JP7453398B2 - 関節機構及びロボットアーム機構 - Google Patents

関節機構及びロボットアーム機構 Download PDF

Info

Publication number
JP7453398B2
JP7453398B2 JP2022550525A JP2022550525A JP7453398B2 JP 7453398 B2 JP7453398 B2 JP 7453398B2 JP 2022550525 A JP2022550525 A JP 2022550525A JP 2022550525 A JP2022550525 A JP 2022550525A JP 7453398 B2 JP7453398 B2 JP 7453398B2
Authority
JP
Japan
Prior art keywords
arm
transmission member
joint mechanism
piston rod
balancer
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
JP2022550525A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2022059614A1 (https=
Inventor
慎哉 主税
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.)
Fanuc Corp
Original Assignee
Fanuc 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
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of JPWO2022059614A1 publication Critical patent/JPWO2022059614A1/ja
Application granted granted Critical
Publication of JP7453398B2 publication Critical patent/JP7453398B2/ja
Active 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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2022550525A 2020-09-15 2021-09-10 関節機構及びロボットアーム機構 Active JP7453398B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020154724 2020-09-15
JP2020154724 2020-09-15
PCT/JP2021/033300 WO2022059614A1 (ja) 2020-09-15 2021-09-10 関節機構及びロボットアーム機構

Publications (2)

Publication Number Publication Date
JPWO2022059614A1 JPWO2022059614A1 (https=) 2022-03-24
JP7453398B2 true JP7453398B2 (ja) 2024-03-19

Family

ID=80776648

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022550525A Active JP7453398B2 (ja) 2020-09-15 2021-09-10 関節機構及びロボットアーム機構

Country Status (5)

Country Link
US (1) US12138789B2 (https=)
JP (1) JP7453398B2 (https=)
CN (1) CN116194261B (https=)
DE (1) DE112021004915T5 (https=)
WO (1) WO2022059614A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025200722A1 (zh) * 2024-03-29 2025-10-02 深圳康诺思腾科技有限公司 力平衡装置、力平衡系统和医疗辅助系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025078019A1 (en) * 2023-10-13 2025-04-17 Abb Schweiz Ag Arrangement for industrial robot, and industrial robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011007793A1 (ja) 2009-07-15 2011-01-20 学校法人慶應義塾 荷重補償装置

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3643291A (en) * 1970-10-12 1972-02-22 Revco Inc Combination hinge and closing device for doors
JPS55106787A (en) * 1979-02-05 1980-08-15 Hitachi Ltd Device for balancing gravity
JPS61144993U (https=) * 1985-03-01 1986-09-06
JPS6256299A (ja) 1985-09-03 1987-03-11 日産自動車株式会社 重量物積卸装置
US4801237A (en) 1985-09-03 1989-01-31 Nissan Motor Co., Ltd. Transportation device for commercial and industrial use
FR2588735B1 (fr) * 1985-10-22 1988-08-12 Alpia Sa Dispositif d'equilibrage et de mise en securite du couvercle d'un meuble de classement vertical de plans
JPS63191586A (ja) 1987-02-03 1988-08-09 フアナツク株式会社 壁掛け型関節ロボツト
JP2543539B2 (ja) 1987-10-19 1996-10-16 ファナック株式会社 垂直多関節型ロボットのバランス方法及びバランサ機構
US5138904A (en) * 1990-06-04 1992-08-18 Akr Robotics, Inc. Robot system
US5956465A (en) 1996-04-04 1999-09-21 Nissan Motor Co., Ltd. Production facility with automatic movable body for man-machine cooperation
JP3656328B2 (ja) 1996-07-11 2005-06-08 日産自動車株式会社 位置決め助力アーム
JPH1015875A (ja) 1996-07-08 1998-01-20 Fanuc Ltd 産業用ロボット
KR100434771B1 (ko) * 1996-12-20 2004-07-16 주식회사 로보테크 다관절 로보트의 발란서
DE10042272B4 (de) * 2000-08-29 2012-10-31 Leica Instruments (Singapore) Pte. Ltd. Stativanordnung
CN102990677A (zh) * 2011-09-13 2013-03-27 鸿富锦精密工业（深圳）有限公司 平衡机构及应用该平衡机构的机器人
JP5616476B2 (ja) * 2013-03-29 2014-10-29 ファナック株式会社 バランサ装置を備える産業用ロボット
JP2017013168A (ja) * 2015-06-30 2017-01-19 キヤノン電子株式会社 ロボットアーム装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011007793A1 (ja) 2009-07-15 2011-01-20 学校法人慶應義塾 荷重補償装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025200722A1 (zh) * 2024-03-29 2025-10-02 深圳康诺思腾科技有限公司 力平衡装置、力平衡系统和医疗辅助系统

Also Published As

Publication number Publication date
DE112021004915T5 (de) 2023-07-20
CN116194261A (zh) 2023-05-30
JPWO2022059614A1 (https=) 2022-03-24
US20230302630A1 (en) 2023-09-28
CN116194261B (zh) 2026-03-06
WO2022059614A1 (ja) 2022-03-24
US12138789B2 (en) 2024-11-12

Similar Documents

Publication Publication Date Title
JP7453398B2 (ja) 関節機構及びロボットアーム機構
JP4754549B2 (ja) 回動可能要素を備えた機能装置
CN106536327A (zh) 机电动力转向系统
US10059366B2 (en) Electrically driven power steering device
JPWO2013161006A1 (ja) 重力補償機構及びロボット
JPWO2008041727A1 (ja) 可変剛性スタビライザ装置
WO2004065074A1 (ja) 産業用ロボットの減速装置
US20210178574A1 (en) Robot joint structure
CN102672726B (zh) 顺应性关节
CN107531273A (zh) 一种用于电动助力转向组件的变速器组件
WO2016043302A1 (ja) ロボットにおける回転駆動機構
JP2010076089A (ja) 関節駆動装置、および多関節アーム装置
JP2005279856A (ja) ロボット
JP7530854B2 (ja) ロボットハンド
JP6891783B2 (ja) インホイールモータユニットの取付構造
JP7346023B2 (ja) 多関節ロボット
JP6584894B2 (ja) ルーバー装置
CN102869561A (zh) 驾驶室悬挂单元及包括至少两个这种驾驶室悬挂单元的车辆
JP2011114621A (ja) 雲台装置
JP2007508498A (ja) ベルトで駆動される補助装置を備えた内燃機関の付属部品の摩擦伝動装置のための回動アーム機構
US20200101597A1 (en) Drive mechanism of robot and robot
JP2023144337A (ja) ロボット及び負荷平衡機構
JP2021010954A (ja) ロボット用バランサ装置
JP2017013189A (ja) ロボットアーム用バランサ機構
JP4349263B2 (ja) ダンパ構造体

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230405

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20231205

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240123

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: 20240206

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240307

R150 Certificate of patent or registration of utility model

Ref document number: 7453398

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150