洋 齋藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP2013024957A priority Critical patent/JP5573987B1/ja
Priority to EP14154077.3A priority patent/EP2764959B1/en
Priority to US14/174,851 priority patent/US20140224057A1/en
Priority to KR1020140014289A priority patent/KR20140101679A/ko
Priority to IN634CH2014 priority patent/IN2014CH00634A/en
Priority to CN201410047360.7A priority patent/CN103978495A/zh
Application granted granted Critical
Publication of JP5573987B1 publication Critical patent/JP5573987B1/ja
Publication of JP2014151412A publication Critical patent/JP2014151412A/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • B25J19/0004—Braking devices
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
JP2013024957A 2013-02-12 2013-02-12 関節機構およびロボット Expired - Fee Related JP5573987B1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2013024957A JP5573987B1 (ja) 2013-02-12 2013-02-12 関節機構およびロボット
EP14154077.3A EP2764959B1 (en) 2013-02-12 2014-02-06 Joint mechanism and robot
US14/174,851 US20140224057A1 (en) 2013-02-12 2014-02-07 Joint mechanism and robot
KR1020140014289A KR20140101679A (ko) 2013-02-12 2014-02-07 관절 기구 및 로봇
IN634CH2014 IN2014CH00634A (enExample) 2013-02-12 2014-02-11
CN201410047360.7A CN103978495A (zh) 2013-02-12 2014-02-11 关节机构和机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2013024957A JP5573987B1 (ja) 2013-02-12 2013-02-12 関節機構およびロボット

Publications (2)

Publication Number Publication Date
JP5573987B1 true JP5573987B1 (ja) 2014-08-20
JP2014151412A JP2014151412A (ja) 2014-08-25

Family

ID=50101702

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2013024957A Expired - Fee Related JP5573987B1 (ja) 2013-02-12 2013-02-12 関節機構およびロボット

Country Status (6)

Country Link
US (1) US20140224057A1 (enExample)
EP (1) EP2764959B1 (enExample)
JP (1) JP5573987B1 (enExample)
KR (1) KR20140101679A (enExample)
CN (1) CN103978495A (enExample)
IN (1) IN2014CH00634A (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013216449A1 (de) * 2013-08-20 2015-02-26 Kuka Roboter Gmbh Industrieroboter mit wenigstens einem Antrieb
USD774578S1 (en) 2014-04-09 2016-12-20 Fanuc Corporation Industrial robot
JP6344246B2 (ja) * 2015-01-15 2018-06-20 株式会社安川電機 回転電機
USD774580S1 (en) 2014-09-26 2016-12-20 Fanuc Corporation Industrial robot
USD774579S1 (en) 2014-09-26 2016-12-20 Fanuc Corporation Industrial robot
USD766348S1 (en) * 2014-10-23 2016-09-13 Hon Hai Precision Industry Co., Ltd. Robot
JP2016140917A (ja) * 2015-01-29 2016-08-08 株式会社安川電機 ロボット
JP2016140918A (ja) * 2015-01-29 2016-08-08 株式会社安川電機 ロボット
JP6055018B2 (ja) 2015-04-09 2016-12-27 ファナック株式会社 モータと減速機とを備えたロボットの関節構造
KR101643392B1 (ko) * 2015-05-19 2016-07-27 주식회사 민트로봇 병렬 구조의 중공형 액츄에이터
DE102016004787B4 (de) * 2016-04-20 2023-02-02 Franka Emika Gmbh Antriebsvorrichtung für einen Roboter und Verfahren zu ihrer Herstellung
KR101838091B1 (ko) * 2016-05-30 2018-03-13 한국기계연구원 순응형 구동모듈
US10022861B1 (en) 2017-04-27 2018-07-17 Engineering Services Inc. Two joint module and arm using same
USD802041S1 (en) * 2017-04-27 2017-11-07 Engineering Services Inc Robotic arm
USD890238S1 (en) * 2018-03-02 2020-07-14 Abb Schweiz Ag Joint for an industrial robot
USD929481S1 (en) * 2018-04-27 2021-08-31 Staubli Faverges Industrial robots
TWI663813B (zh) 2018-11-28 2019-06-21 財團法人工業技術研究院 輸出轉矩的計算裝置與其計算方法
JP6867421B2 (ja) * 2019-01-23 2021-04-28 ファナック株式会社 ロボットのシール構造およびロボット
JP7381204B2 (ja) 2019-01-29 2023-11-15 ファナック株式会社 ロボット
JP7185065B2 (ja) * 2019-09-25 2022-12-06 ヤマハ発動機株式会社 垂直多関節ロボット
JP7469035B2 (ja) * 2019-12-12 2024-04-16 ファナック株式会社 ロボットの関節構造

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61131891A (ja) * 1984-11-29 1986-06-19 三菱重工業株式会社 回転関節機構
JPS61129521A (ja) * 1984-11-29 1986-06-17 Mitsubishi Heavy Ind Ltd 絶対位置検出装置
JPS61288985A (ja) * 1985-06-14 1986-12-19 株式会社日立製作所 ロボツトの関節構造
JPS6228184A (ja) * 1985-07-30 1987-02-06 ぺんてる株式会社 慣性駆動ア−ム型ロボツト
US4678952A (en) * 1985-08-13 1987-07-07 Intelledex Incorporated Sealed joint for a robot and the like
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
JP3656328B2 (ja) * 1996-07-11 2005-06-08 日産自動車株式会社 位置決め助力アーム
FR2771153B1 (fr) * 1997-11-19 1999-12-17 Staubli Sa Ets Reducteur epicycloidal ou cycloidal et articulation de robot equipee d'un tel reducteur
US7230402B2 (en) * 2003-03-05 2007-06-12 Mitsubishi Denki Kabushiki Kaisha Swing device of industrial robot
JP5440227B2 (ja) * 2009-06-19 2014-03-12 株式会社安川電機 中空減速機内蔵アクチュエータ

Also Published As

Publication number Publication date
KR20140101679A (ko) 2014-08-20
CN103978495A (zh) 2014-08-13
EP2764959B1 (en) 2015-03-11
US20140224057A1 (en) 2014-08-14
JP2014151412A (ja) 2014-08-25
EP2764959A1 (en) 2014-08-13
IN2014CH00634A (enExample) 2015-04-10

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