JPH05309588A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPH05309588A JPH05309588A JP4144996A JP14499692A JPH05309588A JP H05309588 A JPH05309588 A JP H05309588A JP 4144996 A JP4144996 A JP 4144996A JP 14499692 A JP14499692 A JP 14499692A JP H05309588 A JPH05309588 A JP H05309588A
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- Prior art keywords
- operating
- temperature
- industrial robot
- heating element
- operating part
- Prior art date
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、低温環境で使用され
る産業用ロボットに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot used in a low temperature environment.
【０００２】[0002]
【従来の技術】図５及び図６は従来の産業用ロボットを
示す図である。図において、(1)は産業用ロボットの基
体、(2)は基体(1)に設けられた腕、(3)は腕(2)に形成さ
れた関節からなる作動部、(4)は作動部(3)を駆動する電
動機からなる第１作動手段、(5)は第１作動手段(4)に給
電するケーブル、(6)は作動部(3)の回動角度を検出する
検出器からなる第２作動手段、(7)は作動部(3)に設けら
れて第１作動手段(4)の回転を減速する減速器からなる
第３作動手段、(8)は作動部(3)を腕(2)に枢持した軸受
からなる第４作動手段である。2. Description of the Related Art FIGS. 5 and 6 are views showing a conventional industrial robot. In the figure, (1) is a base body of an industrial robot, (2) is an arm provided on the base body (1), (3) is an actuating part including a joint formed on the arm (2), and (4) is an actuating unit. A first actuating means consisting of an electric motor for driving the section (3), (5) a cable for feeding the first actuating means (4), and (6) a detector for detecting the rotation angle of the actuating section (3). The second operating means, (7) is the third operating means which is provided in the operating part (3) and which is a speed reducer for reducing the rotation of the first operating means (4), and (8) is the operating part (3). It is a fourth actuating means comprising a bearing pivotally supported on the arm (2).
【０００３】従来の産業用ロボットは上記のように構成
され、第１作動手段(4)には作動部(3)の回動角度を検出
する第２作動手段(6)が取り付けられていて作動部(3)の
動きを制御している。また、第３作動手段(7)、第４作
動手段(8)には潤滑剤が使用され作動抵抗を減少して、
機械的効率を所定値以上に保持している。さらに、第２
作動手段(6)には一般的に電子部品が組み込まれてい
る。そして、腕(2)に固定された第１作動手段(4)が回転
すると、第３作動手段(7)により減速されて作動部(3)が
駆動されるようになっている。The conventional industrial robot is constructed as described above, and the first operating means (4) is provided with the second operating means (6) for detecting the rotation angle of the operating portion (3). It controls the movement of part (3). Further, a lubricant is used for the third operating means (7) and the fourth operating means (8) to reduce the operating resistance,
The mechanical efficiency is kept above a predetermined value. Furthermore, the second
The actuating means (6) generally incorporates electronic components. When the first actuating means (4) fixed to the arm (2) rotates, the third actuating means (7) decelerates and the actuating part (3) is driven.
【０００４】[0004]
【発明が解決しようとする課題】上記のような従来の産
業用ロボットが冷凍室等の低温環境に設置された場合に
は、第２作動手段(6)の電子部品が動作せず、また、低
温のため第３作動手段(7)等の潤滑剤の粘性増加のため
に無負荷抵抗が増す。また、産業用ロボットの一時稼働
停止時に作動部(3)に露結して潤滑剤を劣化させ、さら
に低温である場合には作動部(3)等が氷結して作動不能
になるという問題点があった。When the conventional industrial robot as described above is installed in a low temperature environment such as a freezing room, the electronic parts of the second actuating means (6) do not operate, and Due to the low temperature, the no-load resistance increases due to the increase in the viscosity of the lubricant such as the third operating means (7). Also, when the industrial robot is temporarily stopped, it is exposed to the operating part (3) to deteriorate the lubricant, and when the temperature is lower, the operating part (3) etc. freezes and becomes inoperable. was there.
【０００５】この発明は、かかる問題点を解消するため
になされたものであり、低温環境の影響が作動部等の作
動手段の機能に及ばない産業用ロボットを得ることを目
的とする。The present invention has been made in order to solve the above problems, and an object thereof is to obtain an industrial robot in which the influence of a low temperature environment does not affect the function of the operating means such as the operating portion.
【０００６】[0006]
【課題を解決するための手段】この発明に係る産業用ロ
ボットにおいては、作動部と、作動部に設けられて作動
部の作動手段を加熱する発熱体とが設けられる。また、
作動部と、作動部に設けられて作動部の作動手段の温度
が所定範囲値を外れたときに動作する温度検出器と、作
動部に設けられて温度検出器の動作を介して制御され、
作動部の作動手段を加熱する発熱体とが設けられる。In the industrial robot according to the present invention, an operating portion and a heating element provided in the operating portion for heating the operating means of the operating portion are provided. Also,
An operating part, a temperature detector provided in the operating part and operating when the temperature of the operating means of the operating part deviates from a predetermined range value; and a temperature detector provided in the operating part and controlled through the operation of the temperature detector,
A heating element for heating the operating means of the operating portion is provided.
【０００７】[0007]
【作用】上記のように構成された産業用ロボットの作動
部は低温時に発熱体により加熱され機能が保持される。
また、産業用ロボットの作動部の温度が所定範囲値より
も低いときに温度検出器の動作により、作動部が発熱体
により加熱され機能が保持され、また、産業用ロボット
の作動部の温度が所定範囲値よりも高いときに温度検出
器の動作により、発熱体が消勢される。The operating portion of the industrial robot configured as described above is heated by the heating element when the temperature is low and the function is maintained.
Further, when the temperature of the operating part of the industrial robot is lower than the predetermined range value, the operation of the temperature detector causes the operating part to be heated by the heating element so that the function is maintained. When the temperature is higher than the predetermined range value, the operation of the temperature detector deactivates the heating element.
【０００８】[0008]
実施例１．図１は、この発明の一実施例を示す図であ
る。図において、(1)は産業用ロボットの基体、(2)は基
体(1)に設けられた腕、(3)は腕(2)に形成された関節か
らなる作動部、(4)作動部(3)を駆動する電動機からなる
第１作動手段、(5)は第１作動手段(4)に給電するケーブ
ル、(6)は作動部(3)の回動角度を検出する検出器からな
る第２作動手段、(7)は作動部(3)に設けられて第１作動
手段(4)の回転を減速する減速器からなる第３作動手
段、(8)は作動部(3)を腕(2)に枢持した軸受からなる第
４作動手段である。(9)は第２作動手段(6)に埋め込まれ
た第１発熱体、(10)は作動部(3)に埋め込まれた第２発
熱体、(11)は第１発熱体(9)及び第２発熱体(10)に給電
する加熱ケーブルである。Example 1. FIG. 1 is a diagram showing an embodiment of the present invention. In the figure, (1) is a base body of an industrial robot, (2) is an arm provided on the base body (1), (3) is an actuating part including joints formed on the arm (2), and (4) actuating part. (3) a first actuating means consisting of an electric motor, (5) a cable feeding the first actuating means (4), and (6) a detector for detecting the rotation angle of the actuating part (3) Second actuation means, (7) third actuation means provided with the actuation part (3) and comprising a speed reducer for decelerating the rotation of the first actuation means (4), (8) arm actuation part (3) It is a fourth actuating means composed of a bearing pivotally supported in (2). (9) is a first heating element embedded in the second operating means (6), (10) is a second heating element embedded in the operating part (3), (11) is a first heating element (9) and It is a heating cable for supplying power to the second heating element (10).
【０００９】上記のように構成された産業用ロボットの
第１作動手段(4)には作動部(3)の回動角度を検出する第
２作動手段(6)が取り付けられていて作動部(3)の動きを
制御している。また、第３作動手段(7)、第４作動手段
(8)には潤滑剤が使用され、作動抵抗を減少して、機械
的効率を所定値以上に保持している。さらに、第２作動
手段(6)には一般的に電子部品が組み込まれている。そ
して、腕(2)に固定された第１作動手段(4)が回転する
と、第３作動手段(7)により減速され作動部(3)が駆動さ
れる。そして、産業用ロボットの周囲温度が産業用ロボ
ット稼働許容温度よりも低い場合には、加熱ケーブル(1
1)により第１発熱体(9)及び第２発熱体(10)に給電して
第２作動手段(6)、作動部(3)等関節箇所が加熱される。The first operating means (4) of the industrial robot constructed as described above is provided with the second operating means (6) for detecting the rotation angle of the operating part (3). It controls the movement of 3). Also, a third operating means (7), a fourth operating means
A lubricant is used in (8) to reduce the operating resistance and keep the mechanical efficiency above a predetermined value. Furthermore, the second actuating means (6) generally incorporates electronic components. When the first actuating means (4) fixed to the arm (2) rotates, the third actuating means (7) decelerates and the actuating part (3) is driven. If the ambient temperature of the industrial robot is lower than the allowable operating temperature of the industrial robot, the heating cable (1
By 1), power is supplied to the first heating element 9 and the second heating element 10 to heat the joint portions such as the second actuating means 6 and the actuating portion 3.
【００１０】これによって、産業用ロボットの設置環境
が稼働許容温度よりも低いことにより第２作動手段(6)
の電子部品が異常動作する不具合、また、低温のための
第３作動手段(7)等の潤滑剤の粘性増加により無負荷抵
抗が増大する不具合を防ぐことができる。また、産業用
ロボットの一時稼働停止時に作動部(3)に露結して潤滑
剤が劣化したり、低温のために作動部(3)が氷結して作
動不能になったりする障害発生を防ぐことができる。し
たがって、産業用ロボットの設置環境が冷凍室等であっ
て、稼働許容温度よりも低い場合であっても、産業用ロ
ボットを正常に動作させることができる。また、第１発
熱体(9)が第２作動手段(6)に埋め込まれ、第２発熱体(1
0)は作動部(3)に埋め込まれて装着される。このため、
産業用ロボットの動作が制約されることがなく、また、
余計なスペースを要せず、長寿命であって、第２作動手
段(6)、作動部(3)等関節箇所の要部のみを効率よく加熱
することができる。As a result, since the environment in which the industrial robot is installed is lower than the allowable operating temperature, the second operating means (6)
It is possible to prevent the malfunction of the electronic parts of (1) and the malfunction of the no-load resistance due to the increase in the viscosity of the lubricant such as the third actuating means (7) due to the low temperature. Also, it prevents the occurrence of obstacles such as dew condensation on the operating part (3) when the industrial robot is temporarily stopped and the lubricant deteriorates, or the operating part (3) freezes and becomes inoperable due to low temperature. be able to. Therefore, even if the industrial robot is installed in a freezing room or the like and the operating temperature is lower than the allowable operating temperature, the industrial robot can be operated normally. In addition, the first heating element (9) is embedded in the second operating means (6), and the second heating element (1
0) is installed by being embedded in the operating part (3). For this reason,
The operation of the industrial robot is not restricted, and
It requires no extra space, has a long service life, and can efficiently heat only the essential parts of the joint parts such as the second actuating means (6) and the actuating part (3).
【００１１】実施例２．図２は、この発明の他の実施例
を示す図で、図中、図１と同符号は相当部分を示し、
(9)は第２作動手段(6)に巻き付けられて装着された第１
発熱体、(10)は作動部(3)に巻き付けられて装着された
第２発熱体、(11)はそれぞれ第１発熱体(9)及び第２発
熱体(10)に給電する加熱ケーブルである。Embodiment 2. 2 is a diagram showing another embodiment of the present invention, in which the same reference numerals as those in FIG.
(9) is the first which is wound around the second actuating means (6) and mounted.
A heating element, (10) is a second heating element wound around and attached to the operating part (3), and (11) is a heating cable for supplying power to the first heating element (9) and the second heating element (10), respectively. is there.
【００１２】この実施例においても、産業用ロボットの
周囲温度が産業用ロボット稼働許容温度よりも低い場合
には、加熱ケーブル(11)により第１発熱体(9)及び第２
発熱体(10)に給電して第２作動手段(6)、作動部(3)等関
節箇所が加熱される。したがって、詳細な説明を省略す
るがこの実施例においても図１の実施例と同様な作用が
得られることは明白である。また、第１発熱体(9)が第
２作動手段(6)に巻き付けられ、第２発熱体(10)は作動
部(3)に巻き付けられて装着される。このため、産業用
ロボットの動作が制約されることがなく、また、余計な
スペースを要せず、長寿命であって、第２作動手段
(6)、作動部(3)等関節箇所の要部のみを効率よく加熱す
ることができる。Also in this embodiment, when the ambient temperature of the industrial robot is lower than the allowable operating temperature of the industrial robot, the first heating element (9) and the second heating element (9) are connected by the heating cable (11).
Electric power is supplied to the heating element (10) to heat the joint parts such as the second actuating means (6) and the actuating part (3). Therefore, although detailed description is omitted, it is obvious that the same operation as that of the embodiment of FIG. 1 can be obtained in this embodiment. The first heating element (9) is wound around the second actuating means (6), and the second heating element (10) is wound around and attached to the actuating portion (3). Therefore, the operation of the industrial robot is not restricted, an extra space is not required, the life is long, and the second operating means is provided.
(6) It is possible to efficiently heat only the main part of the joint part such as the operating part (3).
【００１３】実施例３．図３も、この発明の他の実施例
を示す図で、図中、図１と同符号は相当部分を示し、
(9)は第２作動手段(6)に埋め込まれて装着された第１発
熱体、(10)は作動部(3)に埋め込まれて装着された第２
発熱体、(11)はそれぞれ第１発熱体(9)及び第２発熱体
(10)に給電する加熱ケーブルである。(12)は第２作動手
段(6)に埋め込まれて装着された温度検出器、(13)は温
度検出器(12)に接続された信号ケーブルである。Embodiment 3. FIG. 3 is also a diagram showing another embodiment of the present invention, in which the same symbols as in FIG.
(9) is a first heating element embedded in the second actuation means (6) and mounted, and (10) is a second heating element embedded in the actuation part (3) and mounted.
Heating element, (11) is the first heating element (9) and the second heating element, respectively
It is a heating cable that supplies power to (10). Reference numeral (12) is a temperature detector embedded in and attached to the second actuating means (6), and reference numeral (13) is a signal cable connected to the temperature detector (12).
【００１４】上記のように構成された産業用ロボットの
実施例において、第２作動手段(6)等関節部の温度が産
業用ロボット稼働許容温度よりも低い場合には、温度検
出器(12)の動作が信号ケーブル(13)により制御装置（図
示しない）に伝達される。これにより、加熱ケーブル(1
1)を介して第１発熱体(9)及び第２発熱体(10)に給電し
て第２作動手段(6)、作動部(3)等関節箇所が加熱され
る。また、加熱された第２作動手段(6)等関節部の温度
が産業用ロボット稼働許容温度に達すると、温度検出器
(12)の動作を介して、第１発熱体(9)及び第２発熱体(1
0)が消勢され、第２作動手段(6)等関節部の温度が産業
用ロボット稼働許容温度内に保たれる。したがって、詳
細な説明を省略するがこの実施例においても図１の実施
例と同様な作用が得られることは明白である。In the embodiment of the industrial robot configured as described above, when the temperature of the joint portion such as the second actuating means (6) is lower than the industrial robot operating allowable temperature, the temperature detector (12) Is transmitted to the control device (not shown) by the signal cable (13). This allows the heating cable (1
Power is supplied to the first heating element (9) and the second heating element (10) through (1) to heat the joint parts such as the second actuating means (6) and the actuating part (3). When the temperature of the heated joint of the second operating means (6) reaches the industrial robot operating allowable temperature, the temperature detector
Through the operation of (12), the first heating element (9) and the second heating element (1
0) is de-energized, and the temperature of the joint portion of the second actuating means (6) is kept within the industrial robot operating allowable temperature. Therefore, although detailed description is omitted, it is obvious that the same operation as that of the embodiment of FIG. 1 can be obtained in this embodiment.
【００１５】また、産業用ロボットが稼働すると第１作
動手段(4)の回転による発熱により第２作動手段(6)等関
節部の温度が上昇する。しかし、産業用ロボットの稼働
頻度が少なく第２作動手段(6)等関節部の温度が、産業
用ロボット稼働許容温度よりも低くなった場合には、温
度検出器(12)が動作してこの動作を介して第１発熱体
(9)及び第２発熱体(10)が付勢され、第２作動手段(6)等
の関節部が加熱される。また、産業用ロボットの稼働前
に第２作動手段(6)等関節部のみの温度を上昇すること
ができる。このため、産業用ロボットが設置される冷凍
室などの設置環境において、熱的影響を最小限にして産
業用ロボットを正常に動作させることができる。When the industrial robot operates, the temperature of the joint portion such as the second operating means (6) rises due to the heat generated by the rotation of the first operating means (4). However, when the industrial robot is infrequently operated and the temperature of the joint part such as the second actuating means (6) becomes lower than the industrial robot operation allowable temperature, the temperature detector (12) operates and this 1st heating element through operation
(9) and the second heating element (10) are urged to heat the joints such as the second actuating means (6). Further, the temperature of only the joint part such as the second actuating means (6) can be raised before the operation of the industrial robot. Therefore, in an installation environment such as a freezing room in which the industrial robot is installed, it is possible to operate the industrial robot normally while minimizing thermal influence.
【００１６】実施例４．図４も、この発明の他の実施例
を示す図で、図中、図１と同符号は相当部分を示し、
(9)は第２作動手段(6)に巻き付けられて装着された第１
発熱体、(10)は作動部(3)に巻き付けられて装着された
第２発熱体、(11)はそれぞれ第１発熱体(9)及び第２発
熱体(10)に給電する加熱ケーブルである。(12)は第２作
動手段(6)に装着された温度検出器、(13)は温度検出器
(12)に接続された信号ケーブルである。Example 4. FIG. 4 is also a diagram showing another embodiment of the present invention, in which the same symbols as in FIG.
(9) is the first, which is wound around and attached to the second actuating means (6)
A heating element, (10) is a second heating element wound around and attached to the operating part (3), and (11) is a heating cable for supplying power to the first heating element (9) and the second heating element (10), respectively. is there. (12) is a temperature detector mounted on the second operating means (6), and (13) is a temperature detector
It is a signal cable connected to (12).
【００１７】上記のように構成された産業用ロボットの
実施例において、第２作動手段(6)等関節部の温度が産
業用ロボット稼働許容温度よりも低い場合には、温度検
出器(12)の動作が信号ケーブル(13)により制御装置（図
示しない）に伝達される。これにより、加熱ケーブル(1
1)を介して第１発熱体(9)及び第２発熱体(10)に給電し
て第２作動手段(6)、作動部(3)等関節箇所が加熱され
る。また、加熱された第２作動手段(6)等関節部の温度
が産業用ロボット稼働許容温度に達すると、温度検出器
(12)の動作を介して、第１発熱体(9)及び第２発熱体(1
0)が消勢され、第２作動手段(6)等関節部の温度が産業
用ロボット稼働許容温度内に保たれる。したがって、詳
細な説明を省略するがこの実施例においても図２、図３
の実施例と同様な作用が得られることは明白である。In the embodiment of the industrial robot configured as described above, when the temperature of the joint portion such as the second actuating means (6) is lower than the industrial robot operating allowable temperature, the temperature detector (12) Is transmitted to the control device (not shown) by the signal cable (13). This allows the heating cable (1
Power is supplied to the first heating element (9) and the second heating element (10) through (1) to heat the joint parts such as the second actuating means (6) and the actuating part (3). Further, when the temperature of the joint part, such as the heated second actuating means (6), reaches the industrial robot operating allowable temperature, the temperature detector
Through the operation of (12), the first heating element (9) and the second heating element (1
0) is deenergized, and the temperature of the joint portion such as the second actuating means (6) is kept within the industrial robot operating allowable temperature. Therefore, although detailed description is omitted, in this embodiment as well, FIG.
It is obvious that the same effect as that of the embodiment can be obtained.
【００１８】[0018]
【発明の効果】この発明は、以上説明したように作動部
と、作動部に設けられて作動部の作動手段を加熱する発
熱体とを設けたものである。また、作動部と、作動部に
設けられて作動部の作動手段の温度が所定範囲値を外れ
たときに動作する温度検出器と、作動部に設けられて温
度検出器の動作を介して制御され、作動部の作動手段を
加熱する発熱体とを設けたものである。これによって、
産業用ロボットの作動部は発熱体により加熱され機能が
保持される。また、産業用ロボットの作動部の温度が所
定範囲値よりも低いときに温度検出器の動作により、作
動部が発熱体により加熱され機能が保持される。As described above, the present invention is provided with the operating portion and the heating element provided in the operating portion for heating the operating means of the operating portion. In addition, the operating unit, a temperature detector that is provided in the operating unit and operates when the temperature of the operating means of the operating unit deviates from a predetermined range value, and control is performed through the operation of the temperature detector that is provided in the operating unit. And a heating element for heating the operating means of the operating portion. by this,
The operating part of the industrial robot is heated by the heating element and its function is maintained. Further, when the temperature of the operating portion of the industrial robot is lower than the predetermined range value, the operation of the temperature detector causes the operating portion to be heated by the heating element so that the function is maintained.
【００１９】したがって、産業用ロボットの設置環境が
稼働許容温度よりも低い場合であっても産業用ロボット
の動作を正常化する効果がある。また、作動部の温度が
温度検出器により産業用ロボット稼働許容範囲内に保た
れて効率よく産業用ロボットの動作を正常に維持する効
果がある。Therefore, there is an effect of normalizing the operation of the industrial robot even when the installation environment of the industrial robot is lower than the allowable operating temperature. Further, the temperature of the operating portion is kept within the allowable operating range of the industrial robot by the temperature detector, so that the operation of the industrial robot can be efficiently and normally maintained.
【図１】この発明の実施例１を示す図で、後述する図６
相当図。FIG. 1 is a diagram showing a first embodiment of the present invention and will be described later with reference to FIG.
Corresponding figure.
【図２】この発明の実施例２を示す図で、後述する図６
相当図。FIG. 2 is a diagram showing a second embodiment of the present invention, and FIG.
Corresponding figure.
【図３】この発明の実施例３を示す図で、後述する図６
相当図。FIG. 3 is a diagram showing a third embodiment of the present invention and will be described later with reference to FIG.
Corresponding figure.
【図４】この発明の実施例４を示す図で、後述する図６
相当図。FIG. 4 is a view showing a fourth embodiment of the present invention, and FIG.
Corresponding figure.
【図５】産業用ロボットの正面図。FIG. 5 is a front view of an industrial robot.
【図６】従来の産業用ロボットを示す図で、図５の作動
部を一部縦断して示す拡大図。FIG. 6 is a view showing a conventional industrial robot, and is an enlarged view showing a part of the operating portion of FIG. 5 in a longitudinal section.
３ 作動部 ４ 第１作動手段 ６ 第２作動手段 ７ 第３作動手段 ８ 第４作動手段 ９ 第１発熱体 １０ 第２発熱体 １２ 温度検出器 3 Actuator 4 First Actuator 6 Second Actuator 7 Third Actuator 8 Fourth Actuator 9 First Heating Element 10 Second Heating Element 12 Temperature Detector
Claims (2)
作動部の作動手段を加熱する発熱体とを備えた産業用ロ
ボット。1. An industrial robot comprising an operating part and a heating element provided in the operating part for heating an operating means of the operating part.
作動部の作動手段の温度が所定範囲値を外れたときに動
作する温度検出器と、上記作動部に設けられて上記温度
検出器の動作を介して制御され、上記作動部の作動手段
を加熱する発熱体とを備えた産業用ロボット。2. An operating part, a temperature detector which is provided in the operating part and operates when the temperature of the operating means of the operating part is out of a predetermined range value, and the temperature detector which is provided in the operating part. An industrial robot having a heating element that controls the operation means of the operating unit and heats the operation means of the operation unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4144996A JPH05309588A (en) | 1992-05-12 | 1992-05-12 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4144996A JPH05309588A (en) | 1992-05-12 | 1992-05-12 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05309588A true JPH05309588A (en) | 1993-11-22 |
Family
ID=15375049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4144996A Pending JPH05309588A (en) | 1992-05-12 | 1992-05-12 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05309588A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001238483A (en) * | 2000-02-28 | 2001-08-31 | Seiko Epson Corp | Drive control method and apparatus |
| JP2005262401A (en) * | 2004-03-19 | 2005-09-29 | Kawada Kogyo Kk | Mechanism for utilizing waste heat in mobile robot |
| JP2008290249A (en) * | 2008-09-10 | 2008-12-04 | Kawada Kogyo Kk | Mechanism for using waste heat in mobile robot |
| JP2008290248A (en) * | 2008-09-10 | 2008-12-04 | Kawada Kogyo Kk | Mechanism for using waste heat in mobile robot |
| JP2014504716A (en) * | 2011-02-02 | 2014-02-24 | フラウンホーファーゲゼルシャフト ツール フォルデルング デル アンゲヴァンテン フォルシユング エー．フアー． | Walkable cooling system mainly used for cryopreservation of biological samples and its operation method |
| WO2016079875A1 (en) * | 2014-11-21 | 2016-05-26 | 株式会社ハーモニック・ドライブ・システムズ | Strain wave gearing device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63127885A (en) * | 1986-11-18 | 1988-05-31 | 横河電機株式会社 | Temperature controller for robot arm |
-
1992
- 1992-05-12 JP JP4144996A patent/JPH05309588A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63127885A (en) * | 1986-11-18 | 1988-05-31 | 横河電機株式会社 | Temperature controller for robot arm |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001238483A (en) * | 2000-02-28 | 2001-08-31 | Seiko Epson Corp | Drive control method and apparatus |
| JP2005262401A (en) * | 2004-03-19 | 2005-09-29 | Kawada Kogyo Kk | Mechanism for utilizing waste heat in mobile robot |
| JP2008290249A (en) * | 2008-09-10 | 2008-12-04 | Kawada Kogyo Kk | Mechanism for using waste heat in mobile robot |
| JP2008290248A (en) * | 2008-09-10 | 2008-12-04 | Kawada Kogyo Kk | Mechanism for using waste heat in mobile robot |
| JP4533947B2 (en) * | 2008-09-10 | 2010-09-01 | 川田工業株式会社 | Waste heat utilization mechanism in mobile robots |
| JP4533946B2 (en) * | 2008-09-10 | 2010-09-01 | 川田工業株式会社 | Waste heat utilization mechanism in mobile robots |
| JP2014504716A (en) * | 2011-02-02 | 2014-02-24 | フラウンホーファーゲゼルシャフト ツール フォルデルング デル アンゲヴァンテン フォルシユング エー．フアー． | Walkable cooling system mainly used for cryopreservation of biological samples and its operation method |
| WO2016079875A1 (en) * | 2014-11-21 | 2016-05-26 | 株式会社ハーモニック・ドライブ・システムズ | Strain wave gearing device |
| JPWO2016079875A1 (en) * | 2014-11-21 | 2017-07-27 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device |
| US10508729B2 (en) | 2014-11-21 | 2019-12-17 | Harmonic Drive Systems Inc. | Strain wave gearing device |
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| LAPS | Cancellation because of no payment of annual fees |