JP6687720B2 - 直動伸縮機構 - Google Patents
直動伸縮機構 Download PDFInfo
- Publication number
- JP6687720B2 JP6687720B2 JP2018503080A JP2018503080A JP6687720B2 JP 6687720 B2 JP6687720 B2 JP 6687720B2 JP 2018503080 A JP2018503080 A JP 2018503080A JP 2018503080 A JP2018503080 A JP 2018503080A JP 6687720 B2 JP6687720 B2 JP 6687720B2
- Authority
- JP
- Japan
- Prior art keywords
- frame
- drive gear
- motor unit
- tops
- joint
- 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.)
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Classifications
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- 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
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0636—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible member being a non-buckling chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
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- 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
- F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
- F16G13/00—Chains
- F16G13/18—Chains having special overall characteristics
- F16G13/20—Chains having special overall characteristics stiff; Push-pull chains
-
- 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
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
-
- 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
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0645—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible push or pull member having guiding means, i.e. the flexible member being supported at least partially by a guide to transmit the reciprocating movement
-
- 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
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0663—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member with telescopic means, e.g. for supporting or shielding the reciprocating member
Description
Claims (3)
- 屈曲可能に連結された板形状の複数の第1コマと、
底面側において屈曲可能に連結された横断面コ字形状の複数の第2コマと、
前記第1コマを前記第2コマに接合し柱状体を構成するとともに前記柱状体を上下から前後移動自在に支持する複数のローラと、
前記複数のローラの後方に配置され、前記第1、第2コマを前記複数のローラから前方に送り出し、前記第1、第2コマを後方に引き戻すために、前記複数の第1コマの背面のリニアギアに噛み合わされるドライブギアと、
前記ドライブギアを回転させるための動力を発生するモータユニットと、
前記モータユニットにより発生された動力を前記ドライブギアに伝達する動力伝達機構とを具備し、
前記第1、第2コマは互いに接合されたとき、その屈曲が拘束され硬直された前記柱状体を構成し、前記第1、第2コマはその分離により屈曲状態に復帰され、
前記モータユニットは、前記ドライブギアよりも前方であって、前記柱状体の側方に、その中心線が前記柱状体の中心軸に対して平行になるように配置され、
前記動力伝達機構は一対の傘歯車を有し、前記一対の傘歯車のうち一方は前記モータユニットの出力軸に接続され、他方は前記ドライブギアの回転軸に接続される、直動伸縮機構。 - 前記一対の傘歯車の一方はハイポイドピニオンであり、前記一対の傘歯車の他方はハイポイドギアである、請求項1記載の直動伸縮機構。
- 前記複数のローラと前記ドライブギアとを両側から支持する一対のフレーム板をさらに具備し、
前記モータユニットは前記フレーム板に固定される、請求項1記載の直動伸縮機構。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016038465 | 2016-02-29 | ||
JP2016038465 | 2016-02-29 | ||
PCT/JP2017/006722 WO2017150319A1 (ja) | 2016-02-29 | 2017-02-23 | 直動伸縮機構及びロボットアーム機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2017150319A1 JPWO2017150319A1 (ja) | 2018-12-27 |
JP6687720B2 true JP6687720B2 (ja) | 2020-04-28 |
Family
ID=59742828
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018503080A Active JP6687720B2 (ja) | 2016-02-29 | 2017-02-23 | 直動伸縮機構 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20180372195A1 (ja) |
JP (1) | JP6687720B2 (ja) |
CN (1) | CN108778641A (ja) |
DE (1) | DE112017001036T5 (ja) |
WO (1) | WO2017150319A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017150318A1 (ja) * | 2016-02-29 | 2017-09-08 | ライフロボティクス株式会社 | ロボットアーム機構及び直動伸縮機構 |
JP6640821B2 (ja) | 2017-11-24 | 2020-02-05 | ファナック株式会社 | ロボットの構造 |
CN109404657B (zh) * | 2018-12-20 | 2023-08-15 | 南京管科智能科技有限公司 | 一种锥齿传动管道机器人的驱动机构 |
JP7376306B2 (ja) * | 2019-10-04 | 2023-11-08 | ファナック株式会社 | 直動伸縮機構 |
CN113459127B (zh) * | 2021-07-31 | 2022-03-18 | 西南科技大学 | 自生长软硬一体化机器人及其应用 |
CN114227730A (zh) * | 2021-12-31 | 2022-03-25 | 合肥赛摩雄鹰自动化工程科技有限公司 | 一种箱型抓手及其码垛机器人 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2131261A (en) * | 1937-04-05 | 1938-09-27 | Curtis Companies Inc | Link chain |
US2324141A (en) * | 1941-04-19 | 1943-07-13 | Donald Mcelderry | Jack |
US2574657A (en) * | 1945-10-23 | 1951-11-13 | Harold C Pierce | Flexible power transmitting mechanism |
DE3603121A1 (de) * | 1986-02-01 | 1987-10-29 | Hoermann Kg Antrieb Steuertec | Geraet zur ueberfuehrung einer rotatorischen in eine translatorische bewegung mittels zweier in speichertrommeln ueberfuehrbaren straenge |
DE29706739U1 (de) * | 1997-04-15 | 1997-06-12 | Grasl Andreas Ing | Einrichtung zur Übertragung einer Kraft, insbesondere Druckkraft, längs einer im wesentlichen geraden Strecke |
US5970701A (en) * | 1998-03-02 | 1999-10-26 | Roden; Garey | Restricted movement chain and universal link therefor |
US7621078B2 (en) * | 2005-01-20 | 2009-11-24 | Drs Sustainment Systems, Inc. | Telescoping mast having variable height locking and a chain erection mechanism with a cable management system |
WO2010070915A1 (ja) * | 2008-12-19 | 2010-06-24 | 株式会社川渕機械技術研究所 | 直動伸縮機構及び当該直動伸縮機構を備えたロボットアーム |
JP5435679B2 (ja) * | 2010-05-31 | 2014-03-05 | 独立行政法人産業技術総合研究所 | 直動伸縮アーム機構および当該直動伸縮アーム機構を備えたロボットアーム |
JP5434991B2 (ja) * | 2011-09-01 | 2014-03-05 | 株式会社安川電機 | ロボット |
JP6438193B2 (ja) * | 2013-12-16 | 2018-12-12 | 川崎重工業株式会社 | 多関節ロボットの手首構造 |
JP6482136B2 (ja) * | 2014-03-14 | 2019-03-13 | ライフロボティクス株式会社 | 伸縮アーム機構 |
CN205013585U (zh) * | 2015-08-04 | 2016-02-03 | 光宝电子(广州)有限公司 | 链条及链条装置 |
EP3366949B1 (en) * | 2015-10-20 | 2023-06-07 | Shenzhen Zhaowei Machinery&electronics Co., Ltd. | Transmission device and corner-turning mechanism for rack thereof |
-
2017
- 2017-02-23 JP JP2018503080A patent/JP6687720B2/ja active Active
- 2017-02-23 DE DE112017001036.5T patent/DE112017001036T5/de not_active Withdrawn
- 2017-02-23 WO PCT/JP2017/006722 patent/WO2017150319A1/ja active Application Filing
- 2017-02-23 CN CN201780013867.2A patent/CN108778641A/zh active Pending
-
2018
- 2018-08-29 US US16/115,832 patent/US20180372195A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
DE112017001036T5 (de) | 2018-12-20 |
US20180372195A1 (en) | 2018-12-27 |
JPWO2017150319A1 (ja) | 2018-12-27 |
WO2017150319A1 (ja) | 2017-09-08 |
CN108778641A (zh) | 2018-11-09 |
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