CN108393866B - 机器人系统 - Google Patents

机器人系统 Download PDF

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Publication number
CN108393866B
CN108393866B CN201810103141.4A CN201810103141A CN108393866B CN 108393866 B CN108393866 B CN 108393866B CN 201810103141 A CN201810103141 A CN 201810103141A CN 108393866 B CN108393866 B CN 108393866B
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CN
China
Prior art keywords
robot
arm
work
production line
addition
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
CN201810103141.4A
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English (en)
Chinese (zh)
Other versions
CN108393866A (zh
Inventor
青山一郎
浅野康彦
石田诚
土桥慎太郎
宫野博行
五十岚透
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
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Seiko Epson Corp
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Publication date
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Publication of CN108393866A publication Critical patent/CN108393866A/zh
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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
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation 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
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • 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
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • 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
    • 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
    • B25J9/02—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
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
CN201810103141.4A 2017-02-06 2018-02-01 机器人系统 Active CN108393866B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017019307A JP2018126795A (ja) 2017-02-06 2017-02-06 ロボットシステム
JP2017-019307 2017-02-06

Publications (2)

Publication Number Publication Date
CN108393866A CN108393866A (zh) 2018-08-14
CN108393866B true CN108393866B (zh) 2022-10-25

Family

ID=63038604

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810103141.4A Active CN108393866B (zh) 2017-02-06 2018-02-01 机器人系统

Country Status (3)

Country Link
US (1) US10675754B2 (enExample)
JP (1) JP2018126795A (enExample)
CN (1) CN108393866B (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016190298A (ja) * 2015-03-31 2016-11-10 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
JP6528525B2 (ja) * 2015-04-27 2019-06-12 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
WO2020011337A1 (de) * 2018-07-10 2020-01-16 HELLA GmbH & Co. KGaA Arbeitsvorrichtung mit unter-tisch-roboter
JP7692278B2 (ja) * 2021-04-05 2025-06-13 株式会社京都製作所 部品搬送システム
TWI763484B (zh) * 2021-05-14 2022-05-01 銓發科技股份有限公司 半導體自動化儲存櫃

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0936198A (ja) * 1995-07-19 1997-02-07 Hitachi Ltd 真空処理装置およびそれを用いた半導体製造ライン
JP2014063880A (ja) * 2012-09-21 2014-04-10 Dainippon Screen Mfg Co Ltd 基板搬送装置、基板処理装置、および、基板搬送方法
CN105015799A (zh) * 2014-04-30 2015-11-04 波音公司 用于飞行器结构的移动式自动架空组装工具
CN106002931A (zh) * 2015-03-31 2016-10-12 精工爱普生株式会社 机器人系统
TW201703948A (zh) * 2015-07-30 2017-02-01 Kawasaki Heavy Ind Ltd 機器人及其控制方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003195919A (ja) 2001-12-26 2003-07-11 Denso Corp 移動型搬送装置、生産ラインの搬送システム
US7896602B2 (en) * 2006-06-09 2011-03-01 Lutz Rebstock Workpiece stocker with circular configuration
US9122272B2 (en) * 2006-10-06 2015-09-01 Dynamic Micro Systems Redundantable robot assembly for workpiece transfer
JP2012039075A (ja) * 2010-07-13 2012-02-23 Tokyo Electron Ltd 真空処理装置
JP5454524B2 (ja) * 2011-07-15 2014-03-26 株式会社安川電機 パラレルリンクロボットおよびピッキングシステム
EP2752379A4 (en) 2011-08-30 2015-09-02 Yaskawa Denki Seisakusho Kk PROMOTION DEVICE AND ROBOT SYSTEM
DE102014008107A1 (de) * 2014-06-02 2015-12-03 Liebherr-Verzahntechnik Gmbh Robotermodul

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0936198A (ja) * 1995-07-19 1997-02-07 Hitachi Ltd 真空処理装置およびそれを用いた半導体製造ライン
JP2014063880A (ja) * 2012-09-21 2014-04-10 Dainippon Screen Mfg Co Ltd 基板搬送装置、基板処理装置、および、基板搬送方法
CN105015799A (zh) * 2014-04-30 2015-11-04 波音公司 用于飞行器结构的移动式自动架空组装工具
CN106002931A (zh) * 2015-03-31 2016-10-12 精工爱普生株式会社 机器人系统
TW201703948A (zh) * 2015-07-30 2017-02-01 Kawasaki Heavy Ind Ltd 機器人及其控制方法

Also Published As

Publication number Publication date
US20180222041A1 (en) 2018-08-09
US10675754B2 (en) 2020-06-09
JP2018126795A (ja) 2018-08-16
CN108393866A (zh) 2018-08-14

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