JP5406644B2 - 旋回装置 - Google Patents
旋回装置 Download PDFInfo
- Publication number
- JP5406644B2 JP5406644B2 JP2009211214A JP2009211214A JP5406644B2 JP 5406644 B2 JP5406644 B2 JP 5406644B2 JP 2009211214 A JP2009211214 A JP 2009211214A JP 2009211214 A JP2009211214 A JP 2009211214A JP 5406644 B2 JP5406644 B2 JP 5406644B2
- Authority
- JP
- Japan
- Prior art keywords
- case
- stopper member
- stopper
- turning device
- rotating member
- 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.)
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- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008569 process Effects 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H2035/006—Gearings or mechanisms for stopping or limiting movement, e.g. stopping a movement after few turns
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- General Details Of Gearings (AREA)
Description
(特徴1)旋回装置は、複数の関節を有する産業用ロボットの第1関節を駆動する。第1関節は、産業用ロボットの複数の関節のうち、最も基部側に位置する関節である。
(特徴2)旋回装置は、偏心揺動型の歯車伝動装置である。
(特徴3)旋回装置は、ケースと、ケースに回転可能に支持されている回転部材を備える。回転部材は、基部側の固定部材に取付けられている。ケースは、旋回装置を挟んで基部とは反対側に設けられている被旋回部材に取付けられている。
4:回転部材
12:ボルト
32:ボルト孔
34:突条部
36:溝
102:回転部材の軸線
108:ストッパ部材
110:旋回装置
Claims (2)
- ケースと、そのケースに対して相対回転する回転部材と、ケースに対する回転部材の旋回範囲を制限するストッパ部材とを備える旋回装置であって、
前記ケースに、回転部材の軸線方向に延びる複数の溝が、回転部材の軸線と同心の円弧に沿って並ぶように形成されており、
前記ケースを固定するためのボルトが通過する第1ボルト孔が、隣り合う2つの溝を画定する突条部の夫々に形成されており、
前記ストッパ部材は、固定部と挿入部を備えており、
固定部には、隣り合う突条部に形成されている2個の第1ボルト孔のピッチと同じピッチの2個の第2ボルト孔が形成されており、
挿入部の一部が前記溝に嵌合しており、
前記ケースを固定するためのボルトによって、前記ストッパ部材が前記ケースに固定されている旋回装置。 - 前記複数の溝が、回転部材の軸線と同心の円弧に沿って等間隔に形成されている請求項1に記載の旋回装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009211214A JP5406644B2 (ja) | 2009-09-14 | 2009-09-14 | 旋回装置 |
EP10815287.7A EP2479009B1 (en) | 2009-09-14 | 2010-08-31 | Swing device and articulated robot having same |
KR1020127004600A KR101375985B1 (ko) | 2009-09-14 | 2010-08-31 | 선회 장치 및 그것을 갖는 다관절 로봇 |
PCT/JP2010/064769 WO2011030690A1 (ja) | 2009-09-14 | 2010-08-31 | 旋回装置及びそれを有する多関節ロボット |
CN201080039605.1A CN102574284B (zh) | 2009-09-14 | 2010-08-31 | 转动装置和具有该转动装置的多关节机械手 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009211214A JP5406644B2 (ja) | 2009-09-14 | 2009-09-14 | 旋回装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011056636A JP2011056636A (ja) | 2011-03-24 |
JP5406644B2 true JP5406644B2 (ja) | 2014-02-05 |
Family
ID=43732364
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009211214A Active JP5406644B2 (ja) | 2009-09-14 | 2009-09-14 | 旋回装置 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP2479009B1 (ja) |
JP (1) | JP5406644B2 (ja) |
KR (1) | KR101375985B1 (ja) |
CN (1) | CN102574284B (ja) |
WO (1) | WO2011030690A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5709700B2 (ja) * | 2011-09-06 | 2015-04-30 | 住友重機械工業株式会社 | 産業機械の旋回装置 |
JP5856478B2 (ja) * | 2011-12-28 | 2016-02-09 | 住友重機械工業株式会社 | 産業機械の旋回装置 |
EP2855976B1 (en) * | 2012-05-25 | 2019-02-20 | Genesis Advanced Technology Inc. | Speed change device |
CN105047863A (zh) * | 2015-06-09 | 2015-11-11 | 北京大学深圳研究生院 | 一种用于锂电池的正极材料及其制备方法 |
DE102017203741A1 (de) | 2017-03-07 | 2018-09-13 | Kuka Deutschland Gmbh | Roboterarm mit einer mechanischen Anschlagsvorrichtung |
DE112018001700T5 (de) * | 2017-03-29 | 2019-12-24 | Groove X, Inc. | Für Robotergelenk geeignete Gelenkstruktur |
TW202004403A (zh) * | 2018-06-01 | 2020-01-16 | 和碩聯合科技股份有限公司 | 旋轉裝置 |
CN109159132B (zh) * | 2018-10-08 | 2021-12-17 | 浙江兴舟纸业有限公司 | 一种可升降式服务机器人 |
JP2020151802A (ja) | 2019-03-20 | 2020-09-24 | ファナック株式会社 | ロボットの線条体処理構造 |
CN115202021A (zh) * | 2021-03-24 | 2022-10-18 | 卡尔蔡司医疗技术股份公司 | 手术显微镜支架及包括其的手术显微镜 |
JP2023173068A (ja) * | 2022-05-25 | 2023-12-07 | ナブテスコ株式会社 | 回転導入機 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS614682A (ja) * | 1984-06-13 | 1986-01-10 | 日東精工株式会社 | 産業用ロボツト |
JPS6228194A (ja) * | 1985-07-29 | 1987-02-06 | フアナツク株式会社 | 工業用ロボツトの動作範囲規制装置 |
JPH04275894A (ja) | 1991-02-07 | 1992-10-01 | Mitsubishi Electric Corp | 産業ロボットの旋回装置 |
SE469878B (sv) * | 1991-02-11 | 1993-10-04 | Asea Brown Boveri | Justerbar stoppanordning för industrirobot |
JP3703685B2 (ja) * | 2000-05-15 | 2005-10-05 | ナブテスコ株式会社 | 偏心揺動型減速機及びこれを備えた産業用機械の関節 |
KR100749134B1 (ko) * | 2003-03-11 | 2007-08-14 | 현대중공업 주식회사 | 산업용 로봇의 이동형 스토퍼 설치 방법 |
JP2005262340A (ja) * | 2004-03-16 | 2005-09-29 | Fanuc Ltd | 産業用ロボット |
JP4293362B2 (ja) * | 2004-09-06 | 2009-07-08 | オークラ輸送機株式会社 | 回動装置および移載装置 |
JP4657747B2 (ja) * | 2005-01-31 | 2011-03-23 | ナブテスコ株式会社 | 産業用ロボットの関節装置 |
JP5268390B2 (ja) | 2008-03-01 | 2013-08-21 | 三菱電機株式会社 | ユーザ操作代行装置 |
-
2009
- 2009-09-14 JP JP2009211214A patent/JP5406644B2/ja active Active
-
2010
- 2010-08-31 CN CN201080039605.1A patent/CN102574284B/zh active Active
- 2010-08-31 WO PCT/JP2010/064769 patent/WO2011030690A1/ja active Application Filing
- 2010-08-31 KR KR1020127004600A patent/KR101375985B1/ko active IP Right Grant
- 2010-08-31 EP EP10815287.7A patent/EP2479009B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
WO2011030690A1 (ja) | 2011-03-17 |
EP2479009A4 (en) | 2013-02-27 |
EP2479009B1 (en) | 2013-11-13 |
CN102574284A (zh) | 2012-07-11 |
KR101375985B1 (ko) | 2014-04-01 |
KR20120049289A (ko) | 2012-05-16 |
EP2479009A1 (en) | 2012-07-25 |
CN102574284B (zh) | 2015-04-01 |
JP2011056636A (ja) | 2011-03-24 |
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