ATE548591T1 - Getriebemechanismus und roboter mit dem mechanismus - Google Patents

Getriebemechanismus und roboter mit dem mechanismus

Info

Publication number
ATE548591T1
ATE548591T1 AT05704003T AT05704003T ATE548591T1 AT E548591 T1 ATE548591 T1 AT E548591T1 AT 05704003 T AT05704003 T AT 05704003T AT 05704003 T AT05704003 T AT 05704003T AT E548591 T1 ATE548591 T1 AT E548591T1
Authority
AT
Austria
Prior art keywords
gear
base body
rotational axis
body member
support member
Prior art date
Application number
AT05704003T
Other languages
English (en)
Inventor
Yasuo Hirooka
Yasuhiko Hashimoto
Original Assignee
Kawasaki Heavy Ind 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 Kawasaki Heavy Ind Ltd filed Critical Kawasaki Heavy Ind Ltd
Application granted granted Critical
Publication of ATE548591T1 publication Critical patent/ATE548591T1/de

Links

Classifications

    • 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
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F16H57/022—Adjustment of gear shafts or bearings
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F16H57/022—Adjustment of gear shafts or bearings
    • F16H2057/0222—Lateral adjustment
    • 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
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/125—Adjustment of backlash during mounting or assembly of gearing
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19502—Pivotally supported
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19623—Backlash take-up
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19628—Pressure distributing
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/19647—Parallel axes or shafts
    • 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
    • Y10T74/19—Gearing
    • Y10T74/1987—Rotary bodies
    • Y10T74/19893—Sectional
    • Y10T74/19898—Backlash take-up
    • 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)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Toys (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
AT05704003T 2004-01-23 2005-01-21 Getriebemechanismus und roboter mit dem mechanismus ATE548591T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004016178A JP3706118B2 (ja) 2004-01-23 2004-01-23 歯車支持構造
PCT/JP2005/000782 WO2005071285A1 (ja) 2004-01-23 2005-01-21 歯車機構及び同機構を備えたロボット

Publications (1)

Publication Number Publication Date
ATE548591T1 true ATE548591T1 (de) 2012-03-15

Family

ID=34805481

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05704003T ATE548591T1 (de) 2004-01-23 2005-01-21 Getriebemechanismus und roboter mit dem mechanismus

Country Status (6)

Country Link
US (1) US8555744B2 (de)
EP (1) EP1707844B1 (de)
JP (1) JP3706118B2 (de)
KR (1) KR100854821B1 (de)
AT (1) ATE548591T1 (de)
WO (1) WO2005071285A1 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1020226A4 (nl) * 2011-10-07 2013-06-04 Vcst Ind Products Tandwieltrein en verplaatsingshulpmiddel daarvoor.
JP2014000612A (ja) * 2012-06-15 2014-01-09 Fanuc Ltd 産業用ロボットの手首構造部
AT512916B1 (de) * 2012-06-19 2013-12-15 Avl List Gmbh Stirnradgetriebe
CN103542082B (zh) * 2012-07-16 2016-04-27 鸿富锦精密工业（深圳）有限公司 齿轮传动机构及机械臂连接结构
JP5972713B2 (ja) * 2012-08-28 2016-08-17 日本電産サンキョー株式会社 カメラモジュール
CN104070533B (zh) * 2013-03-28 2016-12-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP6568336B2 (ja) * 2013-06-06 2019-08-28 株式会社オティックス バックラッシュ調整方法
JP6418782B2 (ja) * 2014-05-16 2018-11-07 キヤノン株式会社 ロボットシステムの制御方法、プログラム、記録媒体、ロボットシステム、及び診断装置
KR102250260B1 (ko) * 2014-07-17 2021-05-10 삼성전자주식회사 연결 모듈 및 이를 포함하는 운동 보조 장치
JP6635544B2 (ja) * 2016-01-20 2020-01-29 曙ブレーキ工業株式会社 回転工具
JP6792381B2 (ja) * 2016-09-02 2020-11-25 アルプスアルパイン株式会社 回転伝達装置
CN108818599B (zh) * 2018-06-26 2022-03-22 共享智能装备有限公司 桁架机器人夹持装置
DE102019115113B4 (de) * 2019-06-05 2021-06-17 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Antriebsstranganordnung für ein Kraftfahrzeug sowie Verfahren zur Anpassung eines Nulldurchgangsbereiches einer derartigen Antriebsstranganordnung
JP6933737B2 (ja) * 2020-01-17 2021-09-08 日本トムソン株式会社 回転テーブル
JP7097395B2 (ja) 2020-01-17 2022-07-07 日本トムソン株式会社 回転テーブル
CN112728014A (zh) * 2020-12-25 2021-04-30 杭州宇树科技有限公司 一种抗过载冲击的行星减速器及机器人关节和四足机器人
JP7634418B2 (ja) * 2021-04-28 2025-02-21 ナブテスコ株式会社 動力伝達装置、及び、ギヤ機構の噛み合い調整装置
KR102674835B1 (ko) * 2022-01-24 2024-06-13 (주)아이지비 동력전달장치 및 그 제조방법

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US1864348A (en) * 1930-05-15 1932-06-21 Gen Electric Apparatus for transmitting rotary motion
US2397777A (en) * 1942-11-02 1946-04-02 Harry A Severson Gearing
US2737056A (en) * 1953-09-14 1956-03-06 John R Baumgartner Backlash eliminator
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US3331256A (en) * 1965-01-22 1967-07-18 George O Morris Shaft adjustment means
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US3657940A (en) * 1970-11-19 1972-04-25 William S Wagner Adjustable roll drive
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JPS63185595A (ja) 1987-01-28 1988-08-01 フアナツク株式会社 産業用ロボツトの手首
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JP4682379B2 (ja) 2000-12-05 2011-05-11 川崎重工業株式会社 ダブルアームおよびそれを備えたロボット
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Also Published As

Publication number Publication date
US20080048090A1 (en) 2008-02-28
US8555744B2 (en) 2013-10-15
EP1707844B1 (de) 2012-03-07
JP2005207532A (ja) 2005-08-04
JP3706118B2 (ja) 2005-10-12
KR20060122911A (ko) 2006-11-30
EP1707844A1 (de) 2006-10-04
EP1707844A4 (de) 2008-11-26
WO2005071285A1 (ja) 2005-08-04
KR100854821B1 (ko) 2008-08-27

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