WO2018206532A3 - Robot - Google Patents

Robot Download PDF

Info

Publication number
WO2018206532A3
WO2018206532A3 PCT/EP2018/061773 EP2018061773W WO2018206532A3 WO 2018206532 A3 WO2018206532 A3 WO 2018206532A3 EP 2018061773 W EP2018061773 W EP 2018061773W WO 2018206532 A3 WO2018206532 A3 WO 2018206532A3
Authority
WO
WIPO (PCT)
Prior art keywords
joint
moving
robot
drive means
drive
Prior art date
Application number
PCT/EP2018/061773
Other languages
German (de)
English (en)
Other versions
WO2018206532A2 (fr
Inventor
Martin Riedel
Wolfgang Schober
Original Assignee
Kuka Deutschland Gmbh
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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Priority to DE212018000216.9U priority Critical patent/DE212018000216U1/de
Priority to CN201890000995.3U priority patent/CN213320144U/zh
Publication of WO2018206532A2 publication Critical patent/WO2018206532A2/fr
Publication of WO2018206532A3 publication Critical patent/WO2018206532A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H19/003—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member
    • F16H19/005—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member for conveying oscillating or limited rotary motion

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Friction Gearing (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un robot qui possède au moins un membre (100), qui est supporté dans une articulation, et un mécanisme d'entraînement (10) destiné à faire bouger cette articulation. Un élément de rentrée (20) côté articulation, destiné à faire bouger l'articulation avec une poulie motrice (11 ; 11') du mécanisme d'entraînement, forme deux poulies d'un engrenage roue-crémaillère à variation continue, accouplées par un moyen de traction (30), notamment par friction et/ou complémentarité de formes, en particulier à chaque fois au moins partiellement enlacées et roulant l'une contre l'autre, et/ou est relié à une couche d'introduction (110 ; 110') du membre multicouche ou fait partie intégrante de celle-ci, laquelle est reliée à une couche de structure (121, 122 ; 122') du membre.
PCT/EP2018/061773 2017-05-08 2018-05-08 Robot WO2018206532A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE212018000216.9U DE212018000216U1 (de) 2017-05-08 2018-05-08 Roboter
CN201890000995.3U CN213320144U (zh) 2017-05-08 2018-05-08 机器人

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017004432.5 2017-05-08
DE102017004432.5A DE102017004432A1 (de) 2017-05-08 2017-05-08 Roboter

Publications (2)

Publication Number Publication Date
WO2018206532A2 WO2018206532A2 (fr) 2018-11-15
WO2018206532A3 true WO2018206532A3 (fr) 2019-01-03

Family

ID=62148363

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/061773 WO2018206532A2 (fr) 2017-05-08 2018-05-08 Robot

Country Status (3)

Country Link
CN (1) CN213320144U (fr)
DE (2) DE102017004432A1 (fr)
WO (1) WO2018206532A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7371365B2 (ja) * 2019-06-27 2023-10-31 セイコーエプソン株式会社 ロボット

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5046375A (en) * 1988-04-21 1991-09-10 Massachusetts Institute Of Technology Compact cable transmission with cable differential
WO1998055780A1 (fr) * 1997-06-06 1998-12-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Unite de transmission
US20140047940A1 (en) * 2012-08-20 2014-02-20 Fanuc Corporation Multi-joint robot with both-side supported arm member
CN204505254U (zh) * 2015-03-23 2015-07-29 刘清兴 折叠式夹爪装置
CN204935673U (zh) * 2015-08-11 2016-01-06 华南理工大学 一种仿生凹槽结构冲压铝合金机械臂
WO2016148463A1 (fr) * 2015-03-17 2016-09-22 한국기술교육대학교 산학협력단 Bras de robot

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002166376A (ja) * 2000-11-30 2002-06-11 Hirata Corp 基板搬送用ロボット
EP2152477B1 (fr) * 2007-05-10 2010-11-17 Steven D. Somes Manipulateur de robot utilisant des entraînements rotatifs
CN102200180B (zh) * 2010-03-24 2015-02-04 鸿富锦精密工业（深圳）有限公司 减速机构
US8464603B2 (en) * 2011-09-19 2013-06-18 Vivero One Research, Llc Parallelogram based actuating device
FR2993333B1 (fr) * 2012-07-11 2014-08-22 Commissariat Energie Atomique Dispositif de transmission de mouvement a reducteur epicycloidal, reducteur epicycloidal et bras de manipulation
JP6230430B2 (ja) * 2014-01-23 2017-11-15 オリンパス株式会社 術具及び医療用マニピュレータシステム
KR101693246B1 (ko) * 2015-04-07 2017-01-17 한국기술교육대학교 산학협력단 로봇 암의 어깨 관절 어셈블리

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5046375A (en) * 1988-04-21 1991-09-10 Massachusetts Institute Of Technology Compact cable transmission with cable differential
WO1998055780A1 (fr) * 1997-06-06 1998-12-10 Deutsches Zentrum für Luft- und Raumfahrt e.V. Unite de transmission
US20140047940A1 (en) * 2012-08-20 2014-02-20 Fanuc Corporation Multi-joint robot with both-side supported arm member
WO2016148463A1 (fr) * 2015-03-17 2016-09-22 한국기술교육대학교 산학협력단 Bras de robot
CN204505254U (zh) * 2015-03-23 2015-07-29 刘清兴 折叠式夹爪装置
CN204935673U (zh) * 2015-08-11 2016-01-06 华南理工大学 一种仿生凹槽结构冲压铝合金机械臂

Also Published As

Publication number Publication date
WO2018206532A2 (fr) 2018-11-15
DE102017004432A1 (de) 2018-11-08
CN213320144U (zh) 2021-06-01
DE212018000216U1 (de) 2020-01-20

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