WO2017030104A1 - Dispositif capot pour partie d'articulation rotative - Google Patents

Dispositif capot pour partie d'articulation rotative Download PDF

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Publication number
WO2017030104A1
WO2017030104A1 PCT/JP2016/073807 JP2016073807W WO2017030104A1 WO 2017030104 A1 WO2017030104 A1 WO 2017030104A1 JP 2016073807 W JP2016073807 W JP 2016073807W WO 2017030104 A1 WO2017030104 A1 WO 2017030104A1
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WO
WIPO (PCT)
Prior art keywords
cover
movable
joint portion
covers
movable cover
Prior art date
Application number
PCT/JP2016/073807
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English (en)
Japanese (ja)
Inventor
尹　祐根
一輝 飯田
光 佐野
眞二 栗原
順央 川口
宗祐 ▲高▼▲瀬▼
Original Assignee
ライフロボティクス株式会社
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 ライフロボティクス株式会社 filed Critical ライフロボティクス株式会社
Publication of WO2017030104A1 publication Critical patent/WO2017030104A1/fr

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Classifications

    • 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

Definitions

  • Embodiment of this invention is related with the cover apparatus which covers a rotation joint part.
  • the cover device for the rotary joint is mounted so as to cover the rotary joint of the robot device, for example, for the purpose of preventing dust from entering the rotary joint and improving safety.
  • many rotary joint covers have bellows structures.
  • the concave-convex structure of the bellows structure tends to accumulate dirt in the concave portion, and the concave portion is narrowed and widened with the rotation of the rotary joint, so that it is difficult to ensure safety at a high level. Further, when approaching the rotary joint within the cover for maintenance, etc., it was necessary to remove the cover device itself from the rotary joint.
  • the purpose is a rotary joint that achieves an easy approach to the inside of the cover without removing the cover device from the rotary joint part while fulfilling the original purpose of the cover device of preventing dust from entering the rotary joint part and ensuring safety. It is in providing a cover apparatus of a part.
  • the cover apparatus which concerns on this embodiment covers the rotation joint part which connects between a front link and a back link, the back cover fixed to the said front link, and the back fixed to the said back link
  • a front cover, a rear cover, and a plurality of movable covers that are disposed between the front cover and the rear cover and are rotatably supported coaxially with a rotation axis of the rotary joint portion.
  • the movable cover has a saddle shape so as to cover the rotary joint portion from the same direction, and the front cover, the rear cover, and the movable cover are moved along with the rotation of the rotary joint portion.
  • the movable cover is nested in the movable cover adjacent to the movable cover adjacent to the movable cover adjacent to the rear of the movable cover, and the movable cover is sequentially stored in the rear cover. Characterized in that it is configured to granulation.
  • FIG. 1 is an external perspective view of a robot arm mechanism of a robot apparatus to which a cover apparatus according to this embodiment is applied.
  • FIG. 2 is a side view showing the internal structure of the robot arm mechanism of FIG.
  • FIG. 3 is a diagram showing the configuration of the robot arm mechanism of FIG.
  • FIG. 4 is a side view showing the cover device of FIG.
  • FIG. 5 is a perspective view showing four covers constituting the cover device of FIG.
  • FIG. 6 is a side view showing the contracted state of the cover device of FIG. 4 together with the posture of the arm.
  • FIG. 7 is a side view showing another structure of the cover device of FIG.
  • FIG. 8 is a side view showing another structure of the cover device of FIG.
  • FIG. 9 is a side view showing another structure of the cover device of FIG.
  • the cover device according to the present embodiment is configured to cover the rotary joint that connects the front link and the rear link.
  • the cover device according to the present embodiment is typically attached to a rotary joint portion of an arm mechanism of a robot device.
  • the application of the cover device according to the present embodiment is not limited to the rotary joint portion of the arm mechanism of the robot device.
  • the cover device according to the present embodiment can be applied to a power shovel or a joint portion of a crane.
  • the cover device according to the present embodiment will be described as being attached to the rotary joint portion of the arm mechanism of the robot device.
  • FIG. 1 is an external perspective view of an arm mechanism of a robot apparatus to which a cover apparatus according to this embodiment is applied.
  • the robot arm mechanism has a main body frame 10, an arm part 2 connected to the main body frame 10, and a wrist part 4 attached to the tip of the arm part 2.
  • the wrist part 4 is entirely covered with a wrist cover 14.
  • the wrist cover 14 incorporates an actuator that drives the joints J4, J5, and J6, a control driver for the actuator, and the like.
  • the wrist part 4 is provided with an adapter (not shown).
  • the adapter is provided in a rotating portion of a sixth rotating shaft RA6 described later.
  • the hand device 3 is attached to an adapter provided on the wrist 4.
  • the robot arm mechanism has a plurality of, here, six joint portions J1, J2, J3, J4, J5, and J6.
  • the plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially arranged from the main body frame 10.
  • the first, second, and third joint portions J1, J2, and J3 are referred to as the root three axes
  • the fourth, fifth, and sixth joint portions J4, J5, and J6 change the posture of the hand device 3.
  • the wrist 4 has fourth, fifth, and sixth joints J4, J5, and J6.
  • At least one of the joint portions J1, J2, and J3 constituting the base three axes is a linear motion expansion / contraction joint.
  • the third joint portion J3 is configured as a linear motion expansion / contraction joint portion, particularly a joint portion having a relatively long expansion / contraction distance.
  • the arm part 2 represents the expansion / contraction part of the linear motion expansion / contraction joint part J3 (third joint part J3).
  • the first joint portion J1 is a torsion joint centered on the first rotation axis RA1 supported, for example, perpendicularly to the base surface.
  • the second joint portion J2 is a bending joint centered on the second rotation axis RA2 arranged perpendicular to the first rotation axis RA1.
  • the third joint portion J3 is a joint in which the arm portion 2 expands and contracts linearly along a third axis (moving axis) RA3 arranged perpendicular to the second rotation axis RA2.
  • the fourth joint portion J4 is a torsion joint centered on the fourth rotation axis RA4.
  • the fourth rotation axis RA4 substantially coincides with the third movement axis RA3.
  • the fifth joint J5 is a bending joint centered on a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4.
  • the sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is perpendicular to the fourth rotation axis RA4 and perpendicular to the fifth rotation axis RA5.
  • the body cover 11 is a cylindrical cover that covers the body frame 10.
  • the main body cover 11 is provided so that the central axis of the cylinder coincides with the first rotation axis RA1 of the first joint portion J1.
  • the first joint portion J1 is attached to a fixed base (not shown). In that case, when the first joint portion J1 rotates, the arm portion 2 turns to the left and right as the shaft of the main body frame 10 rotates.
  • the main body frame 10 may be fixed to the ground plane. In that case, it is provided in a structure in which the arm portion 2 turns independently of the main body frame 10.
  • the cover device 12 covering the second joint portion J2 is formed by combining a plurality of covers 121, 122, 123, 124 having a bowl shape in a nested structure.
  • the rear cover 121 is attached to the rotating part of the first joint part J1, and the front cover 124 is attached to the injection part 30 of the third joint part J3.
  • the covers 122 and 123 disposed between the front cover 124 and the rear cover 121 are rotatably supported around a rotation axis coaxial with the second rotation axis RA2 of the second joint portion J2.
  • the arm portion 2 rotates in a vertical direction around the second rotation axis RA2, that is, performs a undulation operation.
  • the rear part of the arm part 2 that constitutes the linearly movable expansion / contraction joint part J3 (third joint part J3) of the robot arm mechanism is housed in a hollow structure in which the main body cover 11 and the cover device 12 communicate with each other by contraction.
  • the fourth joint portion J4 is a torsional joint having a fourth rotation axis RA4 that is typically in contact with the arm central axis along the expansion / contraction direction of the arm portion 2, that is, the third movement axis RA3 of the third joint portion J3.
  • the fifth joint J5 is a bending joint having a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4 of the fourth joint J4.
  • the fifth joint portion J5 rotates, it rotates up and down (vertical direction about the fifth rotation axis RA5) together with the hand device 3 from the fifth joint portion J5 to the tip.
  • the sixth joint J6 is a bending joint having a sixth rotation axis RA6 perpendicular to the fourth rotation axis RA4 of the fourth joint J4 and perpendicular to the fifth rotation axis RA5 of the fifth joint J5.
  • the hand device 3 turns left and right.
  • the hand device 3 attached to the adapter of the wrist portion 4 is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and the fourth, fifth, and sixth joint portions J4. , J5 and J6 are arranged in an arbitrary posture.
  • the length of the extension / contraction distance of the arm portion 2 of the third joint portion J3 enables the hand device 3 to reach a wide range of objects from the proximity position of the main body cover 11 to the remote position.
  • the third joint portion J3 is characterized by a linear expansion / contraction operation realized by a linear motion expansion / contraction mechanism constituting the third joint portion J3 and a length of the expansion / contraction distance.
  • FIG. 2 is a perspective view showing the internal structure of the robot arm mechanism of FIG.
  • the linear motion expansion / contraction mechanism has an arm part 2 and an injection part 30.
  • the arm unit 2 includes a first connection frame row 21 and a second connection frame row 22.
  • the first connected frame row 21 includes a plurality of first connected frames 23.
  • the first connection piece 23 is formed in a substantially flat plate shape.
  • the front and rear first connecting pieces 23 are connected in a row so as to be freely bent by pins at the end portions of each other.
  • column 21 can be bent freely inside and outside.
  • the second linked frame row 22 includes a plurality of second linked frames 24.
  • the second connecting piece 24 is configured as a short groove having a U-shaped cross section.
  • the front and rear second connecting pieces 24 are connected in a row so as to be freely bent by pins at the bottom end portions of each other.
  • the second connecting frame row 22 can be bent inward. Since the cross section of the second connecting piece 24 is U-shaped, the second connecting piece row 22 does not bend outward because the side plates of the adjacent second connecting pieces 24 collide with each other.
  • the surfaces of the first and second connecting pieces 23 and 24 facing the second rotation axis RA2 are referred to as inner surfaces, and the opposite surfaces are referred to as outer surfaces.
  • the first first linked frame 23 in the first linked frame sequence 21 and the first second linked frame 24 in the second linked frame sequence 22 are connected by a linked frame 27.
  • the connecting piece 27 has a shape in which the second connecting piece 24 and the first connecting piece 23 are combined.
  • the injection unit 30 includes a plurality of upper rollers 31 and a plurality of lower rollers 32 supported by a rectangular tube-shaped frame 35.
  • the plurality of upper rollers 31 are arranged along the arm central axis at an interval substantially equal to the length of the first connecting piece 23.
  • the plurality of lower rollers 32 are arranged along the arm central axis at an interval substantially equivalent to the length of the second connecting piece 24.
  • a guide roller 40 and a drive gear 50 are provided behind the injection unit 30 so as to face each other with the first connecting piece row 21 interposed therebetween.
  • the drive gear 50 is connected to the stepping motor 330 via a speed reducer (not shown).
  • a linear gear is formed on the inner surface of the first connecting piece 23 along the connecting direction.
  • the linear gears are connected in a straight line to form a long linear gear.
  • the drive gear 50 is meshed with a linear linear gear.
  • the linear gear connected in a straight line forms a rack and pinion mechanism together with the drive gear 50.
  • the first connecting piece row 21 is brought into a posture parallel to the arm central axis by the guide roller 40, so that the upper roller 31 and the lower roller 32 are in contact with each other. Guided in between.
  • the second connection piece row 22 is guided between the upper roller 31 and the lower roller 32 of the injection unit 30 by a guide rail (not shown) disposed behind the injection unit 30. .
  • the first and second connecting frame rows 21 and 22 guided between the upper roller 31 and the lower roller 32 are pressed against each other. Thereby, the columnar body by the 1st, 2nd connection top row
  • the injection unit 30 joins the first and second connecting piece rows 21 and 22 to form a columnar body, and supports the columnar body vertically and horizontally.
  • the columnar body formed by joining the first and second connecting piece rows 21 and 22 is firmly held by the injection unit 30, so that the joining state of the first and second connecting piece rows 21 and 22 is maintained.
  • the bending of the first and second connection frame rows 21 and 22 is constrained to each other.
  • columns 21 and 22 comprise the columnar body provided with fixed rigidity.
  • the columnar body refers to a columnar rod body in which the first connection frame row 21 is joined to the second connection frame row 22.
  • the second connecting piece 24 and the first connecting piece 23 are formed into cylindrical bodies having various cross-sectional shapes as a whole.
  • the cylindrical body is defined as a shape in which the top, bottom, left, and right sides are surrounded by a top plate, a bottom plate, and both side plates, and a front end portion and a rear end portion are opened.
  • the columnar body formed by joining the first and second connecting piece rows 21 and 22 starts from the connecting piece 27 and extends outwardly from the opening in front of the injection unit 30 along the third movement axis RA3. Sent out.
  • the first connecting piece row 21 engaged with the drive gear 50 is pulled back into the main body cover 11 through the cover device 12.
  • the columnar body pulled back is separated behind the injection unit 30.
  • the first connecting piece row 21 constituting the columnar body is sandwiched between the guide roller 40 and the drive gear 50, and the second connecting piece row 22 constituting the columnar body is pulled downward by gravity, whereby the second connecting piece row 22 is drawn.
  • the frame row 22 and the first linked frame row 21 are separated from each other.
  • the separated first and second connecting frame rows 21 and 22 return to a bendable state.
  • the second connection piece row 22 is bent and conveyed inward from the injection unit 30 to the storage portion inside the main body cover 11, and the first connection piece row 21 is also in the same direction as the second connection piece row 22 ( It is bent inward) and conveyed.
  • the first linked frame row 21 is stored in a state substantially parallel to the second linked frame row 22.
  • FIG. 3 is a diagram showing the robot arm mechanism of FIG.
  • the robot arm mechanism three position degrees of freedom are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 that form the three base axes.
  • three posture degrees of freedom are realized by the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 constituting the wrist three axes.
  • the robot coordinate system ⁇ b is a coordinate system having an arbitrary position on the first rotation axis RA1 of the first joint portion J1 as an origin.
  • three orthogonal axes (Xb, Yb, Zb) are defined.
  • the Zb axis is an axis parallel to the first rotation axis RA1.
  • the Xb axis and the Yb axis are orthogonal to each other and orthogonal to the Zb axis.
  • the hand coordinate system ⁇ h is a coordinate system having an arbitrary position (hand reference point) of the hand device 3 attached to the wrist 4 as an origin.
  • the position of the hand reference point (hereinafter simply referred to as the hand) is defined as the center position between the two fingers.
  • the hand coordinate system ⁇ h three orthogonal axes (Xh, Yh, Zh) are defined.
  • the Zh axis is an axis parallel to the sixth rotation axis RA6.
  • the Xh axis and the Yh axis are orthogonal to each other and orthogonal to the Zh axis.
  • the Xh axis is an axis parallel to the front-rear direction of the hand device 3.
  • the hand posture is a rotation angle around each of three orthogonal axes of the hand coordinate system ⁇ h with respect to the robot coordinate system ⁇ b (rotation angle around the Xh axis (yaw angle) ⁇ , rotation angle around the Yh axis (pitch angle) ⁇ , Zh axis It is given as the surrounding rotation angle (roll angle) ⁇ .
  • the first joint portion J1 is configured as a torsion joint with the rotation axis RA1 as the center.
  • the rotation axis RA1 is arranged perpendicular to the reference plane BP of the base on which the fixing portion of the first joint portion J1 is installed.
  • 2nd joint part J2 is comprised as a bending joint centering on rotating shaft RA2.
  • the rotation axis RA2 of the second joint portion J2 is provided in parallel to the Xb axis on the spatial coordinate system.
  • the rotation axis RA2 of the second joint portion J2 is provided in a direction perpendicular to the rotation axis RA1 of the first joint portion J1.
  • the second joint portion J2 is offset with respect to the first joint portion J1 in two directions, that is, the direction of the first rotation axis RA1 (Zb axis direction) and the Yb axis direction perpendicular to the first rotation axis RA1.
  • the second joint portion J2 is fixed with respect to the rotating portion of the first joint portion J1 so that the second joint portion J2 is offset in the two directions with respect to the first joint portion J1.
  • a virtual arm rod portion (link portion) that connects the second joint portion J2 to the first joint portion J1 has a crank shape in which two hook-shaped bodies whose tips are bent at right angles are combined.
  • 3rd joint part J3 is comprised as a linear motion expansion-contraction joint centering on movement axis RA3.
  • the movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2 of the second joint portion J2.
  • the movement axis RA3 of the third joint portion J3 is the second joint
  • the rotation axis RA2 of the part J2 and the rotation axis RA1 of the first joint part J1 are provided in a direction perpendicular to the rotation axis RA2.
  • the movement axis RA3 of the third joint portion J3 is provided in parallel to the Yb axis perpendicular to the Xb axis and the Zb axis. Further, the third joint portion J3 is offset with respect to the second joint portion J2 in two directions, that is, the direction of the rotation axis RA2 (Yb axis direction) and the direction of the Zb axis orthogonal to the movement axis RA3.
  • the ejection part 30 of the third joint part J3 is fixed with respect to the second joint part J2, so that the third joint part J3 is offset in the two directions with respect to the second joint part J2.
  • the virtual arm rod portion (link portion) that connects the third joint portion J3 to the second joint portion J2 has a hook-shaped body whose tip is bent vertically.
  • the fourth joint portion J4 is configured as a torsion joint with the rotation axis RA4 as the center.
  • the rotation axis RA4 of the fourth joint part J4 is arranged to substantially coincide with the movement axis RA3 of the third joint part J3.
  • the fifth joint J5 is configured as a bending joint with the rotation axis RA5 as the center.
  • the rotation axis RA5 of the fifth joint portion J5 is disposed so as to be substantially orthogonal to the movement axis RA3 of the third joint portion J3 and the rotation axis RA4 of the fourth joint portion J4.
  • the sixth joint portion J6 is configured as a torsion joint with the rotation axis RA6 as the center.
  • the rotation axis RA6 of the sixth joint portion J6 is disposed so as to be substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5.
  • the sixth joint J6 is provided to turn the hand device 3 as a hand effector left and right.
  • the sixth joint portion J6 may be configured as a bending joint whose rotation axis RA6 is substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5.
  • one bending joint portion of the base three axes of the plurality of joint portions J1-J6 is replaced with a linear motion expansion / contraction joint portion, and the second joint portion J2 is offset in two directions with respect to the first joint portion J1.
  • the robot arm mechanism of the robot apparatus according to the present embodiment eliminates the singularity posture structurally.
  • FIG. 4 is a side view showing the cover device 12 of FIG.
  • the cover device 12 covers the second joint portion J2 as a rotary joint portion.
  • the cover device 12 prevents dust from entering the inside of the second joint portion J2, reduces the risk of the operator's fingers being pinched due to the rotation of the second joint portion J2, and removes the cover device 12 from the joint portion J2.
  • An easy approach to the joint J2 inside the cover is realized without any problems.
  • the cover device 12 has a plurality of, here, four covers 121, 122, 123, 124.
  • the four covers 121, 122, 123, and 124 are formed in a bowl shape.
  • the covers 121, 122, 123, and 124 are attached to the second joint portion J2 in a state of straddling the second joint portion J2 from the side perpendicular to the rotation axis RA2.
  • the front cover 124 serves as a cover that covers the front portion of the second joint portion J2 and a cover that covers the rear portion (base portion) of the third joint portion J3. 301 and a rear portion 300.
  • the rear portion 300 of the front cover 124 is formed in a bowl shape that covers the front portion of the second joint portion J2.
  • the rear portion 300 of the front cover 124 has a fan-shaped side surface shape with a central angle of at least 60 degrees centered on the rotation axis RA2 of the second joint portion J2.
  • the front portion 301 of the front cover 124 is formed in a cylindrical shape that covers the rear base portion (the injection portion 30) of the third joint portion J3.
  • the front cover 124 has a shape that gently continues from the rear portion 300 to the front portion 301 having a different shape.
  • the front cover 124 is fixed to the frame of the injection portion 30 of the third joint portion J3 at the front portion 301 thereof.
  • the rear cover 121 is rearward of the front portion 100 in order to serve as a cover that has a bowl shape that covers the rear portion of the second joint portion J2 and a cover that covers the link between the second joint portion J2 and the first joint portion J1.
  • a portion 101 is formed.
  • the front portion 100 of the rear cover 121 is formed in a bowl shape that covers the rear portion of the second joint portion J2.
  • the front portion 100 of the rear cover 121 has a fan-shaped side surface shape with a central angle of at least 60 degrees around the rotation axis RA2 of the second joint portion J2.
  • the rear portion 101 of the rear cover 121 is formed in a cylindrical shape that covers the link between the second joint portion J2 and the first joint portion J1.
  • the rear cover 121 has a shape that gently continues from the front portion 100 to the rear portion 101 having a different shape.
  • the rear cover 121 is fixed at the rear end thereof to, for example, the rotating base 112 of the first joint portion J1.
  • a plurality of, in this case, two movable covers 122 and 123 between the front cover 124 and the rear cover 121 are fan-shaped side surfaces having a central angle of at least 60 degrees around the rotation axis RA2 of the second joint portion J2.
  • the movable covers 122 and 123 are rotatably supported with the fan center as a rotation axis.
  • the rotation axes of the movable covers 122 and 123 are coincident with the second rotation axis RA2 of the second joint portion J2.
  • the four covers 121, 122, 123, and 124 are configured in a nested structure. Specifically, the front portion 100 of the rear cover 121, the movable covers 122 and 123, and the rear portion 300 of the front cover 124 all have fan-shaped side surfaces, and the radii thereof are different.
  • the rear cover 121 has a larger radius than the adjacent movable cover (second movable cover) 122, and the second movable cover 122 has a larger radius than the adjacent movable cover (first movable cover) 123 in front of the second cover 122.
  • the one movable cover 123 is formed to have a larger radius than the front cover 124 adjacent in front thereof.
  • the front cover 124 can be stored in the adjacent movable cover (first movable cover) 123.
  • the first movable cover 123 can be housed together with the front cover 124 in a movable cover (second movable cover) 122 adjacent to the rear of the first movable cover 123.
  • the second movable cover 122 can be accommodated together with the front cover 124 and the first movable cover 123 in the rear cover 121 adjacent to the rear thereof.
  • FIG. 5 is a perspective view showing the four covers 121, 122, 123, and 124 constituting the cover device 12 of FIG.
  • the front cover 124 mainly includes a rear portion 300 that covers the rotating portion of the second joint portion J2, and a front portion 301 that mainly covers the base portion (the emitting portion 30) of the third joint portion J3.
  • the rear portion 300 of the front cover 124 has a U-shaped cross section and is formed into a side fan-shaped bowl shape.
  • a front portion 301 of the front cover 124 that is continuous with the rear portion 300 is formed into a cylindrical body so as to cover the injection portion 30 of the third joint portion J3.
  • the rear portion 300 and the front portion 301 of the front cover 124 are integrally formed.
  • the rear portion 300 of the front cover 124 is formed by connecting two side plates 1242 and 1243 having the same shape and size in parallel by an outer peripheral plate 1241.
  • the side plates 1242 and 1243 are formed in a fan shape centered on the rotation center axis RA2 of the second joint portion J2.
  • the central angle of the sector shape is determined by the movable range of the second joint portion J2, that is, the undulation angle of the arm portion 2 and the number of covers.
  • the covers 121, 122, 123, and 124 can cover the second joint portion J2 evenly.
  • the outer peripheral plate 1241 is formed in an arc shape along the outer periphery of the side plates 1242 and 1243, that is, in an arc shape centered on the rotation center axis RA2 of the second joint portion J2.
  • the arc angle of the outer peripheral plate 1241 is the same angle as the fan angle of the side plates 1242 and 1243, that is, at least 60 degrees.
  • the inner diameter of the outer peripheral plate 1241 is slightly larger than the maximum diameter of the second joint portion J2 so as to cover the second joint portion J2.
  • the outer diameter of the outer peripheral plate 1241 is longer than the inner diameter by a thickness.
  • the radii of the side plates 1242 and 1243 are the same as the outer diameter of the outer peripheral plate 1241.
  • the side plates 1242 and 1243 are separated by a distance slightly larger than the maximum width of the second joint portion J2.
  • the outer peripheral plate 1241 has a width of a length obtained by adding the thickness of the side plates 1242 and 1243 to the interval between the side plates 1242 and 1243.
  • the first movable cover 123 is formed by connecting two side plates 1232 and 1233 having the same shape and size in parallel by an outer peripheral plate 1231.
  • the side plates 1232 and 1233 are formed in a sector shape centered on the rotation center axis RA2 of the second joint portion J2.
  • the fan angle of the side plates 1232 and 1233 is the same angle as that of the rear portion 300 of the front cover 124, that is, at least 60 degrees.
  • the radius of the side plates 1232 and 1233 is longer than the radius of the rear portion 300 of the front cover 124.
  • the outer peripheral plate 1231 is formed in an arc shape along the outer peripheries of the side plates 1232 and 1233, that is, in a shape curved in an arc shape around the rotation center axis RA2 of the second joint portion J2.
  • the inner diameter of the outer peripheral plate 1231 is slightly longer than the outer diameter of the rear portion 300 of the front cover 124.
  • the distance between the side plates 1232 and 1233 is slightly longer than the width of the rear portion 300 of the front cover 124. Accordingly, the rear portion 300 of the front cover 124 can be stored in the first movable cover 123.
  • Bearing portions 1234 and 1235 are formed at the fan central portions of the side plates 1232 and 1233, respectively. Each of the bearing portions 1234 and 1235 is formed with a shaft hole for supporting the first movable cover 123 coaxially with the second rotation axis RA2.
  • the second movable cover 122 is formed by connecting two side plates 1222 and 1223 having the same shape and size in parallel by an outer peripheral plate 1221.
  • the side plates 1222 and 1223 are formed in a sector shape centered on the rotation center axis RA2 of the second joint portion J2.
  • the fan angle of the side plates 1222 and 1223 is the same angle as the side plates 1232 and 1233 of the first movable cover 123, that is, at least 60 degrees.
  • the radius of the side plates 1222 and 1223 is longer than the radius of the side plates 1232 and 1233 of the first movable cover 123.
  • the outer peripheral plate 1221 is formed in an arc shape along the outer periphery of the side plates 1222, 1223, that is, in a shape curved in an arc shape around the rotation center axis RA2 of the second joint portion J2.
  • the inner diameter of the outer peripheral plate 1221 is slightly longer than the outer diameter of the outer peripheral plate 1231 of the first movable cover 123.
  • the distance between the side plates 1222 and 1223 is slightly longer than the width of the first movable cover 123. Thereby, the first movable cover 123 can be stored in the second movable cover 122.
  • Bearing portions 1224 and 1225 are formed at the fan central portions of the side plates 1222 and 1223, respectively.
  • the rear cover 121 mainly includes a front portion 100 that covers the rotating portion of the second joint portion J2, and a rear portion 101 that mainly covers the frame between the first and second joint portions J1 and J2.
  • the front portion 100 of the rear cover 121 has a U-shaped cross section and is formed into a side fan-shaped bowl shape.
  • a rear portion 101 continuous with the front portion 100 is formed into a cylindrical body so as to cover the frame between the first and second joint portions J1 and J2.
  • the front and rear portions 100 and 101 of the rear cover 121 are integrally formed.
  • the front portion 100 of the rear cover 121 is formed by connecting two side plates 1212 and 1213 having the same shape and size in parallel by an outer peripheral plate 1211.
  • the side plates 1212 and 1213 are formed in a sector shape centered on the rotation center axis RA2 of the second joint portion J2.
  • the central angle of the sector is set to the same angle as that of the other covers 122, 123, and 124, that is, at least 60 degrees.
  • the outer peripheral plate 1211 is formed in an arc shape along the outer peripheries of the side plates 1212 and 1213, that is, in an arc shape centered on the rotation center axis RA2 of the second joint portion J2.
  • the inner diameter of the outer peripheral plate 1211 is slightly larger than the outer diameter of the outer peripheral plate 1221 of the second movable cover 122.
  • the radii of the side plates 1212 and 1213 are the same as the outer diameter of the outer peripheral plate 1211.
  • the distance between the side plates 1212 and 1213 is slightly longer than the width of the second movable cover 122. Accordingly, the second movable cover 122 can be stored in the front portion 100 of the rear cover 121.
  • the fan angles of the four covers 121, 122, 123, 124 are not necessarily the same.
  • the remaining cover 122, 123, 124 only needs to be accommodated in the rear cover 121, and the arcs of the outer peripheral plates 1221, 1231, 1241 of the remaining covers 122, 123, 124 with respect to the arc angle of the outer peripheral plate 1211 of the rear cover 121. If the corner is small.
  • FIG. 6A is a side view showing the cover device 12 when the arm portion 2 is raised upward.
  • FIG. 6B is a side view showing the cover device 12 when the arm portion 2 is in a horizontal posture.
  • FIG.6 (c) is a side view which shows the cover apparatus 12 when the arm part 2 is turned down.
  • a protrusion 1248 is provided on the outer surface of the rear end of the outer peripheral plate 1241 of the front cover 124.
  • a contact portion 1238 is provided on the inner surface of the front end of the outer peripheral plate 1231 of the first movable cover 123.
  • the protrusion 1248 and the contact portion 1238 (referred to collectively as an engagement portion) because the protrusion 1248 contacts the contact portion 1238 when the second joint portion J2 rotates a predetermined angle in the forward direction.
  • the protrusion 1248 is provided on the surface portion of the rear end of the outer peripheral plate 1241 of the front cover 124.
  • the length of the protrusion 1248 is shorter than the thickness of the outer peripheral plate 1241, for example.
  • the contact portion 1238 is provided on the back surface portion of the front end of the outer peripheral plate 1231 of the first movable cover 123.
  • the length of the contact portion 1238 is shorter than the thickness of the outer peripheral plate 1231, for example.
  • the protrusion 1248 may be provided on the outer surfaces of the side plates 1242 and 1243 of the front cover 124, and the contact portion 1238 may be provided on the inner surfaces of the side plates 1232 and 1233 of the first movable cover 123.
  • the front cover 124 and the first movable cover 123 are engaged with each other by engaging portions (protrusions 1248 and abutting portions 1238), and the first movable cover 123 is driven by the front cover 124 by the mechanical contact. However, there is no engaging portion between the first and second movable covers 123 and 122 that is mechanically engaged.
  • the first and second movable covers 123 and 122 are connected to each other by a tension spring (also called a tension spring) 127.
  • a tension spring also called a tension spring
  • one end of the tension spring 127 may be attached to the outer surface of the outer peripheral plate of the first movable cover 123, and the other end of the tension spring 127 may be attached to the inner surface of the outer peripheral plate of the second movable cover 123.
  • the second movable cover 122 rotates together with the first movable cover 123 by the contraction force of the tension spring 127 following the rotation of the arm unit 2.
  • the first and second movable covers 123 and 122 are manually rotated in the opposite directions against the tension spring 127, for example, so that the first and second movable covers 123 and 122 are separated from each other and the space therebetween is opened.
  • the second joint portion J2 and the like inside the first and second movable covers 123 and 122 can be visually recognized and approached from between them.
  • the second movable cover 122 is connected to the rear cover 121 by a tension spring 126.
  • a tension spring 126 typically, one end of the tension spring 126 is attached to the outer surface of the side plate of the second movable cover 122, and the other end of the tension spring 126 is attached to the inner surface of the side plate of the rear cover 121.
  • one end of the tension spring 126 may be attached to the outer surface of the outer peripheral plate of the second movable cover 122, and the other end of the tension spring 126 may be attached to the inner surface of the outer surface of the rear cover 121.
  • the spring constant of the tension spring 126 is equivalent to the spring constant of the tension spring 127 that connects the first and second movable covers 123 and 122.
  • the free length of the tension spring 126 is equivalent to the free length of the tension spring 127 that connects the first and second movable covers 123 and 122. While maintaining a state where the load determined by the displacement amount of the tension spring 127 and its spring constant is equivalent to the load determined by the displacement amount of the tension spring 126 and its spring constant, the first and second movable covers 123, Both ends of the tension spring 126 are rotated and pulled out, and both ends of the tension spring 126 are fixed at the same distance from the rotation center (RA2) in order to equalize the amount of displacement, and the tension spring is located at the same distance. Both ends of 127 are also attached.
  • the first movable cover 123 and the second movable cover 122 rotate by the same angle.
  • the front cover 124 contracts for 60 degrees.
  • the first movable cover 123 and the second movable cover 122 are equally charged for the remaining 120 degrees of rotation.
  • the front cover 124 is contracted by 60 degrees, and the first movable cover 123 and the second movable cover 122 are contracted by 20 degrees. That is, only the front cover 124 is pulled out until the arm portion 2 rotates 60 degrees, and when the arm portion 2 rotates more than 60 degrees, the first movable cover 123 takes half of the angle exceeding 60 degrees.
  • the second movable cover 122 rotate in synchronization with each other.
  • a protrusion 1228 is provided on the outer surface of the rear end of the outer peripheral plate 1221 of the second movable cover 122 so that the second movable cover 122 is locked to the rear cover 121 when the arm portion 2 is rotated to the lowest position.
  • a contact portion 1218 is provided on the inner surface of the front end of the outer peripheral plate 1221 of the rear cover 121.
  • the protrusion 1228 may be provided on the outer surface of the side plates 1222 and 1223 of the second movable cover 122, and the contact portion 1218 may be provided on the inner surfaces of the side plates 1212 and 1213 of the rear cover 121.
  • the front cover 124 is first pulled out from the first movable cover 123 following the forward rotation.
  • the protrusion 1248 of the front cover 124 contacts the contact portion 1238 of the first movable cover 123.
  • the projection 1248 of the front cover 124 comes into contact with the contact portion 1238 of the first movable cover 123 and the first movable cover 123 is pulled out.
  • the second movable cover 122 is pulled out from the rear cover 121 while maintaining the same angle as the first movable cover 123.
  • the front cover 124, the first movable cover 123, and the second movable cover 122 share 60 degrees each to cover the second joint part J2.
  • the rotation angle of the arm portion 2 reaches the limit angle of 180 degrees, the protrusion 1228 of the second movable cover 122 abuts against the abutting portion 1218 of the rear cover 121 and the drawing operation of the second movable cover 122 is locked. .
  • the movement is opposite to the above.
  • the first movable cover 123 and the second movable cover 122 rotate synchronously while maintaining the same angle, the first movable cover 123 is gradually stored in the second movable cover 122, and the second movable cover 122 is attached to the rear cover 121. It is stored little by little. After the first movable cover 123 is completely accommodated in the second movable cover 122 and the second movable cover 122 is completely accommodated in the rear cover 121, that is, 120 degrees upward from the position where the arm portion 2 is lowered downward.
  • the front cover 124 begins to be stored in the first movable cover 123.
  • the cover device 12 is completely contracted, that is, the front cover 124 is completely accommodated in the first movable cover 123, and the first movable cover 123 is completely accommodated in the second movable cover 122.
  • the second movable cover 122 is completely stored in the rear cover 121.
  • the spring constant of the tension spring 126 and the spring constant of the tension spring 127 may not be equivalent.
  • the spring constant of the tension spring 126 may be higher than the spring constant of the tension spring 127.
  • the projection 1248 of the front cover 124 contacts the contact portion 1238 of the first movable cover 123.
  • the first movable cover 123 is pulled out in contact.
  • the first and second movable covers are maintained while maintaining a state where the load determined by the displacement amount of the tension spring 127 and its spring constant is equivalent to the load determined by the displacement amount of the tension spring 126 and its spring constant. Both 123 and 122 rotate and are pulled out.
  • the rotation angle of the first movable cover 123 rotates while maintaining a state where it is twice the rotation angle of the second movable cover 122. I will do it.
  • the arm portion 2 rotates beyond the angle (60 degrees) at which the front cover 124 is in charge of covering the second joint portion J2
  • 1/3 of the arm rotation angle exceeding 60 degrees is the first The second movable cover 122 is in charge
  • the first 2nd movable cover 123 is in charge of the remaining 2/3.
  • the first movable cover 123 rotates at an angular velocity twice that of the second movable cover 122 and doubles the amount. Will be pulled out.
  • the first movable cover 123 needs to be configured with a fan angle twice that of the second movable cover 123. For example, if the arm movable range is 180 degrees, and the fan angle of the rear portion 300 of the front cover 124 is 60 degrees, the first movable cover 123 is configured with a fan angle of 80 degrees, and the second movable cover 123 is 40 degrees. Consists of degrees of fan angle.
  • the spring constant of the tension spring 126 may be lower than the spring constant of the tension spring 127.
  • the movements of the first and second movable covers 123 and 122 at this time are reversed when the spring constant of the tension spring 126 described above is higher than the spring constant of the tension spring 127.
  • the rotation angle of the second movable cover 122 is twice the rotation angle of the first movable cover 123. While maintaining this state, the first and second movable covers 123 and 122 rotate together.
  • the arm part 2 rotates beyond the angle (60 degrees) at which the front cover 124 is in charge of covering the second joint part J2, 2/3 of the angle part exceeding 60 degrees is second movable.
  • the cover 122 is in charge and the first third cover 123 is in charge of the remaining 1/3.
  • the second movable cover 122 needs to be configured with a fan angle twice that of the first movable cover 123.
  • the cover device 12 includes the four covers 121, 122, 123, and 124 configured in a nested structure.
  • Each of the four covers 121, 122, 123, and 124 is formed in a bowl shape.
  • the movable covers 122, 123 are connected to each other by a tension spring 127, whereby the inside of the second joint portion J ⁇ b> 2 (robot device) with the cover device 12 attached.
  • the inside For example, when a trouble occurs in the expansion / contraction operation of the arm unit 2, the user opens the space between the first and second movable covers 123 and 122 without removing the cover device 12, and the state of the drive gear 50 inside the robot device. For example, if it is a simple defect, the defect can be solved in that state, and the work efficiency can be improved.
  • FIG. 7 is a side view showing another structure of the cover device 12 of FIG.
  • the rotary joint J7 connects the front link 60 and the rear link 80.
  • the rotary joint J7 is a bending joint centered on the rotary axis RA7.
  • the rotation joint portion J7 is entirely covered by the cover device 700.
  • the rotation shaft RA7 of the rotary joint portion J7 is covered with a shaft cover 70.
  • the cover device 700 includes a pair of cover units that are arranged to face each other with the rotary joint portion J7 interposed therebetween. Typically, the pair of cover units are arranged symmetrically across a plane including the rotation axis RA7 and the central axis of the rear link 80.
  • One cover unit includes four covers 711, 712, 713, and 714 in a nested structure.
  • the other cover unit includes four covers 721, 722, 723, and 724 in a nested structure.
  • the cover 711 behind the one cover unit and the cover 721 behind the other cover unit are typically formed integrally.
  • the front cover 714 of one cover unit and the front cover 724 of the other cover unit are typically integrally formed.
  • the four covers 711, 712, 713, and 714 configured in a nested structure of one cover unit are from 0 degree to +180 degrees
  • the four covers 721, 722, 723, and 724 that are configured to have a nested structure of the other cover unit are configured to cover a range of 0 degrees to ⁇ 180 degrees.
  • the four covers 711, 712, 713, and 714 are configured in the same manner as the four covers 121, 122, 123, and 124 described above, respectively.
  • the four covers 721, 722, 723, and 724 are also configured in the same manner as the four covers 121, 122, 123, and 124 described above.
  • a cover 600 that covers the link 60 is connected to the rear ends of the rear covers 711 and 721.
  • a cover 800 that covers the link 80 is connected to the front ends of the front covers 714 and 724.
  • the four covers 711, 712, 713, and 714 configured in a nested structure are expanded, and the four covers 721 and 722 configured in a nested structure. , 723, 724 are contracted.
  • springs having the same spring constant are applied to the tension springs 716, 717, 726, 727.
  • the four covers 711, 712, 713, 714 configured in a nested structure are rotated as follows. The front cover 714 is pulled out from the first movable cover 713.
  • the link 80 rotates, the second movable cover 712 and the first movable cover 713 are both pulled out at the same angular velocity.
  • the front cover 714, the first movable cover 713, and the second movable cover 712 cover one side of the rotary joint portion J7 together with the rear cover 711.
  • the link 80 reaches the most downward state (the lower limit angle of the rotation angle range)
  • the protrusion 7128 at the rear end of the second movable cover 712 comes into contact with the contact portion 7118 at the front end of the rear cover 711 and moves to the second movable position.
  • the drawing operation of the cover 712 is locked.
  • the four covers 721, 722, 723, and 724 configured in a nested structure move in the reverse direction. That is, the first movable cover 723 and the second movable cover 722 rotate synchronously while maintaining the same angle, the first movable cover 723 is gradually stored in the second movable cover 722, and the second movable cover 722 is the rear cover. 721 is stored little by little. After the first movable cover 723 is completely stored in the second movable cover 722 and the second movable cover 722 is completely stored in the rear cover 721, the front cover 724 starts to be stored in the first movable cover 723.
  • the four covers 711, 712, 713, 714 configured in a nested structure are contracted and configured in a nested structure.
  • the four covers 721, 722, 723, 724 are extended.
  • the rotation of the four covers 711, 712, 713, 714 configured in a nested structure and the four covers 721, 722, 723, 724 configured in a nested structure causes the link 80 to move forward with respect to the link 60.
  • it moves in the opposite direction.
  • the front cover 724 is pulled out from the first movable cover 723.
  • the link 80 rotates, the second movable cover 722 and the first movable cover 723 are both pulled out at the same angular velocity.
  • the front cover 724, the first movable cover 723, and the second movable cover 722 cover the other side of the rotary joint portion J7 together with the rear cover 721.
  • the link 80 reaches the most upward state (upper limit angle of the rotation angle range)
  • the protrusion 7228 at the rear end of the second movable cover 722 comes into contact with the contact portion 7218 at the front end of the rear cover 721 and is moved to the second position.
  • the drawing operation of the cover 722 is locked.
  • the four covers 711, 712, 713, 714 configured in a nested structure move in the reverse direction to the above. That is, the first movable cover 713 and the second movable cover 712 rotate synchronously while maintaining the same angle, the first movable cover 713 is gradually stored in the second movable cover 712, and the second movable cover 712 is the rear cover. It is stored in 711 little by little. After the first movable cover 713 is completely stored in the second movable cover 712 and the second movable cover 712 is completely stored in the rear cover 711, the front cover 714 starts to be stored in the first movable cover 713.
  • the rotation angle range of the rotary joint portion J7 is physically determined by the four covers 711, 712, 713, 714 when the upper limit is contracted, and by the four covers 721, 722, 723, 724 when the lower limit is contracted. Limited to For example, when the angle of the rotary joint J7 when the link 60 and the link 80 are linearly arranged is 0 degree, the rear end surface of the rear cover 711 and the front end surface of the front cover 714 when contracted When the angle formed is 60 degrees and the angle between the rear end surface of the rear cover 721 and the front end surface of the front cover 724 when contracted is 60 degrees, the rotation angle range of the rotary joint J7 is +120 degrees to -120 degrees Limited to Therefore, the rotation angle range can be expanded by increasing the number of covers and reducing the arc angle per cover.
  • FIG. 8 is a side view showing another structure of the cover device of FIG.
  • the front cover 124 and the first movable cover 123 adjacent thereto may be connected by a tension spring 128.
  • the spring constant of the tension spring 128 is equivalent to the spring constant of the tension spring 126 and the spring constant of the tension spring 127.
  • the free length of the tension spring 128 is equivalent to the free length of the tension spring 126 and the free length of the tension spring 127.
  • the rear portion 300 of the front cover 124, the first movable cover 123, and the second movable cover 122 cover the second joint portion J2 evenly.
  • the angle at which the cover 123 is pulled out from the second movable cover 122 and exposed and the angle at which the second movable cover 122 is pulled out from the rear cover 121 and exposed are always equivalent.
  • the cover device opens and closes while maintaining this state.
  • first and second movable covers 123 and 122 can be separated and opened therebetween, and the second joint portion J2 and the like inside the first and second movable covers 123 and 122 can be opened between the first and second movable covers 123 and 122. You can see and approach.
  • FIG. 9 is a side view showing another structure of the cover device of FIG.
  • the movable covers 122 and 123 are connected by a compression spring (also referred to as a push spring) 147, and the rear cover 121 and the adjacent movable cover 122 are connected by a compression spring 146.
  • a contact portion 1239 is provided on the inner surface of the rear end of the outer peripheral plate 1231 of the first movable cover 123.
  • the joint portion J2 rotates so that the arm portion 2 rises from the lowermost posture toward the uppermost posture
  • the outer peripheral plate 1241 of the outer cover 1241 of the front cover 124 contacts the contact portion 1239 at an angle of, for example, 60 degrees from the lowest posture.
  • the compression spring 147 is compressed, and the first movable cover 123 becomes the second movable cover. It is stored in 122.
  • the spring constant of the compression spring 146 is equivalent to that of the compression spring 147.
  • the free length of the compression spring 146 is equivalent to that of the compression spring 147.
  • the free length of the compression spring 147 is equivalent to the distance between the attachment positions of both ends of the spring when the first movable cover 123 is pulled out from the second movable cover 122 by, for example, 60 degrees of rotation and exposed. As a result, the first movable cover 123 stops at a position where it is pulled out from the second movable cover 122 by 60 degrees.
  • the free length of the compression spring 146 is the same, and is equivalent to the distance between the attachment positions of both ends of the spring when the second movable cover 122 is pulled out from the rear cover 121 by 60 degrees and exposed.
  • the second movable cover 122 stops at a position pulled out from the rear cover 121 by 60 degrees.
  • the distance between the attachment positions of both ends of the compression spring 146 when the second movable cover 122 is pulled out from the rear cover 121 by 60 degrees and exposed is 60 degrees from the second movable cover 122 to the first movable cover 123.
  • the compression springs 146 and 147 are attached so as to be equivalent to the distance between the attachment positions of both ends of the compression spring 147 when the compression spring 147 is pulled out and exposed by the amount of rotation.
  • the length of the compression spring 147 is the same as the compression length so that the loads of the compression spring 147 and the compression spring 146 are equivalent. Only the compression spring 146 is also compressed.
  • the second movable cover 122 is accommodated in the rear cover 121 by the same angle as the angle at which the first movable cover 123 is accommodated in the second movable cover 122.
  • first and second movable covers 123 and 122 can be separated and opened therebetween, and the second inside the first and second movable covers 123 and 122 can be opened between the first and second movable covers 123 and 122.
  • the joint part J2 etc. can be visually recognized and approached.
  • the front cover 124 and the movable cover 123 adjacent thereto may be connected by a compression spring, as in the example of FIG.
  • This compression spring is equivalent to the compression spring 147 and the compression spring 146 in both spring constant and free length.
  • the contact part 1239 and the protrusion part 1249 are unnecessary.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention vise à réaliser une prévention de poussière, à assurer la sécurité, et à s'approcher facilement de l'intérieur d'un capot sans retirer un dispositif capot à partir d'une partie d'articulation rotative. À cet effet, l'invention porte sur un dispositif capot (12), lequel dispositif comporte : un capot avant (124) qui recouvre une partie d'articulation rotative (J2) qui relie une liaison avant et une liaison arrière et qui est fixé à la liaison avant ; un capot arrière (121) qui est fixé à la liaison arrière ; et une pluralité de capots mobiles (122, 123) qui sont disposés entre le capot avant et le capot arrière et qui sont portés rotatifs autour du même axe que l'axe de rotation de la partie d'articulation rotative. Le capot avant, le capot arrière et les capots mobiles sont formés sous une forme de selle de manière à croiser et à recouvrir la partie d'articulation rotative à partir de la même direction et présentent une structure imbriquée, dans laquelle, lors de la rotation de la partie d'articulation rotative, le capot avant est reçu dans le capot mobile qui est adjacent à ce dernier ou retiré à partir de ce dernier, le capot mobile est logé dans le capot mobile qui est adjacent à ce dernier du côté arrière, ou retiré à partir de ce dernier, et le capot mobile est logé dans le capot arrière ou retiré à partir de ce dernier, d'une manière séquentielle.
PCT/JP2016/073807 2015-08-19 2016-08-13 Dispositif capot pour partie d'articulation rotative WO2017030104A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015162344A JP2018158388A (ja) 2015-08-19 2015-08-19 回転関節部のカバー装置
JP2015-162344 2015-08-19

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WO2017030104A1 true WO2017030104A1 (fr) 2017-02-23

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TW (1) TW201707899A (fr)
WO (1) WO2017030104A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61235446A (ja) * 1985-04-11 1986-10-20 Karupu Kogyo Kk 産業ロボツト用外被管
JP2003266340A (ja) * 2002-03-18 2003-09-24 Sony Corp 脚式移動ロボット
JP2011224772A (ja) * 2010-03-29 2011-11-10 Honda Motor Co Ltd 脚式移動ロボット及び揺動構造
WO2012007014A1 (fr) * 2010-07-13 2012-01-19 Abdallah Ezzat Abdallah Abozaied Joint
JP2013013978A (ja) * 2011-07-05 2013-01-24 Sony Corp ロボット装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61235446A (ja) * 1985-04-11 1986-10-20 Karupu Kogyo Kk 産業ロボツト用外被管
JP2003266340A (ja) * 2002-03-18 2003-09-24 Sony Corp 脚式移動ロボット
JP2011224772A (ja) * 2010-03-29 2011-11-10 Honda Motor Co Ltd 脚式移動ロボット及び揺動構造
WO2012007014A1 (fr) * 2010-07-13 2012-01-19 Abdallah Ezzat Abdallah Abozaied Joint
JP2013013978A (ja) * 2011-07-05 2013-01-24 Sony Corp ロボット装置

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JP2018158388A (ja) 2018-10-11
TW201707899A (zh) 2017-03-01

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