JP6254271B2 - 被駆動連結器との軸不整合を示す横方向に係合した駆動連結器におけるトルク伝達 - Google Patents
被駆動連結器との軸不整合を示す横方向に係合した駆動連結器におけるトルク伝達 Download PDFInfo
- Publication number
- JP6254271B2 JP6254271B2 JP2016525446A JP2016525446A JP6254271B2 JP 6254271 B2 JP6254271 B2 JP 6254271B2 JP 2016525446 A JP2016525446 A JP 2016525446A JP 2016525446 A JP2016525446 A JP 2016525446A JP 6254271 B2 JP6254271 B2 JP 6254271B2
- Authority
- JP
- Japan
- Prior art keywords
- coupler
- driven
- drive
- engagement
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims description 39
- 230000007246 mechanism Effects 0.000 claims description 73
- 238000010168 coupling process Methods 0.000 claims description 55
- 230000008878 coupling Effects 0.000 claims description 54
- 238000005859 coupling reaction Methods 0.000 claims description 54
- 238000000034 method Methods 0.000 claims description 40
- 230000013011 mating Effects 0.000 claims description 32
- 230000000295 complement effect Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000000116 mitigating effect Effects 0.000 claims description 8
- 238000000926 separation method Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 description 17
- 238000003032 molecular docking Methods 0.000 description 16
- 230000036961 partial effect Effects 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 11
- 239000013598 vector Substances 0.000 description 11
- 238000013519 translation Methods 0.000 description 10
- 238000013459 approach Methods 0.000 description 9
- 238000012937 correction Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000006978 adaptation Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 238000007373 indentation Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 235000018936 Vitellaria paradoxa Nutrition 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 238000003466 welding Methods 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D11/00—Clutches in which the members have interengaging parts
- F16D11/16—Clutches in which the members have interengaging parts with clutching members movable otherwise than only axially
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
- F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
- F16D3/04—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted to allow radial displacement, e.g. Oldham couplings
-
- 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
- F16D3/02—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions
- F16D3/10—Couplings with means for varying the angular relationship of two coaxial shafts during motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
-
- 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
- Y10S901/01—Mobile robot
-
- 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
- Y10S901/30—End effector
-
- 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
- Y10T74/19—Gearing
- Y10T74/19614—Disconnecting means
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Description
Claims (22)
- 第1のユニットと第2のユニットとの間でトルクを伝達するための装置であって、
a)駆動軸を中心とした回転によって前記トルクを送出するための、前記第1のユニット上に搭載された駆動連結器と、
b)被駆動軸を有し前記第2のユニット上に搭載された被駆動連結器であって、前記被駆動軸に対して実質的に直交した係合方向に沿って前記駆動連結器と係合するように配置された被駆動連結器と、
c)前記駆動連結器を前記係合方向に沿って移動させて前記駆動軸と前記被駆動軸との間の一次同軸整合を達成するための横方向変位手段と、
d)前記一次同軸整合が達成された後に前記駆動軸を中心として前記駆動連結器を回転させて前記駆動連結器を前記被駆動連結器に結合させると共に前記被駆動軸を中心として前記トルクを伝達するためのトルク送出駆動部と、
を備え、これによって前記装置が前記第1のユニットから前記第2のユニットに前記トルクを伝達する、装置。 - 前記駆動連結器が第1の嵌合部材を備え、前記被駆動連結器が第2の嵌合部材を備え、前記第1の嵌合部材及び前記第2の嵌合部材が、前記第1の嵌合部材が物理的な接触なしに前記第2の嵌合部材を通過する通過方位を規定する適合形態を有する、請求項1に記載の装置。
- 前記適合形態が、前記第1の嵌合部材が前記第2の嵌合部材に結合する相対結合方位を更に規定する、請求項2に記載の装置。
- 結合及び前記被駆動軸を中心としたトルクの伝達中に前記駆動軸と前記被駆動軸との間の前記一次同軸整合に適合するための適合性機構を更に備える、請求項1に記載の装置。
- 前記適合性機構が、前記第1のユニット内に搭載され、前記駆動軸の方位に適合するための駆動側手段を備える、請求項4に記載の装置。
- 前記駆動軸の方位に適合するための前記駆動側手段が、前記駆動軸に沿った方位に配されると共に少なくとも1つの適合性を有する要素を備えた駆動シャフトを備える、請求項5に記載の装置。
- 前記適合性機構が、前記第2のユニット内に搭載され、前記被駆動軸の方位に適合するための被駆動側手段を備える、請求項4に記載の装置。
- 前記被駆動軸の方位に適合するための前記被駆動側手段が、前記被駆動軸に沿った方位に配されると共に少なくとも1つの適合性を有する要素を備えた被駆動シャフトを備える、請求項7に記載の装置。
- 前記駆動連結器が第1の嵌合部材を備え、前記被駆動連結器が第2の嵌合部材を備え、前記第1の嵌合部材及び前記第2の嵌合部材の少なくとも一方が少なくとも1つの係合特徴部を備える、請求項1に記載の装置。
- 前記少なくとも1つの係合特徴部が、前記第1の嵌合部材及び前記第2の嵌合部材に、前記一次同軸整合が二次同軸整合に調整される3次元で制約された相対係合姿勢をとらせるための多数の係合表面を備える、請求項9に記載の装置。
- 前記少なくとも1つの係合特徴部が、前記一次同軸整合が所定の公差を超える場合に、前記駆動連結器に3次元で制約された相対係合姿勢をとらせるための、前記第1の嵌合部材上及び前記第2の嵌合部材上の相補形係合特徴部を備える、請求項9に記載の装置。
- 前記駆動連結器及び前記被駆動連結器の少なくとも一方が、衝突の衝撃を緩和するための少なくとも1つの衝突緩和特徴部を備える、請求項1に記載の装置。
- 前記第1のユニットを搭載するためのレールを更に備え、前記第1のユニットが前記レールに沿って移動するようになっている、請求項1に記載の装置。
- 前記第2のユニットが静止ユニットである、請求項1に記載の装置。
- 第1のユニットと第2のユニットとの間でトルクを伝達するための方法であって、
a)前記第1のユニット上に駆動軸を有する駆動連結器を搭載するステップと、
b)前記第2のユニット上に被駆動軸を有する被駆動連結器を搭載するステップと、
c)前記駆動軸と前記被駆動軸との間の一次同軸整合を達成しながら、前記被駆動軸に対して実質的に直交した係合方向に沿って前記駆動連結器を移動させて前記被駆動連結器と係合させるステップと、
d)前記一次同軸整合が達成された後に前記駆動軸を中心として前記駆動連結器を回転させて前記駆動連結器を前記被駆動連結器に結合させると共に前記第1のユニットから前記第2のユニットへ前記被駆動軸を中心として前記トルクを伝達するステップと、
を備える、方法。 - a)前記駆動連結器上に第1の嵌合部材を提供することと、
b)前記被駆動連結器上に第2の嵌合部材を提供することと、
c)前記第1の嵌合部材が物理的な接触なしに前記第2の嵌合部材を通過する通過方位を規定するように適合形態を用いて前記第1の嵌合部材及び前記第2の嵌合部材を設計することと、
を更に備える、請求項15に記載の方法。 - 前記適合形態が更に、前記第1の嵌合部材が前記第2の嵌合部材に結合する相対結合方位を規定するように設計されている、請求項16に記載の方法。
- 前記被駆動連結器が係合前に前記駆動連結器に対して通過方位に位置決めされている、請求項15に記載の方法。
- 前記トルクの伝達後であって前記被駆動連結器から分離する前に、前記駆動連結器が前記被駆動連結器を前記通過方位へと回転させる、請求項18に記載の方法。
- 前記被駆動軸を中心としたトルクの伝達中に前記駆動軸と前記被駆動軸との間の前記一次同軸整合に適合するためのステップを更に備える、請求項15に記載の方法。
- a)前記駆動連結器に第1の嵌合部材を提供することと、
b)前記被駆動連結器に第2の嵌合部材を提供することと、
c)前記第1の嵌合部材及び前記第2の嵌合部材の少なくとも一方上に少なくとも1つの係合特徴部を提供することと、
を更に備える、請求項15に記載の方法。 - 前記少なくとも1つの係合特徴部が、前記第1の嵌合部材上及び前記第2の嵌合部材上の相補形係合特徴部を備え、前記方法が、前記駆動連結器に、前記一次同軸整合が二次同軸整合に調整される3次元で制約された相対係合姿勢をとらせることを更に備える、請求項21に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/938,215 US9982722B2 (en) | 2013-07-09 | 2013-07-09 | Torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers |
US13/938,215 | 2013-07-09 | ||
PCT/US2014/045876 WO2015006402A1 (en) | 2013-07-09 | 2014-07-09 | Torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016526646A JP2016526646A (ja) | 2016-09-05 |
JP6254271B2 true JP6254271B2 (ja) | 2017-12-27 |
Family
ID=52276256
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016525446A Active JP6254271B2 (ja) | 2013-07-09 | 2014-07-09 | 被駆動連結器との軸不整合を示す横方向に係合した駆動連結器におけるトルク伝達 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9982722B2 (ja) |
EP (1) | EP3019761B1 (ja) |
JP (1) | JP6254271B2 (ja) |
CN (1) | CN105849427B (ja) |
MX (1) | MX2016000380A (ja) |
WO (1) | WO2015006402A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2552653A (en) * | 2016-07-28 | 2018-02-07 | Delphi Int Operations Luxembourg Sarl | Diesel fuel injection pumps assembly |
CN106246747A (zh) * | 2016-08-08 | 2016-12-21 | 苏州亘富机械科技有限公司 | 一种联轴节 |
US10036576B1 (en) * | 2017-06-26 | 2018-07-31 | Zia Mounting Solutions, Llc | Multi-level mounting system |
US10653102B2 (en) * | 2018-01-31 | 2020-05-19 | Technologies Holdings Corp. | Robotic arm |
AU2019395013A1 (en) * | 2018-12-06 | 2021-04-22 | Covidien Lp | Method of controlling cable driven end effectors |
Family Cites Families (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1398679A (en) * | 1921-01-25 | 1921-11-29 | Clark Charles Jerome | Tool-holder |
US2407160A (en) * | 1945-01-10 | 1946-09-03 | David A Kahn | Self-locking bolt |
US2574026A (en) * | 1947-02-04 | 1951-11-06 | Arthur U Eslick | Screw holding screw driver |
US3747966A (en) | 1971-09-15 | 1973-07-24 | Deere & Co | Shaft coupling mechanism |
DD102199A1 (ja) | 1972-08-25 | 1973-12-12 | ||
US4336870A (en) | 1977-01-06 | 1982-06-29 | Shea Inventive Designs | Torque exchange coupling |
US4130152A (en) * | 1977-10-19 | 1978-12-19 | John Sawyer | Slot-head fastener and driver therefor |
US4289414A (en) | 1979-12-06 | 1981-09-15 | Recker Florian B | Torque transmitting coupling |
US4342535A (en) | 1980-08-14 | 1982-08-03 | General Motors Corporation | Door-opener apparatus |
SE440542B (sv) | 1983-12-22 | 1985-08-05 | Gustaf Gadelius | Kopplingsanordning, speciellt for steglost reglerbar vexel |
JPH04128128U (ja) | 1991-05-16 | 1992-11-24 | ダイハツ工業株式会社 | 自動ネジ締め機 |
JP3127319B2 (ja) | 1992-07-07 | 2001-01-22 | 本田技研工業株式会社 | 変位吸収継手 |
US5432582A (en) | 1994-02-14 | 1995-07-11 | Eastman Kodak Company | Ratcheting, compliant magazine drive coupling |
DE19714605A1 (de) | 1997-04-09 | 1998-10-15 | Bernd Dr Volle | Drehmomentwandler und/oder -übertrager |
US6113020A (en) | 1997-07-02 | 2000-09-05 | Seagate Technology, Inc. | Reel lock and coupling engagement mechanisms for a cartridge |
JP3972473B2 (ja) | 1998-07-30 | 2007-09-05 | アシスト シンコー株式会社 | 無人搬送車 |
JP2000170783A (ja) | 1998-12-03 | 2000-06-20 | Canon Inc | 回転力伝達機構、シート給送装置、及び画像形成装置 |
US6464589B1 (en) | 2001-12-14 | 2002-10-15 | Kinzou Shinozuka | Transverse cylindrical engagement tripartite flexible shaft coupling |
JP2003311555A (ja) * | 2002-04-25 | 2003-11-05 | Okuma Corp | ネジ締め装置 |
JP2005177910A (ja) | 2003-12-18 | 2005-07-07 | Toyota Motor Corp | ねじ締付装置 |
US7036644B2 (en) | 2004-05-21 | 2006-05-02 | General Motors Corporation | Torque-transmitting mechanism with latching apparatus |
WO2006082191A1 (en) | 2005-02-01 | 2006-08-10 | Carsten Tegtmeyer | Torque transmission device |
JP2009092121A (ja) | 2007-10-05 | 2009-04-30 | Enplas Corp | 回転軸継手 |
US8322249B2 (en) * | 2008-12-18 | 2012-12-04 | Foster-Miller, Inc. | Robot arm assembly |
US9020636B2 (en) | 2010-12-16 | 2015-04-28 | Saied Tadayon | Robot for solar farms |
CN202158097U (zh) | 2011-05-03 | 2012-03-07 | 弋立龙 | 传动轴的连接机构 |
US9494341B2 (en) * | 2011-05-27 | 2016-11-15 | Solarcity Corporation | Solar tracking system employing multiple mobile robots |
EP2565480A1 (de) | 2011-08-31 | 2013-03-06 | IMO Holding GmbH | Mechanisches Koppelungs- oder Kupplungselement |
US8950336B2 (en) * | 2012-12-21 | 2015-02-10 | Qbotix, Inc. | Monorail vehicle apparatus with gravity-controlled roll attitude and loading |
US9222523B2 (en) * | 2013-07-09 | 2015-12-29 | Solarcity, Inc. | Dual-mode torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers |
-
2013
- 2013-07-09 US US13/938,215 patent/US9982722B2/en active Active
-
2014
- 2014-07-09 WO PCT/US2014/045876 patent/WO2015006402A1/en active Application Filing
- 2014-07-09 EP EP14822976.8A patent/EP3019761B1/en active Active
- 2014-07-09 JP JP2016525446A patent/JP6254271B2/ja active Active
- 2014-07-09 MX MX2016000380A patent/MX2016000380A/es unknown
- 2014-07-09 CN CN201480045715.7A patent/CN105849427B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
WO2015006402A1 (en) | 2015-01-15 |
CN105849427A (zh) | 2016-08-10 |
EP3019761A4 (en) | 2017-05-03 |
CN105849427B (zh) | 2019-07-05 |
US9982722B2 (en) | 2018-05-29 |
MX2016000380A (es) | 2016-09-06 |
EP3019761A1 (en) | 2016-05-18 |
US20150014114A1 (en) | 2015-01-15 |
JP2016526646A (ja) | 2016-09-05 |
EP3019761B1 (en) | 2021-06-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6254271B2 (ja) | 被駆動連結器との軸不整合を示す横方向に係合した駆動連結器におけるトルク伝達 | |
JP5832931B2 (ja) | 関節ロボット手首 | |
US8109173B2 (en) | Parallel robot provided with wrist section having three degrees of freedom | |
EP2801452B1 (en) | Articulated mechanical arm | |
US10639788B2 (en) | Parallel link robot | |
JP2008239348A (ja) | 媒体送り軸駆動システムにおける位置合わせ誤差低減方法及びシステム | |
US20140083233A1 (en) | Multijoint robot | |
US9222523B2 (en) | Dual-mode torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers | |
CN204586491U (zh) | 冷却组件和机动车辆 | |
JP3203245U (ja) | 関節ロボット手首 | |
EP3396190B1 (en) | Rigid connecting rod coupling between two shafts | |
JP2017020543A (ja) | 固定式等速自在継手 | |
KR20200081202A (ko) | 병렬 메커니즘 | |
WO2013015165A1 (ja) | 等速自在継手およびリンク作動装置 | |
KR20080109019A (ko) | 특히 차량 도어 캐치와 록 사이에 운동을 전달하는 장치 | |
WO2018161484A1 (zh) | 一种柔性万向传动装置 | |
WO2017144954A1 (en) | Six degrees of freedom parallel mechanism | |
US10578165B2 (en) | Coupling | |
US20220403893A1 (en) | Flexible coupling for a drive train | |
CN205806336U (zh) | 一种动力万向输出的装置 | |
JP5308397B2 (ja) | ユニバーサルジョイント | |
KR20220082339A (ko) | 자중을 이용한 중력 보상 병렬 링크 구조체 | |
US20170050313A1 (en) | Multi-articulated manipulator | |
JP2013113331A (ja) | スプライン嵌合構造 | |
KR20090105122A (ko) | 동력전달장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20170213 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20170213 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20170316 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20170403 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20170703 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170927 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20171031 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20171129 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6254271 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |