KR100749349B1 - 로봇 손목 구동용 동력전달장치 및 동력전달장치 - Google Patents
로봇 손목 구동용 동력전달장치 및 동력전달장치 Download PDFInfo
- Publication number
- KR100749349B1 KR100749349B1 KR1020060025522A KR20060025522A KR100749349B1 KR 100749349 B1 KR100749349 B1 KR 100749349B1 KR 1020060025522 A KR1020060025522 A KR 1020060025522A KR 20060025522 A KR20060025522 A KR 20060025522A KR 100749349 B1 KR100749349 B1 KR 100749349B1
- Authority
- KR
- South Korea
- Prior art keywords
- output flange
- power transmission
- flange body
- inner pin
- transmission device
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 44
- 210000000707 wrist Anatomy 0.000 title claims abstract description 17
- 230000015572 biosynthetic process Effects 0.000 description 4
- 239000012050 conventional carrier Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010012735 Diarrhoea Diseases 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000003466 welding Methods 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
Abstract
Description
Claims (5)
- 내치기어와, 이 내치기어에 내접 맞물림하는 외치기어를 구비하고, 입력된 동력을 어태치먼트로 전달 가능한 로봇 손목 구동용 동력전달장치에 있어서,상기 외치기어에 삽입되고, 상기 내치기어와 외치기어와의 맞물림에 의해 발생하는 상대회전 성분을 꺼내기 위한 내측 핀과,이 내측 핀과 연결되는 출력 플랜지(flange)체(體)를 구비하고,상기 내측 핀과 상기 출력 플랜지체가 하나의 부재로 일체적으로 형성되며, 또한,상기 출력 플랜지체의 내측 핀 반대면에 상기 어태치먼트와 연결하기 위한 장착구멍이 형성되어 있는 것을 특징으로 하는 로봇 손목 구동용 동력전달장치.
- 내치기어와, 이 내치기어에 내접 맞물림하는 외치기어를 구비하고, 입력된 동력을 다음 단(段) 부재로 전달 가능한 로봇 손목 구동용 동력전달장치에 있어서,상기 외치기어에 삽입되고, 상기 내치기어와 외치기어와의 맞물림에 의해 발생하는 상대회전 성분을 꺼내기 위한 내측 핀과,이 내측 핀과 연결되는 출력 플랜지체를 구비하고,상기 내측 핀과 상기 출력 플랜지체가 하나의 부재로 일체적으로 형성되며, 또한,상기 출력 플랜지체의 내측 핀 반대면에 상기 다음 단 부재와 연결하기 위한 장착구멍이 형성되어 있는 것을 특징으로 하는 로봇 손목 구동용 동력전달장치.
- 청구항 1 또는 청구항 2에 있어서,더욱이, 상기 외치기어에 있어서의 출력 플랜지체 반대측에 제2 출력 플랜지체를 구비하며, 또한상기 출력 플랜지체와 이 제2 출력 플랜지체가 상기 내측 핀에 의해서만 연결되어 있는 것을 특징으로 하는 로봇 손목 구동용 동력전달장치.
- 내치기어와, 이 내치기어에 내접 맞물림하는 외치기어를 구비하고, 입력된 동력을 다음 단 부재로 전달 가능한 동력전달장치에 있어서,상기 외치기어에 삽입되고, 상기 내치기어와 외치기어와의 맞물림에 의해 발생하는 상대회전 성분을 꺼내기 위한 내측 핀과,이 내측 핀과 연결되는 출력 플랜지체를 구비하고,상기 내측 핀과 상기 출력 플랜지체가 하나의 부재로 일체적으로 형성되며, 또한,상기 출력 플랜지체의 내측 핀 반대면에 상기 다음 단 부재와 연결하기 위한 장착구멍이 형성되어 있는 것을 특징으로 하는 동력전달장치.
- 청구항 4에 있어서,더욱이, 상기 외치기어에 있어서의 출력 플랜지체 반대측에 제2의 출력 플랜지체를 구비하며, 또한상기 출력 플랜지체와 이 제2 출력 플랜지체가 상기 내측 핀에 의해서만 연결되어 있는 것을 특징으로 하는 동력전달장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2005-00086971 | 2005-03-24 | ||
JP2005086971A JP4484741B2 (ja) | 2005-03-24 | 2005-03-24 | ロボット手首駆動用動力伝達装置及び動力伝達装置 |
Publications (2)
Publication Number | Publication Date |
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KR20060103119A KR20060103119A (ko) | 2006-09-28 |
KR100749349B1 true KR100749349B1 (ko) | 2007-08-14 |
Family
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Family Applications (1)
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KR1020060025522A KR100749349B1 (ko) | 2005-03-24 | 2006-03-21 | 로봇 손목 구동용 동력전달장치 및 동력전달장치 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060213307A1 (ko) |
JP (1) | JP4484741B2 (ko) |
KR (1) | KR100749349B1 (ko) |
CN (2) | CN101493131B (ko) |
DE (1) | DE102006012951B4 (ko) |
TW (1) | TW200633824A (ko) |
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JP5065692B2 (ja) * | 2007-01-22 | 2012-11-07 | 住友重機械工業株式会社 | ギヤドモータ |
DE102008036743A1 (de) * | 2008-08-07 | 2010-02-11 | Spinea S.R.O. | Getriebe mit Slots |
TWI409151B (zh) * | 2009-03-20 | 2013-09-21 | Hon Hai Prec Ind Co Ltd | 機械接口及使用該接口之機械手 |
CN101994779B (zh) * | 2009-08-19 | 2014-03-26 | 贵州群建精密机械有限公司 | 一种全浮式行星齿轮传动机构 |
TWI426011B (zh) * | 2009-12-21 | 2014-02-11 | Hon Hai Prec Ind Co Ltd | 機器人臂部件 |
JP5312364B2 (ja) * | 2010-02-03 | 2013-10-09 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
CN102198658A (zh) * | 2010-03-25 | 2011-09-28 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102233585A (zh) * | 2010-04-29 | 2011-11-09 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102338197B (zh) * | 2010-07-20 | 2014-01-15 | 鸿富锦精密工业(深圳)有限公司 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
TWI402026B (zh) * | 2010-10-29 | 2013-07-11 | Prec Machinery Res & Dev Ct | Can be connected in series servo machine and its transfer structure |
JP5817735B2 (ja) * | 2010-11-10 | 2015-11-18 | 株式会社ジェイテクト | 遊星歯車減速機 |
CZ305367B6 (cs) * | 2011-04-20 | 2015-08-19 | SLEZSKÁ MECHATRONIKA a.s. | Automatizovaný interface pro řiditelné mechanické propojení |
JP5743770B2 (ja) | 2011-07-20 | 2015-07-01 | 住友重機械工業株式会社 | 減速機組み込み方法および偏心揺動型の減速機 |
JP5844628B2 (ja) * | 2011-12-07 | 2016-01-20 | 住友重機械工業株式会社 | 遊星歯車装置および遊星歯車装置の製造方法 |
JP5899102B2 (ja) | 2012-11-01 | 2016-04-06 | 住友重機械工業株式会社 | 遊星歯車減速装置及びその製造方法 |
JP5418704B1 (ja) * | 2013-01-17 | 2014-02-19 | 株式会社安川電機 | ロボット |
JP5938354B2 (ja) * | 2013-01-30 | 2016-06-22 | 住友重機械工業株式会社 | 遊星歯車装置 |
JP5878879B2 (ja) | 2013-01-30 | 2016-03-08 | 住友重機械工業株式会社 | 遊星歯車装置 |
JP5918704B2 (ja) | 2013-02-12 | 2016-05-18 | 住友重機械工業株式会社 | 減速装置 |
JP6018520B2 (ja) * | 2013-02-25 | 2016-11-02 | 住友重機械工業株式会社 | ロボットの関節駆動用の偏心揺動型の減速機 |
CN110446589A (zh) | 2017-03-29 | 2019-11-12 | 住友重机械工业株式会社 | 主机械支援*** |
CN108582149B (zh) * | 2018-05-04 | 2021-02-19 | 安徽工业大学 | 一种机器人转动关节 |
JP2020016313A (ja) * | 2018-07-27 | 2020-01-30 | 住友重機械工業株式会社 | 減速装置 |
JP7319784B2 (ja) | 2019-01-29 | 2023-08-02 | 住友重機械工業株式会社 | 偏心揺動型減速装置、外歯歯車の製造方法 |
CN110497399A (zh) * | 2019-08-22 | 2019-11-26 | 贵州大学 | 一种三旋转自由度定位工业机器人 |
CN111604936A (zh) * | 2020-04-30 | 2020-09-01 | 南京理工大学 | 一种液压机械手腕 |
JP7492444B2 (ja) | 2020-11-20 | 2024-05-29 | 住友重機械工業株式会社 | 歯車装置の製造方法 |
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2005
- 2005-03-24 JP JP2005086971A patent/JP4484741B2/ja active Active
- 2005-12-27 TW TW094146777A patent/TW200633824A/zh not_active IP Right Cessation
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2006
- 2006-02-16 CN CN2008101902500A patent/CN101493131B/zh active Active
- 2006-02-16 CN CNA2006100085240A patent/CN1836853A/zh active Pending
- 2006-03-17 US US11/377,873 patent/US20060213307A1/en not_active Abandoned
- 2006-03-21 DE DE102006012951.2A patent/DE102006012951B4/de active Active
- 2006-03-21 KR KR1020060025522A patent/KR100749349B1/ko active IP Right Grant
Patent Citations (1)
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JP2002061720A (ja) * | 2000-08-16 | 2002-02-28 | Sumitomo Heavy Ind Ltd | 外歯歯車、揺動内接噛合遊星歯車装置、揺動内接噛合遊星歯車装置のシリーズ |
Also Published As
Publication number | Publication date |
---|---|
DE102006012951B4 (de) | 2020-06-10 |
TWI295222B (ko) | 2008-04-01 |
DE102006012951A1 (de) | 2006-10-12 |
JP4484741B2 (ja) | 2010-06-16 |
CN101493131B (zh) | 2013-01-02 |
KR20060103119A (ko) | 2006-09-28 |
JP2006263878A (ja) | 2006-10-05 |
US20060213307A1 (en) | 2006-09-28 |
CN1836853A (zh) | 2006-09-27 |
CN101493131A (zh) | 2009-07-29 |
TW200633824A (en) | 2006-10-01 |
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