公开(公告)号：US20130074636A1

公开(公告)日：2013-03-28

申请号：US13577416

申请日：2011-03-23

申请人： Masahiro Doi

发明人： Masahiro Doi

IPC分类号： B25J17/00

CPC分类号： B25J17/00 ,  B25J9/1025 ,  F16H49/001

摘要： Provided is a method of driving a joint device suitably used for a robot joint with improved back drivability. A first motor and a second motor are fixedly connected to a first link. An output shaft of the first motor is coupled to an internal gear of a differential speed reducer. An output shaft of the second motor is coupled to an external gear of the differential speed reducer. A second link is coupled to the internal gear of the differential speed reducer. When the first link and the second link are relatively stopped to keep a joint angle fixed, both of the first motor and the second motor are rotated with a rotational speed larger than zero, and the rotational speed of the first motor and that of the second motor are differentiated to stop the second link.

摘要翻译： 提供一种驱动适合用于具有改进的反向驾驶性能的机器人关节的关节装置的方法。 第一电动机和第二电动机固定地连接到第一连杆。 第一马达的输出轴连接到差速减速器的内齿轮。 第二马达的输出轴与差速减速器的外齿轮相连。 第二连杆联接到差速减速器的内齿轮。 当第一连杆和第二连杆相对停止以保持接合角度固定时，第一电动机和第二电动机都以大于零的转速旋转，并且第一电动机和第二电动机的转速 电机有区别，以阻止第二个连接。

公开(公告)号：US07752939B2

公开(公告)日：2010-07-13

申请号：US11581741

申请日：2006-10-16

申请人： Masatoshi Ono

发明人： Masatoshi Ono

IPC分类号： B25J9/06 ,  B25J17/00

CPC分类号： B25J18/00 ,  B25J9/042 ,  B25J9/046 ,  B25J9/1025 ,  B25J9/1065 ,  F16H21/04 ,  F16H49/001 ,  Y10T74/19 ,  Y10T74/20305 ,  Y10T74/20311 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T74/20341

摘要： A parallel link mechanism arranged between a fixed base and a movable base includes a harmonic drive gear reducer, a first arm, a second arm, a connection base, a first auxiliary link, and a second auxiliary link. The harmonic drive gear reducer has a body, an input shaft, a first output shaft, and a second output shaft. The first arm has a proximal end pivotally connected to the fixed base and a distal end connected to the body of the reducer. The second arm has a proximal end connected to the second output shaft and a distal end pivotally connected to the movable base. The connection base is arranged outside the second arm with respect to the reducer and connected to the first output shaft. The first auxiliary link is arranged parallel with the first arm and has an end pivotally connected to the fixed base and an end pivotally connected to the connection base. The second auxiliary link is arranged parallel with the second arm and has an end pivotally connected to the connection base and an end pivotally connected to the movable base.

摘要翻译： 布置在固定基座和可移动基座之间的平行连杆机构包括谐波驱动齿轮减速器，第一臂，第二臂，连接座，第一辅助连杆和第二辅助连杆。 谐波驱动齿轮减速机具有主体，输入轴，第一输出轴和第二输出轴。 第一臂具有枢转地连接到固定基座的近端和连接到减速器主体的远端。 第二臂具有连接到第二输出轴的近端和枢转地连接到可动基座的远端。 连接基座相对于减速器布置在第二臂的外侧并连接到第一输出轴。 第一辅助连杆与第一臂平行设置，并且具有可枢转地连接到固定基座的端部和与枢转地连接到连接基座的端部。 第二辅助连杆与第二臂平行设置，并且具有枢转地连接到连接基座的端部和可枢转地连接到可动基座的端部。

公开(公告)号：US5355063A

公开(公告)日：1994-10-11

申请号：US607705

申请日：1990-11-01

申请人： Paul J. Boone ,  Michael H. Canton ,  Stanley F. Niziol ,  Tara D. Mapson ,  Bruce R. L. Cox ,  Raymond G. Kelly, Jr. ,  Robert P. Vestovich ,  George A. Savage ,  Robert D. Senger ,  Michael D. Hecht ,  Kurt K. Lichtenfiels ,  Anthony Grieco ,  Wenche W. Cheng

发明人： Paul J. Boone ,  Michael H. Canton ,  Stanley F. Niziol ,  Tara D. Mapson ,  Bruce R. L. Cox ,  Raymond G. Kelly, Jr. ,  Robert P. Vestovich ,  George A. Savage ,  Robert D. Senger ,  Michael D. Hecht ,  Kurt K. Lichtenfiels ,  Anthony Grieco ,  Wenche W. Cheng

IPC分类号： B25J9/00 ,  B25J9/10 ,  F22B37/00 ,  G05B19/19

CPC分类号： B25J9/1025 ,  F22B37/005

摘要： An improved robotic arm system for servicing the tubesheet located within the channel head of a nuclear steam generator is provided. The system includes a robotic arm whose shoulder and elbow joints are rotatable only in the plane parallel to the tubesheet in order to eliminate the imposition of cantileverly-induced torques on the electric motors driving these joints, as well as to minimize the possibility of mechanical interference between the arm and the walls of the channel head. Each of the motorized joint assemblies of the arm includes resolvers connected not only to the output of the drive train that moves the joint, but also to the drive shaft of the electric motor that drives the drive train, wherein the feedback signal generated by the resolver connected to the drive shaft of the electric motor is the primary signal used to modulate the amount of electric power conducted to the motor of the joint. Such a configuration advantageously results in smoother robotic arm movement. Finally, the control circuit assembly of the robotic arm system includes a control processing unit (CPU) which is capable of simultaneously driving not only the joint assemblies of the robotic arm, but also any computer-operated mechanisms associated with a variety of end effectors which the arm is capable of delivering. The CPU, power supply and other components of the control circuit assembly are installable in the containment area surrounding the steam generator in order to eliminate the number of cable penetrations through the containment walls that are necessary to operate the system.

摘要翻译： 提供了一种用于维修位于核蒸汽发生器的通道头内的管板的改进的机器臂系统。 该系统包括机器臂，其肩部和肘关节只能在与管板平行的平面中旋转，以消除在驱动这些关节的电动机上施加悬臂诱导扭矩，并且最小化机械干扰的可能性 在手臂和通道头部的墙壁之间。 臂的每个电动接头组件都包括不仅连接到传动系的输出的旋转变压器，该传动系的运动使接头移动，而且还连接到驱动传动系的电动机的驱动轴，其中，旋转变压器产生的反馈信号 连接到电动机的驱动轴的是用于调制传导到接头的电动机的电力量的主要信号。 这种配置有利地导致更平滑的机器人手臂运动。 最后，机器臂系统的控制电路组件包括一个控制处理单元（CPU），该控制处理单元能够不仅同时驱动机器臂的接头组件，而且还可以驱动与各种终端执行器相关联的任何计算机操作的机构， 手臂能够交付。 控制电路组件的CPU，电源和其他组件可安装在蒸汽发生器周围的容纳区域中，以消除操作系统所需的通过密封壁的电缆穿透次数。

公开(公告)号：US4973215A

公开(公告)日：1990-11-27

申请号：US310511

申请日：1989-02-14

申请人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  David A. Damico ,  Paul H. Eismann

发明人： James P. Karlen ,  Jack M. Thompson, Jr. ,  Keith A. Kowalski ,  David A. Damico ,  Paul H. Eismann

IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02

CPC分类号： B25J9/046 ,  B25J17/02 ,  B25J17/0241 ,  B25J9/04 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/1633 ,  B25J9/1643 ,  G05B2219/41116 ,  G05B2219/41203 ,  G05B2219/42092 ,  G05B2219/49292 ,  Y10T74/20207

摘要： A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.

公开(公告)号：US4784014A

公开(公告)日：1988-11-15

申请号：US29757

申请日：1986-12-09

申请人： Joachim Bruns ,  Gerhard Gosdowski ,  Andreas Kettner

发明人： Joachim Bruns ,  Gerhard Gosdowski ,  Andreas Kettner

IPC分类号： B25J17/00 ,  B25J9/10 ,  F16H49/00 ,  F16H37/00

CPC分类号： B25J9/1025 ,  F16H49/001 ,  Y10T74/19

摘要： A robot joint has a support carrying a rotary robot arm. An electric drive motor is mounted on the support and its drive shaft is coupled to the robot arm by harmonic drive-type reduction gears. The reduction gears include an elastically deformable, externally toothed ring whose elliptical shape is rotated by the drive shaft. The externally toothed ring itself is stationary and is firmly connected to the support by a flexible sleeve provided at its free end with a rigid mounting flange. The annular mounting face of the flange and the opposite mounting face on the support is each provided with radial teeth, preferably in the form of Hirth-type gears, which guarantee an accurate centering of the sleeve and safeguard the same against turning. Preferably, the flange is fastened to the end face of a steel bushing which is pressed into a bore in the support and secured against turning by knurled serrations. The robot arm is mounted for rotation in a pretensioned cross-roller bearing which provides a compact and bend resistant connection to the support.

摘要翻译： PCT No.PCT / DE86 / 00062 Sec。 371日期1986年12月9日第 102（e）日期1986年12月9日PCT提交1986年2月19日PCT公布。 出版物WO86 / 07555 日期为1986年12月31日。机器人关节具有支撑旋转机器人手臂的支撑。 电驱动马达安装在支撑件上，其驱动轴通过谐波驱动型减速齿轮联接到机器人手臂。 减速齿轮包括可弹性变形的外齿形环，其椭圆形由驱动轴旋转。 外齿环本身是固定的，并通过设置在其自由端的柔性套筒与刚性安装凸缘牢固地连接到支撑件。 凸缘的环形安装面和支架上相对的安装面均设置有径向齿，优选为Hirth型齿轮，保证套筒精确对中并保护套筒不受转动。 优选地，凸缘紧固到钢衬套的端面，该衬套被压入支撑件中的孔中并且通过滚花锯齿固定而不能转动。 机器人手臂被安装成旋转在预拉伸的交叉滚子轴承中，其提供与支撑件的紧凑且抗弯曲的连接。

公开(公告)号：US4688984A

公开(公告)日：1987-08-25

申请号：US767583

申请日：1985-08-13

申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Ryo Nihei ,  Hitoshi Mizuno

发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Ryo Nihei ,  Hitoshi Mizuno

IPC分类号： B25J9/10 ,  B25J15/00 ,  B25J17/02

CPC分类号： B25J9/1025 ,  B25J17/0283 ,  Y10T74/1906

摘要： A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis (.gamma.). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis (.beta.). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis (.alpha.). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis (.beta.). The first transmission shaft (26) is connected through a gear train (27) to the second transmission shaft (28) extended along the third axis (.alpha.) and the second transmission shaft (28) is connected to the fore wrist unit (15). The second transmission shaft (28) is associated with a reduction gear mechanism (31).

摘要翻译： PCT No.PCT / JP84 / 00595 Sec。 371日期1985年8月13日 102（e）日期1985年8月13日PCT提交1984年12月14日PCT公布。 第WO85 / 02576号公报 日期：1985年6月20日。一种用于工业机器人的手腕驱动机构具有支撑在机器人手臂（11）的自由端上并能够绕第一轴线（γ）旋转的第一基部腕部单元（13）。 第一基部腕部（13）安装有能够围绕第二轴线（β）旋转的第二基部腕部单元（14）。 第二基部腕部（14）安装有能够围绕第三轴线（α）旋转的前腕单元（15）。 机器人手臂（11）沿着其长度方向设置有用于将旋转动力传递到第一基准腕部（13）的第一动力传递单元（16）。 沿机器人手臂（11）和第一基准腕部（13）形成有用于将旋转动力传递到第二基准腕部（14）的第二动力传递部（19）。 用于驱动前腕部（15）旋转的马达（25）安装在第一基座腕部（13）上。 马达（25）的驱动轴与沿着第二轴线（β）延伸的第一传动轴（26）联接。 第一传动轴（26）通过齿轮系（27）连接到沿着第三轴线（α）延伸的第二传动轴（28），第二传动轴（28）连接到前腕部（15） 。 第二传动轴（28）与减速齿轮机构（31）相关联。

公开(公告)号：US4552504A

公开(公告)日：1985-11-12

申请号：US579362

申请日：1984-01-31

申请人： Akiyoshi Nakada ,  Toshitugu Inoue ,  Haruo Tada ,  Kiyoshi Shinki ,  Kuninori Takezawa ,  Makoto Doi

发明人： Akiyoshi Nakada ,  Toshitugu Inoue ,  Haruo Tada ,  Kiyoshi Shinki ,  Kuninori Takezawa ,  Makoto Doi

IPC分类号： B25J17/00 ,  B25J9/06 ,  B25J9/08 ,  B25J9/10 ,  B25J17/02 ,  B25J19/00 ,  F16H33/00

CPC分类号： B25J19/0004 ,  B25J17/0241 ,  B25J9/06 ,  B25J9/08 ,  B25J9/1005 ,  B25J9/102 ,  B25J9/1025 ,  Y10T74/19

摘要： An industrial robot is constituted by a plurality of series connected arm units each composed of a driving unit from among a plurality of driving units having different driving powers and different driving speeds, a joint unit from among a plurality of joint units having different driving speeds and power transmitting capacities, and an arm from among a plurality of arms having different sizes and load capacities. The joint units, driving units and arms each have connecting surfaces thereon having positioning parts and setting-fixing parts in a predetermined pattern for enabling the joint units, driving units and arms to be detachably connected to other joint units, driving units and arms at corresponding connecting surfaces to form arm units with the desired joint units, driving units and arms. The joint units each have a stationary frame and a follower frame rotatably connected to each other and driving power transmitting mechanism connected between said frames and including reduction gears. The driving units each have a motor and an output member fixed to the motor shaft which, when a driving unit is connected with a joint unit, is engaged with power transmitting mechanism.

摘要翻译： PCT No.PCT / JP83 / 00175 Sec。 371日期1984年1月31日 102（e）日期1984年1月31日PCT提交日期1983年5月31日。工业机器人由多个串联连接的臂单元构成，每个组合连接的臂单元由驱动单元组成，多个驱动单元具有不同的驱动力和不同的驱动 速度，具有不同驱动速度和动力传递能力的多个接头单元中的接头单元，以及具有不同尺寸和负载能力的多个臂中的臂。 接合单元，驱动单元和臂各具有连接表面，其上具有预定图案的定位部件和固定部件，以使接合单元，驱动单元和臂可拆卸地连接到相应的其它接头单元，驱动单元和臂 连接表面以形成具有所需接头单元，驱动单元和臂的臂单元。 接头单元各自具有彼此可旋转地连接的静止框架和从动框架，并且连接在所述框架之间并且包括减速齿轮的驱动动力传递机构。 驱动单元各自具有固定到电动机轴的电动机和输出构件，当驱动单元与接合单元连接时，其与动力传递机构接合。

公开(公告)号：US4073201A

公开(公告)日：1978-02-14

申请号：US732733

申请日：1976-10-15

申请人： Henry J. Taylor ,  Philip N. P. Ibbotson

发明人： Henry J. Taylor ,  Philip N. P. Ibbotson

IPC分类号： B25J17/00 ,  B25J9/10 ,  B25J17/02 ,  B64G4/00 ,  F16C11/00 ,  F16H37/06 ,  F16M11/04

CPC分类号： B64G4/00 ,  B25J17/0283 ,  B25J9/1025 ,  Y10T74/19126 ,  Y10T74/19144 ,  Y10T74/20207

摘要： A powered wrist joint consisting of a base having a pitch member mounted thereon for rotation about a pitch axis and a pitch drive mounted on the base for driving the pitch member about the pitch axis and a yaw shaft mounted on the pitch member on a yaw axis which is disposed at right angles to and intersects the pitch axis. A housing is mounted on the yaw shaft for rotation about the yaw axis. A yaw drive is mounted in the housing for driving the housing about the yaw axis and a roll shaft is mounted for rotation in the housing about the roll axis which is disposed at right angles to the pitch and yaw axes and intersects the pitch and yaw axes at their point of intersection thereby to provide a common center of pitch, yaw and roll gyration.

摘要翻译： 一种动力腕关节，其由具有安装在其上的用于围绕俯仰轴线旋转的俯仰构件的基座和安装在基座上的俯仰驱动器用于围绕俯仰轴线驱动俯仰构件;以及偏航轴，其以偏转轴线安装在俯仰构件上 其设置成与俯仰轴成直角并且与俯仰轴相交。 偏转轴上安装有围绕偏转轴线旋转的壳体。 偏转驱动器安装在壳体中，用于围绕偏转轴线驱动壳体，并且安装用于在壳体内围绕辊轴线旋转的辊轴，该轴线设置成与俯仰和偏转轴线成直角并且与俯仰和偏转轴线相交 在它们的交点处，从而提供公共的俯仰，偏转和滚动回转中心。

公开(公告)号：US20240342898A1

公开(公告)日：2024-10-17

申请号：US18632547

申请日：2024-04-11

申请人： Universal Robots A/S

发明人： Steffen Henrik JOHANSEN

IPC分类号： B25J9/10 ,  B25J17/00 ,  F16H49/00 ,  G01D5/14 ,  G01D5/26

CPC分类号： B25J9/1025 ,  B25J17/00 ,  F16H49/001 ,  G01D5/142 ,  G01D5/26

摘要： A strain wave gear comprising an outer ring and an inner ring rotatably arranged in the outer ring. The inner ring comprises an internally toothed gear and a flex spline is arranged in the inner ring and comprise a flexible part comprising an external toothed gear. A wave generator is rotatable in relation to the flex spline and is configured to flex the flexible part in a radial direction to partly mesh the external toothed gear with the internally toothed gear causing rotation of the inner ring in relation to the outer ring. A part of said inner ring extends out of said outer ring and comprises an outwardly protruding output flange. An encoder reader can be disposed on the outer ring and an encoder track can disposed on the inner ring. A robot joint comprising the strain wave gear is also disclosed.

公开(公告)号：US20240301921A1

公开(公告)日：2024-09-12

申请号：US18421354

申请日：2024-01-24

申请人： Boston Dynamics, Inc.

发明人： Zachary John Jackowski ,  Adam Young

IPC分类号： F16D7/02 ,  B25J9/10 ,  B25J19/06 ,  F16H25/20 ,  F16H35/10 ,  F16H49/00

CPC分类号： F16D7/025 ,  B25J9/1025 ,  B25J19/06 ,  F16H35/10 ,  F16H49/001 ,  F16H25/20 ,  F16H2025/204 ,  F16H2025/2043

摘要： An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.