Robot arm
First Claim
1. A robot arm, comprising:
- a drive gear having a shaft;
a gear frame configured to turn about the shaft of the drive gear;
a first follower gear configured to turn, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear;
a transmission control mechanism configured to lock the first follower gear to the drive gear;
an arm configured to move in synchronization with the first follower gear; and
a collision detection unit configured to detect a collision between the arm and an obstacle, whereinthe transmission control mechanism is configured to unlock the first follower gear from the drive gear in response to the detection, by the collision detection unit, of a collision between the arm and the obstacle, andwherein when the first follower gear is locked to the drive gear by the transmission control mechanism, the gear frame turns about the shaft of the drive gear, and when the unlocking is effected, the gear frame is locked so as not to turn about the shaft of the drive gear.
1 Assignment
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Accused Products
Abstract
A robot arm has a drive gear that has a shaft, a gear frame being capable of turning about the shaft of the drive gear, a first follower gear being capable of turning, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear, a transmission control mechanism that is capable of locking the first follower gear to the drive gear, an arm that moves in synchronization with the first follower gear, and a collision detection unit that is capable of detecting a collision between the arm and an obstacle. The transmission control mechanism unlocks the follower gear from the drive gear in response to detection, by the collision detection unit, of a collision between the arm and the obstacle. The robot arm enables quick cushioning of the impact force of the collision.
34 Citations
5 Claims
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1. A robot arm, comprising:
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a drive gear having a shaft; a gear frame configured to turn about the shaft of the drive gear; a first follower gear configured to turn, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear; a transmission control mechanism configured to lock the first follower gear to the drive gear; an arm configured to move in synchronization with the first follower gear; and a collision detection unit configured to detect a collision between the arm and an obstacle, wherein the transmission control mechanism is configured to unlock the first follower gear from the drive gear in response to the detection, by the collision detection unit, of a collision between the arm and the obstacle, and wherein when the first follower gear is locked to the drive gear by the transmission control mechanism, the gear frame turns about the shaft of the drive gear, and when the unlocking is effected, the gear frame is locked so as not to turn about the shaft of the drive gear. - View Dependent Claims (2, 3, 4)
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5. A robot arm, comprising:
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a drive gear that having a shaft; a gear frame configured to turn about the shaft of the drive gear; a first follower gear configured to turn, in synchronization with the drive gear, about a shaft fixed to the gear frame, in a direction opposite to the turning direction of the drive gear; a transmission control mechanism configured to lock the first follower gear to the drive an arm configured to move in synchronization with the first follower gear; a collision detection unit configured to detect a collision between the arm and an obstacle; and an outer ring gear having inner teeth and being fixed to the arm; wherein the transmission control mechanism is configured to unlock the first follower gear from the drive gear in response to the detection, by the collision detection unit, of a collision between the arm and the obstacle, wherein the first follower gear is meshed with the drive gear, wherein the first follower gear is a planetary gear configured to revolve around the drive gear while meshing with the inner teeth of the outer ring gear, wherein the outer ring gear is configured to turn in phase with the first follower gear, and wherein the transmission control mechanism comprises a clutch section having a movable section fixed to the first follower gear, and a fixed section fixed to the gear frame, and the transmission control mechanism is configured to lock the first follower gear to the drive gear by coupling the movable section with the fixed section, and when the collision detection unit detects a collision of the arm, the transmission control mechanism unlocks the first follower gear from the drive gear by separating the movable section from the fixed section.
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Specification