CN103056877A - 机械手 - Google Patents
机械手 Download PDFInfo
- Publication number
- CN103056877A CN103056877A CN2011103226862A CN201110322686A CN103056877A CN 103056877 A CN103056877 A CN 103056877A CN 2011103226862 A CN2011103226862 A CN 2011103226862A CN 201110322686 A CN201110322686 A CN 201110322686A CN 103056877 A CN103056877 A CN 103056877A
- Authority
- CN
- China
- Prior art keywords
- cable
- arm
- linking arm
- fixture
- manipulator
- 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
Links
Images
Classifications
-
- 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
-
- 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
- Y10T74/20311—Robotic arm including power cable or connector
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Electric Cable Arrangement Between Relatively Moving Parts (AREA)
Abstract
Description
机械手 | 100 |
基座 | 10 |
连接臂 | 30 |
安装面 | 31 |
收容槽 | 33 |
出口 | 331 |
安装孔 | 35 |
装设凹槽 | 37 |
机械臂 | 40 |
电缆 | 50 |
电缆保护装置 | 60 |
第一定位机构 | 70 |
固定件 | 71、81 |
固定部 | 711、811 |
定位孔 | 713、813 |
导向件 | 73、83 |
抵持部 | 731 |
锁紧孔 | 7133 |
弹性臂 | 75、85 |
引线部 | 751、851 |
定位件 | 77 |
基部 | 771 |
定位部 | 773 |
定位孔 | 7731 |
过线孔 | 78 |
第二定位机构 | 80 |
固紧件 | 90 |
Claims (10)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110322686.2A CN103056877B (zh) | 2011-10-21 | 2011-10-21 | 机械手 |
TW100139269A TWI468275B (zh) | 2011-10-21 | 2011-10-28 | 機械手 |
US13/534,393 US20130098190A1 (en) | 2011-10-21 | 2012-06-27 | Mechanical manipulator with cable protection structure |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201110322686.2A CN103056877B (zh) | 2011-10-21 | 2011-10-21 | 机械手 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103056877A true CN103056877A (zh) | 2013-04-24 |
CN103056877B CN103056877B (zh) | 2015-07-29 |
Family
ID=48099913
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110322686.2A Expired - Fee Related CN103056877B (zh) | 2011-10-21 | 2011-10-21 | 机械手 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20130098190A1 (zh) |
CN (1) | CN103056877B (zh) |
TW (1) | TWI468275B (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105124990A (zh) * | 2015-05-19 | 2015-12-09 | 东莞市尔必地机器人有限公司 | 中心支柱转台结构 |
CN105459104A (zh) * | 2014-09-30 | 2016-04-06 | 精工爱普生株式会社 | 机器人 |
CN105636749A (zh) * | 2013-11-28 | 2016-06-01 | Abb技术有限公司 | 机器人的旋转关节以及包括它的机器人 |
CN108858173A (zh) * | 2017-05-11 | 2018-11-23 | 精工爱普生株式会社 | 机器人、机器人控制装置以及机器人系统 |
CN109955283A (zh) * | 2017-12-25 | 2019-07-02 | 发那科株式会社 | 机器人及其线条体处理结构 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5591894B2 (ja) * | 2012-09-26 | 2014-09-17 | ファナック株式会社 | ロボットの線条体取付装置 |
JP5928416B2 (ja) * | 2013-07-26 | 2016-06-01 | 株式会社安川電機 | ロボットおよびロボットの製造方法 |
CN104339365B (zh) | 2013-07-26 | 2017-04-12 | 株式会社安川电机 | 机器人及机器人的制造方法 |
JP2016132076A (ja) * | 2015-01-21 | 2016-07-25 | 川崎重工業株式会社 | 産業用ロボット |
DE102015209547A1 (de) * | 2015-05-22 | 2016-11-24 | Kuka Roboter Gmbh | Roboter mit einem Energieleitungsstrang |
JP6777561B2 (ja) * | 2017-02-01 | 2020-10-28 | 株式会社神戸製鋼所 | ロボットアームのハーネス接続構造、及び多関節溶接ロボット |
JP6911564B2 (ja) * | 2017-06-21 | 2021-07-28 | 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 |
CN107877500A (zh) * | 2017-12-15 | 2018-04-06 | 浙江钱江机器人有限公司 | 一种码垛机器人 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20022990U1 (de) * | 1999-02-19 | 2002-08-14 | Kuka Roboter Gmbh | Roboterteil |
EP0929766B1 (en) * | 1996-10-14 | 2003-01-02 | Abb Ab | Cable assembly holder for an industrial robot |
CN101309784A (zh) * | 2006-10-13 | 2008-11-19 | 松下电器产业株式会社 | 工业用机器人 |
CN101450485A (zh) * | 2007-12-06 | 2009-06-10 | 崔光述 | 工业机器人电缆导向装置 |
CN101767339A (zh) * | 2008-12-27 | 2010-07-07 | 鸿富锦精密工业(深圳)有限公司 | 机械手 |
CN101823263A (zh) * | 2009-03-07 | 2010-09-08 | 鸿富锦精密工业(深圳)有限公司 | 机器人的臂部件及其制造方法以及具有该臂部件的机器人 |
Family Cites Families (27)
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US4767257A (en) * | 1985-12-23 | 1988-08-30 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot |
JP2564388B2 (ja) * | 1989-01-30 | 1996-12-18 | ファナック株式会社 | 垂直多関節腕型産業用ロボットのオフセットアーム構造 |
US5271384A (en) * | 1989-09-01 | 1993-12-21 | Mcewen James A | Powered surgical retractor |
JPH03256691A (ja) * | 1990-03-08 | 1991-11-15 | Fanuc Ltd | 産業用ロボットに於ける旋回軸のケーブル処理構造 |
JPH03281190A (ja) * | 1990-03-30 | 1991-12-11 | Kobe Steel Ltd | 産業用ロボットのケーブル処理構造 |
DE9103497U1 (de) * | 1991-03-21 | 1991-06-20 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Mehrachsiger Manipulator |
JPH10175188A (ja) * | 1996-12-17 | 1998-06-30 | Fanuc Ltd | ロボットの構造 |
IT1292275B1 (it) * | 1997-04-23 | 1999-01-29 | Comau Spa | Polso di robot industriale, e robot comprendente tale polso. |
JPH11277481A (ja) * | 1998-03-27 | 1999-10-12 | Mitsubishi Heavy Ind Ltd | 産業用電動ロボット |
US6451027B1 (en) * | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US6431018B1 (en) * | 1999-09-09 | 2002-08-13 | Fanuc Ltd. | Guide device for wiring member and/or piping member and robot with guide device |
JP2002283275A (ja) * | 2001-03-21 | 2002-10-03 | Fanuc Ltd | ロボットの手首構造 |
JP4099628B2 (ja) * | 2001-10-29 | 2008-06-11 | 株式会社安川電機 | 産業用ロボット |
JP3883939B2 (ja) * | 2002-09-04 | 2007-02-21 | ファナック株式会社 | ロボットシステムにおけるカメラ用ケーブル及び力センサ用ケーブルの配線処理構造 |
DE602005003867T2 (de) * | 2004-05-21 | 2008-12-11 | Fanuc Ltd. | Führungsvorrichtung mit einer Führungsplatte für eine Versorgungsleitung in einem Industrieroboter |
JP3944208B2 (ja) * | 2004-12-02 | 2007-07-11 | ファナック株式会社 | ロボットの線条体案内装置及び線条体案内装置を備えたロボット |
EP2213425B1 (en) * | 2007-11-26 | 2014-06-25 | Kabushiki Kaisha Yaskawa Denki | Vertical multi-joint robot |
US8627741B2 (en) * | 2008-11-04 | 2014-01-14 | Abb Technology Ab | Process turning disc, a robot arm comprising a process turning disc, a robot and a use of a process turning disc |
TWI353291B (en) * | 2009-01-16 | 2011-12-01 | Hon Hai Prec Ind Co Ltd | Manipulator |
DE102009010953A1 (de) * | 2009-02-27 | 2010-09-02 | Dürr Systems GmbH | Roboter, insbesondere Lackierroboter |
JP4837117B2 (ja) * | 2010-04-14 | 2011-12-14 | ファナック株式会社 | ロボットアーム部の線条体配設機構 |
DE102010043121A1 (de) * | 2010-10-29 | 2012-05-03 | Siemens Aktiengesellschaft | Roboteranordnung mit einem Führungselement für Versorgungsleitungen |
US20120255388A1 (en) * | 2011-04-05 | 2012-10-11 | Mcclosky Stan H | Line management system and a method for routing flexible lines for a robot |
US9114473B2 (en) * | 2011-10-13 | 2015-08-25 | Wolf Robotics, Llc | Robotic pre-heat and inter-pass welding |
EP2613916B1 (en) * | 2011-12-28 | 2014-04-02 | ABB Technology Ltd. | Process turning disc with a cable guide |
JP2014050898A (ja) * | 2012-09-05 | 2014-03-20 | Fanuc Ltd | パラレルリンクロボットの線条体処理構造 |
JP2014100743A (ja) * | 2012-11-16 | 2014-06-05 | Fanuc Ltd | 多関節ロボットのケーブル処理構造 |
-
2011
- 2011-10-21 CN CN201110322686.2A patent/CN103056877B/zh not_active Expired - Fee Related
- 2011-10-28 TW TW100139269A patent/TWI468275B/zh not_active IP Right Cessation
-
2012
- 2012-06-27 US US13/534,393 patent/US20130098190A1/en not_active Abandoned
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0929766B1 (en) * | 1996-10-14 | 2003-01-02 | Abb Ab | Cable assembly holder for an industrial robot |
DE20022990U1 (de) * | 1999-02-19 | 2002-08-14 | Kuka Roboter Gmbh | Roboterteil |
CN101309784A (zh) * | 2006-10-13 | 2008-11-19 | 松下电器产业株式会社 | 工业用机器人 |
CN101450485A (zh) * | 2007-12-06 | 2009-06-10 | 崔光述 | 工业机器人电缆导向装置 |
CN101767339A (zh) * | 2008-12-27 | 2010-07-07 | 鸿富锦精密工业(深圳)有限公司 | 机械手 |
CN101823263A (zh) * | 2009-03-07 | 2010-09-08 | 鸿富锦精密工业(深圳)有限公司 | 机器人的臂部件及其制造方法以及具有该臂部件的机器人 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105636749A (zh) * | 2013-11-28 | 2016-06-01 | Abb技术有限公司 | 机器人的旋转关节以及包括它的机器人 |
US10112311B2 (en) | 2013-11-28 | 2018-10-30 | Abb Schweiz Ag | Rotary joint of a robot and the robot including the same |
CN105459104A (zh) * | 2014-09-30 | 2016-04-06 | 精工爱普生株式会社 | 机器人 |
CN105124990A (zh) * | 2015-05-19 | 2015-12-09 | 东莞市尔必地机器人有限公司 | 中心支柱转台结构 |
CN108858173A (zh) * | 2017-05-11 | 2018-11-23 | 精工爱普生株式会社 | 机器人、机器人控制装置以及机器人系统 |
CN108858173B (zh) * | 2017-05-11 | 2023-06-27 | 精工爱普生株式会社 | 机器人、机器人控制装置以及机器人系统 |
CN109955283A (zh) * | 2017-12-25 | 2019-07-02 | 发那科株式会社 | 机器人及其线条体处理结构 |
US11267140B2 (en) | 2017-12-25 | 2022-03-08 | Fanuc Corporation | Robot and linear-shaped-item treating structure thereof |
Also Published As
Publication number | Publication date |
---|---|
US20130098190A1 (en) | 2013-04-25 |
TWI468275B (zh) | 2015-01-11 |
TW201317096A (zh) | 2013-05-01 |
CN103056877B (zh) | 2015-07-29 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
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: 20170711 Address after: Guangdong city of Guangzhou province Luogang District Cai Wen Lu Sheng a fly Street No. 5 room 1301 Patentee after: Guangzhou Berman Electronics Material 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: Hongfujin Precise Industry (Shenzhen) Co., Ltd. |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150729 Termination date: 20171021 |
|
CF01 | Termination of patent right due to non-payment of annual fee |