BR112017008865A2 - ?mecanismo de braço de robô? - Google Patents

?mecanismo de braço de robô?

Info

Publication number
BR112017008865A2
BR112017008865A2 BR112017008865A BR112017008865A BR112017008865A2 BR 112017008865 A2 BR112017008865 A2 BR 112017008865A2 BR 112017008865 A BR112017008865 A BR 112017008865A BR 112017008865 A BR112017008865 A BR 112017008865A BR 112017008865 A2 BR112017008865 A2 BR 112017008865A2
Authority
BR
Brazil
Prior art keywords
joint
axis
robot arm
arm mechanism
geometry axis
Prior art date
Application number
BR112017008865A
Other languages
English (en)
Inventor
Yoon Woo-Keun
Original Assignee
Life Robotics Inc
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 Life Robotics Inc filed Critical Life Robotics Inc
Publication of BR112017008865A2 publication Critical patent/BR112017008865A2/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/045—Polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-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—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Steering Controls (AREA)

Abstract

um objetivo da presente invenção é fornecer um mecanismo de braço de robô com capacidade para eliminar ou reduzir estruturalmente uma postura de ponto singular dentro de uma faixa móvel. o mecanismo de braço de robô tem uma pluralidade de juntas j1 a j6. a primeira junta j1 é uma junta giratória que gira em um primeiro eixo geométrico ra1, uma segunda junta j2 é uma junta giratória que gira em um segundo eixo geométrico ra2 e uma terceira junta j3 é uma junta de movimento linear que se move ao longo de um terceiro eixo geométrico ra3. a primeira junta j1, a segunda junta j2 e a terceira junta j3 são dispostas em ordem a partir de uma base. a primeira junta j1 é disposta de modo que o primeiro eixo geométrico ra1 seja perpendicular à base. a segunda junta j2 é deslocada em relação à primeira junta j1 em uma direção (direção de eixo geométrico z) do primeiro eixo geométrico ra1 e uma direção (direção de eixo geométrico y) perpendicular ao primeiro eixo geométrico ra1.
BR112017008865A 2014-10-30 2015-10-27 ?mecanismo de braço de robô? BR112017008865A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014222090A JP6468804B2 (ja) 2014-10-30 2014-10-30 ロボットアーム機構
PCT/JP2015/080180 WO2016068106A1 (ja) 2014-10-30 2015-10-27 ロボットアーム機構

Publications (1)

Publication Number Publication Date
BR112017008865A2 true BR112017008865A2 (pt) 2017-12-19

Family

ID=55857443

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017008865A BR112017008865A2 (pt) 2014-10-30 2015-10-27 ?mecanismo de braço de robô?

Country Status (11)

Country Link
US (1) US10960537B2 (pt)
EP (1) EP3213882A4 (pt)
JP (1) JP6468804B2 (pt)
KR (1) KR20170086535A (pt)
CN (1) CN107148328B (pt)
AU (1) AU2015338049B2 (pt)
BR (1) BR112017008865A2 (pt)
CA (1) CA2965773A1 (pt)
MX (1) MX2017005615A (pt)
TW (1) TW201628807A (pt)
WO (1) WO2016068106A1 (pt)

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JP6508704B2 (ja) * 2014-11-29 2019-05-08 ライフロボティクス株式会社 ロボットアーム機構
JP6810053B2 (ja) * 2015-11-30 2021-01-06 ライフロボティクス株式会社 直動伸縮機構
JP6725640B2 (ja) * 2016-02-29 2020-07-22 ライフロボティクス株式会社 ロボットアーム機構及び直動伸縮機構
JP6711911B2 (ja) 2016-05-31 2020-06-17 ライフロボティクス株式会社 直動伸縮機構
JP6591940B2 (ja) * 2016-07-21 2019-10-16 ファナック株式会社 搬送用ロボット
CN106426279A (zh) * 2016-11-15 2017-02-22 北京工业大学 一种伸缩式机械臂
CN110545965B (zh) * 2017-04-26 2023-02-17 日本电产株式会社 多关节机器人以及多关节机器人系统
CN108724219A (zh) * 2018-07-05 2018-11-02 广东工业大学 一种用于制作蛋糕花纹的机械臂
CN108942894B (zh) * 2018-09-05 2020-12-22 燕山大学 串联九自由度喷涂机器人
CN109591049B (zh) * 2018-12-07 2022-02-11 英华达（上海）科技有限公司 机械手臂的延伸结构及具有延伸结构的机械手臂
CN109605369B (zh) * 2018-12-07 2021-09-07 英华达（上海）科技有限公司 机械臂奇异点控制方法及系统
CN109531556B (zh) * 2018-12-26 2021-09-24 清华大学 四自由度柱坐标并联机器人
CN111419402B (zh) * 2020-03-11 2024-10-01 浙江理工大学 一种基于同步带轮的脑深部电刺激术辅助机器人

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Also Published As

Publication number Publication date
JP6468804B2 (ja) 2019-02-13
AU2015338049A8 (en) 2017-06-22
JP2016087717A (ja) 2016-05-23
AU2015338049A1 (en) 2017-06-08
CN107148328A (zh) 2017-09-08
EP3213882A4 (en) 2018-08-08
KR20170086535A (ko) 2017-07-26
CN107148328B (zh) 2019-12-31
MX2017005615A (es) 2017-08-07
US20170225325A1 (en) 2017-08-10
WO2016068106A1 (ja) 2016-05-06
TW201628807A (zh) 2016-08-16
AU2015338049B2 (en) 2018-11-08
EP3213882A1 (en) 2017-09-06
US10960537B2 (en) 2021-03-30
CA2965773A1 (en) 2016-05-06

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