JP6448239B2 - 回転駆動装置及び関節形ロボット - Google Patents

回転駆動装置及び関節形ロボット Download PDF

Info

Publication number
JP6448239B2
JP6448239B2 JP2014145780A JP2014145780A JP6448239B2 JP 6448239 B2 JP6448239 B2 JP 6448239B2 JP 2014145780 A JP2014145780 A JP 2014145780A JP 2014145780 A JP2014145780 A JP 2014145780A JP 6448239 B2 JP6448239 B2 JP 6448239B2
Authority
JP
Japan
Prior art keywords
case
vibrating body
drive device
driven
type actuator
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
Application number
JP2014145780A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016025670A5 (enrdf_load_stackoverflow
JP2016025670A (ja
Inventor
高橋　雅則
雅則 高橋
悠貴 小田
悠貴 小田
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.)
Canon Inc
Original Assignee
Canon Inc
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 Canon Inc filed Critical Canon Inc
Priority to JP2014145780A priority Critical patent/JP6448239B2/ja
Priority to PCT/JP2015/067810 priority patent/WO2016009785A1/en
Publication of JP2016025670A publication Critical patent/JP2016025670A/ja
Publication of JP2016025670A5 publication Critical patent/JP2016025670A5/ja
Application granted granted Critical
Publication of JP6448239B2 publication Critical patent/JP6448239B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
    • 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
    • B25J19/0054—Cooling means
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
    • H02N2/009—Thermal details, e.g. cooling means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
    • H02N2/163—Motors with ring stator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
JP2014145780A 2014-07-16 2014-07-16 回転駆動装置及び関節形ロボット Active JP6448239B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2014145780A JP6448239B2 (ja) 2014-07-16 2014-07-16 回転駆動装置及び関節形ロボット
PCT/JP2015/067810 WO2016009785A1 (en) 2014-07-16 2015-06-15 Rotary drive device and articulated robot equipped with the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014145780A JP6448239B2 (ja) 2014-07-16 2014-07-16 回転駆動装置及び関節形ロボット

Publications (3)

Publication Number Publication Date
JP2016025670A JP2016025670A (ja) 2016-02-08
JP2016025670A5 JP2016025670A5 (enrdf_load_stackoverflow) 2017-08-24
JP6448239B2 true JP6448239B2 (ja) 2019-01-09

Family

ID=55078286

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014145780A Active JP6448239B2 (ja) 2014-07-16 2014-07-16 回転駆動装置及び関節形ロボット

Country Status (2)

Country Link
JP (1) JP6448239B2 (enrdf_load_stackoverflow)
WO (1) WO2016009785A1 (enrdf_load_stackoverflow)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI728717B (zh) * 2019-03-28 2021-05-21 日商平田機工股份有限公司 驅動裝置及搬運裝置

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108472816A (zh) * 2016-01-30 2018-08-31 生活机器人学股份有限公司 机械臂机构
DE102016004847A1 (de) 2016-04-22 2017-10-26 Dürr Systems Ag Roboter-Kühlsystem
CN110202611B (zh) * 2018-02-28 2023-07-11 精工爱普生株式会社 机器人
JP7056353B2 (ja) * 2018-02-28 2022-04-19 セイコーエプソン株式会社 ロボット
JP7151166B2 (ja) * 2018-05-18 2022-10-12 セイコーエプソン株式会社 把持装置およびロボット
CN108843714B (zh) * 2018-05-31 2019-06-25 中国地质大学（武汉） 机器人腿足缓冲减振与自发电一体化装置
CN110426921A (zh) * 2019-07-17 2019-11-08 深圳市华星光电半导体显示技术有限公司 一种曝光机
CN113771097A (zh) * 2021-11-15 2021-12-10 诺伯特智能装备（山东）有限公司 一种基于智能制造的工业机器人信号装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03105780U (enrdf_load_stackoverflow) * 1990-02-19 1991-11-01
JPH03253271A (ja) * 1990-03-01 1991-11-12 Canon Inc 振動波モータ
JPH11165223A (ja) * 1997-12-08 1999-06-22 Canon Inc ワーク支持装置
JPH11216689A (ja) * 1998-02-02 1999-08-10 Toyota Autom Loom Works Ltd 搬送台車
JP5038029B2 (ja) * 2007-06-14 2012-10-03 ヤマハ発動機株式会社 ロボット
JP5924879B2 (ja) * 2011-07-08 2016-05-25 キヤノン株式会社 振動型アクチュエータ

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI728717B (zh) * 2019-03-28 2021-05-21 日商平田機工股份有限公司 驅動裝置及搬運裝置
US11511441B2 (en) 2019-03-28 2022-11-29 Hirata Corporation Driving apparatus and conveying apparatus

Also Published As

Publication number Publication date
WO2016009785A1 (en) 2016-01-21
JP2016025670A (ja) 2016-02-08

Similar Documents

Publication Publication Date Title
JP6448239B2 (ja) 回転駆動装置及び関節形ロボット
TWI418452B (zh) 機械手臂之腕關節結構
US8516924B2 (en) Reducing mechanism and harmonic drive thereof
JP5208921B2 (ja) 回転ベアリング、回転テーブル装置、テーブル径決定方法
CN112672863B (zh) 机器人
JP2007276108A (ja) 冷却ファンを内蔵した電動手工具装置
JP2023021282A (ja) ロボット支援研削装置
JP2019206047A5 (ja) ロボットシステム、制御装置および制御方法
JP2008528853A (ja) 旋回並進サイクル式マルチシャフト真空ポンプ
CN102275168A (zh) 机器人臂部件及机器人
JP2016025670A5 (enrdf_load_stackoverflow)
TW202016450A (zh) 撓曲嚙合式齒輪裝置
CN105459083A (zh) 机器人
JPS61265226A (ja) 走査による部材の嵌合方法及び装置
CN102734594A (zh) 一种管道机器人
JPWO2017145833A1 (ja) 駆動装置
TWI551792B (zh) A reduction gear with a motor
JPH01240291A (ja) ロボット
JP2015166117A (ja) ロボットアーム
US20140084759A1 (en) Electromechanical device, rotor used for electromechanical device, and mobile unit and robot with electromechanical device
CN112405604B (zh) 压电驱动装置及机器人
CN112448609B (zh) 压电驱动装置及机器人
JPWO2020251041A5 (enrdf_load_stackoverflow)
JP5446407B2 (ja) 電動送風機及びそれを用いた電気掃除機
KR102177618B1 (ko) 로봇암 보호장치

Legal Events

Date Code Title Description
A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170711

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170711

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180417

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180614

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: 20181106

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20181204

R151 Written notification of patent or utility model registration

Ref document number: 6448239

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151