CN102069495A - 并联机器人 - Google Patents
并联机器人 Download PDFInfo
- Publication number
- CN102069495A CN102069495A CN2009103102330A CN200910310233A CN102069495A CN 102069495 A CN102069495 A CN 102069495A CN 2009103102330 A CN2009103102330 A CN 2009103102330A CN 200910310233 A CN200910310233 A CN 200910310233A CN 102069495 A CN102069495 A CN 102069495A
- Authority
- CN
- China
- Prior art keywords
- parallel robot
- fan
- driving member
- transmission rope
- driving
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
Abstract
Description
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910310233.0A CN102069495B (zh) | 2009-11-23 | 2009-11-23 | 并联机器人 |
US12/826,984 US8418579B2 (en) | 2009-11-23 | 2010-06-30 | Parallel robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200910310233.0A CN102069495B (zh) | 2009-11-23 | 2009-11-23 | 并联机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102069495A true CN102069495A (zh) | 2011-05-25 |
CN102069495B CN102069495B (zh) | 2014-01-22 |
Family
ID=44028349
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200910310233.0A Active CN102069495B (zh) | 2009-11-23 | 2009-11-23 | 并联机器人 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8418579B2 (zh) |
CN (1) | CN102069495B (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102530120A (zh) * | 2011-12-28 | 2012-07-04 | 燕山大学 | 6-urs六足步行机器人 |
CN103231371A (zh) * | 2013-04-23 | 2013-08-07 | 广州中国科学院先进技术研究所 | 并联机器人及其平行四边形杆组 |
CN104057464A (zh) * | 2013-03-22 | 2014-09-24 | 财团法人精密机械研究发展中心 | 应用于并联型机器手的关节装置 |
CN105583810A (zh) * | 2016-03-11 | 2016-05-18 | 广州数控设备有限公司 | 带有摆臂-连杆驱动机构的并联机器人 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008001314A1 (de) * | 2008-04-22 | 2009-10-29 | Robert Bosch Gmbh | Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum |
CN101708611B (zh) * | 2009-11-09 | 2011-07-27 | 天津大学 | 一种具有三维平动一维转动的并联机构 |
WO2011154429A1 (de) * | 2010-06-08 | 2011-12-15 | Beckhoff Automation Gmbh | Robotermodul und roboter |
KR101164378B1 (ko) * | 2011-06-07 | 2012-07-09 | 양국진 | 병렬형 머니퓰레이터 |
CN103064230B (zh) | 2011-10-19 | 2016-03-09 | 鸿富锦精密工业(深圳)有限公司 | 调焦装置 |
JP5475747B2 (ja) * | 2011-12-07 | 2014-04-16 | Thk株式会社 | パラレルリンクロボット |
JP5674734B2 (ja) * | 2012-08-31 | 2015-02-25 | ファナック株式会社 | ボールジョイントにより接続されたパラレルリンクロボット |
ES1078824Y (es) * | 2013-02-08 | 2013-06-10 | Matriruiz S L | Conjunto de medios mecánicos incorporables a un robot delta para realización de engomado de tapas |
CN104029218A (zh) * | 2013-03-05 | 2014-09-10 | 深圳富泰宏精密工业有限公司 | 机械手臂 |
CN109311150B (zh) * | 2016-07-07 | 2020-09-01 | Abb瑞士股份有限公司 | 用于并联运动机器人的基座 |
USD895703S1 (en) * | 2018-03-02 | 2020-09-08 | Abb Schweiz Ag | Robot with flexible arms |
USD895702S1 (en) * | 2018-03-02 | 2020-09-08 | Abb Schweiz Ag | Robot with flexible arms |
USD895701S1 (en) * | 2018-03-02 | 2020-09-08 | Abb Schweiz Ag | Robot with flexible arms |
USD895700S1 (en) * | 2018-03-02 | 2020-09-08 | Abb Schweiz Ag | Base for an industrial robot |
JP6688470B2 (ja) * | 2018-03-12 | 2020-04-28 | 株式会社安川電機 | パラレルリンクロボット及びパラレルリンクロボットシステム |
JP1646432S (zh) * | 2019-02-15 | 2019-11-25 | ||
JP6971440B2 (ja) * | 2019-11-11 | 2021-11-24 | 株式会社安川電機 | パラレルリンクロボットシステム |
CN116135479A (zh) * | 2021-11-17 | 2023-05-19 | 通用汽车环球科技运作有限责任公司 | 用于自动和/或协同紧固操作的六自由度和三自由度机器人系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000148382A (ja) * | 1998-11-11 | 2000-05-26 | Mitsubishi Precision Co Ltd | 6軸のフォースフィードバックを有する力覚インタフェース装置 |
CN1857875A (zh) * | 2006-06-09 | 2006-11-08 | 北京工业大学 | 三平移一转动并联机构 |
CN101065304A (zh) * | 2004-11-24 | 2007-10-31 | 马丁工程公司 | 恒角恒压传送带清洁器及张紧器 |
EP1854591A1 (fr) * | 2006-05-11 | 2007-11-14 | Jean-Marie Chenu | Robot parallèle |
CN101518491A (zh) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | 手指运动功能康复机器人 |
CN101554727A (zh) * | 2008-04-10 | 2009-10-14 | 村田机械株式会社 | 并联机构 |
JP2009255196A (ja) * | 2008-04-14 | 2009-11-05 | Murata Mach Ltd | パラレルメカニズム |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2832345B1 (fr) * | 2001-11-19 | 2003-12-19 | Commissariat Energie Atomique | Mecanisme articule comprenant un reducteur a cable utilisable dans un bras de robot |
EP1858674A1 (de) * | 2005-03-18 | 2007-11-28 | Matthias Ehrat | Vorrichtung zum bewegen und positionieren eines gegenstandes im raum |
JP5327687B2 (ja) * | 2007-03-01 | 2013-10-30 | 国立大学法人東京工業大学 | 力覚提示機能を有する操縦システム |
CN102049786A (zh) * | 2009-11-05 | 2011-05-11 | 鸿富锦精密工业(深圳)有限公司 | 转动机构及使用该转动机构的机器人 |
CN102059696B (zh) * | 2009-11-18 | 2013-11-20 | 鸿富锦精密工业(深圳)有限公司 | 并联机构 |
TWM382891U (en) * | 2010-01-07 | 2010-06-21 | Everprec Tech Co Ltd | Angle adjustment structure of right-angle robot arm |
-
2009
- 2009-11-23 CN CN200910310233.0A patent/CN102069495B/zh active Active
-
2010
- 2010-06-30 US US12/826,984 patent/US8418579B2/en not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000148382A (ja) * | 1998-11-11 | 2000-05-26 | Mitsubishi Precision Co Ltd | 6軸のフォースフィードバックを有する力覚インタフェース装置 |
CN101065304A (zh) * | 2004-11-24 | 2007-10-31 | 马丁工程公司 | 恒角恒压传送带清洁器及张紧器 |
EP1854591A1 (fr) * | 2006-05-11 | 2007-11-14 | Jean-Marie Chenu | Robot parallèle |
CN1857875A (zh) * | 2006-06-09 | 2006-11-08 | 北京工业大学 | 三平移一转动并联机构 |
CN101554727A (zh) * | 2008-04-10 | 2009-10-14 | 村田机械株式会社 | 并联机构 |
JP2009255196A (ja) * | 2008-04-14 | 2009-11-05 | Murata Mach Ltd | パラレルメカニズム |
CN101518491A (zh) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | 手指运动功能康复机器人 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102530120A (zh) * | 2011-12-28 | 2012-07-04 | 燕山大学 | 6-urs六足步行机器人 |
CN104057464A (zh) * | 2013-03-22 | 2014-09-24 | 财团法人精密机械研究发展中心 | 应用于并联型机器手的关节装置 |
CN104057464B (zh) * | 2013-03-22 | 2016-02-03 | 财团法人精密机械研究发展中心 | 应用于并联型机器手的关节装置 |
CN103231371A (zh) * | 2013-04-23 | 2013-08-07 | 广州中国科学院先进技术研究所 | 并联机器人及其平行四边形杆组 |
CN103231371B (zh) * | 2013-04-23 | 2015-10-14 | 广州中国科学院先进技术研究所 | 并联机器人及其平行四边形杆组 |
CN105583810A (zh) * | 2016-03-11 | 2016-05-18 | 广州数控设备有限公司 | 带有摆臂-连杆驱动机构的并联机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN102069495B (zh) | 2014-01-22 |
US8418579B2 (en) | 2013-04-16 |
US20110120254A1 (en) | 2011-05-26 |
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Legal Events
Date | Code | Title | Description |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20170418 Address after: 150060 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee after: HIT SPECIAL ROBOT CO.,LTD. Address before: Tianhe District Tong East Road Guangzhou city Guangdong province 510665 B-101 No. 5, room B-118 Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20170418 Address after: Tianhe District Tong East Road Guangzhou city of Guangdong Province, No. 5, room B-118 B-101 Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: 518109 Guangdong city of Shenzhen province Baoan District Longhua Town Industrial Zone tabulaeformis tenth East Ring Road No. 2 two Co-patentee before: HON HAI PRECISION INDUSTRY Co.,Ltd. Patentee before: HONG FU JIN PRECISION INDUSTRY (SHENZHEN) Co.,Ltd. |
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TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220127 Address after: 243000 307 and 308, third floor, building 9, No. 5, Hongqi South Road, economic and Technological Development Zone, Maanshan City, Anhui Province Patentee after: MAANSHAN Hagong special robot Co.,Ltd. Address before: 150060 Heilongjiang Province Harbin Jingkai District Haping Road Concentrated Area Dalian North Road and Xingkai Road Intersection Patentee before: HIT SPECIAL ROBOT CO.,LTD. |
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TR01 | Transfer of patent right |