JP6781444B2 - 特にロボットアーム用の運動伝達装置 - Google Patents

特にロボットアーム用の運動伝達装置 Download PDF

Info

Publication number
JP6781444B2
JP6781444B2 JP2017567552A JP2017567552A JP6781444B2 JP 6781444 B2 JP6781444 B2 JP 6781444B2 JP 2017567552 A JP2017567552 A JP 2017567552A JP 2017567552 A JP2017567552 A JP 2017567552A JP 6781444 B2 JP6781444 B2 JP 6781444B2
Authority
JP
Japan
Prior art keywords
shaft
arm
bearing
movable mechanism
notch
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.)
Expired - Fee Related
Application number
JP2017567552A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018512550A (ja
JP2018512550A5 (enExample
Inventor
オリビエ ロリオ フランク
オリビエ ロリオ フランク
Original Assignee
エムイペ ロボティクス
エムイペ ロボティクス
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 エムイペ ロボティクス, エムイペ ロボティクス filed Critical エムイペ ロボティクス
Priority claimed from PCT/FR2016/050562 external-priority patent/WO2016146927A1/fr
Publication of JP2018512550A publication Critical patent/JP2018512550A/ja
Publication of JP2018512550A5 publication Critical patent/JP2018512550A5/ja
Application granted granted Critical
Publication of JP6781444B2 publication Critical patent/JP6781444B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • F16H27/00—Step-by-step mechanisms without freewheel members, e.g. Geneva drives
    • F16H27/04—Step-by-step mechanisms without freewheel members, e.g. Geneva drives for converting continuous rotation into a step-by-step rotary 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
    • F16H29/00—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action
    • F16H29/12—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action between rotary driving and driven members
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
    • 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
    • F16H27/00—Step-by-step mechanisms without freewheel members, e.g. Geneva drives
    • F16H27/04—Step-by-step mechanisms without freewheel members, e.g. Geneva drives for converting continuous rotation into a step-by-step rotary movement
    • F16H27/08—Step-by-step mechanisms without freewheel members, e.g. Geneva drives for converting continuous rotation into a step-by-step rotary movement with driving toothed gears with interrupted toothing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
JP2017567552A 2015-03-16 2016-03-14 特にロボットアーム用の運動伝達装置 Expired - Fee Related JP6781444B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
FR1500512A FR3033861A1 (fr) 2015-03-16 2015-03-16 Dispositif de transmission de mouvement pour utilisation principalement dans un bras de robot
FR1500512 2015-03-16
FR1570050 2015-10-06
FR1570050A FR3033862B1 (fr) 2015-03-16 2015-10-06 Dispositif de transmission de mouvement principalement pour une utilisation dans un bras de robot
PCT/FR2016/050562 WO2016146927A1 (fr) 2015-03-16 2016-03-14 Dispositif de transmission de mouvement notamment pour bras de robot

Publications (3)

Publication Number Publication Date
JP2018512550A JP2018512550A (ja) 2018-05-17
JP2018512550A5 JP2018512550A5 (enExample) 2019-04-25
JP6781444B2 true JP6781444B2 (ja) 2020-11-04

Family

ID=53758258

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017567552A Expired - Fee Related JP6781444B2 (ja) 2015-03-16 2016-03-14 特にロボットアーム用の運動伝達装置

Country Status (5)

Country Link
US (1) US10307907B2 (enExample)
EP (1) EP3271613A1 (enExample)
JP (1) JP6781444B2 (enExample)
CN (1) CN107667234B (enExample)
FR (2) FR3033861A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3072744B1 (fr) * 2017-10-23 2019-11-08 Ntn-Snr Roulements Mecanisme de transmission par translation circulaire a plaques de transmission pourvues de passages pour des tiges de fixation
FR3072745B1 (fr) * 2017-10-23 2022-06-03 Ntn Snr Roulements Procede de fabrication d’un jeu d’au moins deux plaques dentees differentes, jeu ainsi obtenu et mecanisme de transmission comportant un tel jeu
CN111070195B (zh) * 2019-12-19 2021-04-30 南京涵铭置智能科技有限公司 一种生产车间搬运机器人的旋转摆动机构
CN115319724A (zh) * 2022-08-11 2022-11-11 深圳市越疆科技有限公司 动力组件、驱动装置、轻量级工业桌面机械臂及机器人

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE312164C (enExample) *
DE213164C (enExample)
US3726158A (en) * 1971-02-04 1973-04-10 H Brown Speed-reducing coupling
CH655554B (enExample) * 1984-03-02 1986-04-30
CN1005647B (zh) * 1985-09-06 1989-11-01 冶金工业部重庆钢铁设计研究院 三环式减速(或增速)传动装置
DE69102392T2 (de) 1990-10-23 1995-02-16 Teijin Seiki Co Ltd Mechanismus zum Umwandeln einer Rotationsbewegung in eine Längsbewegung.
DE4206176C1 (enExample) * 1992-02-28 1993-07-15 Lemfoerder Metallwaren Ag, 2844 Lemfoerde, De
US5425683A (en) * 1992-09-25 1995-06-20 Bang; Yu A. Single-ring-gear planetary transmisssion unit with small difference between teeth of meshing gears
US5351568A (en) * 1993-03-19 1994-10-04 Core Industries, Inc. Rotary speed changing apparatus
JPH07280057A (ja) * 1994-04-06 1995-10-27 Teijin Seiki Co Ltd 直進運動機構およびその作製方法並びにその作製方法を実施する加工機械
ATA85994A (de) * 1994-04-25 2000-04-15 Brosowitsch Josef Dipl Htl Ing Getriebe
JP3919349B2 (ja) 1998-08-21 2007-05-23 住友重機械工業株式会社 内歯揺動型内接噛合遊星歯車装置
JP3844618B2 (ja) 1999-03-29 2006-11-15 住友重機械工業株式会社 内歯揺動型内接噛合遊星歯車装置の内歯揺動体の製造方法
FR2833673A1 (fr) 2001-12-17 2003-06-20 Francois Durand Reducteur a grand rapport
CN201517596U (zh) * 2008-12-11 2010-06-30 东莞市鸿铭机械有限公司 齿轮运转段分割器
CN201399785Y (zh) * 2009-04-01 2010-02-10 李远强 一种机械臂伺服驱动机构
DE102009030027A1 (de) * 2009-06-23 2010-12-30 Magna Powertrain Ag & Co Kg Fahrzeuggetriebefamilie
WO2013017704A1 (es) 2011-08-01 2013-02-07 Idom Ingenieria Y Consultoria, S.A. Dispositivo trepador para desplazamiento de grandes estructuras móviles.
CN202985576U (zh) * 2012-11-13 2013-06-12 陈文� 一种机器人第二臂的驱动关节
CN103089950A (zh) * 2012-12-28 2013-05-08 浙江理工大学 一种复动式具停动特性旋转变速机构

Also Published As

Publication number Publication date
CN107667234B (zh) 2020-10-09
US20180079072A1 (en) 2018-03-22
FR3033862B1 (fr) 2019-04-19
US10307907B2 (en) 2019-06-04
JP2018512550A (ja) 2018-05-17
FR3033861A1 (fr) 2016-09-23
EP3271613A1 (fr) 2018-01-24
FR3033862A1 (fr) 2016-09-23
CN107667234A (zh) 2018-02-06

Similar Documents

Publication Publication Date Title
JP6781444B2 (ja) 特にロボットアーム用の運動伝達装置
CN101678537B (zh) 可在第一速度模式和第二速度模式操作的旋转动力工具
EP2068038B1 (en) Reduction gear
JP6568233B2 (ja) 部分サイクロイド歯輪郭を有する駆動装置
CN210661214U (zh) 齿轮传动机构
JP6333999B2 (ja) 変速機構
JP6262375B2 (ja) 変速機構
KR930007003B1 (ko) 기계적인 감속기
JP2005517139A (ja) 潤滑剤用溝を備えた伝動装置
JP6182095B2 (ja) 無段変速機構
CN112833142B (zh) 高减速比减速机
JP6182094B2 (ja) 無段変速機構
CN110199130A (zh) 具有自由轮的同步滚子
US1277193A (en) Power-transmission gear.
TW201111666A (en) Cycloidal gear device
RU2360160C1 (ru) Эксцентриковая планетарная передача внутреннего зацепления
WO2016060589A1 (ru) Планетарная передача
JP2005325865A (ja) 偏心揺動型遊星歯車装置
RU63476U1 (ru) Эксцентриковый подшипник качения
KR102859545B1 (ko) 사이클로이드 감속기
KR101716760B1 (ko) 내접 유성 기어의 백래시 제로 물림 장치
RU2296897C1 (ru) Редуктор
JP7300786B2 (ja) 遊星変速機
JP6507605B2 (ja) 差動歯車変速機構
RU2424884C1 (ru) Устройство для орбитальной сварки трением

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190314

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190314

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200206

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200218

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20200514

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200817

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: 20200908

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20201008

R150 Certificate of patent or registration of utility model

Ref document number: 6781444

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees