KR850000283A - 로보트의 관절구조 - Google Patents
로보트의 관절구조 Download PDFInfo
- Publication number
- KR850000283A KR850000283A KR1019840003139A KR840003139A KR850000283A KR 850000283 A KR850000283 A KR 850000283A KR 1019840003139 A KR1019840003139 A KR 1019840003139A KR 840003139 A KR840003139 A KR 840003139A KR 850000283 A KR850000283 A KR 850000283A
- Authority
- KR
- South Korea
- Prior art keywords
- axis
- link
- bevel gear
- joint structure
- shaft
- Prior art date
Links
Classifications
-
- 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
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
- F16K31/16—Actuating devices; Operating means; Releasing devices actuated by fluid with a mechanism, other than pulling-or pushing-rod, between fluid motor and closure member
- F16K31/163—Actuating devices; Operating means; Releasing devices actuated by fluid with a mechanism, other than pulling-or pushing-rod, between fluid motor and closure member the fluid acting on a piston
- F16K31/1635—Actuating devices; Operating means; Releasing devices actuated by fluid with a mechanism, other than pulling-or pushing-rod, between fluid motor and closure member the fluid acting on a piston for rotating valves
-
- 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
- B25J17/0258—Two-dimensional joints
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
내용 없음.
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 로봇의 관절구성을 표시한 정면도
제2도는 제1도의 관절을 A방향에서 본 측면도
제6도는 하아모닉 드라이브 감속기의 구성을 표시한 사시도
Claims (1)
- 제1의링크(1)와 개재링크를 제1의축(6)의 주위에 회전가능하게 연결하고, 개재링크와 제2의 링크(2)를 그 중심선이 제1의 축(6)의 중심선과 교차하는 동일직선상에 있는 제2의 축(7) 및 제3의 축(8)에 의해서 회전가능토록 연결된 관절구조를 가지고, 제1의 축(6)에 고정된 베벨기어(11)에 대응하는 베벨기어(12)를 회전구동시키는 동력원(17)과 제2의 축(7)에 고정된 베벨기어(15)에 대응하고, 동시에 제1의 축(6)의 주위를 회전자재케 부착된 베벨기어(13)와, 그것을 구동하는 동력원(16)을 구비하고, 제1의 링크(1)에 대해서 제2의 링크(2)를, 제1의 축(6)의 중심선과, 제2, 제3의 축(7) 및 (8)의 중심선과의 교차점을 중심으로 해서 자재하게 굴곡할 수 있도록 한 것을 특징으로 한 로보트의 관절구조.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR2019860002854U KR860000927Y1 (ko) | 1983-06-08 | 1986-03-11 | 로보트의 관절구조 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58-103026 | 1983-06-08 | ||
JP58103026A JPS59227395A (ja) | 1983-06-08 | 1983-06-08 | ロボツトの関節構造 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR2019860002854U Division KR860000927Y1 (ko) | 1983-06-08 | 1986-03-11 | 로보트의 관절구조 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR850000283A true KR850000283A (ko) | 1985-02-26 |
Family
ID=14343131
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019840003139A KR850000283A (ko) | 1983-06-08 | 1984-06-05 | 로보트의 관절구조 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0128544B1 (ko) |
JP (1) | JPS59227395A (ko) |
KR (1) | KR850000283A (ko) |
DE (1) | DE3461997D1 (ko) |
DK (1) | DK164397C (ko) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3441332A1 (de) * | 1984-11-12 | 1986-05-22 | Forschungsinstitut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen in der Institutsgemeinschaft Stuttgart e.V., 7000 Stuttgart | Gelenkantrieb, insbesondere fuer industrieroboter |
FR2582978B1 (fr) * | 1985-06-10 | 1987-09-04 | Barland Michel | Tete articulee pour robot industriel et robot equipe d'une telle tete |
CN104786224B (zh) * | 2015-04-07 | 2016-11-30 | 上海大学 | 仿人机器人下颚咀嚼运动机构 |
GB2541369B (en) * | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
GB2590567B (en) * | 2015-07-22 | 2021-09-15 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
CN108260350B (zh) | 2015-07-22 | 2021-10-26 | Cmr外科有限公司 | 用于机器人手臂的齿轮封装 |
GB2540756B (en) * | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Gear packaging for robot arms |
GB2552383B (en) * | 2016-07-22 | 2022-08-24 | Cmr Surgical Ltd | Gear packaging for robotic joints |
GB2603881B (en) * | 2016-07-22 | 2023-01-04 | Cmr Surgical Ltd | Gear packaging for robotic joints |
JP6608774B2 (ja) * | 2016-07-22 | 2019-11-20 | 株式会社スギノマシン | 送り台装置 |
CN107933728A (zh) * | 2017-12-22 | 2018-04-20 | 华南理工大学广州学院 | 清洁爬壁机器人的腿部结构 |
CN108393901A (zh) * | 2018-04-28 | 2018-08-14 | 沈阳建筑大学 | 一种五自由度多功能机械加工设备 |
CN112589773A (zh) * | 2020-12-11 | 2021-04-02 | 安徽机电职业技术学院 | 一种可调节工业机器人底座 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6039518B2 (ja) * | 1980-09-30 | 1985-09-06 | ファナック株式会社 | 工業用ロボットの手首機構 |
-
1983
- 1983-06-08 JP JP58103026A patent/JPS59227395A/ja active Pending
-
1984
- 1984-06-05 KR KR1019840003139A patent/KR850000283A/ko not_active Application Discontinuation
- 1984-06-07 EP EP84106542A patent/EP0128544B1/en not_active Expired
- 1984-06-07 DE DE8484106542T patent/DE3461997D1/de not_active Expired
- 1984-06-08 DK DK282884A patent/DK164397C/da not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
DK164397B (da) | 1992-06-22 |
DK164397C (da) | 1992-11-09 |
EP0128544A1 (en) | 1984-12-19 |
DE3461997D1 (en) | 1987-02-19 |
DK282884A (da) | 1984-12-09 |
JPS59227395A (ja) | 1984-12-20 |
EP0128544B1 (en) | 1987-01-14 |
DK282884D0 (da) | 1984-06-08 |
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Legal Events
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E902 | Notification of reason for refusal | ||
WICV | Withdrawal of application forming a basis of a converted application |