WO2004089581A1 - 関節部のケーブルガイド - Google Patents
関節部のケーブルガイド Download PDFInfo
- Publication number
- WO2004089581A1 WO2004089581A1 PCT/JP2004/004450 JP2004004450W WO2004089581A1 WO 2004089581 A1 WO2004089581 A1 WO 2004089581A1 JP 2004004450 W JP2004004450 W JP 2004004450W WO 2004089581 A1 WO2004089581 A1 WO 2004089581A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cable
- link
- drum
- joint
- center drum
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
-
- 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
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20311—Robotic arm including power cable or connector
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20396—Hand operated
- Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
Definitions
- the present invention relates to a cable guide for guiding a power source or a cable-like member for transmitting a control signal at a joint such as a robot.
- a joint such as a robot.
- electric motors and various sensors provided at joints corresponding to shoulders, elbows, wrists, etc. are supplied with electric power and control from a control circuit provided in the body.
- a control signal is supplied.
- Cables for supplying electric power to each electric motor and transmitting and receiving signals to and from various sensors are routed along the arms.Each joint has an appropriate cable so that it can follow the bending movement. It is common that a slack is given.
- a method of conducting a wire to such a joint for example, a method in which a wiring path is provided to bypass a bearing portion of the joint (see Japanese Patent Application Laid-Open No. Sho 63-2888692), There are known ones in which a shaft provided at a joint is made hollow and a wire is passed through the hollow shaft (see Japanese Patent Application Laid-Open No. 61-168478).
- Japanese Patent Application Laid-Open No. 63-2888692 is to provide a wiring duct for protecting the cable on the outer surface of the joint. Although there is no need to worry about this, the point of wiring outside the joint remains the same, so the outer dimensions of the joint must be further increased.
- Japanese Patent Application Laid-Open No. 61-168478 discloses a technology in which a wire passes through a through hole provided at the center of a shaft constituting a joint.
- the same cable length is required, the required cable length for the effective arm length tends to be relatively large, and it does not contribute to miniaturization of the joint.
- a main object of the present invention is to provide a cable guide for an articulated part such as a robot that has been improved so that the cable can be further shortened without increasing the size of the articulated part. Is to provide.
- the present invention provides a cable for transmitting a power source or a control signal at an articulation portion connecting a first link (2) and a second link (1) so as to be relatively rotatable.
- the cable can be directed from the hole into the center drum and from the slot toward the outside of the center drum.
- Joint part characterized by being drawn around To provide a cable guide.
- a generally annular drum holder (14) coaxially surrounding the center drum and fixed to the second link, wherein the drum holder is directed toward the inside of the center drum. It is preferable to have a cutout (26) to avoid interference with the extending cable portion.
- the shirt evening board may be driven by a part of the cable when opening the slot, and driven by the central drum when closing the slot.
- the cable is held by the center drum at a position adjacent to the hole.
- the cable is held by the center drum at a position adjacent to the hole.
- first link and the second link are rotatably connected to each other on both sides of the center drum.
- the center drum is housed in the joint, so that the joint itself is made compact and the center drum is protected. Also, it is possible to avoid applying excessive force to the center drum.
- FIG. 1 is a sectional side view of a main part of a robot to which the present invention is applied, taken along line II in FIG.
- FIG. 2 is a plan sectional view showing a state where a joint is extended.
- FIG. 3 is a plan sectional view showing a state where the joint is bent.
- FIG. 1 and 2 show the schematic structure of a joint cable guide according to the present invention which can be applied to an elbow joint of an arm of an industrial mouth pot or a knee joint of a biped robot.
- a turning arm first link
- second link fixed in a fixed position so as to be rotatable about a vertical axis or a horizontal axis.
- the revolving arm 1 is flexibly connected to a fixed arm 2 via a knuckle joint 3.
- the knuckle joint 3 that constitutes the joint is composed of a pair of extending portions 4a * 4b, 5a * 5b that are separated from each other in the axial direction of the center of rotation of both arms 1 and 2.
- a ball bearing 6 is mounted on the extension portions 5 a and 5 b of the fixed arm 2.
- the pair of extending portions 4a '4b of the revolving arm 1 is sandwiched between the pair of extending portions 5a and 5b of the fixed arm 2, and the pair of extending portions 5a and 5b of the fixed arm 2 is inserted.
- the shaft members 7 are fitted to the respective inner races of the ball bearings 6 attached to the respective ball bearings 6, and both the shaft members 7 are attached to the pair of extending portions 4a By being fixed, the turning arm 1 is rotatably supported with respect to the fixed arm 2.
- the fixed arm 2 is, for example, in the shape of a hollow rectangular tube, and an electric motor 8 with a speed reducer is incorporated near the joint inside the fixed arm 2.
- the output shaft of the electric motor 8 protrudes outward from the fixed arm 2, and a driving cogged pulley 9 is fixed to an end of the shaft.
- a driven cogged pulley 10 is fixed to the center of the shaft member 7 fixed to the pair of extending portions 4a and 4b of the turning arm 1.
- An endless cogged belt 11 is stretched over both cogged pools 9 ⁇ 10.
- a cable guide 12 is mounted between the pair of extending portions 4 a and 4 b of the swing arm 1.
- the cable guide 12 includes a drum 13 and a drum holder 14 which are rotatably combined with each other.
- the sensor drum 13 has a drum-like shape with a relatively short axial dimension in which both end surfaces in the axial direction and the outer peripheral surface are closed, and a chimney-like tube having its axis extending in a direction parallel to the tangent line.
- a protruding portion 15 is formed on one side of the outer peripheral wall 16, and a length extending over an angle range (in this embodiment, substantially less than half a circle) corresponding to the movable angle between the turning arm 1 and the fixed arm 2 is formed on the opposite side.
- a slit 17 as a hole is formed.
- a rib 20 for forming the circumferential groove 19 is formed.
- the circumferential grooves 19 and the ribs 20 are formed substantially over most of the circumference except for a portion adjacent to the root of the tubular projection 15, and the circumferential grooves 19 and the ribs 20 are formed.
- One end portion of the cochlear-shaped portion 21 is formed as a ridge that is rolled from the inner surface of the outer peripheral wall 16 of the center drum 13 toward the center, and a guide recessed in the cochlear-shaped portion. Groove 22 Connected to 2.
- a step portion 24 is formed with a diameter reduced from the outer peripheral wall 16.
- the step portion 24 is engaged with the center portion of the drum holder 14 over an angle range of at least a semicircle, and rotates around a certain point while being held by the drum holder 14. It has been like that.
- the drum holder 14 is engaged with engagement pieces 25 a and 25 b formed at the end of the revolving arm 1 on the knuckle joint side, and is substantially integrally connected to the revolving arm 1.
- an escape groove 26 extending substantially in a semicircle is formed at an intermediate portion in the axial direction so as not to interfere with the cylindrical projection 15 of the center drum 13.
- Cable 27 is drawn into fixed drum 13 from fixed arm 2 side.
- the cable 27 passes through the round hole 28 of the cylindrical projection 15 whose opening is directed to the fixed arm 2 side, in the vicinity of the outer peripheral surface of the cochlea-like portion 21 in the center drum 13.
- a rectangular tube is formed in the same way as the fixed arm 2 from between the ends 30 and 31 of the two shut-off plates 23 3 and 23 S that are opposed to each other in the middle of the slit 17 It is led to the swing arm 1 side.
- the swivel arm 1 side portion of the cable 27 is fixed in place at the swivel arm 1 using, for example, a saddle so as to maintain a constant relationship with the swivel arm 1.
- the end 31 of the long shirt evening board 23 L is pressed.
- the long shirt evening board 23 L enters the cochlear-shaped part 21 into the guide groove 22 formed continuously with the circumferential groove 19, while the slit 17 and the end of the turning arm 1 of the slit 17 come into contact with each other. Open the opposing surface.
- the short shirt evening board 23 S on the opposite side maintains a constant relationship with the circumferential groove 19 until a certain angle.
- the cable 27 changes its bending angle within the range of the slit 17 formed in the outer peripheral wall 16 of the sensor drum 13.
- the cylindrical projection 15 does not interfere with the rotation of the drum holder 14 in relation to the clearance groove 26 at the axially intermediate portion of the drum holder 14.
- the cable guide according to the invention described above is equally applicable to other joints, such as shoulders or wrists. Further, the relationship between the swing arm 1 and the fixed arm 2 is only a relative one, and the same can be implemented even if the relationship is opposite to the above.
- the relationship between the arms 1 and 2 and the cable 27 is such that the relative rotation between the center drum 13 and the drum holder 14 can be established if at least one of the arms and the cable 27 moves substantially integrally. Movement can be performed without hindrance.
- the present invention is not limited to the above-described electric wires, and is applicable to a guide such as a flexible tube for supplying hydraulic pressure or pneumatic pressure.
- the dimension of the portion of the cable passing through the joint can be minimized, which greatly contributes to weight reduction and reduction of power transmission loss. Moreover, since the cable is not exposed, the appearance is not impaired.In addition to protecting the cable, the curvature of the bent portion of the cable accompanying the rotation of the joint is defined, so that the cable is repeatedly bent. This reduces damage to the cable and is effective in improving reliability. In addition to these, Since the relative rotation between the evening drum and the drum holder is performed according to the movement of the cable, no power is required and the structure can be simplified.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/548,322 US7574942B2 (en) | 2003-04-01 | 2004-03-29 | Cable guide for an articulated joint |
DE602004018298T DE602004018298D1 (de) | 2003-04-01 | 2004-03-29 | Kabelführung für verbindungen |
EP04724189A EP1616675B1 (en) | 2003-04-01 | 2004-03-29 | Cable guide for joints |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-097546 | 2003-01-04 | ||
JP2003097546A JP4315720B2 (ja) | 2003-04-01 | 2003-04-01 | ロボット等の関節部のケーブルガイド |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004089581A1 true WO2004089581A1 (ja) | 2004-10-21 |
Family
ID=33156645
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/004450 WO2004089581A1 (ja) | 2003-04-01 | 2004-03-29 | 関節部のケーブルガイド |
Country Status (7)
Country | Link |
---|---|
US (1) | US7574942B2 (ja) |
EP (1) | EP1616675B1 (ja) |
JP (1) | JP4315720B2 (ja) |
KR (1) | KR100638078B1 (ja) |
CN (1) | CN100493860C (ja) |
DE (1) | DE602004018298D1 (ja) |
WO (1) | WO2004089581A1 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007125867A1 (ja) * | 2006-04-24 | 2007-11-08 | Sharp Kabushiki Kaisha | 太陽光発電システムおよび太陽光発電システム制御方法 |
JP5188213B2 (ja) * | 2008-03-07 | 2013-04-24 | キヤノン株式会社 | ケーブルガイド、画像読取装置及び画像形成装置 |
US8627741B2 (en) * | 2008-11-04 | 2014-01-14 | Abb Technology Ab | Process turning disc, a robot arm comprising a process turning disc, a robot and a use of a process turning disc |
CN101774178A (zh) * | 2009-01-09 | 2010-07-14 | 鸿富锦精密工业(深圳)有限公司 | 机械手臂 |
KR101706094B1 (ko) * | 2010-01-14 | 2017-02-14 | 삼성전자주식회사 | 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법 |
CN102233586A (zh) * | 2010-04-21 | 2011-11-09 | 瑞忠斯机械配件(上海)有限公司 | 软管包自由旋转连接装置 |
WO2012060013A1 (ja) | 2010-11-05 | 2012-05-10 | トヨタ自動車株式会社 | サポートアーム |
EP2770813B1 (en) * | 2011-10-27 | 2017-05-24 | Husqvarna AB | A folding arrangement for a handle assembly of walk-behind power tool, a handle assembly and a walk-behind power tool comprising such an arrangement |
CN103192376A (zh) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | 侧立柱机械手走线结构 |
CN103042536A (zh) * | 2013-01-23 | 2013-04-17 | 北京理工大学 | 一种机器人旋转关节的防绕线装置 |
JP2014233762A (ja) * | 2013-05-30 | 2014-12-15 | 旭化成せんい株式会社 | 伸縮性伝送路付機器 |
JP6163999B2 (ja) * | 2013-09-20 | 2017-07-19 | 株式会社不二越 | 産業用ロボット |
JP6299962B2 (ja) * | 2014-02-28 | 2018-03-28 | 株式会社不二越 | 産業用ロボット |
JP2016022570A (ja) * | 2014-07-24 | 2016-02-08 | 株式会社安川電機 | ロボット |
CA2966561C (en) * | 2014-12-19 | 2022-04-26 | Kurion, Inc. | Systems and methods for chain joint cable routing |
JP6498928B2 (ja) * | 2014-12-22 | 2019-04-10 | タカラスタンダード株式会社 | 昇降棚 |
US10030423B2 (en) * | 2015-12-30 | 2018-07-24 | Robert Bosch Gmbh | Movable joint |
CN106129920B (zh) * | 2016-08-18 | 2018-02-02 | 深圳市康瑞通精密仪器有限公司 | 枢转关节及具有它的设备支臂 |
JP6856431B2 (ja) * | 2017-03-31 | 2021-04-07 | 本田技研工業株式会社 | 動作補助装置の膝関節機構 |
CN109939374A (zh) * | 2019-03-19 | 2019-06-28 | 刘栩嘉 | 一种高空活动的安全绳用绕接设备 |
CN112962955B (zh) * | 2021-02-24 | 2022-07-22 | 重庆拓达建设(集团)有限公司 | 一种厨卫混凝土防水导墙浇筑模板及施工方法 |
CN116021552A (zh) * | 2022-08-17 | 2023-04-28 | 深圳市大族机器人有限公司 | 中空轴组件、关节模组及机器人 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61203587U (ja) * | 1985-06-12 | 1986-12-22 | ||
JPS6279993A (ja) * | 1985-10-01 | 1987-04-13 | 株式会社東芝 | ロボツトの旋回駆動装置 |
JPS62102989A (ja) * | 1985-10-31 | 1987-05-13 | 工業技術院長 | 産業用ロボツトの関節装置 |
JPS6310089U (ja) * | 1986-07-07 | 1988-01-22 | ||
JPS6310091U (ja) * | 1986-07-07 | 1988-01-22 | ||
JPS6310090U (ja) * | 1986-07-07 | 1988-01-22 | ||
JPH03109787U (ja) * | 1990-02-28 | 1991-11-11 | ||
JPH0596487A (ja) * | 1991-10-03 | 1993-04-20 | Matsushita Electric Ind Co Ltd | 産業用ロボツト |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1644231A (en) * | 1924-07-21 | 1927-10-04 | Harry J Bosworth Company | Light support |
US2395178A (en) * | 1943-06-07 | 1946-02-19 | Art Specialty Co | Adjustable support structure |
US3030128A (en) * | 1955-07-11 | 1962-04-17 | Kurt Versen Company | Swivel for lighting fixtures |
JPS61168478A (ja) | 1985-01-22 | 1986-07-30 | 株式会社三協精機製作所 | 多関節ロボツト |
JPS61203587A (ja) | 1985-03-05 | 1986-09-09 | 立石 忠道 | 無電源電気ヒ−タ−利用起電力発生器 |
JPS6310090A (ja) | 1986-06-30 | 1988-01-16 | Agency Of Ind Science & Technol | セラミックス加工方法 |
JPS6310089A (ja) | 1986-06-30 | 1988-01-16 | Toshiba Corp | 溶接方法 |
JPS6310091A (ja) | 1986-06-30 | 1988-01-16 | Toyoda Mach Works Ltd | レ−ザ加工機における光軸確認装置 |
JPS63288692A (ja) | 1987-05-20 | 1988-11-25 | 株式会社日立製作所 | ロボツト |
JPH03109787A (ja) | 1989-09-25 | 1991-05-09 | Nippon Telegr & Teleph Corp <Ntt> | 半導体アレーレーザの周波数安定化装置 |
-
2003
- 2003-04-01 JP JP2003097546A patent/JP4315720B2/ja not_active Expired - Fee Related
-
2004
- 2004-03-29 CN CNB2004800048151A patent/CN100493860C/zh not_active Expired - Fee Related
- 2004-03-29 EP EP04724189A patent/EP1616675B1/en not_active Expired - Fee Related
- 2004-03-29 US US10/548,322 patent/US7574942B2/en not_active Expired - Fee Related
- 2004-03-29 KR KR1020057012721A patent/KR100638078B1/ko not_active IP Right Cessation
- 2004-03-29 WO PCT/JP2004/004450 patent/WO2004089581A1/ja active Application Filing
- 2004-03-29 DE DE602004018298T patent/DE602004018298D1/de not_active Expired - Lifetime
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61203587U (ja) * | 1985-06-12 | 1986-12-22 | ||
JPS6279993A (ja) * | 1985-10-01 | 1987-04-13 | 株式会社東芝 | ロボツトの旋回駆動装置 |
JPS62102989A (ja) * | 1985-10-31 | 1987-05-13 | 工業技術院長 | 産業用ロボツトの関節装置 |
JPS6310089U (ja) * | 1986-07-07 | 1988-01-22 | ||
JPS6310091U (ja) * | 1986-07-07 | 1988-01-22 | ||
JPS6310090U (ja) * | 1986-07-07 | 1988-01-22 | ||
JPH03109787U (ja) * | 1990-02-28 | 1991-11-11 | ||
JPH0596487A (ja) * | 1991-10-03 | 1993-04-20 | Matsushita Electric Ind Co Ltd | 産業用ロボツト |
Non-Patent Citations (1)
Title |
---|
See also references of EP1616675A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN1750908A (zh) | 2006-03-22 |
CN100493860C (zh) | 2009-06-03 |
EP1616675A4 (en) | 2006-08-09 |
JP4315720B2 (ja) | 2009-08-19 |
US7574942B2 (en) | 2009-08-18 |
EP1616675B1 (en) | 2008-12-10 |
EP1616675A1 (en) | 2006-01-18 |
DE602004018298D1 (de) | 2009-01-22 |
KR20050105981A (ko) | 2005-11-08 |
KR100638078B1 (ko) | 2006-10-24 |
US20060230862A1 (en) | 2006-10-19 |
JP2004299024A (ja) | 2004-10-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004089581A1 (ja) | 関節部のケーブルガイド | |
JP4566917B2 (ja) | ロボット | |
KR100997140B1 (ko) | 인간형 로봇 | |
JP5546826B2 (ja) | 多軸ロボット用の関節構造体およびこのような関節構造体を備えたロボット | |
US20100237178A1 (en) | Rotary joint wiring unit for robots | |
US6324934B1 (en) | Robot arm | |
DE60203544D1 (de) | Gelenkmechanismus mit einer seilgetriebenen untersetzungsvorrichtung für einen roboterarm | |
JP2010064242A (ja) | ロボットハンド及びこれを備えた人間型ロボット | |
CN104245249A (zh) | 机器人关节构造 | |
KR102009291B1 (ko) | 로봇 관절 장치 | |
AU2003258724A1 (en) | Articulated arm for awnings | |
JP2006247804A (ja) | ロボットアーム | |
JP2539796B2 (ja) | 関節型ロボット | |
JP7319116B2 (ja) | 回転装置 | |
JP4270041B2 (ja) | ロボットの手首装置とこれを備えたロボット | |
JPH04315592A (ja) | ロボットの旋回機構 | |
JP2002178290A (ja) | ロボットの関節機構 | |
JPS5837117B2 (ja) | マニピユレ−タ等における関節 | |
CN219006086U (zh) | 关节模组和手指关节 | |
US20230265915A1 (en) | Power Transmission Device | |
KR101928289B1 (ko) | 다관절 로봇용 호스 어댑터 | |
JP2009125874A (ja) | ロボット関節のワイヤハーネス配線構造 | |
KR20100062265A (ko) | 로봇용 관절구동장치 | |
JP6757027B2 (ja) | プーリ及びリンク機構 | |
JP2006181690A (ja) | 関節構造体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DPEN | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 1020057012721 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 20048048151 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006230862 Country of ref document: US Ref document number: 10548322 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2004724189 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1020057012721 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 2004724189 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 10548322 Country of ref document: US |