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WO2008136405A1 - Rotary drive, joint structure of robot and robot arm - Google Patents

Rotary drive, joint structure of robot and robot arm Download PDF

Info

Publication number
WO2008136405A1
WO2008136405A1 PCT/JP2008/058060 JP2008058060W WO2008136405A1 WO 2008136405 A1 WO2008136405 A1 WO 2008136405A1 JP 2008058060 W JP2008058060 W JP 2008058060W WO 2008136405 A1 WO2008136405 A1 WO 2008136405A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
sun gear
central axis
robot
rotary drive
Prior art date
Application number
PCT/JP2008/058060
Other languages
French (fr)
Japanese (ja)
Inventor
Masaki Nagatsuka
Original Assignee
Thk Co., Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Thk Co., Ltd. filed Critical Thk Co., Ltd.
Priority to JP2009512977A priority Critical patent/JPWO2008136405A1/en
Publication of WO2008136405A1 publication Critical patent/WO2008136405A1/en

Links

Classifications

    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

A rotary drive comprises an annular sun gear, a planetary gear meshing the sun gear and revolving about the central axis (O) of the sun gear, a fixed annulus gear arranged fixedly and coaxially with the sun gear and meshing the planetary gear, a movable annulus gear having the number of teeth different from that of the fixed annulus gear and arranged rotatably and coaxially with the sun gear to mesh the planetary gear, and a drive motor for rotating the sun gear about the central axis. The movable annulus gear is provided with a tubular output shaft held by an annular rotation supporting member. The drive motor has a drive shaft arranged to bias for the central axis (O) of the sun gear. A through hole extending along the central axis (O) is provided on the inner circumferential side of the sun gear.
PCT/JP2008/058060 2007-04-27 2008-04-25 Rotary drive, joint structure of robot and robot arm WO2008136405A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009512977A JPWO2008136405A1 (en) 2007-04-27 2008-04-25 Rotation drive device, robot joint structure and robot arm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007120275 2007-04-27
JP2007-120275 2007-04-27

Publications (1)

Publication Number Publication Date
WO2008136405A1 true WO2008136405A1 (en) 2008-11-13

Family

ID=39943512

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058060 WO2008136405A1 (en) 2007-04-27 2008-04-25 Rotary drive, joint structure of robot and robot arm

Country Status (2)

Country Link
JP (1) JPWO2008136405A1 (en)
WO (1) WO2008136405A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102486225A (en) * 2010-12-28 2012-06-06 机器时代(北京)科技有限公司 Stay wire output structure based on under actuation
DE102011108265A1 (en) * 2011-07-25 2013-01-31 Eisenmann Ag Operating arm for handling device, has electromotors that drive intermediate portion of joint to pivot arm portions about respective axis using rollers
CN103538064A (en) * 2013-10-24 2014-01-29 上海电机学院 Magic stick robot
CN104196964A (en) * 2014-08-01 2014-12-10 哈尔滨工业大学 Parallel drive-based shoulder joint
US10022861B1 (en) 2017-04-27 2018-07-17 Engineering Services Inc. Two joint module and arm using same

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190029367A (en) * 2017-09-12 2019-03-20 (주)로보티즈 Multi-axis actuator

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0837759A (en) * 1994-03-26 1996-02-06 Adolf Schnell Motor with gear
JP2004174704A (en) * 2002-11-14 2004-06-24 Sony Corp Actuator device and multishaft type robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0837759A (en) * 1994-03-26 1996-02-06 Adolf Schnell Motor with gear
JP2004174704A (en) * 2002-11-14 2004-06-24 Sony Corp Actuator device and multishaft type robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102486225A (en) * 2010-12-28 2012-06-06 机器时代(北京)科技有限公司 Stay wire output structure based on under actuation
DE102011108265A1 (en) * 2011-07-25 2013-01-31 Eisenmann Ag Operating arm for handling device, has electromotors that drive intermediate portion of joint to pivot arm portions about respective axis using rollers
CN103538064A (en) * 2013-10-24 2014-01-29 上海电机学院 Magic stick robot
CN104196964A (en) * 2014-08-01 2014-12-10 哈尔滨工业大学 Parallel drive-based shoulder joint
US10022861B1 (en) 2017-04-27 2018-07-17 Engineering Services Inc. Two joint module and arm using same

Also Published As

Publication number Publication date
JPWO2008136405A1 (en) 2010-07-29

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