WO2011030690A1 - 旋回装置及びそれを有する多関節ロボット - Google Patents
旋回装置及びそれを有する多関節ロボット Download PDFInfo
- Publication number
- WO2011030690A1 WO2011030690A1 PCT/JP2010/064769 JP2010064769W WO2011030690A1 WO 2011030690 A1 WO2011030690 A1 WO 2011030690A1 JP 2010064769 W JP2010064769 W JP 2010064769W WO 2011030690 A1 WO2011030690 A1 WO 2011030690A1
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- WIPO (PCT)
- Prior art keywords
- case
- stopper
- rotating member
- turning device
- axis
- Prior art date
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Classifications
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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
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- 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
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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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
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H2035/006—Gearings or mechanisms for stopping or limiting movement, e.g. stopping a movement after few turns
Definitions
- the present application relates to a swivel device.
- the present invention relates to a turning device including a stopper mechanism for restricting a turning range of a swiveled member attached to the turning device.
- Rotating devices that rotate the swiveled member are known.
- the swiveled member rotates around the axis of the swiveling device.
- the turning device is used for driving a joint of a robot, for example.
- the robot arm corresponds to the swiveled member.
- the swivel device may have a stopper mechanism that physically limits the swivel range of the swiveled member.
- Japanese Patent Application Laid-Open No. 4-275894 discloses a technique for attaching a stopper to each of a turning device and a turned member. In the following description, JP-A-4-275894 is referred to as Patent Document 1.
- the swivel range of the swiveled member is limited by bringing the stoppers into contact with each other at the boundary of the desired swivel range.
- each stopper functions as a stopper mechanism.
- each stopper is bolted to each of the turning device and the turned member.
- the stopper attached to the turning device is referred to as a blocking piece, and the stopper attached to the rotated member is referred to as an engaging body.
- the turning device includes a case, a rotating member that rotates relative to the case, and a stopper that limits a turning range of the rotating member with respect to the case.
- a plurality of grooves extending in the axial direction of the rotating member are formed in the case.
- the plurality of grooves are arranged along an arc concentric with the axis of the rotating member.
- the bolt hole through which the bolt for fixing the case passes is formed in each of the protrusions defining the two adjacent grooves.
- the stopper is being fixed to the case by the volt
- the “rotating member” in this specification means a component that rotates relative to the case.
- the output shaft of the turning device corresponds to a “rotating member”.
- the “swivel member” is a member attached to the rotating member, and means an object to be rotated by the turning device.
- the turning arm corresponds to a “swinged member”. If the rotating member is fixed to the non-moving surface, the rotating member does not rotate and the case rotates with respect to the non-moving surface. In this case, the “swivel member” is attached to the case of the turning device.
- the case is provided with a plurality of grooves, and the bolt holes are provided in each of the protrusions defining the grooves, so that the selectivity of the stopper mounting position is improved.
- the plurality of grooves are formed along an arc concentric with the axis of the rotating member. Therefore, even if the stopper is fixed in any groove, the function as a stopper mechanism can be realized.
- the stopper can be fixed to the case using a bolt hole for fixing the case. In order to fix the stopper to the case, it is not necessary to form a bolt hole in the case that is different from the bolt hole for fixing the case.
- the plurality of grooves may be arranged at equal intervals along an arc concentric with the axis of the rotating member. Thereby, the position which attaches a stopper can be accurately adjusted for every predetermined angle centering on the axis line of a rotating member.
- the external appearance of an industrial robot provided with a stopper mechanism is shown.
- Sectional drawing of a turning apparatus provided with a stopper mechanism is shown.
- the top view of a turning apparatus is shown.
- the perspective view of the case of a turning apparatus is shown.
- the perspective view of the 1st stopper of Example 1 is shown.
- the perspective view of the state which attached the turning apparatus of Example 1 to the fixing member is shown.
- the perspective view of the 1st stopper of Example 2 is shown.
- the perspective view of the state which attached the turning apparatus of Example 2 to the fixing member is shown.
- the turning device drives a first joint of an industrial robot having a plurality of joints.
- a 1st joint is a joint located in the most base side among several joints of an industrial robot.
- the turning device is an eccentric oscillating gear transmission.
- the swivel device includes a case and a rotating member that is rotatably supported by the case. The rotating member is attached to a fixing member on the base side. The case is attached to a swiveled member provided on the side opposite to the base with the swivel device interposed therebetween.
- FIG. 1 is a schematic view of the appearance of an industrial robot 100.
- the industrial robot 100 is a multi-joint robot, and includes a first joint 110, a second joint 114, a third joint 126, a fourth joint 130, a fifth joint 134, and a sixth joint 138.
- the first joint 110 is attached to the main base 104 and can rotate about the axis 102.
- the main base 104 is fixed to the installation surface (non-moving surface).
- the second joint 114 is attached to the joint base 144 and can rotate about the axis 112.
- the first joint 110 is located on the most base side (installation surface side) among the plurality of joints of the industrial robot 100.
- the first joint 110 rotates the joint base 144 around the axis 102 with respect to the main base 104.
- Reference numeral 111 denotes a motor that drives the first joint 110.
- the third joint 126 can rotate around the axis 124.
- the third joint 126 rotates the shoulder 122 about the axis 124.
- the fourth joint 130 can rotate around the axis 142.
- the third joint 126 and the fourth joint 130 are connected by a rod 128.
- the fifth joint 134 can rotate around the axis 136.
- the fourth joint 130 and the fifth joint 134 are connected by a rod 132.
- the sixth joint 138 can rotate around the axis 140.
- Reference numerals 116, 118, and 120 denote motors that drive the fourth joint 130, the fifth joint 134, and the sixth joint 138, respectively.
- a swivel device is incorporated in each of the first to sixth joints.
- the first to sixth joints may be referred to as first to sixth turning devices, respectively.
- the joint base 144 is provided on the opposite side of the main base 104 provided on the base side with the first turning device 110 interposed therebetween.
- the joint base 144 corresponds to a swiveled member of the first swivel device 110.
- FIG. 2 shows a sectional view of the first turning device 110 and the main base 104. Note that hatching of some parts is omitted for clarity of the drawing.
- the first turning device 110 includes a case 2 and a rotating member 4 that is rotatably supported by the case 2.
- the rotating member 4 is fixed to the main base 104 with bolts 22. Since the main base 104 is fixed to the installation surface, it can be said that the rotating member 4 is attached to the installation surface.
- the case 2 is fixed to the support member 8 with bolts 12.
- illustration is abbreviate
- the joint base 144 rotates with respect to the main base 104.
- the first stopper 108 is attached to the case 2 and rotates relative to the main base 104 as the case 2 rotates.
- channel is formed in the outer peripheral side of case 2, and a part of 1st stopper 108 is fitted in the groove
- the first stopper 108 extends from the case 2 toward the outside in the radial direction of the first turning device 110 (equal to the radial direction of the rotating member 4).
- the “radial direction” means a direction perpendicular to the axis 102 of the first turning device 110.
- the second stopper 106 is fixed to the main base 104.
- the second stopper 106 extends along the axis 102 and restricts the turning of the first stopper 108.
- the second stopper 106 is disposed at a position where the second stopper 106 collides when the first stopper 108 continues to rotate. Therefore, the turning amount of the case 2 with respect to the main base 104 is limited.
- the first stopper 108 and the second stopper 106 form a stopper mechanism for the industrial robot 100.
- FIG. 3 shows a view of the first turning device 110 viewed from the direction of the arrow 20 in FIG.
- the case 2 has a cylindrical outer peripheral surface 2 a having the same axis as the rotation shaft 102 of the rotating member 4.
- the illustration of the first stopper 108 is omitted.
- a plurality of grooves 36 are formed on the outer peripheral side of the case 2.
- the plurality of grooves 36 are arranged along an arc concentric with the rotation shaft 102.
- the grooves 36 are formed at equal intervals in the circumferential direction of the outer peripheral surface 2 a of the case 2.
- the protrusions 34 that define the grooves 36 are formed on the circumferential surface of the case 2 at equal intervals in the circumferential direction.
- Each protrusion 34 has a bolt hole 32 for fixing the case 2 to the support member 8 (see also FIG. 2).
- a rotating member 4 is disposed inside the case 2.
- the rotating member 4 is formed with a plurality of bolt holes 30 for fixing the rotating member 4 to the main base 104.
- An oil seal 16 is disposed between the case 2 and the rotating member 4. The oil seal 16 prevents oil in the first turning device 110 from leaking outside the first turning device 110.
- FIG. 4 shows a perspective view of the case 2.
- FIG. 4 is a schematic diagram for explaining the features of the case 2, and does not accurately represent the shape of the case 2 shown in FIG.
- the number and dimensions of the grooves 36 are different from the shape of the case 2 shown in FIG. The same applies to FIGS. 5 to 8 described later.
- the groove 36 extends along the axis 102 and has a bottom surface 38 on one side in the direction of the axis 102. In other words, the groove 36 is open only on one side in the direction of the axis 102.
- the groove 36 also has a bottom surface 40 in the direction orthogonal to the axis 102 (the radial direction of the case 2).
- FIG. 5 is a perspective view of the first stopper 108.
- the first stopper 108 includes a fixing portion 54, an insertion portion 52, and a protruding portion 50.
- Two bolt holes 56 are formed in the fixing portion 54.
- the pitch of the bolt holes 56 is equal to the pitch of the bolt holes 32 of the case 2 (see FIG. 4).
- the shape of the insertion portion 52 is substantially equal to the shape of the groove 36 of the case 2. Therefore, the first stopper 108 can be fitted into the groove 36 in contact with the side wall 42 and the bottom surfaces 38, 40 of the groove 36.
- the first stopper 108 is firmly fixed to the case 2 by passing the bolt through the bolt holes 56 and 32 in a state where the insertion portion 52 is inserted into the groove 36.
- the protruding portion 50 protrudes outward in the radial direction of the case 2.
- the first stopper 108 extends from the case 2 toward the outside of the case 2 along the radial direction of the case 2.
- FIG. 6 shows a perspective view of the first turning device 110 attached to the main base 104.
- the first turning device 110 For the first turning device 110, only the case 2 and the first stopper 108 are shown.
- the bolt 12 (see FIG. 2) is passed through the bolt hole 32 in order to fix the case 2 to the support member 8.
- the bolt 12 is fastened to the support member 8 while passing through the bolt hole 56 of the fixing portion 54 shown in FIG. 5 and the bolt hole 32 of the case 2 shown in FIG. 4.
- the first stopper 108 and the case 2 are fastened together with the support member 8 by the bolt 12.
- the case 2 rotates around the axis line 102 with respect to the main base 104.
- the first stopper 108 turns around the axis 102.
- the case 2 is restricted so as not to make one round around the axis line 102 by a stopper mechanism including the first stopper 108 and the second stopper 106.
- the case 2 is limited to rotate around the axis line 102 by a predetermined angle of less than 360 °.
- the second stopper 106 is disposed at a position where it collides with the first stopper 108 when the case 2 tries to turn beyond a predetermined angle. That is, the second stopper 106 is arranged in a range where the first stopper 108 exists when the second stopper 106 does not exist and the case 2 turns over a predetermined angle.
- the stopper mechanism including the first stopper 108 and the second stopper 106 can prevent the joint base 144 from turning beyond a predetermined angle when the first turning device 110 performs an abnormal operation (see FIG. 1).
- the first turning device 110 is an eccentric oscillating gear transmission. Since the basic structure of the eccentric oscillating gear transmission is known, it will be briefly described. As shown in FIG. 2, the first turning device 110 includes a case 2 and a rotating member 4 that is rotatably supported by the case 2. The case 2 has a ring shape, and internal teeth are formed on the inner peripheral surface. The rotating member 4 supports the external gear 14 and the crankshaft 10. The crankshaft 10 extends along the axis 102. The axis of the crankshaft 10 is offset from the axis 102. Although illustration is omitted, in the first turning device 110, the plurality of crankshafts 10 are arranged along the circumferential direction of the axis 102.
- Each of the plurality of crankshafts 10 is engaged with the external gear 14. Torque of the motor 111 is transmitted to the crankshaft 10.
- the crankshaft 10 rotates, the external gear 14 rotates eccentrically around the axis 102 while meshing with the internal teeth provided on the inner peripheral surface of the case 2. Since the number of external teeth of the external gear 14 and the number of internal teeth of the case 2 are different, when the external gear 14 rotates eccentrically, the external gear 14 and the case 2 rotate relative to each other. Thereby, the rotating member 4 and the case 2 rotate relative to each other.
- the first turning device 110 is used as the joint (first joint) closest to the installation surface among the plurality of joints of the industrial articulated robot 100.
- the first turning device (first joint) 110 rotates other joints with respect to the installation surface. Therefore, the first turning device 100 is required to output a large torque.
- the eccentric oscillating gear transmission can achieve a large reduction ratio (for example, a reduction ratio of 30 to 250). In other words, the first turning device 110 of this embodiment can output a large torque.
- the first turning device 110 can output a large torque. Therefore, when the first stopper 108 and the second stopper 106 collide, a large force acts between them. However, since both sides of the first stopper 108 are in contact with the side wall 42 of the groove 36, the first stopper 108 can be prevented from being detached from the case 2 even if a large force is applied to the first stopper 108. Therefore, the stopper mechanism of the present embodiment has higher strength than the conventional stopper mechanism and can realize a safer industrial robot.
- the angle formed by the side wall 42 and the bottom surface 40 is preferably closer to 90 degrees. More precisely, in FIG. 3, it is better that the intersection between the two side walls 42 defining the groove 36 is closer to the axis 102.
- the first stopper 108 is fixed to the case 2 by using the bolt hole 32 for fixing the case 2 to the support member 8. Therefore, it is not necessary to provide the case 2 with a bolt hole only for fixing the first stopper 108. Moreover, since the bolt hole 32 is provided in each of the protrusions 34 of the case 2, the fixing position of the first stopper 108 can be easily changed. In other words, in the first turning device 110, the selectivity of the mounting position of the first stopper 108 is high. For example, in FIG. 6, it is not necessary to newly process the case 2 when the fixing position of the first stopper 108 is changed to the grooves 36 a and 36 b and the like.
- the grooves 36 are formed at equal intervals in the circumferential direction of the case 2. Therefore, the mounting position of the first stopper 108 can be accurately adjusted for each predetermined angle with the axis 102 as the center. In other words, the range in which the turning of the case 2 is prohibited can be accurately adjusted for each predetermined angle.
- the plurality of grooves 36 are arranged along an arc concentric with the axis 102 of the rotating member 4. Therefore, no matter which groove 36 the first stopper 108 is fixed to, the first stopper 108 is positioned so as to collide with the second stopper 106 when the case 2 and the rotating member 4 rotate relative to each other. Therefore, the first stopper 108 achieves a function as a stopper mechanism even if it is fixed in any groove 36.
- the turning range of the robot for safety or to avoid interference with other devices.
- it may be required to change the turning range of the robot.
- it has been necessary for an industrial robot user to individually perform additional processing to change the position of the stopper.
- the industrial robot in which the turning device of the present embodiment is adopted can change the turning range without additional processing.
- FIG. 7 shows a perspective view of the first stopper 108a.
- FIG. 8 is a perspective view showing a state in which the first turning device 110 a using the first stopper 108 a is attached to the main base 104.
- the first stopper 108a is a modification of the first stopper 108, and the detailed description may be omitted by attaching the same numerical reference numerals to the same function as the first stopper 108. Further, the first turning device 110a is different from the first turning device 110 only in the shape of the first stopper.
- the first stopper 108 a extends from the case 2 toward the outside of the case 2 along the axis 102, and the protruding portion 50 a protrudes in the direction of the axis 102 of the case 2. Therefore, the radial size of the first turning device 110 a is equal to the radial size of the case 2. In other words, the first turning device 110a has no protruding portion in the radial direction. Therefore, when the first turning device 110a is driven, the first stopper 108a can be prevented from colliding with devices around the first turning device 110a. The safety of the industrial robot 100 can be further increased.
- the stopper mechanism is provided in the first joint 110 of the industrial robot.
- the stopper mechanism can also be provided at other joints.
- FIG. the case of the third turning device 126 is provided with a plurality of grooves along an arc concentric with the axis of the rotating member, and the first stopper is fitted into any of the grooves. Then, the second stopper is fixed to the shoulder 122.
- one first stopper 108 (108a) is fixed to the case 2.
- a plurality of first stoppers 108 (108 a) may be fixed to the case 2.
- the outer peripheral surface 2a of the case 2 is cylindrical.
- the shape of the outer peripheral surface of the case 2 may not be cylindrical.
- the case of the swivel device may be polygonal.
- the case 2 is fixed to the joint base 144 (swinged member), and the rotating member 4 is fixed to the main base 104.
- the case 2 may be fixed to the main base 104 and the rotating member 4 may be fixed to the joint base 144.
- the second stopper is fixed to the joint base 144.
- an eccentric oscillating gear transmission is used as the turning device.
- other types of swiveling devices may be used as long as the rotating member can be rotated with respect to the case.
- the crankshaft may be concentric with the axis of the rotating member.
- the stopper mechanism of the embodiment can also be expressed as follows.
- a second stopper is attached to the rotated member fixed to the rotating member of the turning device.
- the second stopper is disposed at a position where it collides with the first stopper fixed to the case when the rotating member rotates at a predetermined angle with respect to the case.
- a stopper mechanism that limits the turning range of the rotating member is realized by the first stopper and the second stopper.
- the second stopper may be directly fixed to the rotating member, or may be fixed to a rotated member that is fixed to the rotating member.
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Abstract
Description
(特徴1)旋回装置は、複数の関節を有する産業用ロボットの第1関節を駆動する。第1関節は、産業用ロボットの複数の関節のうち、最も基部側に位置する関節である。
(特徴2)旋回装置は、偏心揺動型の歯車伝動装置である。
(特徴3)旋回装置は、ケースと、ケースに回転可能に支持されている回転部材を備える。回転部材は、基部側の固定部材に取付けられている。ケースは、旋回装置を挟んで基部とは反対側に設けられている被旋回部材に取付けられている。
Claims (6)
- ケースと、そのケースに対して相対回転する回転部材と、ケースに対する回転部材の旋回範囲を制限するストッパとを備える旋回装置であって、
前記ケースに、回転部材の軸線方向に延びる複数の溝が、回転部材の軸線と同心の円弧に沿って形成されており、
前記ケースを固定するためのボルトが通過するボルト孔が、隣接する2つの溝を画定する突条部の夫々に形成されており、
前記ストッパは、その一部が前記溝に嵌合するとともに前記ボルトによって前記ケースに固定されていることを特徴とする旋回装置。 - 前記複数の溝が、回転部材の軸線と同心の円弧に沿って等間隔に並んでいることを特徴とする請求項1に記載の旋回装置。
- 前記ストッパは、回転部材の径方向に沿って前記ケースの外側へ延びていることを特徴とする請求項1又は2に記載の旋回装置。
- 前記ストッパは、回転部材の軸線方向に沿って前記ケースの外側へ延びていることを特徴とする請求項1又は2に記載の旋回装置。
- 前記旋回装置が、偏心揺動型の歯車伝動装置であることを特徴とする請求項1~4のいずれか一項に記載の旋回装置。
- 請求項1~5のいずれか一項に記載の旋回装置を有する多関節ロボットであり、
前記旋回装置は、最も基部側に位置する関節を駆動し、
前記回転部材が基部に取付けられており、
前記ケースが基部に対して回転することを特徴とする多関節ロボット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN201080039605.1A CN102574284B (zh) | 2009-09-14 | 2010-08-31 | 转动装置和具有该转动装置的多关节机械手 |
KR1020127004600A KR101375985B1 (ko) | 2009-09-14 | 2010-08-31 | 선회 장치 및 그것을 갖는 다관절 로봇 |
EP10815287.7A EP2479009B1 (en) | 2009-09-14 | 2010-08-31 | Swing device and articulated robot having same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2009211214A JP5406644B2 (ja) | 2009-09-14 | 2009-09-14 | 旋回装置 |
JP2009-211214 | 2009-09-14 |
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WO2011030690A1 true WO2011030690A1 (ja) | 2011-03-17 |
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PCT/JP2010/064769 WO2011030690A1 (ja) | 2009-09-14 | 2010-08-31 | 旋回装置及びそれを有する多関節ロボット |
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EP (1) | EP2479009B1 (ja) |
JP (1) | JP5406644B2 (ja) |
KR (1) | KR101375985B1 (ja) |
CN (1) | CN102574284B (ja) |
WO (1) | WO2011030690A1 (ja) |
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JP5709700B2 (ja) * | 2011-09-06 | 2015-04-30 | 住友重機械工業株式会社 | 産業機械の旋回装置 |
JP5856478B2 (ja) * | 2011-12-28 | 2016-02-09 | 住友重機械工業株式会社 | 産業機械の旋回装置 |
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DE102017203741A1 (de) | 2017-03-07 | 2018-09-13 | Kuka Deutschland Gmbh | Roboterarm mit einer mechanischen Anschlagsvorrichtung |
TW202004403A (zh) * | 2018-06-01 | 2020-01-16 | 和碩聯合科技股份有限公司 | 旋轉裝置 |
CN109159132B (zh) * | 2018-10-08 | 2021-12-17 | 浙江兴舟纸业有限公司 | 一种可升降式服务机器人 |
JP2020151802A (ja) * | 2019-03-20 | 2020-09-24 | ファナック株式会社 | ロボットの線条体処理構造 |
CN115202021A (zh) * | 2021-03-24 | 2022-10-18 | 卡尔蔡司医疗技术股份公司 | 手术显微镜支架及包括其的手术显微镜 |
JP2023173068A (ja) * | 2022-05-25 | 2023-12-07 | ナブテスコ株式会社 | 回転導入機 |
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JPH04275894A (ja) | 1991-02-07 | 1992-10-01 | Mitsubishi Electric Corp | 産業ロボットの旋回装置 |
JP2005188748A (ja) * | 2005-01-31 | 2005-07-14 | Nabtesco Corp | 偏心揺動型減速機及びこれを備えた産業用機械の関節 |
JP2006068886A (ja) * | 2004-09-06 | 2006-03-16 | Okura Yusoki Co Ltd | 回動装置および移載装置 |
JP2009211214A (ja) | 2008-03-01 | 2009-09-17 | Mitsubishi Electric Corp | ユーザ操作代行装置及びユーザ操作代行プログラム及びコンピュータ読み取り可能な記録媒体 |
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JPS6228194A (ja) * | 1985-07-29 | 1987-02-06 | フアナツク株式会社 | 工業用ロボツトの動作範囲規制装置 |
SE469878B (sv) * | 1991-02-11 | 1993-10-04 | Asea Brown Boveri | Justerbar stoppanordning för industrirobot |
JP3703685B2 (ja) * | 2000-05-15 | 2005-10-05 | ナブテスコ株式会社 | 偏心揺動型減速機及びこれを備えた産業用機械の関節 |
KR100749134B1 (ko) * | 2003-03-11 | 2007-08-14 | 현대중공업 주식회사 | 산업용 로봇의 이동형 스토퍼 설치 방법 |
JP2005262340A (ja) * | 2004-03-16 | 2005-09-29 | Fanuc Ltd | 産業用ロボット |
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2009
- 2009-09-14 JP JP2009211214A patent/JP5406644B2/ja active Active
-
2010
- 2010-08-31 CN CN201080039605.1A patent/CN102574284B/zh active Active
- 2010-08-31 EP EP10815287.7A patent/EP2479009B1/en active Active
- 2010-08-31 WO PCT/JP2010/064769 patent/WO2011030690A1/ja active Application Filing
- 2010-08-31 KR KR1020127004600A patent/KR101375985B1/ko active IP Right Grant
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JPS614682A (ja) * | 1984-06-13 | 1986-01-10 | 日東精工株式会社 | 産業用ロボツト |
JPH04275894A (ja) | 1991-02-07 | 1992-10-01 | Mitsubishi Electric Corp | 産業ロボットの旋回装置 |
JP2006068886A (ja) * | 2004-09-06 | 2006-03-16 | Okura Yusoki Co Ltd | 回動装置および移載装置 |
JP2005188748A (ja) * | 2005-01-31 | 2005-07-14 | Nabtesco Corp | 偏心揺動型減速機及びこれを備えた産業用機械の関節 |
JP2009211214A (ja) | 2008-03-01 | 2009-09-17 | Mitsubishi Electric Corp | ユーザ操作代行装置及びユーザ操作代行プログラム及びコンピュータ読み取り可能な記録媒体 |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018181640A1 (ja) * | 2017-03-29 | 2018-10-04 | Groove X株式会社 | ロボットの関節に好適なジョイント構造 |
JPWO2018181640A1 (ja) * | 2017-03-29 | 2019-06-27 | Groove X株式会社 | ロボットの関節に好適なジョイント構造 |
US11519456B2 (en) | 2017-03-29 | 2022-12-06 | Groove X, Inc. | Joint structure appropriate for robot joint |
Also Published As
Publication number | Publication date |
---|---|
CN102574284A (zh) | 2012-07-11 |
EP2479009A1 (en) | 2012-07-25 |
KR101375985B1 (ko) | 2014-04-01 |
EP2479009A4 (en) | 2013-02-27 |
JP5406644B2 (ja) | 2014-02-05 |
KR20120049289A (ko) | 2012-05-16 |
CN102574284B (zh) | 2015-04-01 |
JP2011056636A (ja) | 2011-03-24 |
EP2479009B1 (en) | 2013-11-13 |
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