JP7152615B2 - 垂直多関節ロボット、単軸ロボットおよびモータユニット - Google Patents

垂直多関節ロボット、単軸ロボットおよびモータユニット Download PDF

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Publication number
JP7152615B2
JP7152615B2 JP2021548051A JP2021548051A JP7152615B2 JP 7152615 B2 JP7152615 B2 JP 7152615B2 JP 2021548051 A JP2021548051 A JP 2021548051A JP 2021548051 A JP2021548051 A JP 2021548051A JP 7152615 B2 JP7152615 B2 JP 7152615B2
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Japan
Prior art keywords
motor
brake
oil seal
speed reducer
joint shaft
Prior art date
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Active
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JP2021548051A
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English (en)
Japanese (ja)
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JPWO2021059403A5 (https=
JPWO2021059403A1 (https=
Inventor
俊文 馬目
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.)
Yamaha Motor Co Ltd
Original Assignee
Yamaha Motor Co Ltd
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Publication date
Application filed by Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Publication of JPWO2021059403A1 publication Critical patent/JPWO2021059403A1/ja
Publication of JPWO2021059403A5 publication Critical patent/JPWO2021059403A5/ja
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    • 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
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • 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
    • B25J19/0004—Braking devices
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary 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
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/40—Sealings between relatively-moving surfaces by means of fluid

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)
JP2021548051A 2019-09-25 2019-09-25 垂直多関節ロボット、単軸ロボットおよびモータユニット Active JP7152615B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/037653 WO2021059403A1 (ja) 2019-09-25 2019-09-25 垂直多関節ロボット、単軸ロボットおよびモータユニット

Publications (3)

Publication Number Publication Date
JPWO2021059403A1 JPWO2021059403A1 (https=) 2021-04-01
JPWO2021059403A5 JPWO2021059403A5 (https=) 2022-04-20
JP7152615B2 true JP7152615B2 (ja) 2022-10-13

Family

ID=75164875

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021548051A Active JP7152615B2 (ja) 2019-09-25 2019-09-25 垂直多関節ロボット、単軸ロボットおよびモータユニット

Country Status (5)

Country Link
US (1) US11865710B2 (https=)
JP (1) JP7152615B2 (https=)
CN (1) CN114423571B (https=)
DE (1) DE112019007743T5 (https=)
WO (1) WO2021059403A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024255962A2 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator mit gelenkarm für eine erntemaschine
DE102023115330B4 (de) 2023-06-13 2025-03-06 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Gelenkarm mit Gabelgelenk für einen Manipulator einer Erntemaschine
US20250018565A1 (en) * 2023-07-12 2025-01-16 Canon Kabushiki Kaisha Apparatus, apparatus control method, article manufacturing method, apparatus assembly method, robot, automobile, and recording medium
JP2025085362A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット
CN120516751B (zh) * 2025-07-28 2025-09-30 杭州伏特机器人科技有限公司 一种两级油冷转子关节模组

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011245586A (ja) 2010-05-26 2011-12-08 Denso Wave Inc 産業用ロボットのエンドエフェクタ取付用フランジの油止め構造
JP2012192497A (ja) 2011-03-17 2012-10-11 Denso Wave Inc 多関節ロボット
WO2018055752A1 (ja) 2016-09-26 2018-03-29 ヤマハ発動機株式会社 減速機付きモータ及び産業用ロボット

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4577127A (en) * 1983-12-21 1986-03-18 Westinghouse Electric Corp. Lightweight electric robotic actuator
JPS6317790U (https=) * 1986-07-22 1988-02-05
JPH0433486Y2 (https=) * 1986-11-27 1992-08-11
JPH0811035Y2 (ja) * 1990-10-01 1996-03-29 株式会社安川電機 サーボアクチュエータ
JPH11254377A (ja) 1998-03-10 1999-09-21 Denso Corp ロボット
JP2001113488A (ja) 1999-10-15 2001-04-24 Mitsubishi Electric Corp 産業用ロボット
JP2002239970A (ja) 2001-02-16 2002-08-28 Denso Corp ロボットのカバー取付構造
JP2006026748A (ja) 2004-07-12 2006-02-02 Daihen Corp ロボット手首機構およびそれに取り付けられたエンドエフェクタ操作方法
JP5003369B2 (ja) 2007-09-11 2012-08-15 株式会社安川電機 中空アクチュエータ
JP5257263B2 (ja) 2009-06-19 2013-08-07 株式会社安川電機 減速機構内蔵アクチュエータおよびこれを用いた多関節ロボット
JP6337432B2 (ja) * 2013-09-10 2018-06-06 セイコーエプソン株式会社 関節駆動装置及びロボット
CN104552289A (zh) * 2013-10-29 2015-04-29 精工爱普生株式会社 机器人
JP6699213B2 (ja) * 2016-02-12 2020-05-27 日本電産株式会社 電動機付き減速機
CN107685341A (zh) 2017-08-10 2018-02-13 北京山思跃立科技有限公司 一种机械臂和机械臂关节
JP2019076985A (ja) * 2017-10-24 2019-05-23 セイコーエプソン株式会社 ロボットおよびロボットシステム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011245586A (ja) 2010-05-26 2011-12-08 Denso Wave Inc 産業用ロボットのエンドエフェクタ取付用フランジの油止め構造
JP2012192497A (ja) 2011-03-17 2012-10-11 Denso Wave Inc 多関節ロボット
WO2018055752A1 (ja) 2016-09-26 2018-03-29 ヤマハ発動機株式会社 減速機付きモータ及び産業用ロボット

Also Published As

Publication number Publication date
DE112019007743T5 (de) 2022-08-04
US20220388152A1 (en) 2022-12-08
WO2021059403A1 (ja) 2021-04-01
JPWO2021059403A1 (https=) 2021-04-01
US11865710B2 (en) 2024-01-09
CN114423571B (zh) 2024-03-05
CN114423571A (zh) 2022-04-29

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