CN114423572B - 垂直多关节机器人 - Google Patents

垂直多关节机器人 Download PDF

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Publication number
CN114423572B
CN114423572B CN201980100630.7A CN201980100630A CN114423572B CN 114423572 B CN114423572 B CN 114423572B CN 201980100630 A CN201980100630 A CN 201980100630A CN 114423572 B CN114423572 B CN 114423572B
Authority
CN
China
Prior art keywords
motor
joint shaft
joint
arm
shaft
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
CN201980100630.7A
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English (en)
Chinese (zh)
Other versions
CN114423572A (zh
Inventor
马目俊文
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.)
Yamaha Motor Co Ltd
Original Assignee
Yamaha Motor Co Ltd
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 Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Publication of CN114423572A publication Critical patent/CN114423572A/zh
Application granted granted Critical
Publication of CN114423572B publication Critical patent/CN114423572B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J19/0004—Braking devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201980100630.7A 2019-09-25 2019-09-25 垂直多关节机器人 Active CN114423572B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/037655 WO2021059405A1 (ja) 2019-09-25 2019-09-25 垂直多関節ロボット

Publications (2)

Publication Number Publication Date
CN114423572A CN114423572A (zh) 2022-04-29
CN114423572B true CN114423572B (zh) 2024-09-10

Family

ID=75164879

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980100630.7A Active CN114423572B (zh) 2019-09-25 2019-09-25 垂直多关节机器人

Country Status (5)

Country Link
US (1) US11986952B2 (https=)
JP (1) JP7185065B2 (https=)
CN (1) CN114423572B (https=)
DE (1) DE112019007745T5 (https=)
WO (1) WO2021059405A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113910291B (zh) * 2021-12-14 2022-03-08 沈阳新松机器人自动化股份有限公司 一种机器人末端内空关节结构
CN118679037A (zh) * 2022-06-06 2024-09-20 雅马哈发动机株式会社 机械臂
DE102023115329A1 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator für eine Erntemaschine
DE102023115328B3 (de) 2023-06-13 2024-08-22 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Gelenkarm mit versteifender Geometrie für einen Manipulator einer Erntemaschine
WO2024255962A2 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator mit gelenkarm für eine erntemaschine
DE102023115330B4 (de) 2023-06-13 2025-03-06 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Gelenkarm mit Gabelgelenk für einen Manipulator einer Erntemaschine
DE102023115331A1 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator mit Steuermodulanordnung für eine Erntemaschine
JP2025085362A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット
JP2025085368A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07124887A (ja) * 1993-10-29 1995-05-16 Fanuc Ltd 産業用ロボットのケーブル処理装置
KR100460083B1 (ko) * 2003-10-31 2004-12-08 주식회사 세진아이지비 교차축을 구비하는 다축 로봇 모듈
CN103817708A (zh) * 2012-11-19 2014-05-28 株式会社安川电机 机器人

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5257263Y2 (https=) 1972-11-29 1977-12-24
JPH06320471A (ja) 1993-05-18 1994-11-22 Hitachi Ltd マニピュレータ用関節
JP2004174704A (ja) 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
JP5257263B2 (ja) 2009-06-19 2013-08-07 株式会社安川電機 減速機構内蔵アクチュエータおよびこれを用いた多関節ロボット
JP2011119556A (ja) * 2009-12-07 2011-06-16 Yaskawa Electric Corp 水平多関節ロボットおよびそれを備えた搬送装置
JP5462064B2 (ja) 2010-04-28 2014-04-02 日本電産サンキョー株式会社 産業用ロボット
JP5718134B2 (ja) * 2011-04-11 2015-05-13 ヤマハ発動機株式会社 ロボット
JP5447451B2 (ja) 2011-08-08 2014-03-19 株式会社安川電機 ロボット
CN103112003B (zh) 2013-02-06 2014-12-24 创美工艺(常熟)有限公司 多关节机械手
JP5573987B1 (ja) 2013-02-12 2014-08-20 株式会社安川電機 関節機構およびロボット
JP2015171746A (ja) * 2014-03-12 2015-10-01 ファナック株式会社 制動部を備えた駆動軸を有する産業用ロボット
JP2017213670A (ja) 2016-05-26 2017-12-07 セイコーエプソン株式会社 水平多関節型ロボット
CN113910291B (zh) 2021-12-14 2022-03-08 沈阳新松机器人自动化股份有限公司 一种机器人末端内空关节结构

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07124887A (ja) * 1993-10-29 1995-05-16 Fanuc Ltd 産業用ロボットのケーブル処理装置
KR100460083B1 (ko) * 2003-10-31 2004-12-08 주식회사 세진아이지비 교차축을 구비하는 다축 로봇 모듈
CN103817708A (zh) * 2012-11-19 2014-05-28 株式会社安川电机 机器人

Also Published As

Publication number Publication date
US20220339802A1 (en) 2022-10-27
JPWO2021059405A1 (https=) 2021-04-01
DE112019007745T5 (de) 2022-08-04
WO2021059405A1 (ja) 2021-04-01
CN114423572A (zh) 2022-04-29
JP7185065B2 (ja) 2022-12-06
US11986952B2 (en) 2024-05-21

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