TWI776042B - 臂型助力裝置 - Google Patents

臂型助力裝置 Download PDF

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Publication number
TWI776042B
TWI776042B TW108112400A TW108112400A TWI776042B TW I776042 B TWI776042 B TW I776042B TW 108112400 A TW108112400 A TW 108112400A TW 108112400 A TW108112400 A TW 108112400A TW I776042 B TWI776042 B TW I776042B
Authority
TW
Taiwan
Prior art keywords
frame
arm member
end portion
arm
supported
Prior art date
Application number
TW108112400A
Other languages
English (en)
Chinese (zh)
Other versions
TW201943518A (zh
Inventor
若杉諭
松本成隆
Original Assignee
日商喜開理股份有限公司
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 日商喜開理股份有限公司 filed Critical 日商喜開理股份有限公司
Publication of TW201943518A publication Critical patent/TW201943518A/zh
Application granted granted Critical
Publication of TWI776042B publication Critical patent/TWI776042B/zh

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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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • 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
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/068—Arms being part of the undercarriage

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Prostheses (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
TW108112400A 2018-04-17 2019-04-10 臂型助力裝置 TWI776042B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018079324A JP7028702B2 (ja) 2018-04-17 2018-04-17 アーム型助力装置
JP2018-079324 2018-04-17

Publications (2)

Publication Number Publication Date
TW201943518A TW201943518A (zh) 2019-11-16
TWI776042B true TWI776042B (zh) 2022-09-01

Family

ID=68240132

Family Applications (1)

Application Number Title Priority Date Filing Date
TW108112400A TWI776042B (zh) 2018-04-17 2019-04-10 臂型助力裝置

Country Status (10)

Country Link
US (1) US11248738B2 (enExample)
EP (1) EP3782777B1 (enExample)
JP (1) JP7028702B2 (enExample)
KR (1) KR102501775B1 (enExample)
CN (1) CN112041130B (enExample)
MX (1) MX2020010717A (enExample)
MY (1) MY204111A (enExample)
SG (1) SG11202009362YA (enExample)
TW (1) TWI776042B (enExample)
WO (1) WO2019203049A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7321876B2 (ja) * 2019-10-11 2023-08-07 Ckd株式会社 アーム型助力装置
JP7387579B2 (ja) * 2020-12-18 2023-11-28 Ckd株式会社 アーム型助力装置
CN116685447A (zh) * 2021-02-19 2023-09-01 发那科株式会社 接合构造
AU2021430797B2 (en) 2021-03-03 2024-10-10 HiBot Corporation Robot arm and articulated robot arm
CA3218368A1 (en) * 2021-04-28 2022-11-03 Apptronik, Inc Deployable robotic arm
NL2030059B1 (en) * 2021-12-07 2023-06-22 R Go Tools B V A carrier device for carrying an object, such as a computer display
NL2030060B1 (en) * 2021-12-07 2023-06-22 Johannes De Haas Fortunatus A carrier device for carrying an object, such as a lamp
EP4537996A4 (en) * 2022-06-14 2025-08-13 Riverfield Inc MANIPULATOR ARM
AU2022476511A1 (en) 2022-08-31 2025-03-13 Honda Motor Co.,Ltd. Confirmation method, confirmation device, power storage device, confirmation system, program and computer readable medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS595287U (ja) * 1982-07-02 1984-01-13 株式会社小松製作所 ロボツトのハンド装置
JP2003089090A (ja) * 2001-09-17 2003-03-25 Rikogaku Shinkokai 多関節アーム機構
JP2010076089A (ja) * 2008-08-28 2010-04-08 Nissan Motor Co Ltd 関節駆動装置、および多関節アーム装置

Family Cites Families (18)

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Publication number Priority date Publication date Assignee Title
JPS5656395A (en) 1979-10-12 1981-05-18 Hitachi Ltd Industrial multiple joint type robot
JP3500029B2 (ja) * 1997-02-14 2004-02-23 株式会社アイチコーポレーション 作業用アームのバランス装置
JP4286684B2 (ja) * 2004-02-27 2009-07-01 株式会社ダイヘン アーク溶接ロボットにおけるケーブル配設構造
TWM256459U (en) * 2004-04-19 2005-02-01 Chin-Ruei Hung Support arm for suspension type display
US7464909B2 (en) * 2004-11-12 2008-12-16 Chin-Chu Li Supporting shelf
DE602004011962T2 (de) * 2004-12-09 2009-02-19 University Of Dundee, Dundee Armstütze für Operateur
US7546994B2 (en) * 2006-09-15 2009-06-16 Innovative Office Products, Inc. Extension arm with moving clevis and cable management
US8469323B1 (en) * 2008-04-21 2013-06-25 Yani Deros Modular monitor support assembly
FR2937269B1 (fr) * 2008-10-17 2010-10-29 Staubli Sa Ets Structure articulee de robot multi-axes et robot comprenant une telle structure.
JP5095582B2 (ja) * 2008-11-05 2012-12-12 本田技研工業株式会社 歩行補助装置
TWM368005U (en) * 2009-06-25 2009-11-01 Chen Source Inc Swing arm structure for support rack
US9228696B2 (en) * 2011-03-18 2016-01-05 GCX Corporation Variable height arm structures, systems, and methods
TWM438098U (en) * 2012-04-30 2012-09-21 ming-xian Huang Supporting apparatus
KR20150047076A (ko) * 2013-10-22 2015-05-04 고려대학교 산학협력단 토크 프리 링키지 유니트
JP6378482B2 (ja) * 2013-12-25 2018-08-22 川崎重工業株式会社 バランサ装置
TWM534953U (zh) * 2016-07-20 2017-01-01 Modernsolid industrial co ltd 具有雙定力彈簧的支撐裝置
JP6851615B2 (ja) * 2016-09-30 2021-03-31 三鷹光器株式会社 医療用スタンド装置
US10845000B2 (en) * 2016-10-21 2020-11-24 Colebrook Bosson Saunders (Products) Limited Display support system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS595287U (ja) * 1982-07-02 1984-01-13 株式会社小松製作所 ロボツトのハンド装置
JP2003089090A (ja) * 2001-09-17 2003-03-25 Rikogaku Shinkokai 多関節アーム機構
JP2010076089A (ja) * 2008-08-28 2010-04-08 Nissan Motor Co Ltd 関節駆動装置、および多関節アーム装置

Also Published As

Publication number Publication date
JP7028702B2 (ja) 2022-03-02
MX2020010717A (es) 2020-11-06
SG11202009362YA (en) 2020-10-29
MY204111A (en) 2024-08-08
US20210138637A1 (en) 2021-05-13
EP3782777B1 (en) 2023-04-26
KR20200141984A (ko) 2020-12-21
EP3782777A1 (en) 2021-02-24
KR102501775B1 (ko) 2023-02-21
TW201943518A (zh) 2019-11-16
US11248738B2 (en) 2022-02-15
WO2019203049A1 (ja) 2019-10-24
CN112041130A (zh) 2020-12-04
EP3782777A4 (en) 2022-01-19
JP2019181661A (ja) 2019-10-24
CN112041130B (zh) 2023-08-04

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