CN102642202B - 水平多关节机械手 - Google Patents
水平多关节机械手 Download PDFInfo
- Publication number
- CN102642202B CN102642202B CN201110450024.3A CN201110450024A CN102642202B CN 102642202 B CN102642202 B CN 102642202B CN 201110450024 A CN201110450024 A CN 201110450024A CN 102642202 B CN102642202 B CN 102642202B
- Authority
- CN
- China
- Prior art keywords
- arm
- horizontal arm
- angular velocity
- horizontal
- velocity sensor
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
- B25J9/06—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
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566748.2A CN105150204A (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
| CN201410104274.5A CN103978479B (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011035859A JP5817142B2 (ja) | 2011-02-22 | 2011-02-22 | 水平多関節ロボット |
| JP2011-035859 | 2011-02-22 |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510566748.2A Division CN105150204A (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
| CN201410104274.5A Division CN103978479B (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102642202A CN102642202A (zh) | 2012-08-22 |
| CN102642202B true CN102642202B (zh) | 2015-10-07 |
Family
ID=45656038
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510566748.2A Pending CN105150204A (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
| CN201410104274.5A Active CN103978479B (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
| CN201110450024.3A Active CN102642202B (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510566748.2A Pending CN105150204A (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
| CN201410104274.5A Active CN103978479B (zh) | 2011-02-22 | 2011-12-29 | 水平多关节机械手 |
Country Status (6)
| Country | Link |
|---|---|
| US (3) | US8798795B2 (enExample) |
| EP (1) | EP2492064B1 (enExample) |
| JP (1) | JP5817142B2 (enExample) |
| KR (2) | KR101382815B1 (enExample) |
| CN (3) | CN105150204A (enExample) |
| TW (2) | TWI488722B (enExample) |
Families Citing this family (43)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343592A (zh) * | 2010-08-05 | 2012-02-08 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
| JP5821210B2 (ja) * | 2011-02-22 | 2015-11-24 | セイコーエプソン株式会社 | 水平多関節ロボット及び水平多関節ロボットの制御方法 |
| JP6332899B2 (ja) | 2012-08-31 | 2018-05-30 | セイコーエプソン株式会社 | ロボット |
| JP6332900B2 (ja) * | 2012-08-31 | 2018-05-30 | セイコーエプソン株式会社 | ロボットシステム及びロボット制御装置 |
| JP6111562B2 (ja) | 2012-08-31 | 2017-04-12 | セイコーエプソン株式会社 | ロボット |
| JP6111563B2 (ja) | 2012-08-31 | 2017-04-12 | セイコーエプソン株式会社 | ロボット |
| JP5962340B2 (ja) | 2012-08-31 | 2016-08-03 | セイコーエプソン株式会社 | ロボット |
| JP6008112B2 (ja) * | 2012-10-23 | 2016-10-19 | セイコーエプソン株式会社 | 水平多関節ロボット |
| CN104813462B (zh) * | 2012-11-30 | 2017-04-26 | 应用材料公司 | 振动控制的基板传送机械手、系统及方法 |
| JP2014205198A (ja) * | 2013-04-10 | 2014-10-30 | セイコーエプソン株式会社 | ロボット、ロボット制御装置およびロボットシステム |
| JP6155780B2 (ja) * | 2013-04-10 | 2017-07-05 | セイコーエプソン株式会社 | ロボット、ロボット制御装置およびロボットシステム |
| JP2014205197A (ja) | 2013-04-10 | 2014-10-30 | セイコーエプソン株式会社 | ロボット、ロボット制御装置およびロボットシステム |
| JP2014205199A (ja) | 2013-04-10 | 2014-10-30 | セイコーエプソン株式会社 | ロボット、ロボット制御装置およびロボットシステム |
| JP6354122B2 (ja) * | 2013-06-05 | 2018-07-11 | セイコーエプソン株式会社 | ロボット |
| JP6314428B2 (ja) * | 2013-11-01 | 2018-04-25 | セイコーエプソン株式会社 | ロボット、制御装置及びロボットシステム |
| US9868209B2 (en) | 2013-12-02 | 2018-01-16 | Seiko Epson Corporation | Robot |
| TW201521979A (zh) | 2013-12-10 | 2015-06-16 | Hiwin Tech Corp | 水平多關節機械手臂 |
| JP2016068203A (ja) * | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | ロボット |
| JP6339534B2 (ja) * | 2015-07-17 | 2018-06-06 | ファナック株式会社 | 最大で二つのワークを把持するハンドを備えたロボットの制御方法およびロボット制御装置 |
| US11167408B2 (en) * | 2016-04-21 | 2021-11-09 | Hughen Gerrard Thomas | Robotic system for carrying out an operation |
| CN107791276B (zh) * | 2016-08-31 | 2022-06-24 | 精工爱普生株式会社 | 机器人 |
| JP2018042448A (ja) * | 2016-08-31 | 2018-03-15 | セイコーエプソン株式会社 | モーターユニットおよびロボット |
| JP6792470B2 (ja) * | 2017-02-01 | 2020-11-25 | 株式会社神戸製鋼所 | 多関節溶接ロボット |
| JP6457567B2 (ja) | 2017-02-15 | 2019-01-23 | ファナック株式会社 | 水平多関節型ロボット |
| US10173323B2 (en) * | 2017-06-09 | 2019-01-08 | Precise Automation, Inc. | Collaborative robot |
| US10252420B2 (en) * | 2017-06-09 | 2019-04-09 | Precise Automation, Inc. | Collaborative robot |
| JP2019048360A (ja) * | 2017-09-12 | 2019-03-28 | セイコーエプソン株式会社 | ロボット、及びロボットシステム |
| CN107538472B (zh) * | 2017-10-12 | 2021-01-12 | 王磊 | 一种机械臂及机器人和机器人实验系统 |
| JP7135448B2 (ja) * | 2018-05-31 | 2022-09-13 | セイコーエプソン株式会社 | ロボット |
| JP7147290B2 (ja) * | 2018-06-26 | 2022-10-05 | セイコーエプソン株式会社 | ロボットおよびロボットシステム |
| JP7183601B2 (ja) * | 2018-07-20 | 2022-12-06 | セイコーエプソン株式会社 | ロボットシステムおよびロボットシステムの制御方法 |
| US11618492B2 (en) | 2019-03-29 | 2023-04-04 | Lg Electronics Inc. | Handle assembly having power assist function for carts and cart comprising the same |
| JP7207094B2 (ja) * | 2019-03-29 | 2023-01-18 | セイコーエプソン株式会社 | 水平多関節ロボット |
| KR102778428B1 (ko) | 2019-05-07 | 2025-03-11 | 엘지전자 주식회사 | 파워 어시스트 기능을 갖는 카트의 핸들 어셈블리 및 카트 |
| JP7290475B2 (ja) * | 2019-05-30 | 2023-06-13 | ファナック株式会社 | ロボット |
| JP7451889B2 (ja) * | 2019-06-27 | 2024-03-19 | セイコーエプソン株式会社 | ロボット |
| CN111113370B (zh) * | 2020-01-09 | 2025-06-10 | 西南交通大学 | 一种曲臂式巡线机器人 |
| TWI728683B (zh) * | 2020-02-05 | 2021-05-21 | 上銀科技股份有限公司 | 潤滑裝置及具有該潤滑裝置的機械手臂 |
| CN113246173B (zh) * | 2020-02-11 | 2022-07-15 | 上银科技股份有限公司 | 润滑装置及具有该润滑装置的机械手臂 |
| CN115697651B (zh) * | 2020-06-11 | 2023-09-29 | 三菱电机株式会社 | 水平多关节机器人 |
| JP2023079111A (ja) * | 2021-11-26 | 2023-06-07 | セイコーエプソン株式会社 | ロボットアームおよびロボットシステム |
| CN114368006A (zh) * | 2022-03-01 | 2022-04-19 | 柳州铁道职业技术学院 | 一种可伸缩关节机器人 |
| CN115771023B (zh) * | 2022-11-24 | 2024-04-02 | 臻越自动化技术(上海)有限公司 | 一种具有检测功能的卡扣安装机构 |
Citations (3)
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| CN101664925A (zh) * | 2008-09-01 | 2010-03-10 | 精工爱普生株式会社 | 水平多关节型机器人 |
| JP2010221340A (ja) * | 2009-03-24 | 2010-10-07 | Seiko Epson Corp | 水平多関節型ロボット |
| JP2010221310A (ja) * | 2009-03-19 | 2010-10-07 | Seiko Epson Corp | 放熱装置付き旋回型アーム及び水平多関節型ロボット |
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| JP5950716B2 (ja) * | 2012-06-25 | 2016-07-13 | キヤノン株式会社 | ロボット及びロボット制御方法 |
-
2011
- 2011-02-22 JP JP2011035859A patent/JP5817142B2/ja active Active
- 2011-12-23 KR KR1020110141068A patent/KR101382815B1/ko not_active Expired - Fee Related
- 2011-12-29 CN CN201510566748.2A patent/CN105150204A/zh active Pending
- 2011-12-29 CN CN201410104274.5A patent/CN103978479B/zh active Active
- 2011-12-29 CN CN201110450024.3A patent/CN102642202B/zh active Active
-
2012
- 2012-02-17 US US13/399,084 patent/US8798795B2/en active Active
- 2012-02-17 EP EP12155941.3A patent/EP2492064B1/en active Active
- 2012-02-17 TW TW101105356A patent/TWI488722B/zh active
- 2012-02-17 TW TW104113854A patent/TW201544273A/zh unknown
-
2013
- 2013-04-26 KR KR1020130046628A patent/KR101471285B1/ko not_active Expired - Fee Related
-
2014
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101664925A (zh) * | 2008-09-01 | 2010-03-10 | 精工爱普生株式会社 | 水平多关节型机器人 |
| JP2010221310A (ja) * | 2009-03-19 | 2010-10-07 | Seiko Epson Corp | 放熱装置付き旋回型アーム及び水平多関節型ロボット |
| JP2010221340A (ja) * | 2009-03-24 | 2010-10-07 | Seiko Epson Corp | 水平多関節型ロボット |
Also Published As
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|---|---|
| KR101471285B1 (ko) | 2014-12-09 |
| KR101382815B1 (ko) | 2014-04-08 |
| TWI488722B (zh) | 2015-06-21 |
| US20120215356A1 (en) | 2012-08-23 |
| EP2492064A3 (en) | 2017-11-29 |
| KR20130056879A (ko) | 2013-05-30 |
| CN102642202A (zh) | 2012-08-22 |
| US9481085B2 (en) | 2016-11-01 |
| CN103978479B (zh) | 2017-03-01 |
| CN103978479A (zh) | 2014-08-13 |
| US20140316574A1 (en) | 2014-10-23 |
| US20170008170A1 (en) | 2017-01-12 |
| US8798795B2 (en) | 2014-08-05 |
| EP2492064B1 (en) | 2021-01-06 |
| KR20120096397A (ko) | 2012-08-30 |
| JP5817142B2 (ja) | 2015-11-18 |
| EP2492064A2 (en) | 2012-08-29 |
| CN105150204A (zh) | 2015-12-16 |
| JP2012171051A (ja) | 2012-09-10 |
| TW201242731A (en) | 2012-11-01 |
| TW201544273A (zh) | 2015-12-01 |
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