JP4903719B2 - 関節機構 - Google Patents
関節機構 Download PDFInfo
- Publication number
- JP4903719B2 JP4903719B2 JP2007553962A JP2007553962A JP4903719B2 JP 4903719 B2 JP4903719 B2 JP 4903719B2 JP 2007553962 A JP2007553962 A JP 2007553962A JP 2007553962 A JP2007553962 A JP 2007553962A JP 4903719 B2 JP4903719 B2 JP 4903719B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- cylinder
- speed reducer
- piston
- base
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 35
- 239000010687 lubricating oil Substances 0.000 claims description 28
- 230000006378 damage Effects 0.000 abstract description 2
- 239000000314 lubricant Substances 0.000 abstract 3
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 abstract 1
- 230000000452 restraining effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 9
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000011109 contamination Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 239000000843 powder Substances 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- 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
-
- 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
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Seal Device For Vehicle (AREA)
- Chair Legs, Seat Parts, And Backrests (AREA)
- General Details Of Gearings (AREA)
Description
図1に示すように、アーム6が反時計方向に揺動されると、アーム6に連結されたピストンロッド9を介してピストン8が左方向に移動され、シリンダー7内部の左室7aに充填されていた潤滑油が配管11aを通り減速機2aへ送給され、減速機2aの潤滑油が配管11bを通りシリンダー7内部の右室7aに充填される。
Claims (2)
- 基台、該基台上に設けられ回転する旋回台、および下端部が該旋回台に揺動可能に支承されたアームからなる関節機構において、前記基台内に前記旋回台を回転させる減速機が設けられ、前記旋回台上に揺動可能に支承されるとともに潤滑油が充填されたシリンダー、該シリンダー内を長手方向に摺動可能に密封状に設けられたピストン、および一端部が該ピストンに連結され他端部が前記アームに連結されたピストンロッドが設けられ、前記減速機と前記シリンダーとが連結されて該減速機の潤滑油が前記シリンダーに導入される関節機構。
- 前記シリンダーのアーム側端面と前記ピストンとの間に該ピストンを反アーム側へ付勢するスプリングが設けられ、該シリンダー、該ピストン、前記ピストンロッドおよび前記スプリングによりカウンターバランスシステムが構成されている請求項1に記載の関節機構。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007553962A JP4903719B2 (ja) | 2006-01-13 | 2007-01-12 | 関節機構 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006005617 | 2006-01-13 | ||
JP2006005617 | 2006-01-13 | ||
PCT/JP2007/050358 WO2007080988A1 (ja) | 2006-01-13 | 2007-01-12 | 関節機構 |
JP2007553962A JP4903719B2 (ja) | 2006-01-13 | 2007-01-12 | 関節機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2007080988A1 JPWO2007080988A1 (ja) | 2009-06-11 |
JP4903719B2 true JP4903719B2 (ja) | 2012-03-28 |
Family
ID=38256392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007553962A Active JP4903719B2 (ja) | 2006-01-13 | 2007-01-12 | 関節機構 |
Country Status (8)
Country | Link |
---|---|
US (1) | US7971503B2 (ja) |
EP (1) | EP1974873B1 (ja) |
JP (1) | JP4903719B2 (ja) |
KR (1) | KR101233960B1 (ja) |
CN (1) | CN101374637B (ja) |
AT (1) | ATE461017T1 (ja) |
DE (1) | DE602007005345D1 (ja) |
WO (1) | WO2007080988A1 (ja) |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5145099B2 (ja) * | 2008-03-28 | 2013-02-13 | ナブテスコ株式会社 | シール付き装置 |
FR2930905B1 (fr) * | 2008-05-09 | 2010-10-01 | Bia | Cheville pour robot humanoide |
KR100981437B1 (ko) | 2008-07-24 | 2010-09-13 | 한국기계연구원 | 산업용 다관절 로봇의 스프링밸런서 설치방법 |
DE102009053032B4 (de) * | 2009-11-12 | 2019-07-18 | Kuka Deutschland Gmbh | Manipulator mit einer frei tragende Arme aufweisenden Gewichtsausgleichsvorrichtung |
JP5381854B2 (ja) * | 2010-03-26 | 2014-01-08 | 株式会社安川電機 | 産業用ロボット |
US8621954B1 (en) * | 2010-06-04 | 2014-01-07 | University Of Washington Through Its Center For Commercialization | Systems and methods for gravity compensation |
TWI474903B (zh) * | 2010-09-01 | 2015-03-01 | Hon Hai Prec Ind Co Ltd | 機器人及機器人臂部件 |
JP2013255966A (ja) * | 2012-06-13 | 2013-12-26 | Olympus Corp | 自重補償付き直動機構、操作入力装置、及び手術支援システム |
TWI483820B (zh) * | 2012-12-21 | 2015-05-11 | Hiwin Tech Corp | Parallel joint structure of the robot |
JP2014181767A (ja) * | 2013-03-19 | 2014-09-29 | Yaskawa Electric Corp | 駆動機構およびロボット |
US10807805B2 (en) | 2013-05-17 | 2020-10-20 | Intelligrated Headquarters, Llc | Robotic carton unloader |
US9650215B2 (en) | 2013-05-17 | 2017-05-16 | Intelligrated Headquarters Llc | Robotic carton unloader |
EP3495293B1 (en) | 2013-05-17 | 2023-05-03 | Intelligrated Headquarters LLC | Robotic carton unloader |
US9555982B2 (en) | 2013-08-28 | 2017-01-31 | Intelligrated Headquarters Llc | Robotic carton unloader |
KR101683526B1 (ko) * | 2015-02-12 | 2016-12-07 | 현대자동차 주식회사 | 중력 보상 링키지 유니트 |
CN106313099B (zh) * | 2015-07-02 | 2019-07-26 | 联想(北京)有限公司 | 一种关节装置及电子设备 |
JP6645062B2 (ja) * | 2015-07-27 | 2020-02-12 | セイコーエプソン株式会社 | ロボット |
DE112017004070B4 (de) | 2016-09-14 | 2022-04-28 | Intelligrated Headquarters, Llc | Roboterkartonentlader |
US10597235B2 (en) | 2016-10-20 | 2020-03-24 | Intelligrated Headquarters, Llc | Carton unloader tool for jam recovery |
CN106584511A (zh) * | 2016-12-30 | 2017-04-26 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种用于俯仰关节的重力平衡装置 |
WO2018120137A1 (zh) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | 用于工业机器人的平衡***及工业机器人 |
CN109807928B (zh) * | 2017-11-21 | 2021-08-31 | 沈阳新松机器人自动化股份有限公司 | 一种内循环式润滑自清洁机构 |
CN109807926B (zh) * | 2017-11-21 | 2021-10-15 | 沈阳新松机器人自动化股份有限公司 | 一种被动摆锤式润滑自清洁机构 |
SK8191Y1 (sk) * | 2017-12-08 | 2018-09-03 | Histogram S R O | Spôsob filtrácie prevodových náplní v priemyselnom robote a priemyselný robot s filtráciou prevodových náplní |
CN107984492A (zh) * | 2017-12-09 | 2018-05-04 | 柳州通亿汽车配件制造有限公司 | 一种流畅度较高的机器人关节装置 |
JP6823007B2 (ja) | 2018-04-27 | 2021-01-27 | ファナック株式会社 | パラレルリンクロボット |
JP6992712B2 (ja) * | 2018-09-07 | 2022-01-13 | トヨタ自動車株式会社 | ロボットアーム |
JP6978450B2 (ja) * | 2019-01-29 | 2021-12-08 | ファナック株式会社 | ロボット |
CN112045716A (zh) * | 2020-08-25 | 2020-12-08 | 高上杰 | 一种智能装卸工业机器人 |
CN113479274B (zh) * | 2021-08-19 | 2022-07-22 | 安徽理工大学 | 一种具有被动柔性膝关节的液压足式机器人单腿机构 |
CN114407031B (zh) * | 2021-12-30 | 2024-05-17 | 重庆特斯联智慧科技股份有限公司 | 一种工业机器人 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001225293A (ja) * | 2000-02-16 | 2001-08-21 | Yaskawa Electric Corp | 産業用ロボット用重力バランサおよび産業用ロボット |
JP2004160634A (ja) * | 2002-11-14 | 2004-06-10 | Como Spa | 産業ロボット |
JP2005319550A (ja) * | 2004-05-10 | 2005-11-17 | Rorze Corp | バランサ装置及びこれを備えた装置、垂直回動型ロボット、薄板状物製造設備 |
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US2893353A (en) * | 1954-08-13 | 1959-07-07 | Gen Motors Corp | Three position actuator cylinder |
DE2841183C2 (de) * | 1978-09-22 | 1982-07-15 | Industrie-Werke Karlsruhe Augsburg AG Zweigniederlassung Keller & Knappich Augsburg, 8900 Augsburg | Handhabungsgerät mit einem Auslegerarm |
US4378959A (en) * | 1979-06-13 | 1983-04-05 | Thermwood Corporation | Apparatus for performing work functions |
JPS59167486A (ja) | 1983-03-14 | 1984-09-20 | トラルフア・エ−/エス | 水平ア−ム用バネバランス機構 |
US5220849A (en) * | 1990-06-04 | 1993-06-22 | Akr S.A., A Corp. Of Republic Of France | Gravitational torque compensation system for robot arms |
JP3625090B2 (ja) | 1995-09-20 | 2005-03-02 | 株式会社安川電機 | 多関節ロボットの駆動モータ冷却機構 |
JPH11262889A (ja) | 1998-03-17 | 1999-09-28 | Mitsubishi Heavy Ind Ltd | 産業用多関節ロボット |
CN1265944C (zh) * | 2003-03-13 | 2006-07-26 | 重庆大学 | 机器人液螺横关节 |
CN101375082B (zh) | 2006-01-13 | 2011-09-14 | 纳博特斯克株式会社 | 偏心摆动型减速器 |
-
2007
- 2007-01-12 US US12/160,800 patent/US7971503B2/en active Active
- 2007-01-12 KR KR1020087016651A patent/KR101233960B1/ko active IP Right Grant
- 2007-01-12 AT AT07706700T patent/ATE461017T1/de not_active IP Right Cessation
- 2007-01-12 DE DE602007005345T patent/DE602007005345D1/de active Active
- 2007-01-12 WO PCT/JP2007/050358 patent/WO2007080988A1/ja active Application Filing
- 2007-01-12 JP JP2007553962A patent/JP4903719B2/ja active Active
- 2007-01-12 EP EP07706700A patent/EP1974873B1/en active Active
- 2007-01-12 CN CN2007800031402A patent/CN101374637B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001225293A (ja) * | 2000-02-16 | 2001-08-21 | Yaskawa Electric Corp | 産業用ロボット用重力バランサおよび産業用ロボット |
JP2004160634A (ja) * | 2002-11-14 | 2004-06-10 | Como Spa | 産業ロボット |
JP2005319550A (ja) * | 2004-05-10 | 2005-11-17 | Rorze Corp | バランサ装置及びこれを備えた装置、垂直回動型ロボット、薄板状物製造設備 |
Also Published As
Publication number | Publication date |
---|---|
EP1974873B1 (en) | 2010-03-17 |
EP1974873A4 (en) | 2009-03-18 |
CN101374637A (zh) | 2009-02-25 |
US20100154579A1 (en) | 2010-06-24 |
DE602007005345D1 (de) | 2010-04-29 |
ATE461017T1 (de) | 2010-04-15 |
EP1974873A1 (en) | 2008-10-01 |
US7971503B2 (en) | 2011-07-05 |
CN101374637B (zh) | 2011-04-20 |
KR20080082972A (ko) | 2008-09-12 |
WO2007080988A1 (ja) | 2007-07-19 |
JPWO2007080988A1 (ja) | 2009-06-11 |
KR101233960B1 (ko) | 2013-02-22 |
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