JP6758038B2 - 自在継手及びロボットの関節構造 - Google Patents
自在継手及びロボットの関節構造 Download PDFInfo
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- JP6758038B2 JP6758038B2 JP2015208194A JP2015208194A JP6758038B2 JP 6758038 B2 JP6758038 B2 JP 6758038B2 JP 2015208194 A JP2015208194 A JP 2015208194A JP 2015208194 A JP2015208194 A JP 2015208194A JP 6758038 B2 JP6758038 B2 JP 6758038B2
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- Prior art keywords
- arm
- bearing
- shaft
- universal joint
- around
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- 210000000544 articulatio talocruralis Anatomy 0.000 description 10
- 210000002683 foot Anatomy 0.000 description 10
- 210000002414 leg Anatomy 0.000 description 5
- 210000004394 hip joint Anatomy 0.000 description 4
- 210000003857 wrist joint Anatomy 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- 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
- B25J17/025—One-dimensional joints mounted in series
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
-
- 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
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
-
- 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
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
- F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
- F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
- F16C19/362—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers the rollers being crossed within the single row
-
- 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
- F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
- F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Pivots And Pivotal Connections (AREA)
- Rolling Contact Bearings (AREA)
Description
Claims (6)
- 第一部材と第二部材とを揺動可能に連結するための自在継手であって、
外輪及び前記外輪に対して中心線の回りを相対的に回転可能な内輪を有し、前記第一部材に連結可能な軸受と、
前記内輪の内側に固定され、前記中心線に直角な軸が固定されるブロックと、
前記軸に前記軸の回りを回転可能に支持され、前記第二部材に連結可能なアームと、を備え、
前記自在継手の側方から見て、前記軸に対する前記アームの回転の中心が、前記軸受の前記中心線の方向における前記軸受の厚さの範囲内に配置され、
前記アームの長さ方向の両端部が前記ブロックと前記軸受から突出し、
前記アームの長さ方向の両端部には、前記ア−ムを取り付けるための取付け部が設けられる自在継手。 - 前記ブロックは、前記軸受の前記中心線の方向に貫通する開口部を有し、
前記ブロックは、前記開口部内で前記アームが前記軸の回りを回転するのを許容することを特徴とする請求項1に記載の自在継手。 - 前記軸の軸方向の両端部が、前記ブロックに固定されることを特徴とする請求項1又は2に記載の自在継手。
- 前記軸受は、前記外輪と前記内輪との間に複数のローラを、隣り合う前記ローラの軸線が直交するように配置したクロスローラ軸受であることを特徴とする請求項1ないし3のいずれか1項に記載の自在継手。
- 前記軸と前記アームとの間には、前記アームを揺動可能に支持する少なくとも二つのアーム用軸受が、前記軸の軸方向に離れて介在することを特徴とする請求項1ないし4のいずれか1項に記載の自在継手。
- 請求項1ないし5のいずれか1項に記載の前記自在継手を用いたロボットの関節構造であって、
前記軸受が前記第一部材に対して前記第二部材を第一軸の回りを揺動させ、
前記アームが前記第一部材に対して前記第二部材を第二軸の回りを揺動させ、
前記第二部材の前記第一軸の回りの回転範囲が、前記第二軸の回りの回転範囲よりも大きいことを特徴とするロボットの関節構造。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015208194A JP6758038B2 (ja) | 2015-10-22 | 2015-10-22 | 自在継手及びロボットの関節構造 |
DE112016004856.4T DE112016004856T5 (de) | 2015-10-22 | 2016-10-03 | Gelenkkupplung und Robotergelenkstruktur |
CN201680061249.0A CN108138833B (zh) | 2015-10-22 | 2016-10-03 | 万向联轴器以及机器人的关节结构 |
US15/762,372 US20180297216A1 (en) | 2015-10-22 | 2016-10-03 | Universal coupling and robot joint structure |
PCT/JP2016/079216 WO2017068940A1 (ja) | 2015-10-22 | 2016-10-03 | 自在継手及びロボットの関節構造 |
TW105134044A TWI701118B (zh) | 2015-10-22 | 2016-10-21 | 萬向接頭及機器人之關節構造 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015208194A JP6758038B2 (ja) | 2015-10-22 | 2015-10-22 | 自在継手及びロボットの関節構造 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017082803A JP2017082803A (ja) | 2017-05-18 |
JP6758038B2 true JP6758038B2 (ja) | 2020-09-23 |
Family
ID=58557926
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015208194A Active JP6758038B2 (ja) | 2015-10-22 | 2015-10-22 | 自在継手及びロボットの関節構造 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20180297216A1 (ja) |
JP (1) | JP6758038B2 (ja) |
CN (1) | CN108138833B (ja) |
DE (1) | DE112016004856T5 (ja) |
TW (1) | TWI701118B (ja) |
WO (1) | WO2017068940A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11511446B2 (en) * | 2016-11-24 | 2022-11-29 | Kawasaki Jukogyo Kabushiki Kaisha | Joint structure for robot |
CN108938325A (zh) * | 2018-06-12 | 2018-12-07 | 广州引航者信息科技有限公司 | 下肢体康复训练机器人 |
JP7122883B2 (ja) * | 2018-06-18 | 2022-08-22 | 住友重機械工業株式会社 | ロボット |
WO2020080330A1 (ja) | 2018-10-16 | 2020-04-23 | Thk株式会社 | 人型ロボット |
CN109551509B (zh) * | 2018-12-26 | 2023-10-20 | 南京埃斯顿机器人工程有限公司 | 一种机器人关节轴承的布置结构 |
CN110253625B (zh) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | 仿人机器人腰关节和仿人机器人 |
CN112720440A (zh) * | 2020-12-24 | 2021-04-30 | 浙江工业大学 | 一种气动锁紧变刚度软体臂骨架结构及软体臂形机器人 |
CN113217528A (zh) * | 2021-05-24 | 2021-08-06 | 东莞市原创玩具有限公司 | 一种模型关节结构 |
CN118574709A (zh) * | 2021-12-10 | 2024-08-30 | 波士顿动力公司 | 用于致动机器人操纵器的系统和方法 |
Family Cites Families (16)
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US4899637A (en) * | 1982-04-12 | 1990-02-13 | Moog Controls Inc. | Oscilatory hydraulic actuators with internal supply, return, and control passageways for multi-axis wrist actuator |
KR940002173B1 (ko) * | 1991-01-31 | 1994-03-18 | 삼성전자 주식회사 | 공업용 로보트 |
US5243873A (en) * | 1992-01-23 | 1993-09-14 | Honeywell Inc. | Two-axis motion mechanism |
JPH10118966A (ja) * | 1996-10-21 | 1998-05-12 | Toyoda Mach Works Ltd | パラレルロボット |
JP3626375B2 (ja) * | 1999-09-01 | 2005-03-09 | オークマ株式会社 | 移動体の駆動機構及びそれを用いたパラレルメカニズム機械 |
JP2002276683A (ja) | 2001-03-14 | 2002-09-25 | Rikogaku Shinkokai | ユニバーサルジョイント構造 |
US6976922B2 (en) * | 2003-04-15 | 2005-12-20 | Torque-Traction Techologies, Inc. | Precision thrust bearing joint |
CN101829996A (zh) * | 2009-03-09 | 2010-09-15 | 鸿富锦精密工业(深圳)有限公司 | 机械接口及使用该接口的机械手 |
CN101709748B (zh) * | 2009-12-10 | 2012-06-20 | 江苏大学 | 一种柔性关节组成的双万向节 |
CN102478082B (zh) * | 2010-11-30 | 2014-04-30 | 鸿富锦精密工业(深圳)有限公司 | 万向节 |
JP5888988B2 (ja) * | 2012-01-06 | 2016-03-22 | 日本電産サンキョー株式会社 | 産業用ロボット |
CN202628867U (zh) * | 2012-09-06 | 2012-12-26 | 龙岩市万腾车桥制造有限公司 | 万向连接关节体结构 |
JP2015040608A (ja) * | 2013-08-23 | 2015-03-02 | Thk株式会社 | ローラ軸受 |
CN203809527U (zh) * | 2014-02-14 | 2014-09-03 | 青岛汇智机器人有限公司 | 一种并联机器人十字万向节 |
JP5975359B2 (ja) | 2014-04-23 | 2016-08-23 | パナソニックIpマネジメント株式会社 | ワイヤレス給電方法及びワイヤレス給電システム |
US20180257246A1 (en) * | 2015-09-07 | 2018-09-13 | Abb Schweiz Ag | Joint for an Industrial Robot |
-
2015
- 2015-10-22 JP JP2015208194A patent/JP6758038B2/ja active Active
-
2016
- 2016-10-03 DE DE112016004856.4T patent/DE112016004856T5/de active Pending
- 2016-10-03 US US15/762,372 patent/US20180297216A1/en not_active Abandoned
- 2016-10-03 CN CN201680061249.0A patent/CN108138833B/zh active Active
- 2016-10-03 WO PCT/JP2016/079216 patent/WO2017068940A1/ja active Application Filing
- 2016-10-21 TW TW105134044A patent/TWI701118B/zh active
Also Published As
Publication number | Publication date |
---|---|
TWI701118B (zh) | 2020-08-11 |
WO2017068940A1 (ja) | 2017-04-27 |
TW201723340A (zh) | 2017-07-01 |
CN108138833B (zh) | 2020-08-25 |
US20180297216A1 (en) | 2018-10-18 |
DE112016004856T5 (de) | 2018-06-28 |
CN108138833A (zh) | 2018-06-08 |
JP2017082803A (ja) | 2017-05-18 |
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