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公开(公告)号：EP3347174A1
公开(公告)日：2018-07-18
申请号：EP15763274.6
申请日：2015-09-07
申请人： ABB Schweiz AG
发明人： OLSSON, Mats
CPC分类号： B25J17/0258 , B25J9/0051 , B25J9/103
摘要： A joint for transmitting movements between articulated elements of a parallel kinematics robot has at least two degrees of freedom and includes: a first housing, a second housing arranged rotatable in relation to the first housing about a first axis, and a shaft arranged rotatable in relation to the second housing about a second axis which coincides with a longitudinal axis of the shaft. The shaft is arranged rotatable in relation to the second housing by at least a first angular contact bearing. In applications where one of the revolute pairs of a joint is subjected to radial and axial forces of similar order, and another one is subjected almost solely to radial forces, it is advantageous to manage the forces of the prior by means of an angular contact bearing or bearings configured to bear both radial and axial loads, whereby a joint with very small backlash in a particularly compact design can be achieved.
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公开(公告)号：EP2813329A3
公开(公告)日：2016-05-11
申请号：EP13193229.5
申请日：2013-11-18
CPC分类号： B25J9/103 , B25J17/02 , F16H55/18 , Y10S901/25 , Y10T74/20329
摘要： A robot according to embodiments includes a first link (14b), a second link (14c), an actuator (Mf), a scissors gear (43, 143), and a support part (72). The second link (14c) is rotatably connected to the first link (14b). The actuator (Mf) drives the second link (14c) in a rotatable manner. The scissors gear (43, 143) includes a main gear (44, 144) and a sub gear (45, 145), and outputs driving force from the actuator (Mf) to the second link (14c). The support part (72) is attached to the first link (14b) and rotatably supports the scissors gear (43, 143). Furthermore, the scissors gear (43, 143) includes a spring (46, 146) that is arranged adjacent to the support part (72) in the direction of the rotational axis (43c, 143c) of the scissors gear (43, 143) and applies biasing force to the main gear (44, 144) and the sub gear (45, 145) in rotational directions different from each other.
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公开(公告)号：EP2559523A3
公开(公告)日：2013-06-12
申请号：EP12156106.2
申请日：2012-02-20
CPC分类号： B25J9/103 , Y10S901/23 , Y10S901/25 , Y10T74/19684 , Y10T74/20305 , Y10T74/20317
摘要： A robot (1, 1a, 1b) according to embodiments includes a speed reducer (41a to 41c), a first shaft (61, 61a, 61b), a rotary electric machine (41a to 41c), a second shaft (62, 62a, 62b), and a brake (43a to 43c, 44a to 44c). The speed reducer (41a to 41c) reduces and outputs rotation to be input into an input unit. The first shaft (61, 61a, 61b) is connected to the input unit (422, 422a). The rotary electric machine (41a to 41c) rotates the first shaft (61, 61a, 61b). The second shaft (62, 62a, 62b) is connected to the input unit (422, 422a). The brake (43a to 43c, 44a to 44c) regulates the rotation of the second shaft (62, 62a, 62b).
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公开(公告)号：EP1977866A4
公开(公告)日：2009-01-28
申请号：EP06833697
申请日：2006-11-30
CPC分类号： F16H1/16 , B25J9/103 , B25J15/0009 , B25J17/0241 , B25J19/0075 , F16H57/029 , F16H57/031 , F16H57/039 , F16H2057/02008 , F16H2057/0235 , Y10T74/19828
摘要： A sealed worm gear type finger joint unit (1) for a robot hand has a circular opening (82) in a gear box case (4) of the unit, and the opening is closed by a rubber bush (13). When the rubber bush (13) is removed, a shaft end face (11a) of a worm shaft section (11A) is exposed from the circular opening (82), and this makes a tool engagement section (11b) formed on the shaft end face is accessible from the outside. A tool for turning the worm shaft section (11A) is fitted in the tool engagement section (11b), and the worm shaft section (11A) can be easily turned by the tool. Turning the worm shaft section (11A) turns a worm (2), turning a worm wheel (3) meshing with the worm (2), and this turns the joint shaft (12). As a result, a swing arm connected to shaft end sections (12a, 12b) of the joint shaft (12) can be moved to a predetermined position. In the finger joint unit, the joint shaft can be easily manually turned.
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5.发明公开Method of adjusting backlash between a pinion and a gear during assembly of a wrist of an industrial robot and corrsponding wrist unit 审中-公开一种用于工业机器人的腕部装置的手腕的组装过程中调整小齿轮和齿轮之间的齿隙和entsprechended方法
公开(公告)号：EP1944136A1
公开(公告)日：2008-07-16
申请号：EP07100556.5
申请日：2007-01-15
申请人： ABB Technology AB
发明人： Larsson, Jan
CPC分类号： B25J17/0283 , B25J9/103 , F16H57/12 , F16H2057/125
摘要： A method for the assembly of a first part (1) to a second part (2) of a manipulator, wherein the first part has a first interface surface (8) and the end of the second part has a second interface surface (9), which first and second interface surfaces (8, 9) after the assembly forms an interface (3) between said first part and said second part, wherein at least one of said interface surfaces (8, 9) is provided with a guide member (34) about which the other part is rotatable, joining said first part (1) and said second part (2) such that said first interface surface (8) and said second interface surface (9) are positioned to be compatible to each other, rotating said first part (1) about said guide member (34) until a gearwheel (25) of the first part (1) fully meshes a pinion (15) of the second part (2) and fastening the first part (1) firmly to said second part (2) by means for fastening (10).
摘要翻译： 用于第一部分（1）的组件的第二部分的方法，（2）的操纵器，worin所述第一部分具有一个第一接口表面（8）和所述第二部分的端部具有第二接口表面（9） ，其中第一和第二接口表面（8,9）接口（3）之间的所述的装配形式的第一部分和所述第二部分，worin所述接口表面中的至少一个（8,9）设置有导向构件后（ 34）围绕其另一部分是可旋转的基础上，将所述第一部分（1）和所述第二部分（2）检测，所述第一接口表面（8）和所述第二接口表面（9）被定位成彼此兼容， 直到第一部分的齿轮（25）旋转的所述第一部分（1）围绕所述引导构件（34）（1）完全啮合的第二部分（2）的小齿轮（15）和紧固所述第一部分（1）牢固地 到所述第二部分（2）由用于紧固（10）。
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6.发明授权
公开(公告)号：EP0270430B1
公开(公告)日：1992-01-02
申请号：EP87402568.7
申请日：1987-11-13
申请人： Salesse, Christian
发明人： Salesse, Christian
CPC分类号： B25J9/1045 , B25J9/103 , F16H7/00 , F16H19/005
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7.发明授权Dispositif de transmission de mouvement entre un moyen moteur et un organe récepteur 失效电动机与驱动部件之间的动力传动装置
公开(公告)号：EP0253034B1
公开(公告)日：1990-05-09
申请号：EP86401577.1
申请日：1986-07-15
发明人： Serieye, Daniel
IPC分类号： F16H57/12
CPC分类号： F16H57/12 , B25J9/103 , F16H7/02 , F16H2057/121
摘要： 1. A power transmission device for transmitting motion between drive means (56) and a driven member (22), the device comprising two identical assemblies (40, 40') of transmission elements associated in parallel with the driven member (22) and each including an outlet element (32, 32') co-operating with the driven member (22) in order to displace it one direction or in the opposite direction, the device being characterized in that each transmission assembly further includes an inlet element having the same axis of rotation as the outlet element (32, 32'), in that each transmission assembly is received in a housing (42, 42') which is mounted free to rotate about the axis of the outlet element (32, 32') of said assembly, and in that the two housings (42, 42') are interconnected by torque transmission means (52, 52', 54, 54') obliging them to rotate in opposite directions and at the same speed about the axes of their corresponding outlet elements (32, 32') when torque about said axis is applied to one of the housings, the device including external means (62) outside said housings (42, 42') and said transmission assemblies for applying torque to one of the housings about the axis of the corresponding outlet element.
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8.发明授权Spielfrei einstellbarer Schwenkantrieb für mindestens eine Hauptachse von Manipulatoren 失效可调节的转向驱动器，无需播放至少一个操纵器的主轴
公开(公告)号：EP0121063B1
公开(公告)日：1987-03-04
申请号：EP84101542.3
申请日：1984-02-15
发明人： Zimmer, Ernst
CPC分类号： B25J17/0241 , B25J9/103 , Y10T74/18832 , Y10T74/19898
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公开(公告)号：EP2537643A3
公开(公告)日：2018-03-07
申请号：EP12172944.6
申请日：2012-06-21
发明人： Yamamoto, Sota
CPC分类号： B25J9/103 , F16H1/32 , F16H2001/325 , Y10T74/20317
摘要： A ring gear (6) having a plurality of gear teeth (6a) formed on an inner perimeter, a first revolving gear (7) having a plurality of gear teeth (7a) formed on an outer perimeter, the first revolving gear meshing with the ring gear, a first eccentric cam (11) provided in a center position of the first revolving gear in such a way as to be rotatable with respect to the first revolving gear, a first rotating shaft (3) provided in the first eccentric cam, the first rotating shaft making the first revolving gear revolve about a central axis (5) by rotating the first eccentric cam, a through pin (13) inserted into a first through hole (7c) placed in the first revolving gear, a second rotating shaft (4) connected to the through pin, the second rotating shaft outputting the rotation obtained by the rotation of the first revolving gear on the axis thereof, and a first elastic section (14) located between the first through hole and the through pin, the first elastic section making contact with the first through hole and the through pin are provided, and the sum of the area of a place in which the first elastic section makes contact with the through pin is made greater than the sum of the area of a place in which the first elastic section makes contact with the first through hole.
摘要翻译： 1。一种齿圈，具有形成在内周上的多个齿轮齿，具有形成在外周上的多个齿轮齿的第一公转齿轮，所述第一公转齿轮与所述第一公转齿轮啮合， 第一偏心凸轮（11），设置在所述第一公转齿轮的中心位置，以能够相对于所述第一公转齿轮旋转;第一旋转轴（3），设置在所述第一偏心凸轮上， 通过使第一偏心凸轮旋转而使构成第一公转齿轮的第一旋转轴以中心轴线为中心公转，插入到设置于第一公转齿轮的第一贯通孔中的贯通销， （4），所述第二旋转轴输出通过所述第一公转齿轮在其轴线上的旋转而获得的旋转;以及第一弹性部分（14），其位于所述第一通孔和所述通孔之间，所述第一通孔 第一弹性部分与t接触 设置第一贯通孔和贯通销，使第一弹性部与贯通销接触的部位的面积的总和比第一弹性部的与第一弹性部接触的部位的面积的总和大 与第一通孔接触。
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公开(公告)号：EP2559523A2
公开(公告)日：2013-02-20
申请号：EP12156106.2
申请日：2012-02-20
IPC分类号： B25J9/10
CPC分类号： B25J9/103 , Y10S901/23 , Y10S901/25 , Y10T74/19684 , Y10T74/20305 , Y10T74/20317
摘要： A robot (1, 1a, 1b) according to embodiments includes a speed reducer (41a to 41c), a first shaft (61, 61a, 61b), a rotary electric machine (41a to 41c), a second shaft (62, 62a, 62b), and a brake (43a to 43c, 44a to 44c). The speed reducer (41a to 41c) reduces and outputs rotation to be input into an input unit. The first shaft (61, 61a, 61b) is connected to the input unit (422, 422a). The rotary electric machine (41a to 41c) rotates the first shaft (61, 61a, 61b). The second shaft (62, 62a, 62b) is connected to the input unit (422, 422a). The brake (43a to 43c, 44a to 44c) regulates the rotation of the second shaft (62, 62a, 62b).
摘要翻译： 根据实施例的机器人（1,1a，1b）包括减速器（41a至41c），第一轴（61,61a，61b），旋转电机（41a至41c），第二轴（62,62a） ，62b）和制动器（43a〜43c，44a〜44c）。 减速器（41a〜41c）减小并输出要输入到输入单元的旋转。 第一轴（61,61a，61b）连接到输入单元（422,422a）。 旋转电机（41a〜41c）旋转第一轴（61,61a，61b）。 第二轴（62,62a，62b）连接到输入单元（422,422a）。 制动器（43a至43c，44a至44c）调节第二轴（62,62a，62b）的旋转。
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