CN103358324B - 机器人 - Google Patents

机器人 Download PDF

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Publication number
CN103358324B
CN103358324B CN201310112904.9A CN201310112904A CN103358324B CN 103358324 B CN103358324 B CN 103358324B CN 201310112904 A CN201310112904 A CN 201310112904A CN 103358324 B CN103358324 B CN 103358324B
Authority
CN
China
Prior art keywords
arm
ring member
robot
oil seal
bearing
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
Application number
CN201310112904.9A
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English (en)
Chinese (zh)
Other versions
CN103358324A (zh
Inventor
母仓政次
大轮拓矢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
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 Seiko Epson Corp filed Critical Seiko Epson Corp
Publication of CN103358324A publication Critical patent/CN103358324A/zh
Application granted granted Critical
Publication of CN103358324B publication Critical patent/CN103358324B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108—Bearings specially adapted therefor
    • 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
    • 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
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201310112904.9A 2012-04-02 2013-04-02 机器人 Active CN103358324B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012084351A JP5966532B2 (ja) 2012-04-02 2012-04-02 ロボット
JP2012-084351 2012-04-02

Publications (2)

Publication Number Publication Date
CN103358324A CN103358324A (zh) 2013-10-23
CN103358324B true CN103358324B (zh) 2015-06-24

Family

ID=49233101

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310112904.9A Active CN103358324B (zh) 2012-04-02 2013-04-02 机器人

Country Status (3)

Country Link
US (1) US9333656B2 (https=)
JP (1) JP5966532B2 (https=)
CN (1) CN103358324B (https=)

Families Citing this family (17)

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KR101205364B1 (ko) * 2010-05-13 2012-11-28 삼성중공업 주식회사 탈부착형 ４절 링크기구 구동장치를 갖는 산업용 로봇
JP5970921B2 (ja) * 2012-04-02 2016-08-17 セイコーエプソン株式会社 ロボット
JP6492474B2 (ja) * 2014-09-16 2019-04-03 株式会社デンソーウェーブ 摺動部材の劣化判定システム
JP5975129B1 (ja) 2015-03-02 2016-08-23 株式会社安川電機 ロボット
JP6756214B2 (ja) * 2016-09-26 2020-09-16 セイコーエプソン株式会社 ロボット、歯車装置および歯車装置の製造方法
CN107838913B (zh) * 2017-10-17 2020-10-02 安徽工程大学 一种工业机器人用的自动旋转夹持装置
DE102018107142A1 (de) * 2018-03-26 2019-09-26 M-Robot OHG Manipulatoreinrichtung
JP6730362B2 (ja) * 2018-04-11 2020-07-29 ファナック株式会社 ロボットの手首構造
JP6882229B2 (ja) * 2018-05-09 2021-06-02 ファナック株式会社 ロボット用リンク構成部材およびロボット
EP3941688B1 (en) * 2019-03-22 2025-01-01 ABB Schweiz AG A seal arrangement for a robot joint
CN211761651U (zh) * 2019-11-13 2020-10-27 富士能电子(昆山)有限公司 多轴机械手臂
DE112020005443B4 (de) * 2020-01-08 2024-04-11 Mitsubishi Electric Corporation Industriegerät
CN116209846B (zh) 2020-09-10 2025-12-23 Abb瑞士股份有限公司 用于机器人关节的密封结构和包括该密封结构的机器人关节
CN112276900A (zh) * 2020-10-29 2021-01-29 张梅 一种高精度测量机械手
US20260054396A1 (en) * 2022-08-15 2026-02-26 Abb Schweiz Ag Industrial robot and system
CN116079688B (zh) * 2023-01-10 2023-10-27 常州奥比利智能科技有限公司 一种工业生产用物料搬运机器人
JP2025085368A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット

Citations (2)

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CN101134319A (zh) * 2006-08-31 2008-03-05 发那科株式会社 机器人关节部的密封装置及关节机器人
CN101375385A (zh) * 2006-01-13 2009-02-25 纳博特斯克株式会社 包括冷却循环路径的基板搬运机器人的驱动设备

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US4339161A (en) * 1980-08-11 1982-07-13 Consolidation Coal Company Bearing seal for a drill head assembly
JPS6261490U (https=) * 1985-10-04 1987-04-16
US4717161A (en) * 1987-04-27 1988-01-05 A. W. Chesterton Company Multiple-lip seal for cylinder rod and the like
JP3089329B2 (ja) * 1991-09-25 2000-09-18 新明和工業株式会社 真空チャンバ用産業ロボット装置
CN1187542C (zh) * 1996-12-16 2005-02-02 株式会社理光 密封垫的唇部翻卷判定方法和密封垫插入装置
CN1165697C (zh) * 1996-12-16 2004-09-08 株式会社理光 密封垫的唇部翻卷复原方法
JP3703685B2 (ja) * 2000-05-15 2005-10-05 ナブテスコ株式会社 偏心揺動型減速機及びこれを備えた産業用機械の関節
JP2003083346A (ja) * 2001-09-13 2003-03-19 Nsk Ltd シール装置
JP2003181788A (ja) * 2001-12-17 2003-07-02 Denso Corp ロボットの関節部構造
JP3801059B2 (ja) 2002-01-31 2006-07-26 株式会社デンソーウェーブ ロボットの関節部構造
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JP2004125144A (ja) * 2002-10-07 2004-04-22 Nsk Ltd シールリング及びシールリング付転がり軸受ユニット
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CN101184940B (zh) * 2005-05-27 2010-04-14 Nok株式会社 唇型密封
JP3137481U (ja) * 2007-09-14 2007-11-22 イーグル工業株式会社 リップタイプシールの装着構造
DE102008005088B3 (de) * 2008-01-18 2009-07-30 A. Kayser Automotive Systems Gmbh Ventil mit einem federnd beweglichen oder elastisch und/oder flexibel verformbaren Dichtelement
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US8590903B2 (en) * 2009-03-24 2013-11-26 Freudenberg-Nok General Partnership Lip seal with inversion prevention feature
JP2011089609A (ja) * 2009-10-23 2011-05-06 Nabtesco Corp ロボットの関節駆動装置
US8454025B2 (en) * 2010-02-24 2013-06-04 Freudenberg-Nok General Partnership Seal with spiral grooves and mid-lip band
US8313106B2 (en) * 2010-04-06 2012-11-20 Freudenberg-Nok General Partnership Energy saving seal with main lip and dust lip hinge point
CN102441894A (zh) * 2010-10-11 2012-05-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5496868B2 (ja) * 2010-12-16 2014-05-21 バルチラジャパン株式会社 リップシール
JP5782321B2 (ja) * 2011-07-15 2015-09-24 ナブテスコ株式会社 歯車装置
CN103765059B (zh) * 2011-08-25 2017-02-15 Skf公司 具有轴向唇状件的润滑密封件
WO2013137887A1 (en) * 2012-03-15 2013-09-19 Moog Inc. Sealed robot base system
US20140251056A1 (en) * 2013-03-06 2014-09-11 Agilent Technologies, Inc. Robotic arm assembly with angular contact cartridge bearings
US9802327B2 (en) * 2013-09-10 2017-10-31 Seiko Epson Corporation Robot arm and robot
US9759330B2 (en) * 2014-02-04 2017-09-12 Freudenberg-Nok General Partnership Energy saving seal with rocking dust lip

Patent Citations (2)

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CN101375385A (zh) * 2006-01-13 2009-02-25 纳博特斯克株式会社 包括冷却循环路径的基板搬运机器人的驱动设备
CN101134319A (zh) * 2006-08-31 2008-03-05 发那科株式会社 机器人关节部的密封装置及关节机器人

Also Published As

Publication number Publication date
JP5966532B2 (ja) 2016-08-10
US20130255429A1 (en) 2013-10-03
CN103358324A (zh) 2013-10-23
US9333656B2 (en) 2016-05-10
JP2013212558A (ja) 2013-10-17

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