JP6938693B2 - ジョイント - Google Patents
ジョイント Download PDFInfo
- Publication number
- JP6938693B2 JP6938693B2 JP2019572183A JP2019572183A JP6938693B2 JP 6938693 B2 JP6938693 B2 JP 6938693B2 JP 2019572183 A JP2019572183 A JP 2019572183A JP 2019572183 A JP2019572183 A JP 2019572183A JP 6938693 B2 JP6938693 B2 JP 6938693B2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- carrier element
- platform
- elements
- web portions
- 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
- 238000004026 adhesive bonding Methods 0.000 description 3
- 230000036316 preload Effects 0.000 description 3
- 229910000639 Spring steel Inorganic materials 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 238000005476 soldering Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000906 Bronze Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000010974 bronze Substances 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- KUNSUQLRTQLHQQ-UHFFFAOYSA-N copper tin Chemical compound [Cu].[Sn] KUNSUQLRTQLHQQ-UHFFFAOYSA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- -1 steel Chemical class 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
- F16C11/12—Pivotal connections incorporating flexible connections, e.g. leaf springs
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
- F16D3/56—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic metal lamellae, elastic rods, or the like, e.g. arranged radially or parallel to the axis, the members being shear-loaded collectively by the total load
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
- F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
- F16D3/72—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members with axially-spaced attachments to the coupling parts
-
- 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
- F16D3/005—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive incorporating leaf springs, flexible parts of reduced thickness or the like acting as pivots
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- 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
- Y10T403/00—Joints and connections
- Y10T403/45—Flexibly connected rigid members
-
- 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
- Y10T403/00—Joints and connections
- Y10T403/54—Flexible member is joint component
Description
2 キャリア要素
21 キャリア要素の上面
22 キャリア要素の下面
3 ジョイント要素
4 ウェブ部分
5 接触部分
6 締結部分
7 支持要素
8 締結要素
30 平行運動調整装置
40 プラットフォーム
50 接触要素
60 ガイドプラットフォーム
70 ガイド要素
80 内側保持部分
90 外側保持部分
100 作動部分
Claims (11)
- 少なくとも3回転自由度を有するジョイント(1)であって、剛性キャリア要素(2)と、少なくとも部分的に重なり合った配置で前記キャリア要素上に設けられた少なくとも2つの弾性的に変形可能なジョイント要素(3)とを有し、前記ジョイント要素(3)の各々は、前記キャリア要素(2)上に配置され、前記キャリア要素(2)から延伸する2つの棒状ウェブ部分(4)を備え、前記2つの棒状ウェブ部分は、互いに対して収束または発散するように配置され、前記キャリア要素(2)から外方に面している端部において、接触部分(5)を介して互いに接続されており、互いに接続された2つのウェブ部分(4)は、第1の共通面内に延在し、互いに接続された他の前記2つのウェブ部分(4)は、第2の共通面内に延在し、前記第1の共通面と前記第2の共通面は交差する、ジョイント(1)。
- 一方の前記ジョイント要素(3)の前記ウェブ部分(4)が、少なくとも、他方の前記ジョイント要素(3)の前記ウェブ部分(4)の間の区画において延伸することを特徴とする、請求項1に記載のジョイント。
- 前記接触部分が、関連する前記2つの棒状ウェブ部分(4)と一体に形成されることを特徴とする、請求項1または2に記載のジョイント。
- ジョイント要素(3)の2つの前記ウェブ部分(4)が、前記キャリア要素(2)に面する端部において、前記ウェブ部分(4)と一体に形成された締結部分(6)を介して互いに接続され、それぞれの前記ジョイント要素(3)が前記締結部分(6)を介して前記キャリア要素(2)に接続されることを特徴とする、請求項1〜3のいずれか1項に記載のジョイント。
- ジョイント要素(3)の前記ウェブ部分(4)が、前記ウェブ部分の間の角度を60°〜120°の間、好ましくは70°〜95°の間で規定することを特徴とする、請求項1〜4のいずれか1項に記載のジョイント。
- 少なくとも1つの弾性変形可能な支持要素(7)が前記キャリア要素(2)上に配置されることを特徴とする、請求項1〜5のいずれか1項に記載のジョイント。
- 前記支持要素(7)が、2つの前記ジョイント要素(3)の間で、前記キャリア要素(2)から外方に面する方向に延伸することを特徴とする、請求項6に記載のジョイント。
- 前記ジョイントが、前記キャリア要素(2)上に配置された4つのジョイント要素(3)と、前記キャリア要素(2)上に配置された2つの支持要素(7)とを備え、前記ジョイント要素(3)が、対になって配置され、前記支持要素(7)が、前記キャリア要素(2)の対向して配置されている両端に個別に設けられることを特徴とする、請求項1〜7のいずれか1項に記載のジョイント。
- 固定基部と、前記固定基部に対して調整可能なプラットフォームとを備える平行運動調整装置であって、請求項1〜8のいずれか1項に記載の少なくとも1つのジョイントが、前記基部と前記プラットフォームとの間に配置されている、平行運動調整装置。
- 前記平行運動調整装置が、6つのジョイントを備え、駆動要素が、各々、それぞれの前記ジョイントを前記プラットフォームに向かう方向またはその反対方向に個別に駆動するために、3つのジョイントに配置され、3つの他の前記ジョイントが、前記ジョイントの端部の1つによって共通のガイドプラットフォームに接続されることを特徴とする、請求項9に記載の平行運動調整装置。
- 前記共通のガイドプラットフォームに接続されている前記ジョイントが、それぞれの他方の端部によって前記プラットフォームの内側保持部分に接続されており、前記内側保持部分は、前記プラットフォームと一体的にまたは単一部品として形成され、前記プラットフォームのほぼ中心に配置されていることを特徴とする、請求項10に記載の平行運動調整装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017115050.1 | 2017-07-05 | ||
DE102017115050.1A DE102017115050B3 (de) | 2017-07-05 | 2017-07-05 | Gelenk |
PCT/DE2018/100611 WO2019007463A1 (de) | 2017-07-05 | 2018-07-04 | Gelenk |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020525737A JP2020525737A (ja) | 2020-08-27 |
JP6938693B2 true JP6938693B2 (ja) | 2021-09-22 |
Family
ID=61564466
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019572183A Active JP6938693B2 (ja) | 2017-07-05 | 2018-07-04 | ジョイント |
Country Status (7)
Country | Link |
---|---|
US (1) | US11927213B2 (ja) |
EP (1) | EP3649356B1 (ja) |
JP (1) | JP6938693B2 (ja) |
KR (1) | KR102371621B1 (ja) |
CN (1) | CN110832212B (ja) |
DE (1) | DE102017115050B3 (ja) |
WO (1) | WO2019007463A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018107015B4 (de) | 2018-03-23 | 2023-11-23 | Physik Instrumente (Pi) Gmbh & Co. Kg | Gelenk |
DE102018128911A1 (de) * | 2018-11-16 | 2020-05-20 | Physik Instrumente (Pi) Gmbh & Co. Kg | Mehrachsige Führungsvorrichtung |
KR102250605B1 (ko) | 2020-03-02 | 2021-05-10 | 재단법인대구경북과학기술원 | 로봇 관절구조 및 이를 포함하는 로봇손 |
Family Cites Families (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2793028A (en) * | 1954-09-10 | 1957-05-21 | Hughes Aircraft Co | Cross-spring flexure pivot |
US3181918A (en) * | 1962-06-29 | 1965-05-04 | Bendix Corp | Flexural pivot |
CH452286A (de) * | 1965-08-30 | 1968-05-31 | Wild Heerbrugg Ag | Drehlagerung |
US3332255A (en) | 1965-08-30 | 1967-07-25 | Gen Motors Corp | Plastic universal joint means |
US3685314A (en) * | 1971-03-25 | 1972-08-22 | Kaman Aerospace Corp | Flexible universal joint |
DE2653427C3 (de) * | 1976-11-24 | 1979-05-03 | Anschuetz & Co Gmbh, 2300 Kiel | Federgelenk zur schwenkbaren Verbindung zweier Körper miteinander u. Verfahren zur Herstellung des Gelenks |
US4285214A (en) * | 1979-12-20 | 1981-08-25 | General Electric Company | Flexible coupling |
US4516958A (en) * | 1983-11-03 | 1985-05-14 | Hidden Valley Associates, Inc. | Flexible shaft coupling device |
DE3343340C1 (de) * | 1983-11-30 | 1985-06-13 | Max Planck Gesellschaft | Linearverstellvorrichtung |
US4834690A (en) * | 1986-01-23 | 1989-05-30 | Kokusai Gijutsu Kaihatsu Kabushiki Kaisha | Flexible coupling with bent plate body |
US4751868A (en) * | 1986-02-12 | 1988-06-21 | Paynter Henry M | Method and system employing double-acting, fluid-driven twistor-pairs as combined joints and motors in arthrobots |
US5040626A (en) * | 1986-02-12 | 1991-08-20 | Nathaniel A. Hardin | Walking robots having double acting fluid driven twistor pairs as combined joints and motors and method of locomotion |
DE4224699A1 (de) * | 1992-07-25 | 1994-01-27 | Euwe Eugen Wexler Gmbh | Kunststoffgelenk zur gelenkigen Verbindung zweier Bauteile |
US5392662A (en) * | 1993-09-20 | 1995-02-28 | Eastman Kodak Company | Leadscrew coupler |
US5611714A (en) * | 1995-06-07 | 1997-03-18 | Snap-On Technologies, Inc. | Wire flex pivot |
FR2754577B1 (fr) | 1996-10-11 | 1998-12-11 | Suisse Electronique Microtech | Pivot flexible planaire a modules unitaires monolithiques |
DE10115914A1 (de) * | 2001-03-30 | 2002-10-02 | Zeiss Carl | Vorrichtung zur Lagerung eines optischen Elementes in einer Optik |
DE10330947B4 (de) | 2003-07-08 | 2015-10-29 | Schenck Process Gmbh | Kreuzfederelement |
CN2818898Y (zh) | 2005-09-22 | 2006-09-20 | 上海尔华杰机电装备制造有限公司 | 聚氨酯与金属复合材料联轴器弹性膜片 |
JP5043468B2 (ja) * | 2007-02-23 | 2012-10-10 | キヤノン株式会社 | 保持装置 |
US8181855B2 (en) | 2007-08-29 | 2012-05-22 | Diebold Self-Service Systems Division Of Diebold, Incorporated | Banking system controlled responsive to data bearing records |
US20110018892A1 (en) | 2009-07-24 | 2011-01-27 | Samsung Electronics Co., Ltd. | Method, device, and program for processing image and image display device |
US8708593B2 (en) | 2010-02-04 | 2014-04-29 | Eric M. Stratton | Cross-flexural pivot |
FR2959689A1 (fr) * | 2010-05-07 | 2011-11-11 | Commissariat Energie Atomique | Articulation flexible a grande amplitude et ensemble cinematique robotise comportant une telle articulation |
FR2966534B1 (fr) | 2010-10-22 | 2012-12-21 | Thales Sa | Cardan flexible compact et engin spatial comportant un tel cardan. |
US9212691B2 (en) * | 2012-05-16 | 2015-12-15 | C-Flex Bearing Co., Inc. | Cross blade flexure pivot and methods of use thereof |
DE102014002182B4 (de) | 2014-02-15 | 2016-04-07 | Laservorm Gmbh | Zweiachsig auslenkbares monolithisches Festkörpergelenk |
DE102014006727B3 (de) | 2014-05-08 | 2015-10-22 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Festkörpergelenk sowie dessen Verwendung für Exo- und Endoprothesen sowie in Form eines Orthesengelenkes |
CN104791377A (zh) | 2015-03-26 | 2015-07-22 | 哈尔滨工业大学 | 一种双簧片大转角柔性关节 |
WO2018052939A1 (en) * | 2016-09-14 | 2018-03-22 | Intuitive Surgical Operations, Inc. | Joint assemblies with cross-axis flexural pivots |
-
2017
- 2017-07-05 DE DE102017115050.1A patent/DE102017115050B3/de not_active Expired - Fee Related
-
2018
- 2018-07-04 CN CN201880044883.2A patent/CN110832212B/zh active Active
- 2018-07-04 US US16/628,488 patent/US11927213B2/en active Active
- 2018-07-04 EP EP18750315.6A patent/EP3649356B1/de active Active
- 2018-07-04 WO PCT/DE2018/100611 patent/WO2019007463A1/de unknown
- 2018-07-04 KR KR1020207003224A patent/KR102371621B1/ko active IP Right Grant
- 2018-07-04 JP JP2019572183A patent/JP6938693B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
KR102371621B1 (ko) | 2022-03-07 |
WO2019007463A1 (de) | 2019-01-10 |
US11927213B2 (en) | 2024-03-12 |
US20200182289A1 (en) | 2020-06-11 |
CN110832212B (zh) | 2022-05-13 |
JP2020525737A (ja) | 2020-08-27 |
EP3649356A1 (de) | 2020-05-13 |
EP3649356B1 (de) | 2021-06-09 |
DE102017115050B3 (de) | 2018-03-29 |
KR20200020938A (ko) | 2020-02-26 |
CN110832212A (zh) | 2020-02-21 |
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