[go: up one dir, main page]

CN111906813B - 旋转致动器及机器人 - Google Patents

旋转致动器及机器人 Download PDF

Info

Publication number
CN111906813B
CN111906813B CN202010704257.0A CN202010704257A CN111906813B CN 111906813 B CN111906813 B CN 111906813B CN 202010704257 A CN202010704257 A CN 202010704257A CN 111906813 B CN111906813 B CN 111906813B
Authority
CN
China
Prior art keywords
tubular member
inner peripheral
hollow
joint
rotary actuator
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.)
Active
Application number
CN202010704257.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN111906813A (zh
Inventor
鲇泽优
若林利治
米村拓朗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Corp
Nidec Drive Technology Corp
Original Assignee
Nidec Corp
Nidec Shimpo Corp
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
Priority claimed from JP2016190548A external-priority patent/JP6849363B2/ja
Application filed by Nidec Corp, Nidec Shimpo Corp filed Critical Nidec Corp
Priority to CN202010704257.0A priority Critical patent/CN111906813B/zh
Publication of CN111906813A publication Critical patent/CN111906813A/zh
Application granted granted Critical
Publication of CN111906813B publication Critical patent/CN111906813B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • B25J19/007—Means or methods for designing or fabricating manipulators
    • 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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
CN202010704257.0A 2016-03-30 2017-02-27 旋转致动器及机器人 Active CN111906813B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010704257.0A CN111906813B (zh) 2016-03-30 2017-02-27 旋转致动器及机器人

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP2016-067467 2016-03-30
JP2016067467 2016-03-30
JP2016-190548 2016-09-29
JP2016190548A JP6849363B2 (ja) 2016-03-30 2016-09-29 回転アクチュエータおよびロボット
CN202010704257.0A CN111906813B (zh) 2016-03-30 2017-02-27 旋转致动器及机器人
CN201780021382.8A CN109075659A (zh) 2016-03-30 2017-02-27 旋转致动器及机器人
PCT/JP2017/007355 WO2017169419A1 (fr) 2016-03-30 2017-02-27 Actionneur rotatif et robot

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201780021382.8A Division CN109075659A (zh) 2016-03-30 2017-02-27 旋转致动器及机器人

Publications (2)

Publication Number Publication Date
CN111906813A CN111906813A (zh) 2020-11-10
CN111906813B true CN111906813B (zh) 2024-06-18

Family

ID=59964207

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010704257.0A Active CN111906813B (zh) 2016-03-30 2017-02-27 旋转致动器及机器人

Country Status (2)

Country Link
CN (1) CN111906813B (fr)
WO (1) WO2017169419A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000257674A (ja) * 1999-03-08 2000-09-19 Sumitomo Heavy Ind Ltd 中空パイプを貫通させたギヤドモータ
JP2007288870A (ja) * 2006-04-13 2007-11-01 Yaskawa Electric Corp 中空アクチュエータ

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2539796B2 (ja) * 1986-09-22 1996-10-02 ヤマハ発動機株式会社 関節型ロボット
JPH0825153B2 (ja) * 1993-07-09 1996-03-13 ヤマハ発動機株式会社 産業用ロボットのアーム制御装置
CN1240990C (zh) * 2001-09-20 2006-02-08 株式会社三丰 线性执行机构
JP4112251B2 (ja) * 2002-03-14 2008-07-02 株式会社ロブテックス 作動工具
JPWO2006073182A1 (ja) * 2005-01-07 2008-06-12 住友重機械工業株式会社 動力伝達装置
JP5057843B2 (ja) * 2007-05-14 2012-10-24 津田駒工業株式会社 工作機械用の角度割出し装置
JP2009024738A (ja) * 2007-07-17 2009-02-05 Nabtesco Corp 偏心揺動型歯車装置
US9293962B2 (en) * 2012-03-30 2016-03-22 Korea Institute Of Machinery & Materials Hollow driving module

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000257674A (ja) * 1999-03-08 2000-09-19 Sumitomo Heavy Ind Ltd 中空パイプを貫通させたギヤドモータ
JP2007288870A (ja) * 2006-04-13 2007-11-01 Yaskawa Electric Corp 中空アクチュエータ

Also Published As

Publication number Publication date
WO2017169419A1 (fr) 2017-10-05
CN111906813A (zh) 2020-11-10

Similar Documents

Publication Publication Date Title
CN109075660B (zh) 旋转致动器及机器人
JP6849363B2 (ja) 回転アクチュエータおよびロボット
CN108883540B (zh) 机器人
CN109154380B (zh) 致动器
CN108883531B (zh) 机器人
EP2023467A1 (fr) Moteur équipé d'un réducteur et son procédé de fabrication
JP2009044818A (ja) モータ、および、このモータを搭載したサーボユニット
JP2020205742A (ja) 回転アクチュエータおよびロボット
US7893571B2 (en) Stepping motor being conveniently assembled
CN113843775B (zh) 一种双自由度执行器、机械臂与机器人
US20190085906A1 (en) Transmission and actuator
CN111906813B (zh) 旋转致动器及机器人
CN113765289B (zh) 马达、马达单元
JP6246416B2 (ja) 回転電機
JP6323085B2 (ja) モーター及びロボット
JP2021185004A (ja) ロボット
TWM630955U (zh) 轉子及包括所述轉子的減速裝置

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant