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Machine translation
1. (WO2013161006) GRAVITY COMPENSATION MECHANISM AND ROBOT
Latest bibliographic data on file with the International Bureau   

Pub. No.:    WO/2013/161006    International Application No.:    PCT/JP2012/060962
Publication Date: 31.10.2013 International Filing Date: 24.04.2012
IPC:
B25J 19/00 (2006.01)
Applicants: KABUSHIKI KAISHA YASKAWA DENKI [JP/JP]; 2-1, Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-shi, Fukuoka 8060004 (JP) (For All Designated States Except US).
YAMAGUCHI Go [JP/JP]; (JP) (For US Only)
Inventors: YAMAGUCHI Go; (JP)
Agent: NAKAMAE Fujio; Nakamae International Patent Office, Room 401, Kansen Bldg., 13-23, Asano 2-chome, Kokurakita-ku, Kitakyushu-shi, Fukuoka 8028691 (JP)
Priority Data:
Title (EN) GRAVITY COMPENSATION MECHANISM AND ROBOT
(FR) MÉCANISME DE COMPENSATION DE LA GRAVITÉ ET ROBOT
(JA) 重力補償機構及びロボット
Abstract: front page image
(EN)Provided is a robot (10) and a gravity compensation mechanism (30) in which the gravity compensation torque characteristics have a high degree of design freedom. The gravity compensation mechanism (30) is provided with: a first non-circular gear (31) which rotates, with an arm part (14) of the robot (10), about the rotation axis (L) of the arm part (14); a second non-circular gear (32) driven by the first non-circular gear (31); and a stretching/contracting body (34) which has one end part connected to the second non-circular gear (32), stretches and contracts with the rotation of the second non-circular gear (32), and generates a force.
(FR)L'invention concerne un robot (10) et un mécanisme de compensation de la gravité (30) dans lequel les caractéristiques du couple de compensation de la gravité se distinguent par un degré élevé de liberté de conception. Le mécanisme de compensation de la gravité (30) comporte, d'une part un premier pignon non circulaire (31) qui tourne avec une partie de bras (14) du robot (10) autour de l'axe de rotation (L) de la partie de bras (14), d'autre part un second pignon non circulaire (32) entraîné par le premier pignon non circulaire (31), et enfin un corps télescopique (34), dont une extrémité est reliée au second pignon non circulaire (32). Ce corps télescopique (34), qui s'allonge et se raccourcit avec la rotation du second pignon non circulaire (32), produit une force.
(JA) 重力補償トルク特性の設計自由度が高い重力補償機構(30)及びロボット(10)を提供する。 重力補償機構(30)は、ロボット(10)のアーム部(14)の回転軸(L)回りに、アーム部(14)とともに回転する第1の非円形歯車(31)と、第1の非円形歯車(31)によって駆動される第2の非円形歯車(32)と、第2の非円形歯車(32)に一端部が接続され、第2の非円形歯車(32)の回転に従って伸縮して力を発生する伸縮体(34)と、を備える。
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)