WO2006104216A1 - 産業用ロボットの旋回部構造 - Google Patents
産業用ロボットの旋回部構造 Download PDFInfo
- Publication number
- WO2006104216A1 WO2006104216A1 PCT/JP2006/306558 JP2006306558W WO2006104216A1 WO 2006104216 A1 WO2006104216 A1 WO 2006104216A1 JP 2006306558 W JP2006306558 W JP 2006306558W WO 2006104216 A1 WO2006104216 A1 WO 2006104216A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed reducer
- carrier
- case
- gear
- rotation
- Prior art date
Links
Classifications
-
- 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
- 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
-
- 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
Definitions
- the present invention relates to a turning part structure for an industrial robot using an eccentric oscillating speed reducer.
- This includes a fixed part and a rotating part of an industrial robot, a pre-stage reducer that decelerates and outputs the rotation input from the drive motor, and a rotating part that decelerates the output rotation of the power of the pre-stage reducer
- a main speed reducer and a case having a large number of pin teeth on the inner periphery, a pion having an outer tooth housed in the case and meshing with the pin teeth,
- a carrier that is inserted into the case and is relatively rotatable with respect to the case, and is rotatably supported by the carrier, and an eccentric portion is inserted into the pion, and the input from the front speed reducer.
- a plurality of crank pins that eccentrically rotate the pinion by rotating synchronously with the rotation, and either one of the case or the carrier is fixed to the fixing portion, while the other one of the case or the carrier is the other Force Eccentric oscillating speed reducer that outputs the reduced speed rotation to the rotating part, and the first external gear provided at the input side end of all the crank pins as described above,
- An external gear reducer having a second external gear that meshes with the first external gear and that is coaxial with the case or carrier and that receives rotation from the drive motor is used.
- the present inventor has conducted intensive research to elucidate the mechanism leading to the breakage of the crankpin as described above, and the aforementioned breakage is filled in the main reduction gear (eccentric rocking reduction gear).
- the lubricant oil, grease
- the lubricant is heated above the temperature (generally about 60 ° C) at which the lubrication function is greatly reduced due to friction between the eccentric part of the crankpin and the needle roller bearing.
- the lubricating film of the lubricant that lubricates between the eccentric part and the needle roller bearing partially cuts, and these occur when they come into metal contact.
- the present inventor has further researched and used it for wrist joints of industrial robots, etc., and the medium type main deceleration where the diameter D of the circle passing through the center of the pin teeth is in the range of 150 to 200 mm.
- the machine eccentric oscillating speed reducer
- the main reduction gear eccentric oscillating reduction gear
- the main reduction gear is often required to have an output rotation speed of 28 rpm or higher at the rated torque due to factory tact time, etc., but even at such a rotation speed, lubrication is required.
- the value N obtained by dividing the reduction ratio M in the main reduction gear (eccentric rocking reduction gear) by the diameter D should be less than 0.20 from the test results described later. I found out that
- the present invention has been made on the basis of the above-described knowledge, and is disposed between the fixed portion and the rotating portion of the industrial robot and between the fixed portion and the rotating portion, and decelerates the rotation input from the drive motor. And a main speed reducer that decelerates the output rotation from the front speed reducer and outputs it to the rotating part, and the main speed reducer has a large number of pin teeth on the inner periphery.
- a case in which the diameter D of the circle passing through the center of the pin teeth is within a range of 150 to 200 mm a pinion that is housed in the case and has external teeth that mate with the pin teeth, and inserted into the case
- a carrier rotatably supported by the case, and a carrier rotatably supported by the carrier, and an eccentric portion inserted into the pion, respectively are synchronized by the input rotation from the preceding stage reducer. By rotating, the pion is eccentrically rotated.
- An eccentric oscillating type in which either one of the case or the carrier is fixed to the fixed portion, while the other force of the case or the carrier is output to the rotating portion with reduced speed
- All of the above-mentioned cranks are used as reduction gears and as the front speed reducers.
- a first external gear provided at the input side end of the pin and a second external gear that meshes with all the first external gears, is coaxial with the case or carrier, and receives rotation of the drive motor force.
- the value N obtained by dividing the reduction ratio M in the type reduction gear by the diameter D is less than 0.20.
- the value N obtained by dividing the reduction ratio M in the eccentric oscillating speed reducer by the diameter D is less than 0.20, the output rotation at the rated torque of the eccentric oscillating speed reducer Even when the speed is 28 rpm or higher, which is required from the factory tact time, etc., the temperature of the lubricant filled in the eccentric oscillating speed reducer can be kept below 60 ° C.
- the lubrication function of the lubricant is not greatly reduced, and the eccentric portion of the crank pin and the needle roller bearing are always lubricated by the lubricant that exhibits the prescribed lubrication function. It is possible to effectively prevent surface peeling and crank pin damage at the eccentric part.
- the temperature of the lubricant can be suppressed to less than 60 ° C even when the output rotation speed of the eccentric oscillation type reduction gear is about 30 rpm.
- a small gear coaxial with the case or carrier is provided at the output end of the case or carrier that outputs the reduced rotation, while a large gear that meshes with the small gear is provided in the rotating portion. If the rotation speed is further reduced by the rear stage reduction gear composed of large gears, a large-diameter through-hole that allows cables and the like to pass through can be easily formed, and the eccentric oscillating speed reduction gear can be made compact. Can be
- FIG. 1 is a partially cutaway schematic front view showing Embodiment 1 of the present invention.
- FIG. 2 is a schematic front sectional view of the vicinity of the hand.
- FIG. 3 is a partially broken front view of the vicinity of the main reduction gear and the front reduction gear.
- FIG. 4 is a cross-sectional view taken along the I-I arrow in FIG.
- FIG. 5 Graph showing the relationship between output torque and output rotation speed when the lubrication temperature is saturated at 60 ° C.
- 11 is an industrial robot, and this industrial robot 11 has a reduction gear 14 of a first joint portion 13 installed on a floor surface 12, and this reduction gear 14 is driven.
- the rotation input from the motor 15 is decelerated and output to the proximal arm 16 (swivel head), and the proximal arm 16 is rotated about the vertical first axis.
- a lower end portion of a first arm 18 extending in a substantially vertical direction is connected to an upper end portion of the base end arm 16 so as to be rotatable around a horizontal second axis.
- the first arm 18 includes the speed reducer 14 and a drive motor.
- the second joint portion 17 having a configuration substantially similar to the first joint portion 15 consisting of 15 receives the reduced driving force and swings laterally about the second axis.
- the upper end portion of the first arm 18 is connected to the base end portion of a second arm 22 as a fixed portion extending substantially horizontally so as to be rotatable about a horizontal third axis.
- the second joint portion 17 can swing up and down around the third axis.
- a hand 24 as a rotating part coaxial with the second arm 22 is supported at the tip of the second arm 22 so as to be rotatable around a fourth axis extending along the central axis of the second arm 22.
- reference numeral 27 denotes an eccentric oscillating speed reducer as a main speed reducer installed outside the tip of the second arm 22, and this eccentric oscillating speed reducer.
- 27 has a case 28 having a substantially cylindrical shape, and a plurality of pin teeth 29 that are equidistant from each other in the circumferential direction are provided on the inner periphery of the central portion in the axial direction of the case 28.
- the eccentric oscillating speed reducer 27 is a medium speed reducer used for driving the hand 24 of the industrial robot 11 as described above, the diameter D of the circle passing through the center of the pin tooth 29 Is usually in the range of 150-200 mm.
- a plurality (only two in this case) of pinions 33 each having a ring shape are arranged in the axial direction, and a large number of trochoidal tooth profile forces are arranged on the outer periphery of the pions 33.
- Each external tooth 34 is formed.
- the number of teeth of the external teeth 34 of the pinion 33 is slightly smaller than the number of teeth of the pin teeth 29, and here, only one is less.
- the external teeth are in contact with the pinion 33 and the case 28.
- the force with which 34 and pin teeth 29 are engaged is the maximum engagement of the two pinions 33 and the portion (the deepest part of the engagement) is 180 degrees out of phase.
- Each pin A plurality (three) of through-holes 35 penetrating in the axial direction are formed in the ON 33, and these through-holes 35 are arranged equidistantly in the circumferential direction.
- Reference numeral 38 denotes a carrier inserted into the case 28.
- the carrier 38 has a pair of end plate portions 39 having a substantially ring shape disposed on both outer sides in the axial direction of the pion 33, and these end plate portions. 39 is connected to each other, and is composed of a plurality (the same number as the through holes 35) of pillar portions 40 that are loosely fitted in the through holes 35.
- 41 is a pair of bearings interposed between the carrier 38, more specifically, the outer periphery of both end plate portions 39 and the inner periphery of both end portions in the axial direction of the case 28. By these bearings 41, the carrier 38 is attached to the case 28. It is supported so as to be relatively rotatable.
- Reference numeral 42 denotes a plurality of (three) axially extending crankshaft holes formed in each pinion 33. These crankshaft holes 42 are spaced apart from each other by an equal distance in the circumferential direction and are alternately arranged with the through holes 35. ing.
- Reference numeral 45 denotes a plurality of crankpins (the same number as the crankshaft holes 42), and these crankpins 45 are arranged at equal angular intervals in the circumferential direction.
- Bearings 46 are interposed between both axial ends of the crankpin 45 and the carrier 38, specifically, both end plate portions 39, so that both axial ends of the crankpin 45 are connected to the carrier 38. It is rotatably supported.
- the crank pin 45 has the same number (two) of eccentric portions 47 as the pinions 33 eccentrically spaced by the same axial distance as the central axial force of the crank pin 45, and these eccentric portions 47 are slightly spaced in the axial direction. And are 180 degrees out of phase with each other.
- the eccentric portion 47 of the crank pin 45 is inserted into the crank shaft hole 42 of the pinion 33 via the needle roller bearing 48, and as a result, the pinion 33 and the crank pin 45 are Relative rotation is allowed.
- An eccentric oscillating speed reducer 27 as a speed reducer is configured.
- the reduction ratio of the eccentric rocking reduction gear 27 is obtained by dividing the number of teeth of the pin teeth 29 of the case 28 by the difference between the number of teeth of the pin teeth 29 and the number of teeth of the external teeth 34 of the pinion 33.
- the reduction ratio is 30.
- a pinion 33 force in which the difference in the number of teeth between the pin teeth 29 and the external teeth 34 is 2 or more is 2 or more.
- a pinion 33 is used. If V is used, the reduction ratio is obtained in the same manner as described above.
- a pinion 33 with a difference in teeth number of 2 or more is a pinion 33
- the outer contour of the external gear is shifted in the circumferential direction by an angle obtained by dividing the pitch between the external teeth 34 by the difference in the number of teeth, and the portion where the outer contours of the difference in the number of teeth shifted in the circumferential direction overlap is extracted as a tooth profile. That is.
- [0020] 51 is a drive motor attached to the case 28 via a bracket 52, and the output shaft 53 of the drive motor 51 is coaxial with the output part (carrier 38) of the eccentric oscillating speed reducer 27.
- the 54 is a pre-stage reducer that decelerates the rotation input from the drive motor 51 (output shaft 53) and outputs it to the eccentric oscillating-type decelerator 27 as the main decelerator.
- a plurality of first external gears 55 having a large diameter (the same number as the crankpins 45) are fixed to the input side ends of all the crankpins 45.
- 58 is a single second external gear fitted and fixed to the output shaft 53 and having a smaller diameter than the first external gear 55.
- the second external gear 58 is a case 28 or a carrier 38 that outputs the reduced rotation. Here, it is coaxial with the carrier 38 and meshes with all the first external gears 55.
- the first and second external gears 55 and 58 described above constitute the front stage speed reducer 54 composed of an external gear speed reducer as a whole, and the front stage speed reducer 54 is the first, It is not limited to the one constituted by the second external gears 55 and 58, and may be one in which two spur gear trains are provided. When two spur gear trains are provided in this way, even if the second gear train comprising the external gear fixed to the crank pin 45 and the external gear meshing with the external gear has an equal ratio, Good.
- the reduction ratio of the front reduction gear 54 is 2.5 to 6.5 and the eccentric oscillation oscillation. It is preferable that the reduction ratio of the speed reducer 27 is in the range of 25 to 36, and the reduction ratio of the speed reducer 54 is in the range of 0.15 to 0.25 times the speed reduction ratio of the eccentric oscillating speed reducer 27.
- Such a phenomenon is caused by the fact that the lubricant filled in the eccentric oscillating speed reducer 27 is heated to a temperature (generally about 60 ° C) or higher at which the lubrication function is greatly reduced by friction.
- a temperature generally about 60 ° C
- the output torque and output rotation speed when the temperature of the lubricant (grease) with a degree of 00 specified in JIS K 2220 saturates at 60 ° C is gradually increased while maintaining the value.
- the test which asks for the relationship was performed. This test was carried out under the most severe conditions under continuous rotation in one direction.
- the reduction ratio of the front reduction gear 54 was 3, the number of crank pins 45 was 3, and the environmental temperature was 20 ° C.
- the eccentric oscillating speed reducer 27 has a diameter D of 174 mm, the rated output torque is 1078 N'm, and the number of pin teeth 29 is 60.
- the ratio M is set to 60, and in the second test speed reducer, the eccentric oscillating speed reducer 27 has a diameter D of 179 mm, a rated output torque of 1323 N'm, and the number of pin teeth 29 is 30.
- the reduction ratio M of the type reducer 27 was set to 30.
- the diameter D is 174 mm in the first test speed reducer
- the value N obtained by dividing the reduction ratio M by the diameter D is 0.34
- the diameter D force is l79 mm.
- the value N obtained by dividing the ratio M by the diameter D is 0.17.
- the output rotational speed (output speed of the carrier 38) at the rated torque of the factory tact time is 28 rpm or more.
- the value N in the eccentric oscillating speed reducer 27 is less than 0.20, the output rotational speed at the rated torque of the eccentric oscillating speed reducer 27 will be 28 rpm or more required from the tact time of the factory.
- the temperature of the lubricant filled in the eccentric oscillating speed reducer 27 can be suppressed to less than 60 ° C.
- the lubrication function of the lubricant is not greatly reduced, and the gap between the eccentric portion 47 of the crankpin 45 and the needle roller bearing 48 is always maintained by the lubricant that exhibits the specified lubrication function.
- surface peeling at the eccentric portion 47 of the crankpin 45 and breakage of the crankpin 45 can be effectively prevented.
- the value of N is less than 0.17, the temperature of the lubricant can be kept below 60 ° C even if the output rotational speed force of the eccentric oscillating speed reducer 27 is about ⁇ Orpm.
- the value of N is 0.07 or less, the number of pin teeth 29 becomes too small and it becomes difficult to manufacture the eccentric oscillating speed reducer 27. Therefore, it is preferable that the value of N exceeds 0.07. .
- the output end of the eccentric oscillating speed reducer 27, here the carrier 38 is a small coaxial with the output end (carrier 38) of the eccentric oscillating speed reducer 27.
- the gear 61 is fixed, and on the other hand, the base end of the hand 24 is offset by a predetermined distance from the output end (carrier 38) of the eccentric oscillating speed reducer 27, and is engaged with the small gear 61. Is fixed.
- the small gear 61 and the large gear 62 described above constitute the rear stage speed reducer 63 as a whole, but in this embodiment, the rear stage speed reducer 63 is provided on the rear stage side of the eccentric eccentric speed reducer 27 as described above.
- the rear reduction gear 63 comprising the small gear 61 and the large gear 62 is provided on the rear side of the eccentric oscillating reduction gear 27 in this way, the hand 24 of the industrial robot 11 is moved at a low speed with a large torque.
- the large gear 62 can be installed offset from the eccentric oscillating speed reducer 27, the drive motor 51, and the front speed reducer 54, so that it is driven at the center of the large gear 62 and the base end of the hand 24.
- Large-diameter through-holes 65 that pass through cables for control and control, pipes, etc. can be easily formed, and the transmission force in the eccentric oscillating speed reducer 27 is also small. It is also possible to downsize the dynamic reduction gear 27.
- the eccentric oscillating speed reducer 27, the drive motor 51, the front speed reducer 54, and the rear speed reducer 63 constitute the fourth joint part 64 as a whole, and the driving force output from the fourth joint part 64 is
- the hand 24 rotates about a fourth axis that is substantially horizontal to the second arm 22.
- Reference numeral 67 denotes a substantially cylindrical hand shaft rotatably supported at the tip of the hand 24.
- the hand shaft 67 can rotate about a fifth axis orthogonal to the rotation axis of the hand 24. it can.
- Reference numeral 68 denotes a fifth joint that applies a reduced driving force to the hand shaft 67 and rotates the hand shaft 67 about the fifth axis.
- the fifth joint 68 includes a drive motor 69 and a drive.
- the eccentric oscillating type speed reducer 27 that decelerates and outputs the output rotation from the motor 69, the speed reducer 70 similar to the preceding stage speed reducer 54, the small gear 71 connected to the output end of the speed reducer 70, and A large gear 72 is connected to the hand shaft 67 and meshes with the small gear 71.
- Reference numeral 75 denotes a drive motor connected to the hand shaft 67, and the drive motor 75 extends in a direction perpendicular to the rotation axis of the hand shaft 67.
- a reduction gear 76 similar to the reduction gear 70 is attached to the drive motor 75, and the reduction gear 76 decelerates the rotational driving force input to the drive motor 75 and transmits it to the tool fixture 77 to attach the tool. Rotate tool 77 about the sixth axis perpendicular to the rotation axis of the end shaft 67.
- the tool attachment 77 is attached with a driving and control cable passed through the hand shaft 67, a welding device that is driven and controlled through piping, a painting device, and the like.
- the industrial robot 11 of this embodiment is particularly suitable for a handling robot or spot welding robot used in an automobile production line or the like.
- the drive motor 75 and the speed reducer 76 described above constitute a sixth joint portion 78 that applies a reduced driving force to the tool attachment 77 to rotate the tool attachment 77 about the sixth axis.
- the tool attachment 77 of the industrial mouth bot 11 has six degrees of freedom, and can freely move the welding apparatus or the like in the three-dimensional direction and can be positioned at any position and posture. Next, the operation of the first embodiment will be described.
- the first joint part 13, the second joint part 17, the third joint part 21, the fourth joint part 64, the fifth joint part. 68, 6th joint 78 is operated to move the proximal arm 16, first arm 18, second arm 22, hand 24, hand shaft 67, tool attachment 77 to the first, second, third, fourth, fifth, Rotate (rotate) about 6 axes, and move the welding device attached to the tool attachment 77 to the welding point of the workpiece.
- the first joint part 13, the second joint part 17, the third joint part 21, the fourth joint part 64, the fifth joint part 68, and the sixth joint part 78 represent the operations of the fourth joint part 64. explain.
- the output rotational speed force at the rated torque of the eccentric oscillating speed reducer 27 is 3 ⁇ 48 rpm or more. Even in this case, the temperature of the lubricant filled in the eccentric oscillating speed reducer 27 can be suppressed to less than 60 ° C, so that the lubrication function of the lubricant is not greatly deteriorated. Further, it is possible to effectively prevent the surface peeling at the eccentric portion 47 of the crank pin 45 and the breakage of the crank pin 45.
- the case 28 is fixed to the second arm 22 which is a fixing portion, while the carrier 38 force is output to the hand 24 which is a rotating portion while being decelerated.
- the carrier may be fixed to the fixing portion, and the rotation decelerated from the case may be output to the rotating portion.
- the eccentric oscillation type reduction gear 27, the drive motor 51, and the front stage reduction gear 54 are installed outside the second arm 22. These may be stored in the second arm 22.
- the front stage speed reducer 54, the eccentric swing type speed reducer 27, and the rear stage speed reducer 63 are provided at the tip of the second arm 22, but the second arm 22 in the vicinity of the third joint part 21 is provided. You may make it provide in the base end part.
- the present invention can be applied to the industrial field of industrial robots using eccentric oscillating speed reducers.
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- General Engineering & Computer Science (AREA)
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Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/817,081 US7909722B2 (en) | 2005-03-29 | 2006-03-29 | Structure of swing part of industrial robot |
EP06730506A EP1864765B1 (en) | 2005-03-29 | 2006-03-29 | Swing part structure for industrial robot |
JP2007510573A JP4970250B2 (ja) | 2005-03-29 | 2006-03-29 | 産業用ロボットの手首関節に用いられる旋回部構造 |
KR1020077022144A KR101249928B1 (ko) | 2005-03-29 | 2006-03-29 | 산업용 로봇의 선회부 구조 |
DE602006012294T DE602006012294D1 (de) | 2005-03-29 | 2006-03-29 | Schwingteilstruktur für industrieroboter |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005-095254 | 2005-03-29 | ||
JP2005095254 | 2005-03-29 | ||
JP2006068586 | 2006-03-14 | ||
JP2006-068586 | 2006-03-14 |
Publications (1)
Publication Number | Publication Date |
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WO2006104216A1 true WO2006104216A1 (ja) | 2006-10-05 |
Family
ID=37053470
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/306558 WO2006104216A1 (ja) | 2005-03-29 | 2006-03-29 | 産業用ロボットの旋回部構造 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7909722B2 (ja) |
EP (1) | EP1864765B1 (ja) |
JP (1) | JP4970250B2 (ja) |
KR (1) | KR101249928B1 (ja) |
DE (1) | DE602006012294D1 (ja) |
WO (1) | WO2006104216A1 (ja) |
Cited By (4)
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US7755002B2 (en) * | 2006-10-17 | 2010-07-13 | Kia Motors Corporation | Jig for gripping panel |
EP2225359A2 (en) * | 2007-11-30 | 2010-09-08 | Corestem Co., Ltd. | The cell culture apparatus and mass automatic cell culture device having it |
KR20120097340A (ko) * | 2011-02-24 | 2012-09-03 | 코마우 쏘시에떼 퍼 아찌오니 | 관절형 로봇 손목 |
US11548141B2 (en) | 2019-10-23 | 2023-01-10 | Fanuc Corporation | Robot |
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DE112007003774B3 (de) | 2006-03-08 | 2020-04-02 | Ntn Corporation | ln-Rad-Motorantriebseinheit |
JP5450222B2 (ja) * | 2010-04-14 | 2014-03-26 | 株式会社ダイヘン | 産業用ロボットのアームの基準位置決め方法、及び産業用ロボット |
JP5457922B2 (ja) * | 2010-04-14 | 2014-04-02 | 株式会社ダイヘン | 産業用ロボット |
JP5450223B2 (ja) | 2010-04-14 | 2014-03-26 | 株式会社ダイヘン | 産業用ロボット |
CN102003500A (zh) * | 2010-11-29 | 2011-04-06 | 广州数控设备有限公司 | 一种摆线减速器 |
DE102012210169A1 (de) | 2012-06-18 | 2013-12-19 | Schaeffler Technologies AG & Co. KG | Exzentergetriebe |
CN103192369A (zh) * | 2013-04-18 | 2013-07-10 | 岳强 | 一种新型码垛机器人腰部旋转装置 |
JP2015196237A (ja) * | 2014-04-03 | 2015-11-09 | ナブテスコ株式会社 | ヒューマノイドロボットの関節機構 |
JP6055018B2 (ja) * | 2015-04-09 | 2016-12-27 | ファナック株式会社 | モータと減速機とを備えたロボットの関節構造 |
JP7060529B2 (ja) * | 2019-01-23 | 2022-04-26 | ファナック株式会社 | バックラッシ削減機構を備えたロボット関節構造及びロボット |
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2006
- 2006-03-29 KR KR1020077022144A patent/KR101249928B1/ko active IP Right Grant
- 2006-03-29 JP JP2007510573A patent/JP4970250B2/ja active Active
- 2006-03-29 DE DE602006012294T patent/DE602006012294D1/de active Active
- 2006-03-29 EP EP06730506A patent/EP1864765B1/en active Active
- 2006-03-29 WO PCT/JP2006/306558 patent/WO2006104216A1/ja active Application Filing
- 2006-03-29 US US11/817,081 patent/US7909722B2/en active Active
Patent Citations (2)
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JPS5854255A (ja) * | 1981-09-24 | 1983-03-31 | Kyokuto Kaihatsu Kogyo Co Ltd | 減速機 |
JPH0375345U (ja) * | 1989-11-25 | 1991-07-29 |
Non-Patent Citations (1)
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7755002B2 (en) * | 2006-10-17 | 2010-07-13 | Kia Motors Corporation | Jig for gripping panel |
EP2225359A2 (en) * | 2007-11-30 | 2010-09-08 | Corestem Co., Ltd. | The cell culture apparatus and mass automatic cell culture device having it |
EP2225359A4 (en) * | 2007-11-30 | 2012-01-11 | Corestem Co Ltd | CELL CULTURE APPARATUS AND AUTOMATED MASS CELL CULTURE DEVICE HAVING SUCH APPARATUS |
KR20120097340A (ko) * | 2011-02-24 | 2012-09-03 | 코마우 쏘시에떼 퍼 아찌오니 | 관절형 로봇 손목 |
KR101683325B1 (ko) * | 2011-02-24 | 2016-12-06 | 코마우 쏘시에떼 퍼 아찌오니 | 관절형 로봇 손목 |
US11548141B2 (en) | 2019-10-23 | 2023-01-10 | Fanuc Corporation | Robot |
JP7440240B2 (ja) | 2019-10-23 | 2024-02-28 | ファナック株式会社 | ロボット |
Also Published As
Publication number | Publication date |
---|---|
EP1864765A1 (en) | 2007-12-12 |
DE602006012294D1 (de) | 2010-04-01 |
EP1864765B1 (en) | 2010-02-17 |
KR101249928B1 (ko) | 2013-04-03 |
JPWO2006104216A1 (ja) | 2008-09-11 |
US7909722B2 (en) | 2011-03-22 |
US20080287240A1 (en) | 2008-11-20 |
EP1864765A4 (en) | 2008-08-06 |
JP4970250B2 (ja) | 2012-07-04 |
KR20070116031A (ko) | 2007-12-06 |
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