JP7028702B2 - アーム型助力装置 - Google Patents

アーム型助力装置 Download PDF

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Publication number
JP7028702B2
JP7028702B2 JP2018079324A JP2018079324A JP7028702B2 JP 7028702 B2 JP7028702 B2 JP 7028702B2 JP 2018079324 A JP2018079324 A JP 2018079324A JP 2018079324 A JP2018079324 A JP 2018079324A JP 7028702 B2 JP7028702 B2 JP 7028702B2
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JP
Japan
Prior art keywords
arm member
frame
arm
end portion
supported
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
JP2018079324A
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English (en)
Japanese (ja)
Other versions
JP2019181661A5 (https=
JP2019181661A (ja
Inventor
諭 若杉
成隆 松本
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.)
CKD Corp
Original Assignee
CKD Corp
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
Priority to JP2018079324A priority Critical patent/JP7028702B2/ja
Application filed by CKD Corp filed Critical CKD Corp
Priority to CN201980023297.4A priority patent/CN112041130B/zh
Priority to KR1020207025515A priority patent/KR102501775B1/ko
Priority to US17/047,348 priority patent/US11248738B2/en
Priority to EP19787839.0A priority patent/EP3782777B1/en
Priority to MYPI2020004706A priority patent/MY204111A/en
Priority to SG11202009362YA priority patent/SG11202009362YA/en
Priority to MX2020010717A priority patent/MX2020010717A/es
Priority to PCT/JP2019/015340 priority patent/WO2019203049A1/ja
Priority to TW108112400A priority patent/TWI776042B/zh
Publication of JP2019181661A publication Critical patent/JP2019181661A/ja
Publication of JP2019181661A5 publication Critical patent/JP2019181661A5/ja
Application granted granted Critical
Publication of JP7028702B2 publication Critical patent/JP7028702B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • 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
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/068—Arms being part of the undercarriage

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Prostheses (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
JP2018079324A 2018-04-17 2018-04-17 アーム型助力装置 Active JP7028702B2 (ja)

Priority Applications (10)

Application Number Priority Date Filing Date Title
JP2018079324A JP7028702B2 (ja) 2018-04-17 2018-04-17 アーム型助力装置
PCT/JP2019/015340 WO2019203049A1 (ja) 2018-04-17 2019-04-08 アーム型助力装置
US17/047,348 US11248738B2 (en) 2018-04-17 2019-04-08 Arm-type support device
EP19787839.0A EP3782777B1 (en) 2018-04-17 2019-04-08 Arm-type support device
MYPI2020004706A MY204111A (en) 2018-04-17 2019-04-08 Arm-type support device
SG11202009362YA SG11202009362YA (en) 2018-04-17 2019-04-08 Arm-type support device
CN201980023297.4A CN112041130B (zh) 2018-04-17 2019-04-08 臂型助力装置
KR1020207025515A KR102501775B1 (ko) 2018-04-17 2019-04-08 암형 조력 장치
MX2020010717A MX2020010717A (es) 2018-04-17 2019-04-08 Dispositivo de soporte de tipo brazo.
TW108112400A TWI776042B (zh) 2018-04-17 2019-04-10 臂型助力裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018079324A JP7028702B2 (ja) 2018-04-17 2018-04-17 アーム型助力装置

Publications (3)

Publication Number Publication Date
JP2019181661A JP2019181661A (ja) 2019-10-24
JP2019181661A5 JP2019181661A5 (https=) 2020-10-08
JP7028702B2 true JP7028702B2 (ja) 2022-03-02

Family

ID=68240132

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018079324A Active JP7028702B2 (ja) 2018-04-17 2018-04-17 アーム型助力装置

Country Status (10)

Country Link
US (1) US11248738B2 (https=)
EP (1) EP3782777B1 (https=)
JP (1) JP7028702B2 (https=)
KR (1) KR102501775B1 (https=)
CN (1) CN112041130B (https=)
MX (1) MX2020010717A (https=)
MY (1) MY204111A (https=)
SG (1) SG11202009362YA (https=)
TW (1) TWI776042B (https=)
WO (1) WO2019203049A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7321876B2 (ja) * 2019-10-11 2023-08-07 Ckd株式会社 アーム型助力装置
JP7387579B2 (ja) * 2020-12-18 2023-11-28 Ckd株式会社 アーム型助力装置
TWI899428B (zh) * 2021-02-19 2025-10-01 日商發那科股份有限公司 接合構造
CN116917092A (zh) 2021-03-03 2023-10-20 株式会社海博特 机械臂和多关节机械臂
EP4329987A4 (en) * 2021-04-28 2024-10-09 Apptronik, Inc. DEPLOYABLE ROBOTIC ARM
NL2030060B1 (en) * 2021-12-07 2023-06-22 Johannes De Haas Fortunatus A carrier device for carrying an object, such as a lamp
NL2030059B1 (en) * 2021-12-07 2023-06-22 R Go Tools B V A carrier device for carrying an object, such as a computer display
JP7428457B1 (ja) 2022-06-14 2024-02-06 リバーフィールド株式会社 マニピュレータアーム
JPWO2024047821A1 (https=) 2022-08-31 2024-03-07

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003089090A (ja) 2001-09-17 2003-03-25 Rikogaku Shinkokai 多関節アーム機構
JP2010076089A (ja) 2008-08-28 2010-04-08 Nissan Motor Co Ltd 関節駆動装置、および多関節アーム装置
JP2010110437A (ja) 2008-11-05 2010-05-20 Honda Motor Co Ltd 歩行補助装置
US20130284871A1 (en) 2012-04-30 2013-10-31 Ming-Hsien Huang Supporting apparatus for supporting an electronic device
US20160332312A1 (en) 2013-10-22 2016-11-17 Korea University Research And Business Foundation Multi-degree of freedom torque-free linkage unit
JP2018051117A (ja) 2016-09-30 2018-04-05 三鷹光器株式会社 医療用スタンド装置

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JPS5656395A (en) 1979-10-12 1981-05-18 Hitachi Ltd Industrial multiple joint type robot
JPS595287U (ja) * 1982-07-02 1984-01-13 株式会社小松製作所 ロボツトのハンド装置
JP3500029B2 (ja) * 1997-02-14 2004-02-23 株式会社アイチコーポレーション 作業用アームのバランス装置
JP4286684B2 (ja) * 2004-02-27 2009-07-01 株式会社ダイヘン アーク溶接ロボットにおけるケーブル配設構造
TWM256459U (en) * 2004-04-19 2005-02-01 Chin-Ruei Hung Support arm for suspension type display
US7464909B2 (en) * 2004-11-12 2008-12-16 Chin-Chu Li Supporting shelf
EP1669038B1 (en) * 2004-12-09 2008-02-20 The University of Dundee Device for supporting at least one arm of an operating person during a surgical operation
US7546994B2 (en) * 2006-09-15 2009-06-16 Innovative Office Products, Inc. Extension arm with moving clevis and cable management
US8469323B1 (en) * 2008-04-21 2013-06-25 Yani Deros Modular monitor support assembly
FR2937269B1 (fr) * 2008-10-17 2010-10-29 Staubli Sa Ets Structure articulee de robot multi-axes et robot comprenant une telle structure.
TWM368005U (en) * 2009-06-25 2009-11-01 Chen Source Inc Swing arm structure for support rack
US9228696B2 (en) * 2011-03-18 2016-01-05 GCX Corporation Variable height arm structures, systems, and methods
JP6378482B2 (ja) * 2013-12-25 2018-08-22 川崎重工業株式会社 バランサ装置
TWM534953U (zh) * 2016-07-20 2017-01-01 Modernsolid industrial co ltd 具有雙定力彈簧的支撐裝置
US10845000B2 (en) * 2016-10-21 2020-11-24 Colebrook Bosson Saunders (Products) Limited Display support system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003089090A (ja) 2001-09-17 2003-03-25 Rikogaku Shinkokai 多関節アーム機構
JP2010076089A (ja) 2008-08-28 2010-04-08 Nissan Motor Co Ltd 関節駆動装置、および多関節アーム装置
JP2010110437A (ja) 2008-11-05 2010-05-20 Honda Motor Co Ltd 歩行補助装置
US20130284871A1 (en) 2012-04-30 2013-10-31 Ming-Hsien Huang Supporting apparatus for supporting an electronic device
US20160332312A1 (en) 2013-10-22 2016-11-17 Korea University Research And Business Foundation Multi-degree of freedom torque-free linkage unit
JP2018051117A (ja) 2016-09-30 2018-04-05 三鷹光器株式会社 医療用スタンド装置

Also Published As

Publication number Publication date
EP3782777A4 (en) 2022-01-19
CN112041130B (zh) 2023-08-04
EP3782777B1 (en) 2023-04-26
MX2020010717A (es) 2020-11-06
MY204111A (en) 2024-08-08
US11248738B2 (en) 2022-02-15
KR102501775B1 (ko) 2023-02-21
TW201943518A (zh) 2019-11-16
KR20200141984A (ko) 2020-12-21
JP2019181661A (ja) 2019-10-24
WO2019203049A1 (ja) 2019-10-24
EP3782777A1 (en) 2021-02-24
CN112041130A (zh) 2020-12-04
SG11202009362YA (en) 2020-10-29
TWI776042B (zh) 2022-09-01
US20210138637A1 (en) 2021-05-13

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