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WO2008136405A1 - 回転駆動装置、ロボットの関節構造及びロボットアーム - Google Patents

回転駆動装置、ロボットの関節構造及びロボットアーム Download PDF

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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
English (en)
French (fr)
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/ja
Publication of WO2008136405A1 publication Critical patent/WO2008136405A1/ja

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

　環状を有する太陽歯車と、太陽歯車に噛み合うとともに太陽歯車の中心軸Ｏを中心として公転する遊星歯車と、太陽歯車と同軸状に固定配置されるとともに遊星歯車に噛み合う固定内歯歯車と、固定内歯歯車と異なる歯数とされ、太陽歯車と同軸状に回転可能に配置されるとともに遊星歯車に噛み合う可動内歯歯車と、太陽歯車を前記中心軸周りに回転させる駆動モータと、を備える。可動内歯歯車には、筒状の出力軸が設けられ、この出力軸は環状回転支持部材によって保持される。駆動モータは、その駆動軸が太陽歯車の中心軸Ｏに対して偏倚するように配置される。太陽歯車の内周側には、中心軸Ｏに沿って延びる貫通孔が設けられる。
PCT/JP2008/058060 2007-04-27 2008-04-25 回転駆動装置、ロボットの関節構造及びロボットアーム WO2008136405A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009512977A JPWO2008136405A1 (ja) 2007-04-27 2008-04-25 回転駆動装置、ロボットの関節構造及びロボットアーム

Applications Claiming Priority (2)

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

Publications (1)

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

Family

ID=39943512

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058060 WO2008136405A1 (ja) 2007-04-27 2008-04-25 回転駆動装置、ロボットの関節構造及びロボットアーム

Country Status (2)

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

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102486225A (zh) * 2010-12-28 2012-06-06 机器时代(北京)科技有限公司 基于欠驱动的拉线输出结构
DE102011108265A1 (de) * 2011-07-25 2013-01-31 Eisenmann Ag Betätigungsarm für eine Handhabungsvorrichtung
CN103538064A (zh) * 2013-10-24 2014-01-29 上海电机学院 魔棒机器人
CN104196964A (zh) * 2014-08-01 2014-12-10 哈尔滨工业大学 一种基于并联驱动的肩关节
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 (ko) * 2017-09-12 2019-03-20 (주)로보티즈 다축 액츄에이터

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0837759A (ja) * 1994-03-26 1996-02-06 Adolf Schnell 歯車付モータ
JP2004174704A (ja) * 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0837759A (ja) * 1994-03-26 1996-02-06 Adolf Schnell 歯車付モータ
JP2004174704A (ja) * 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102486225A (zh) * 2010-12-28 2012-06-06 机器时代(北京)科技有限公司 基于欠驱动的拉线输出结构
DE102011108265A1 (de) * 2011-07-25 2013-01-31 Eisenmann Ag Betätigungsarm für eine Handhabungsvorrichtung
CN103538064A (zh) * 2013-10-24 2014-01-29 上海电机学院 魔棒机器人
CN104196964A (zh) * 2014-08-01 2014-12-10 哈尔滨工业大学 一种基于并联驱动的肩关节
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 (ja) 2010-07-29

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