WO2022114093A1 - ロボット - Google Patents
ロボット Download PDFInfo
- Publication number
- WO2022114093A1 WO2022114093A1 PCT/JP2021/043309 JP2021043309W WO2022114093A1 WO 2022114093 A1 WO2022114093 A1 WO 2022114093A1 JP 2021043309 W JP2021043309 W JP 2021043309W WO 2022114093 A1 WO2022114093 A1 WO 2022114093A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- hole
- holes
- lubrication chamber
- lubricant
- chamber
- Prior art date
Links
- 239000000314 lubricant Substances 0.000 claims abstract description 60
- 239000007788 liquid Substances 0.000 claims abstract description 21
- 238000009423 ventilation Methods 0.000 claims abstract description 21
- 239000012530 fluid Substances 0.000 claims abstract description 5
- 238000005461 lubrication Methods 0.000 claims description 100
- 230000036544 posture Effects 0.000 claims description 43
- 230000001050 lubricating effect Effects 0.000 claims description 38
- 239000000463 material Substances 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 210000002445 nipple Anatomy 0.000 description 7
- 210000000707 wrist Anatomy 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
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
- B25J19/0062—Lubrication means
Definitions
- This disclosure relates to robots.
- Robots are known to have a reducer having a lubrication chamber for storing a lubricant for lubricating a gear mechanism, and a lubrication port and a lubrication port provided in the lubrication chamber for lubricating and draining the lubricant (for example).
- Patent Document 1 The robot of Patent Document 1 has an end face oil drain port that discharges the old lubricant in the lubrication chamber when the lubricant is replaced while it is installed on the floor surface, and a new lubricant injected into the lubrication chamber.
- a side oil drain port is provided to discharge the amount exceeding a predetermined amount.
- the posture of the lubrication chamber is 90 ° different from that when it is installed on the floor surface. It is placed higher than the lower level. Therefore, if the lubricant is replaced while the robot is installed on the side wall, a part of the old lubricant in the lubrication chamber remains in the lubrication chamber, and it is difficult to replace the old lubricant with a new lubricant. Therefore, it is desired to facilitate replacement of the old lubricant in the lubrication chamber with a new lubricant even when oil supply / drainage is performed in a state where the posture of the lubrication chamber is changed.
- One aspect of the present disclosure is provided with a lubrication chamber capable of storing a fluid lubricant, and the lubrication chamber is provided with three or more through holes penetrating the wall surface of the lubrication chamber, and the through holes are the lubrication.
- one of the through holes is arranged in the lubrication chamber at the bottom of the lubrication chamber so as to be available as an oil drain hole.
- a position equal to or above the liquid level of the lubricant when the required amount of the lubricant is stored is available as a ventilation hole, and any of the remaining through holes is provided in the lubrication chamber. It is a robot placed in a position that can be used as a lubrication hole for supplying a lubricant.
- the robot 1 according to the embodiment of the present disclosure will be described below with reference to the drawings.
- the robot 1 according to the present embodiment is, for example, a vertical articulated robot as shown in FIG. 1, and has a base 2 installed on an installed surface and a first axis extending in a direction orthogonal to the installed surface.
- a swivel cylinder 3 rotatably supported with respect to the base 2 is provided around J1.
- the robot 1 is attached to the first arm (first member) 4 rotatably supported by the swivel cylinder 3 around the second axis J2 extending in the direction orthogonal to the first axis J1 and the second axis J2.
- a second arm (second member) 5 rotatably supported with respect to the first arm 4 is provided around a parallel third axis J3.
- the robot 1 is provided with a 3-axis wrist unit 6 at the tip of the second arm 5.
- the joint A includes a servomotor 10 for driving the second arm 5 with respect to the first arm 4 and a speed reducer 20.
- a servomotor 10 is fixed to the first arm 4, and a speed reducer 20 is fixed between the first arm 4 and the second arm 5.
- the first arm 4 is provided with a lubrication chamber 40.
- a gear 11 that transmits the power of the servo motor 10
- a bearing 12 that rotatably supports the gear 11 to the first arm 4, and a fluid lubricating material such as oil for lubricating the speed reducer 20 are provided. 41 is stored.
- FIG. 2 shows an example of a vertical cross section of the lubrication chamber 40 when the robot 1 is in the posture of FIG. 1 cut by a cut surface extending in the vertical direction.
- the lubrication chamber 40 is defined by a tubular peripheral wall (wall surface) 40a and a pair of end walls (wall surfaces) 40b, 40c that close both ends of the peripheral wall 40a in the axial direction.
- the lubrication chamber 40 is provided with three through holes 43a, 43b, 43c that communicate the inside of the lubrication chamber 40 with the external space.
- Both the through holes 43a and 43b are formed so as to penetrate the peripheral wall 40a of the lubrication chamber 40 in the radial direction.
- the through hole 43a is arranged at the lowermost position of the lubrication chamber 40 when the robot 1 is in the posture shown in FIG.
- the through hole 43b is arranged at a position different from the through hole 43a by a predetermined angle ⁇ (see FIG. 3) in the circumferential direction.
- the through hole 43c is formed so as to penetrate the end wall 40b of the lubrication chamber 40 in the plate thickness direction.
- the through hole 43c is arranged at a position equal to the liquid level 41a when the required amount of the lubricating material 41 is stored in the lubricating chamber 40.
- the required amount is an amount capable of sufficiently lubricating the gear 11, the bearing 12, and the speed reducer 20 inside the lubrication chamber 40, and is, for example, 70 to 80% of the volume of the lubrication chamber 40.
- the remaining 30-20% is filled with a gas such as air or an inert gas.
- the position equal to the liquid level 41a means a position where the lower edge of the through hole 43c coincides with the liquid level 41a of the required amount of the lubricant 41, as shown in FIG.
- the internal space of the lubrication chamber 40 has a simple columnar shape as shown in FIGS. 3 to 5.
- the three through holes 43a, 43b, and 43c are arranged at the above-mentioned positions, respectively, as shown in FIG.
- the robot 1 rotates the first arm 4 around the second axis J2 with respect to the swivel cylinder 3 by a predetermined angle ⁇ from the posture of FIG. 1, the posture of the lubrication chamber 40 changes as shown in FIG. Then, the through hole 43b moves to the lowermost position of the lubrication chamber 40. At this time, the through hole 43c also moves by a predetermined angle ⁇ , but is maintained at the same position as the liquid level 41a when the required amount of the lubricant 41 is stored in the lubricating chamber 40 even after the movement.
- the lubrication chamber 40 can take a posture in which the through hole 43c is arranged at the lowest position as shown in FIG. At this time, at least one of the two through holes 43a and 43b arranged in the peripheral wall 40a is arranged at a position equal to the liquid level 41a when the required amount of the lubricant 41 is stored in the lubricating chamber 40. Just do it.
- each of the through holes 43a, 43b, 43c is formed with a female screw (not shown) for detachably fastening a plug 44 or a nipple with a check valve for refueling (not shown).
- the through holes 43a, 43b, 43c are closed by fastening the plug 44 or the nipple, while the inside of the lubrication chamber 40 can be opened to the atmosphere by removing the plug 44 or the nipple.
- the robot 1 is set to the posture shown in FIG. 1 and fastened to the through holes 43a and 43c. Remove the plug 44. Since the through hole 43a is arranged at the lowermost position of the lubrication chamber 40, it functions as an oil drain hole by removing the plug 44. Since the parts other than the lower edge of the through hole 43c are arranged above the liquid level 41a of the lubricant 41, by removing the plug 44, the outside air functions as a ventilation hole for taking in the outside air into the lubrication chamber 40.
- the old lubricant 41 in the lubrication chamber 40 is taken in from the through hole 43a while taking in the outside air into the lubrication chamber 40 via the through hole 43c. It can be discharged smoothly by gravity. Then, almost all of the lubricant 41 stored in the lubrication chamber 40 can be easily discharged from the through hole 43a located at the lowermost position of the lubrication chamber 40.
- the plug 44 is attached to the through hole 43a used as the oil drain hole and closed while the through hole 43c used as the ventilation hole is left open.
- the plug 44 attached to the through hole 43b is replaced with a lubrication nipple, a lubrication device such as an oil gun is connected to the replaced nipple, and a new lubricant 41 is lubricated in the lubrication chamber 40.
- the air filling the lubricating chamber 40 is pushed by the lubricating material 41 and discharged to the outside via the through hole 43c.
- the liquid level 41a of the lubricating material 41 reaches the position of the through hole 43c, and the lubricating material 41 slightly overflows from the through hole 43c.
- the refueling operator can confirm that the lubricating chamber 40 is filled with the required amount of the lubricating material 41.
- the lubricating chamber 40 can be filled with the new lubricating material 41 in just proportion.
- the robot 1 there is an advantage that the lubricant 41 can be replaced even in a posture in which the first arm 4 is rotated by a predetermined angle ⁇ from the posture shown in FIG. That is, in this case, since the lubrication chamber 40 is in the posture shown in FIG. 4, the through hole 43b arranged at the lowermost position of the lubrication chamber 40 is used as an oil drain hole, and the through hole 43c is a ventilation hole and penetrates.
- the hole 43a can be used as a lubrication hole.
- the replacement work of the lubricant 41 can be performed in a plurality of different postures. Therefore, even if it is difficult to take one posture for the replacement work due to interference between the robot 1 or the mounted tool and the surrounding members, the replacement work should be smoothly performed by the other posture. Can be done.
- the lubrication chamber 40 can take the posture shown in FIG. 5, and the through hole 43c is used as an oil drain hole and a through hole 43a.
- the same effect as described above can be obtained.
- Oil holes and ventilation holes can be arranged in appropriate positions. Therefore, in a plurality of postures in which the posture of the lubricating chamber 40 is changed, it is possible to reliably drain the lubricating material 41 in the lubricating chamber 40 and supply a required amount of oil.
- the through holes used as the ventilation holes are all arranged at positions equal to the liquid level 41a when the required amount of the lubricant 41 is stored.
- the through hole used as the ventilation hole may be arranged above the liquid level 41a when the required amount of the lubricant 41 is stored.
- the through hole used as the oil drain hole is arranged at the lowermost position of the lubrication chamber 40
- the through hole used as the oil supply hole is larger than the through hole used as the ventilation hole. It may be arranged above.
- the liquid level 41a of the lubricant 41 stored in the lubricating chamber 40 does not exceed the height of the ventilation hole at the time of refueling, so that the liquid level 41a of the lubricant 41 is higher than the ventilation hole. It does not reach the height of the lubrication hole located above. Therefore, refueling can be performed without attaching a nipple with a check valve or the like to the refueling hole in the state where the plug 44 is removed and opened, and the workability of the refueling work can be improved.
- the lubrication chamber 40 is substantially columnar, but instead, it may have a substantially rectangular parallelepiped shape as shown in FIGS. 6 and 7, or any other shape.
- the through holes 43a, 43b, and 43c are provided one by one on three planes orthogonal to each other in the lubrication chamber 40. Further, when any of the through holes 43a, 43b, and 43c is arranged at the lowest position, at least one of the remaining through holes is the liquid level when the required amount of the lubricant 41 is stored in the lubricating chamber 40. It is arranged at a position equal to 41a.
- through holes 43a and 43c are provided in a pair of side wall surfaces 40a ′ and 40c ′ parallel to each other, respectively, and the sides are arranged orthogonally between the side wall surfaces 40a ′ and 40c ′.
- the wall surface (bottom surface) 40b' is provided with two through holes 43b and 43b'.
- the through hole 43b is arranged at a position equal to the liquid level 41a when the required amount of the lubricant 41 is stored in the lubrication chamber 40 in the posture in which the through hole 43c is arranged at the lowermost position of the lubrication chamber 40.
- the through hole 43b' is arranged at a position equal to the liquid level 41a when the required amount of the lubricant 41 is stored in the lubrication chamber 40 in the posture in which the through hole 43a is arranged at the lowermost position of the lubrication chamber 40. There is.
- the through hole used as the ventilation hole can be different depending on whether the through hole 43a is used as the oil drain hole or the through hole 43c is used as the oil drain hole, and is set on the side wall surface 40b'. It is possible to increase the degree of freedom in arranging the through holes 43b and 43b'.
- the required amount of the lubricant 41 stored in the lubrication chamber 40 is different from each other in each posture of the lubrication chamber 40 in which any of the through holes 43a, 43b, 43c is arranged at the lowest position. May be.
- the required amount of the lubricant 41 stored in the lubrication chamber 40 can sufficiently lubricate the gear 11, the bearing 12, and the speed reducer 20 in the lubrication chamber 40, respectively, according to the posture of the lubrication chamber 40. It may be set to the amount to be used.
- the joint A that rotates the second arm 5 with respect to the first arm 4 has been described as an example, but the same structure may be applied to other joints.
- a vertical articulated robot is exemplified as the robot 1, but instead of this, a tool (robot) 50 as shown in FIG. 8 attached to the tip of the wrist unit 6 of the robot 1 is attached. May be applied to.
- the tool 50 includes a rectangular parallelepiped base 51, a pair of guide rails 52 fixed to the base 51, a slider 53 movably supported along the guide rail 52, and a slider 53. It is provided with a drive mechanism 60 for driving.
- the slider 53 is detachably attached to the tip of the wrist unit 6 of the robot 1.
- the drive mechanism 60 includes a rack gear 54 fixed to the base 51, a pinion gear 61 that meshes with the rack gear 54, a servomotor 62 that generates a driving force, and a speed reducer 63 that reduces the rotation of the servomotor 62 and transmits it to the pinion gear 61. And have.
- the servomotor 62 is fixed to a rectangular parallelepiped housing 64 forming a lubrication chamber (not shown), and the reduction mechanism of the speed reducer 63 is housed in the lubrication chamber in the housing 64.
- the housing 64 is provided with through holes 65a, 65b, 65c for communicating the lubrication chamber in the housing 64 with the external space, and the through holes 65a, 65b, 65c are provided according to the posture of the tool 50, respectively. It is located in a position that can be used in any of the lubrication holes, oil drain holes, and ventilation holes.
- the through hole 65a arranged at the lowermost part of the housing 64 is used as an oil drain hole, and one of the remaining through holes 65b and 65c is a ventilation hole. The other is used as a refueling hole. This makes it possible to replace the lubricant (not shown) in the lubrication chamber.
- the through hole 65c since the through hole 65c is arranged at the lowermost position of the housing 64, the through hole 65c is used as an oil drain hole and the through hole 65a is passed through.
- the pores and through holes 65b may be used as oil supply holes.
- the lubricant material is used. Can be easily replaced.
- the lubrication chamber 40 is provided in the first arm 4, but instead, as shown in FIG. 10, the lubrication chamber 40 is provided in the first arm 4 and the second arm 5. It may be provided straddling and.
- through holes 43b and 43c are provided on the first arm 4 side, and through holes 43a are provided on the second arm 5 side. Therefore, as shown in FIG. 11, when the posture of the second arm 5 with respect to the first arm 4 is changed by 90 ° around the third axis J3, the through holes 43b and 43c do not move and penetrate. Only the hole 43a moves. Further, the through holes 43a before and after the movement are all arranged at positions equal to the liquid level 41a when the required amount of the lubricating material 41 is stored in the lubricating chamber 40.
- the replacement work of the lubricating material 41 is appropriately performed for a plurality of different postures of the lubricating chamber 40. Can be carried out.
- a through hole 43b that is arranged at a position that can be used as an oil supply hole is provided.
- the through hole 43a that can be used as the oil drain hole may be used as the oil supply hole by attaching a nipple with a check valve after the oil is drained.
- the number of through holes 43a and 43c provided in the lubrication chamber 40 may be two or more.
- Robot 4 1st arm (1st member) 5 2nd arm (2nd member) 40 Lubrication chamber 40a Circumferential wall (wall surface) 40b, 40c end wall (wall surface) 40a', 40c' Side wall surface 40b' Side wall surface (bottom surface) 41 Lubricant 41a Liquid level 43a, 43b, 43b', 43c Through hole 50 Tool (robot) 65a, 65b, 65c through hole
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
特許文献1のロボットには、床面に設置された状態で潤滑材の交換をした場合に、潤滑室内の古い潤滑材を排出する端面排油ポートと、潤滑室に注入された新しい潤滑材のうち所定量を超えた分を排出する側面排油ポートとが設けられている。
したがって、潤滑室の姿勢が変更された状態で給排油が行われる場合であっても、潤滑室内の古い潤滑材の新しい潤滑材への入れ替えを容易にすることが望まれている。
本実施形態に係るロボット1は、例えば、図1に示されるような垂直多関節型ロボットであって、被設置面に設置されるベース2と、被設置面に直交する方向に延びる第1軸線J1回りにベース2に対して回転可能に支持された旋回胴3とを備えている。
関節Aは、図2に示されるように、第1アーム4に対して第2アーム5を駆動するサーボモータ10および減速機20を備えている。
潤滑室40には、潤滑室40の内部と外部空間とを連通させる3つの貫通孔43a,43b,43cが設けられている。
ロボット1が図1の姿勢をとっているときには、図3に示されるように、3つの貫通孔43a,43b,43cは、それぞれ上述した位置に配置される。
各貫通孔43a,43b,43cは、プラグ44またはニップルを締結することにより閉塞される一方、プラグ44またはニップルを取り外すことにより、潤滑室40内を大気開放することができる。
本実施形態に係るロボット1の関節Aに設けられた潤滑室40における潤滑材41を交換するには、ロボット1を図1に示される姿勢に設定し、貫通孔43a,43cに締結されているプラグ44を取り外す。貫通孔43aは潤滑室40の最下位に配置されているので、プラグ44を取り外すことにより排油孔として機能する。貫通孔43cの下縁以外は潤滑材41の液位41aよりも上方に配置されているので、プラグ44を取り外すことにより、外気を潤滑室40内に取り込むための通気孔として機能する。
すなわち、この場合には、潤滑室40は図4に示される姿勢となるので、潤滑室40の最下位に配置される貫通孔43bを排油孔として利用し、貫通孔43cを通気孔、貫通孔43aを給油孔として利用することができる。
このように配置すると、給油時に、潤滑室40に貯留される潤滑材41の液位41aが、通気孔の高さを超えることがないので、潤滑材41の液位41aは、通気孔よりも上方に配置される給油孔の高さには達しない。
このため、プラグ44を取り外して開放された状態の給油孔に、逆止弁付きのニップル等を装着することなく給油を行うことができ、給油作業の作業性を向上することができる。
図6に示す例では、貫通孔43a,43b,43cは、潤滑室40の互いに直交する3面に1つずつ設けられている。また、各貫通孔43a,43b,43cのいずれが最下位に配置された場合にも、残りの貫通孔の少なくとも一方が、潤滑室40に必要量の潤滑材41が貯留されたときの液位41aに等しい位置に配置されている。
貫通孔43bは、潤滑室40の最下位に貫通孔43cを配置する姿勢において、潤滑室40に必要量の潤滑材41が貯留されたときの液位41aに等しい位置に配置されている。また、貫通孔43b′は、潤滑室40の最下位に貫通孔43aを配置する姿勢において、潤滑室40に必要量の潤滑材41が貯留されたときの液位41aに等しい位置に配置されている。
この場合には、潤滑室40に貯留される潤滑材41の必要量は、潤滑室40の姿勢に応じて、それぞれ潤滑室40内のギヤ11、ベアリング12および減速機20を十分に潤滑可能とする量に設定されればよい。
駆動機構60は、ベース51に固定されたラックギヤ54と、ラックギヤ54に噛み合うピニオンギヤ61と、駆動力を発生するサーボモータ62と、サーボモータ62の回転を減速してピニオンギヤ61に伝達する減速機63とを備えている。
ハウジング64には、ハウジング64内の潤滑室と外部空間とを連通させる貫通孔65a,65b,65cが設けられており、各貫通孔65a,65b,65cは、ツール50の姿勢に応じて、それぞれ給油孔、排油孔および通気孔のいずれかに利用可能な位置に配置されている。
また、ツール50が図9に示される姿勢をとった場合には、ハウジング64の最下位には貫通孔65cが配置されるので、貫通孔65cを排油孔として利用し、貫通孔65aを通気孔、貫通孔65bを給油孔として利用すればよい。これにより、ツール50をロボット1の手首ユニット6に取り付けた状態、あるいは、手首ユニット6から取り外されて収納場所に収納されている状態等、ツール50が異なる姿勢に配置されていても、潤滑材の交換作業を容易に行うことができる。
4 第1アーム(第1部材)
5 第2アーム(第2部材)
40 潤滑室
40a 周壁(壁面)
40b,40c 端壁(壁面)
40a´,40c´ 側壁面
40b´ 側壁面(底面)
41 潤滑材
41a 液位
43a,43b,43b´,43c 貫通孔
50 ツール(ロボット)
65a,65b,65c 貫通孔
Claims (7)
- 流動性の潤滑材を貯留可能な潤滑室を備え、
該潤滑室に、該潤滑室の壁面を貫通する3以上の貫通孔が設けられ、
該貫通孔は、前記潤滑室の2以上の姿勢において、いずれか一の前記貫通孔が前記潤滑室の最下位に、排油孔として利用可能に配置された状態において、他の一の前記貫通孔が、前記潤滑室に前記潤滑材が必要量貯留されたときの該潤滑材の液位に等しい位置あるいはそれよりも上方に通気孔として利用可能に配置され、残りのいずれかの前記貫通孔が、前記潤滑室に前記潤滑材を供給する給油孔として利用可能な位置に配置されるロボット。 - 前記他の一の前記貫通孔が、前記潤滑室に前記潤滑材が必要量貯留されたときの該潤滑材の液位に等しい位置に配置されている請求項1に記載のロボット。
- 各前記貫通孔が、排油孔、給油孔および通気孔のいずれにも利用可能であり、
いずれの一の前記貫通孔が前記潤滑室の最下位に配置され排油孔として利用される姿勢に、前記潤滑室が配置された場合にも、
他の一の前記貫通孔が、給油孔として利用可能な位置に配置され、
残りのいずれかの前記貫通孔が、通気孔として利用可能な位置に配置される請求項1または請求項2に記載のロボット。 - 前記潤滑室が、相互に平行な一対の側壁面と、該側壁面に直交する底面とを備え、
一対の前記側壁面に、それぞれ1以上の前記貫通孔が形成され、
前記底面に、2以上の前記貫通孔が形成される請求項3に記載のロボット。 - 前記潤滑室が、第1部材と水平回転軸線回りに前記第1部材に対して回転可能に支持される第2部材とにより囲まれて構成され、
前記第1部材に、排油孔となる前記貫通孔が設けられ、
前記第2部材に、通気孔となる前記貫通孔が設けられている請求項1または請求項2に記載のロボット。 - 前記他の一の前記貫通孔が、前記残りのいずれかの前記貫通孔よりも上方に配置される請求項3に記載のロボット。
- 流動性の潤滑材を貯留可能な潤滑室を備え、
該潤滑室に、該潤滑室の壁面を貫通する2以上の貫通孔が設けられ、
該貫通孔は、前記潤滑室の2以上の姿勢において、いずれか一の前記貫通孔が前記潤滑室の最下位に、排油孔として利用可能に配置された状態において、他の一の前記貫通孔が、前記潤滑室に前記潤滑材が必要量貯留されたときの該潤滑材の液位に等しい位置あるいはそれよりも上方に通気孔として利用可能に配置されるロボット。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112021004985.2T DE112021004985T5 (de) | 2020-11-30 | 2021-11-26 | Roboter |
CN202180078466.1A CN116472149A (zh) | 2020-11-30 | 2021-11-26 | 机器人 |
JP2022565429A JPWO2022114093A1 (ja) | 2020-11-30 | 2021-11-26 | |
US18/036,840 US20230405847A1 (en) | 2020-11-30 | 2021-11-26 | Robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020-198401 | 2020-11-30 | ||
JP2020198401 | 2020-11-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022114093A1 true WO2022114093A1 (ja) | 2022-06-02 |
Family
ID=81754368
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/043309 WO2022114093A1 (ja) | 2020-11-30 | 2021-11-26 | ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230405847A1 (ja) |
JP (1) | JPWO2022114093A1 (ja) |
CN (1) | CN116472149A (ja) |
DE (1) | DE112021004985T5 (ja) |
TW (1) | TW202222514A (ja) |
WO (1) | WO2022114093A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6229291U (ja) * | 1985-08-02 | 1987-02-21 | ||
JP2018034268A (ja) * | 2016-08-31 | 2018-03-08 | ファナック株式会社 | 関節構造およびロボット |
JP2019034383A (ja) * | 2017-08-18 | 2019-03-07 | 株式会社安川電機 | ロボット及びロボットシステム |
JP2020116716A (ja) * | 2019-01-28 | 2020-08-06 | ファナック株式会社 | ロボット |
JP2020121350A (ja) * | 2019-01-29 | 2020-08-13 | ファナック株式会社 | ロボット |
JP2020190317A (ja) * | 2019-05-23 | 2020-11-26 | ナブテスコ株式会社 | 減速機の内圧上昇抑制構造 |
-
2021
- 2021-11-26 TW TW110144292A patent/TW202222514A/zh unknown
- 2021-11-26 WO PCT/JP2021/043309 patent/WO2022114093A1/ja active Application Filing
- 2021-11-26 DE DE112021004985.2T patent/DE112021004985T5/de active Pending
- 2021-11-26 JP JP2022565429A patent/JPWO2022114093A1/ja active Pending
- 2021-11-26 CN CN202180078466.1A patent/CN116472149A/zh active Pending
- 2021-11-26 US US18/036,840 patent/US20230405847A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6229291U (ja) * | 1985-08-02 | 1987-02-21 | ||
JP2018034268A (ja) * | 2016-08-31 | 2018-03-08 | ファナック株式会社 | 関節構造およびロボット |
JP2019034383A (ja) * | 2017-08-18 | 2019-03-07 | 株式会社安川電機 | ロボット及びロボットシステム |
JP2020116716A (ja) * | 2019-01-28 | 2020-08-06 | ファナック株式会社 | ロボット |
JP2020121350A (ja) * | 2019-01-29 | 2020-08-13 | ファナック株式会社 | ロボット |
JP2020190317A (ja) * | 2019-05-23 | 2020-11-26 | ナブテスコ株式会社 | 減速機の内圧上昇抑制構造 |
Also Published As
Publication number | Publication date |
---|---|
CN116472149A (zh) | 2023-07-21 |
US20230405847A1 (en) | 2023-12-21 |
JPWO2022114093A1 (ja) | 2022-06-02 |
TW202222514A (zh) | 2022-06-16 |
DE112021004985T5 (de) | 2023-07-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5683988B2 (ja) | ロボット | |
JP2019034383A (ja) | ロボット及びロボットシステム | |
TWI596294B (zh) | Lubricant injection system | |
DE3606963C2 (ja) | ||
EP3275601B1 (en) | Gear device and robot | |
WO2022114093A1 (ja) | ロボット | |
JP2020041562A (ja) | ロボットアーム | |
JP2015028368A (ja) | 歯車伝動装置 | |
JP2004225732A (ja) | 歯車装置および電子回路部品装着機 | |
JP6360122B2 (ja) | 排液機構、及び排液機構を備えた工作機械 | |
JP5278030B2 (ja) | 反転テーブル装置の潤滑方法及びその潤滑システム | |
CN114809142B (zh) | 一种深基坑垂直挖土装置 | |
TW202300306A (zh) | 潤滑材料油浴結構及機器人 | |
JPH03504470A (ja) | 少なくとも1個の加工ユニットを備えるモジュール構造の工作機械 | |
TWI830130B (zh) | 具備潤滑室之機械 | |
JP2010091035A (ja) | ガスバランサ | |
JPH0546864Y2 (ja) | ||
CN214289064U (zh) | 一种数控龙门用自动润滑装置 | |
JP7406431B2 (ja) | 減速装置 | |
JP6511802B2 (ja) | 工作機械 | |
JP7058205B2 (ja) | 回転工具装置及び工作機械 | |
CN212887606U (zh) | 一种多轴机械手固定用旋转底座 | |
CN213682020U (zh) | 液压自动抓梁 | |
JPH076188Y2 (ja) | 振動杭打抜装置 | |
JPH03104591A (ja) | 3つの回転軸を有するロボットハンド |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21898065 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2022565429 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180078466.1 Country of ref document: CN |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21898065 Country of ref document: EP Kind code of ref document: A1 |