JPWO2021059403A1 - - Google Patents
Info
- Publication number
- JPWO2021059403A1 JPWO2021059403A1 JP2021548051A JP2021548051A JPWO2021059403A1 JP WO2021059403 A1 JPWO2021059403 A1 JP WO2021059403A1 JP 2021548051 A JP2021548051 A JP 2021548051A JP 2021548051 A JP2021548051 A JP 2021548051A JP WO2021059403 A1 JPWO2021059403 A1 JP WO2021059403A1
- Authority
- JP
- Japan
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-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
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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—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
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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—Programme-controlled manipulators
- B25J9/10—Programme-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—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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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
- 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)
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 true JPWO2021059403A1 (ja) | 2021-04-01 |
JPWO2021059403A5 JPWO2021059403A5 (ja) | 2022-04-20 |
JP7152615B2 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 (ja) |
JP (1) | JP7152615B2 (ja) |
CN (1) | CN114423571B (ja) |
DE (1) | DE112019007743T5 (ja) |
WO (1) | WO2021059403A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6317790U (ja) * | 1986-07-22 | 1988-02-05 | ||
JPS6386454U (ja) * | 1986-11-27 | 1988-06-06 | ||
JPH0461460U (ja) * | 1990-10-01 | 1992-05-26 | ||
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 (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4577127A (en) * | 1983-12-21 | 1986-03-18 | Westinghouse Electric Corp. | Lightweight electric robotic actuator |
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 |
-
2019
- 2019-09-25 CN CN201980100503.7A patent/CN114423571B/zh active Active
- 2019-09-25 WO PCT/JP2019/037653 patent/WO2021059403A1/ja active Application Filing
- 2019-09-25 DE DE112019007743.0T patent/DE112019007743T5/de active Pending
- 2019-09-25 JP JP2021548051A patent/JP7152615B2/ja active Active
- 2019-09-25 US US17/761,811 patent/US11865710B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6317790U (ja) * | 1986-07-22 | 1988-02-05 | ||
JPS6386454U (ja) * | 1986-11-27 | 1988-06-06 | ||
JPH0461460U (ja) * | 1990-10-01 | 1992-05-26 | ||
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 |
US11865710B2 (en) | 2024-01-09 |
CN114423571B (zh) | 2024-03-05 |
JP7152615B2 (ja) | 2022-10-13 |
WO2021059403A1 (ja) | 2021-04-01 |
CN114423571A (zh) | 2022-04-29 |
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