JP6220105B1 - 外部駆動型の関節構造体 - Google Patents

外部駆動型の関節構造体 Download PDF

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Publication number
JP6220105B1
JP6220105B1 JP2017530358A JP2017530358A JP6220105B1 JP 6220105 B1 JP6220105 B1 JP 6220105B1 JP 2017530358 A JP2017530358 A JP 2017530358A JP 2017530358 A JP2017530358 A JP 2017530358A JP 6220105 B1 JP6220105 B1 JP 6220105B1
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Japan
Prior art keywords
joint structure
link
rotating member
rotating
link member
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JP2017530358A
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English (en)
Japanese (ja)
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JPWO2017138634A1 (ja
Inventor
智之 野田
智之 野田
佳弘 仲田
佳弘 仲田
石黒　浩
浩 石黒
森本　淳
淳 森本
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.)
ATR Advanced Telecommunications Research Institute International
University of Osaka NUC
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Osaka University NUC
ATR Advanced Telecommunications Research Institute International
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Application filed by Osaka University NUC, ATR Advanced Telecommunications Research Institute International filed Critical Osaka University NUC
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Publication of JPWO2017138634A1 publication Critical patent/JPWO2017138634A1/ja
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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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • 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
    • 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
    • B25J17/0241—One-dimensional joints
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Pivots And Pivotal Connections (AREA)
JP2017530358A 2016-02-10 2017-02-10 外部駆動型の関節構造体 Active JP6220105B1 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2016024182 2016-02-10
JP2016024182 2016-02-10
PCT/JP2017/004922 WO2017138634A1 (ja) 2016-02-10 2017-02-10 外部駆動型の関節構造体

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2017187866A Division JP6872753B2 (ja) 2016-02-10 2017-09-28 外部駆動型の関節構造体

Publications (2)

Publication Number Publication Date
JP6220105B1 true JP6220105B1 (ja) 2017-10-25
JPWO2017138634A1 JPWO2017138634A1 (ja) 2018-02-22

Family

ID=59563813

Family Applications (2)

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JP2017530358A Active JP6220105B1 (ja) 2016-02-10 2017-02-10 外部駆動型の関節構造体
JP2017187866A Active JP6872753B2 (ja) 2016-02-10 2017-09-28 外部駆動型の関節構造体

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2017187866A Active JP6872753B2 (ja) 2016-02-10 2017-09-28 外部駆動型の関節構造体

Country Status (5)

Country Link
US (2) US11325244B2 (enExample)
EP (1) EP3415283B1 (enExample)
JP (2) JP6220105B1 (enExample)
CN (1) CN109070343B (enExample)
WO (1) WO2017138634A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021109253A (ja) * 2020-01-07 2021-08-02 株式会社人機一体 作業アーム

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* Cited by examiner, † Cited by third party
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EP3415873B1 (en) * 2016-02-10 2020-09-09 Advanced Telecommunications Research Institute International Rotational structure, assist system, and robot
DE202018101463U1 (de) * 2018-03-15 2018-04-25 Igus Gmbh Manipulator mit Gelenken und Multifunktionsprofil hierfür
CN110076820B (zh) * 2019-03-13 2020-11-27 东北大学 一种含有并联弹性的仿生机器人关节
WO2024243877A1 (zh) * 2023-05-31 2024-12-05 江门市广利电子科技有限公司 一种关节定位结构、折叠组件及功能设备

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JPS5112185U (enExample) * 1974-07-13 1976-01-29
JPS60157196U (ja) * 1984-03-29 1985-10-19 株式会社三協精機製作所 多関節型ロボツト
JPS6281722U (enExample) * 1985-11-06 1987-05-25
JPH03213288A (ja) * 1988-06-13 1991-09-18 Westinghouse Electric Corp <We> 再構成可能なロボットアーム及びその構成方法
JPH0819985A (ja) * 1994-07-04 1996-01-23 Mitsubishi Electric Corp ロボット装置
JP2005014105A (ja) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp 産業用ロボット
JP2008023076A (ja) * 2006-07-21 2008-02-07 Japan Aerospace Exploration Agency マグネット着脱分岐アーム機構を有するオフセット多関節構造体
JP2010255852A (ja) * 2009-04-18 2010-11-11 Igus Gmbh 特にロボット工学のための多軸継手、継手アセンブリおよびロボット工学のためのキット
US20120204670A1 (en) * 2010-02-05 2012-08-16 The Regents Of The University Of California Four degree of freedom (4-dof) single modular robot unit or joint

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JPS62282886A (ja) 1986-05-28 1987-12-08 株式会社日立製作所 モジユ−ル型マニピユレ−タ
JPS6377682A (ja) 1986-09-19 1988-04-07 フアナツク株式会社 産業用ロボツトのア−ム構造
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor
JP2531910Y2 (ja) 1992-03-31 1997-04-09 株式会社スガイ 物品把持装置
JPH09107198A (ja) 1995-10-13 1997-04-22 Tdk Corp 電子部品装着装置
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KR100532685B1 (ko) 2000-11-17 2005-12-01 혼다 기켄 고교 가부시키가이샤 레그식 보행 로봇
CN2474991Y (zh) 2001-03-19 2002-01-30 中国科学院长春光学精密机械与物理研究所 一种嵌入式结构的光电轴角编码器
FR2885967B1 (fr) 2005-05-23 2007-12-21 Danfoss Commercial Compressors Element de liaison entre les deux volutes d'un compresseur a spirales
WO2007101890A1 (es) * 2006-03-06 2007-09-13 Ortodisca S L Grupo modular de rodadura
KR20080111293A (ko) * 2007-06-18 2008-12-23 호서대학교 산학협력단 선형 액츄에이터를 이용한 로봇 관절 구조
JP2009131104A (ja) 2007-11-27 2009-06-11 Nsk Ltd 搬送ロボット
JP2010084842A (ja) 2008-09-30 2010-04-15 Thk Co Ltd 回転駆動装置、ロボットの関節構造及びロボットアーム
EP2355958B1 (en) * 2008-10-06 2013-06-19 Kinova Portable robotic arm
KR20100053005A (ko) * 2008-11-12 2010-05-20 삼성전자주식회사 조인트유닛의 전기연결장치와 이를 구비한 로봇
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JP5818346B2 (ja) 2011-04-27 2015-11-18 日本電産サンキョー株式会社 回転体の回転範囲規制機構および産業用ロボット
KR101351528B1 (ko) * 2011-10-26 2014-01-16 (주)로보티즈 분리형 엑츄에이터
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WO2014183104A1 (en) 2013-05-10 2014-11-13 Huawei Technologies Co., Ltd System and methods for controlling out-of-network d2d communications
EP2859998B1 (en) * 2013-10-14 2018-04-11 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Modular robotic kit and method for producing a robotic system
CN203757306U (zh) * 2014-03-07 2014-08-06 安徽旭辰达电子科技有限公司 超360度同轴旋转限位装置
KR20150132771A (ko) * 2014-05-16 2015-11-26 현대자동차주식회사 링크구동장치
US10124486B2 (en) * 2014-09-26 2018-11-13 Norgren Automation Solutions, Llc Automatically positionable joints and transfer tooling assemblies including automatically positionable joints
US9388851B1 (en) * 2014-12-22 2016-07-12 Schaeffler Technologies AG & Co. KG Split cylindrical roller bearing
EP3415873B1 (en) * 2016-02-10 2020-09-09 Advanced Telecommunications Research Institute International Rotational structure, assist system, and robot
US10238567B2 (en) * 2017-07-28 2019-03-26 Sywind Co., Ltd. Arm mechanism

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5112185U (enExample) * 1974-07-13 1976-01-29
JPS60157196U (ja) * 1984-03-29 1985-10-19 株式会社三協精機製作所 多関節型ロボツト
JPS6281722U (enExample) * 1985-11-06 1987-05-25
JPH03213288A (ja) * 1988-06-13 1991-09-18 Westinghouse Electric Corp <We> 再構成可能なロボットアーム及びその構成方法
JPH0819985A (ja) * 1994-07-04 1996-01-23 Mitsubishi Electric Corp ロボット装置
JP2005014105A (ja) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp 産業用ロボット
JP2008023076A (ja) * 2006-07-21 2008-02-07 Japan Aerospace Exploration Agency マグネット着脱分岐アーム機構を有するオフセット多関節構造体
JP2010255852A (ja) * 2009-04-18 2010-11-11 Igus Gmbh 特にロボット工学のための多軸継手、継手アセンブリおよびロボット工学のためのキット
US20120204670A1 (en) * 2010-02-05 2012-08-16 The Regents Of The University Of California Four degree of freedom (4-dof) single modular robot unit or joint

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021109253A (ja) * 2020-01-07 2021-08-02 株式会社人機一体 作業アーム

Also Published As

Publication number Publication date
US11794336B2 (en) 2023-10-24
US11325244B2 (en) 2022-05-10
JP2018020437A (ja) 2018-02-08
US20220226983A1 (en) 2022-07-21
US20190047142A1 (en) 2019-02-14
JP6872753B2 (ja) 2021-05-19
EP3415283A1 (en) 2018-12-19
EP3415283B1 (en) 2021-06-09
EP3415283A4 (en) 2019-10-16
WO2017138634A1 (ja) 2017-08-17
JPWO2017138634A1 (ja) 2018-02-22
CN109070343B (zh) 2021-09-21
CN109070343A (zh) 2018-12-21

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