CN1757491A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN1757491A CN1757491A CNA2005101085440A CN200510108544A CN1757491A CN 1757491 A CN1757491 A CN 1757491A CN A2005101085440 A CNA2005101085440 A CN A2005101085440A CN 200510108544 A CN200510108544 A CN 200510108544A CN 1757491 A CN1757491 A CN 1757491A
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- gear
- robot
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- 230000007246 mechanism Effects 0.000 description 31
- 239000000758 substrate Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 239000012467 final product Substances 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- 239000004973 liquid crystal related substance Substances 0.000 description 4
- 230000011218 segmentation Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 239000002516 radical scavenger Substances 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000027455 binding Effects 0.000 description 1
- 238000009739 binding Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005465 channeling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
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- 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
- B25J9/0021—All motors in base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Transmission Devices (AREA)
Abstract
To provide a robot in which a long vertical stroke of a hand section is ensured while avoiding increase in size and weight of the entire body of the robot device, and the hand section is moved at high speed. The robot has a first frame 3 for vertically movably supporting the hand section 2, and a second frame 4 for vertically movably supporting the first frame 3. The first frame 3 has a first ball screw 5 for vertically moving the hand section 2, and a second ball screw 6 for vertically moving the first frame 3 with respect to the second frame 4, and the ball screws are arranged in the vertical direction in parallel with each other. Further the first frame 3 houses therein a motor 9 which is directly or indirectly connected to a first gear rotatable with the first ball screw 5 in one body, and a second gear rotatable with the second ball screw 6 in one body.
Description
(1) technical field
The present invention relates to a kind of robot, especially relate to robot architecture's improvement with the hand that keeps workpiece.
(2) background technology
Use carrying robot as (in this manual these being called " workpiece ") such as glass substrates that liquid crystal panel is used access or device of carrying in workpiece case for accepting box with the hand that keeps workpiece.
A kind of robot is arranged in the prior art, as shown in Figure 5, on the fixed frame 101 that constitutes by fixing pillar, have the guide member 102 of above-below direction, make hand 103 move up and down (height overall of the symbol A indication device among the figure) along this guide member 102.As the formation that is used to hand 103 is moved up and down, have a kind of and shown in Figure 5 differently, for example utilize the servomotor be assembled on the fixed frame by reductor drive pulley and belt, (with reference to the patent documentations 1) such as structures that hand is moved.
[patent documentation 1] Japanese patent laid-open 11-123675 communique
But, in the robot that constitutes like this,, extends up and down the big stroke that needs above-below direction when just must making guide member 102 when (representing with symbol S) in Fig. 5, correspondingly must increase the height of fixed frame 101.Like this, owing to the height overall A that installs will inevitably become greatly, and must obtain firm support, the entire machine people maximizes, the problem of heavinessization so exist.
In addition, when employing makes hand 103 along structure that 1 guide member 102 moves, just can only make hand 103 with corresponding speed lifting if want to make workpiece promptly to move up and down, limit travel speed is less from a structural point, and if make its high speed motion correspondingly the life-span of part etc. also can shorten.
(3) summary of the invention
Therefore, the object of the present invention is to provide and a kind ofly avoid maximization, the heavinessization of whole device and can guarantee the stroke up and down of the length of hand, also can realize the robot of the high speed of hand translational speed.
For reaching above-mentioned purpose, the robot of technical scheme 1 has the hand that keeps workpiece, it is characterized in that, the 1st framework and the 2nd framework that can support the 1st framework that comprise the ground supported hand that to move up and down with moving up and down, in the 1st framework, at above-below direction and be arranged with side by side and make the 1st ball-screw that hand moves up and down and the 2nd ball-screw that the 1st framework is moved up and down with respect to the 2nd framework, also take in directly or indirectly in addition and the 1st gear that rotates integratedly with the 1st ball-screw and the motor that links with the 2nd gear that the 2nd ball-screw rotates integratedly.
During drive motor, with the gear train rotation that this motor links, the 1st ball-screw and the 2nd ball-screw rotation thereupon.The 1st ball-screw of rotation makes hand relatively move with respect to the 1st framework.The 2nd ball-screw of rotation makes the 1st framework relatively move with respect to the 2nd framework.Hand moves up and down with the aggregate velocity of each relative velocity as a result, can move up and down with 2 times of speed of common speed if two relative speed are identical.In addition, if make the motor reverse rotation, then hand certainly can be to moving in the other direction.
The robot of technical scheme 2 also comprises other frameworks that move up and down between the 1st framework and the 2nd framework and other ball-screws, gear, motor that these other frameworks are relatively moved up and down on the basis of technical scheme 1 described robot.
The robot of technical scheme 3 disposes in the upper end of the 1st framework on the basis of technical scheme 1 or 2 described robots: 1st, the 2nd gear, with these the 1st, the 2nd gears in any one engagement idler gear, with pinion and this motor on the motor of being arranged on of this idler gear engagement.
Adopt technical scheme 1 described robot, utilize the 1st framework between between hand and the 2nd framework and be accommodated in motor, each ball-screw, these each drive units of gear in the 1st framework, hand carries out 2 sections action relatively.Therefore, if desired the haul distance up and down of hand is strengthened, the relative length of stroke of the relative length of stroke of hand and the 1st framework respectively can be prolonged about 1/2 respectively and get final product, need not as prior art, can only prolong newel frame.That is, with respect to prior art can only increase newel frame, the present invention only needs pillar (i.e. the 2nd framework) increased about half of required prolongation distance and gets final product, so that pillar (the 2nd framework) need not be made is existing so high.In other words, though the low existing machine National People's Congress of stroke ratio up and down that can make hand of the existing robot of device aspect ratio.Therefore, can obtain the balance of whole device and can prolong stroke, can avoid maximization, the heavinessization of whole device, and be easy to guarantee the haul distance up and down of the length of hand.
In addition, because hand moves up and down with common roughly 2 times of speed, so become favourable the aspect from Work piece high-speed is moved.And each travel mechanism only needs to get final product with speed drive same as the prior art, so also do not have because of high speed each travel mechanism to be applied big load.
And in robot of the present invention, each ball-screw and motor link by gear, can utilize 1 motor (single motor) to drive two ball-screws, so can suppress the increase of motor and the increase of current sinking.
And, because each actuating mechanism is made of ball-screw,, can carry out high-precision action so for example compare with the existing robot of belt drives type, positioning accuracy is also higher.Also driving favourable from durability, reliability aspect in addition than being with of might elongating, derail.
Adopt technical scheme 2 described robots, only need further to increase framework, the device height overall in the time of can suppressing each framework and dwindle also can obtain bigger haul distance.
Adopt the words of technical scheme 3 described robots, because constitute to utilize and be arranged on the gear-box (speed changer) of frame ends and the driving force transmission mechanism of ball-screw, so compare with the formation of utilizing belt, pinion tooth bar etc., can be at narrow space configuration driven force transfer mechanism.In addition, do not cause the article of the obstacle of configuration structure material, so can guarantee to be provided for to obtain the space of the structural material of sufficient rigidity at the pars intermedia of framework.And, can save the space even compare also with the robot of equal height (stroke) as a whole.
(4) description of drawings
Fig. 1 is the side view of an example of the expression slide mechanism that constitutes robot of the present invention.
Fig. 2 is the vertical view of the gear train structure in the expression gear-box.
Fig. 3 is the side view that contains the robot of slide mechanism shown in Figure 1.
Fig. 4 is other embodiment of the present invention, and expression is provided with the example of slide mechanism of the multistage more of other frameworks etc.
Fig. 5 is the side view that expression constitutes an example of the slide mechanism that has robot now.
(component symbol explanation)
1 workpiece, 2 hands
3 the 1st frameworks 4 the 2nd framework
5 the 1st ball-screws 6 the 2nd ball-screw
7 the 1st gears 8 the 2nd gear
9 motor, 21 idler gears
(5) specific embodiment
Describe formation of the present invention in detail based on embodiment shown in the drawings below.
Fig. 1～Fig. 3 represents one embodiment of the invention.Robot of the present invention has the hand 2 that keeps workpiece 1, the robot of present embodiment comprises the 1st framework 3 and the 2nd framework 4 that can support the 1st framework 3 of the ground supported hand 2 that can move up and down with moving up and down in addition, in the 1st framework 3, at above-below direction and be arranged with side by side and make hand 2 the 1st ball-screw 5 that moves up and down and the 2nd ball-screw 6 that the 1st framework 3 relative the 2nd frameworks 4 are moved up and down, also take in directly or indirectly in addition and the motor 9 of the 1st gear 7 that rotates integratedly with the 1st ball-screw 5 and the 2nd gear 8 bindings of rotate integratedly with the 2nd ball-screw 6.
More particularly, in the present embodiment, motor 9 and gear train (gear 7,8, pinion 9a, idler gear 21 etc.) are accommodated in the gear-box 22 (these are also referred to as " driving mechanism ").
The so thin and flat plate object (with reference to Fig. 3) of glass substrate that the workpiece 1 that the robot of present embodiment handles is for example used for liquid crystal panel, robot is with such workpiece 1 access in not shown substrate reception is used chamber, carrying.But such plate object is just carried an example of object, also can handle plate object workpiece 1 in addition certainly.
The 2nd framework 4 can be described as the parts that play a role as pillar, is fixed on the framework 27 that the base 12 of relative robot rotatably is provided with (with reference to Fig. 3).The 2nd framework 4 for example is provided with the guide member 13 (with reference to Fig. 1) that is made of the guide member at 2 places up and down.This guide member 13 supports the portion that is guided 16 of extending up and down that is arranged on the 1st framework 3, guides the 1st framework 3 at above-below direction.The nut part that is screwed on the 2nd ball-screw 6 (below be called " the 2nd nut part ") 15 is installed on the 2nd framework 4 in addition.Though not special diagram between the 2nd nut part 15 and the 2nd ball-screw 6 but a plurality of steel balls are arranged.Because these steel balls are arranged, so be the some contact between the 2nd nut part 15 and the 2nd ball-screw 6, the friction during 6 rotations of the 2nd ball-screw is minimum.Such ball screw framework is promptly rotatable with little revolving force, thereby utilizes the adjustment of nut can make error disappearance precision higher, and the conveying device of precision prescribed is used when can be used as conveyance.
The 1st framework 3 is the parts (with reference to Fig. 1) that supported, can be moved up and down by above-mentioned the 2nd framework 4.Specifically, will be arranged on of guide member 13 supports of the portion that is guided 16 of its sidepiece as mentioned above, only can move up and down by the 2nd framework 4.In addition, be guided the opposite face (face that hand 2 sides are arranged) of portion 16 with this and be provided with the guidance part 17 that extends equally up and down.This guidance part 17 while support with guidance part 17 fasten be guided parts 18 only at above-below direction channeling conduct (with reference to Fig. 1).If as present embodiment, have the 1st arm 10 and the 2nd arm 11, be guided on the supporter 28 that 18 of parts are arranged on the 2nd arm 11 (if do not have the 1st arm the 10, the 2nd arm 11 then be set directly on the hand 2), carrying arm (being made of hand the 2, the 1st arm the 10, the 2nd arm 11) only can be moved up and down.
In addition, in the 1st framework 3 with the 1st ball-screw 5 and the 2nd ball-screw 6 both all axially to arrange side by side as vertical state.In addition, in the 1st framework 3, taken in motor 9 (with reference to Fig. 1) in order to make the 1st ball- screw 5 and 6 rotations of the 2nd ball-screw.
The 1st ball-screw 5 is as the leading screw that makes hand 2 relatively carry out conveying mechanism effect up and down with respect to the 1st framework 3, supports (with reference to Fig. 1) by bearing 19 grades with rotatable state in the 1st framework 3.Be attached with the 1st gear 7 and become one (with reference to Fig. 2) in the upper end of the 1st ball-screw 5.The rotation of motor 9 is delivered to the 1st ball-screw 5 by the 1st gear 7.In addition, the 1st ball-screw 5 midway for the states of nut part (below be called " the 1st nut part ") 14 engagements.Identical with the 2nd above-mentioned nut part 15, between the 1st nut part 14 and the 1st ball-screw 5, a plurality of steel balls are arranged.Because these steel balls are arranged, so the friction during 5 rotations of the 1st ball-screw is minimum.The 1st nut part 14, then is arranged on the supporter 28 of the 2nd arm 11 if having the 1st arm 10 and the 2nd arm 11 as present embodiment with to be guided parts 18 identical, if do not have the 1st arm the 10, the 2nd arm 11 then be set directly on the hand 2.When 5 rotations of the 1st ball-screw, the 1st nut part 14 moves up and down, and can make carrying arm (being made of hand the 2, the 1st arm the 10, the 2nd arm 11) move up and down (with reference to Fig. 1, Fig. 3).
The 2nd ball-screw 6 is as the leading screw that is used to make the conveying mechanism effect of the 1st framework about in the of 3, supports (with reference to Fig. 1) by bearing 20 grades with rotatable state in the 1st framework 3.Be attached with the 2nd gear 8 and become one (with reference to Fig. 2) in the upper end of the 2nd ball-screw 6.The rotation of motor 9 is delivered to the 2nd ball-screw 6 by the 2nd gear 8.In addition, be state with the engagement of the 2nd nut part 15 as mentioned above at the 2nd ball-screw 6 midway.Because the 2nd nut part 15 is fixed on the 2nd framework 4, so when 6 rotations of the 2nd ball-screw, the 1st framework 3 moves up and down with the 2nd ball-screw 6.Moreover, in the present embodiment, use the leading screw identical with the 1st ball-screw 5 as the 2nd ball-screw 6, if the 1st ball-screw 5 is right-handed threads, the 2nd ball-screw 6 also is a right-handed thread.Both use identical leading screw like this, and are favourable from the aspect that reduces cost.
In addition, as shown in the figure, be provided with by scavenger fan and absorb the exhaust apparatus 29 (with reference to Fig. 1, Fig. 4) that the filter of dust etc. constitutes.Because the exhaust apparatus of present embodiment 29 is built in the bottom of the 1st framework 3 of vertical extension as shown in the figure, thus can be described as be positioned at straight works under, the effective device of control of dust, and also be the dust collect plant that does not take redundant space.
As mentioned above, in the robot of present embodiment, adopted the structure that makes 2 axles (the 1st ball-screw 5 and the 2nd ball-screw 6) while and oppositely rotate with 1 drive unit (motor 9), so can always carry out the lifting action of the 1st framework 3 and the relative lifting action of hand 2 simultaneously.That is, in the robot of the present embodiment with structure that 2 sections slide mechanisms move simultaneously, hand 2 can be with common 2 times of speed liftings (moving up and down), and can guarantee that also the absolute stroke (representing with symbol S in Fig. 1) of hand 2 is 2 common double-length degree.Like this, by the slide mechanism identical with cutting apart quantity is set in the lump, thereby, also can not prolong framework merely in segmentation framework, say effectively from miniaturization, the lightweight of device even for example when the long stroke of needs.
And, on the parts that relatively move (being the 1st framework 3 in the present embodiment), guide member (guidance part 17) is set, because the guide member position can not be on the framework of carrying pillar, so the advantage that guide member can be elongated to the position lower than frame upper surface is also arranged.That is, in existing apparatus because only guide member is set on newel frame, so exist hand can not drop to the situation of enough lower positions, if but adopt the robot of present embodiment then can make hand 2 drop to enough lower positions (with reference to Fig. 1, Fig. 5).The result can be transported to workpiece 1 than low in the past position, so thereby workpiece case for accepting box can extend to the more lower position increase amount of taking in.
Moreover, because the gear-box 22 (these being called " driving mechanism ") of taking in motor 9 and gear train (gear 7,8, pinion 9a, idler gear 21 etc.) is configured in the upper end of the 1st framework 3, so when carrying out the upkeep operation of robot (wherein also comprising driving mechanism), if the 1st framework 3 is moved to lower position, the position with driving mechanism is easy to carry out the advantage of upkeep operation concerning the operator.Especially when the 1st framework 3 is positioned at lowest positions,, thereby can correspondingly carry out upkeep operation safely because the 1st framework 3 can not continue to descend (falling) in the operation.Moreover, because the lower end side of the 1st framework 3 is idle space, so in this space the exhaust apparatus 29 that is made of scavenger fan etc. can be set, by such exhaust apparatus 29 is set, thereby can be used for requiring the conveyance of glass substrate of the liquid crystal etc. of operation under cleaning ambient.
Moreover the foregoing description is preferred embodiment of the present invention, but the present invention is not limited to this, can do various distortion and be implemented in the scope that does not break away from purport of the present invention.For example, in the present embodiment, 2 sections slide mechanisms are set (promptly, these 2 slide mechanisms of mechanism that the mechanism that the 1st framework 3 relative the 2nd frameworks 4 move up and down and hand 2 relative the 1st frameworks 3 relatively move up and down) time, with 1 drive unit (motor 9) this two slide mechanism is moved simultaneously, but this only is an example, also can be 3 sections slide mechanisms.Promptly, for example robot that also can be as shown in Figure 4 is such, 3rd framework 23 that move up and down of setting between the 1st framework 3 and the 2nd framework 4 makes the 3rd framework 23 relatively move up and down (with reference to Fig. 4) by the slide mechanism that is made of the 3rd ball-screw the 24, the 3rd nut part 25, not shown gear, another one motor 26 etc.Like this framework is further cut apart and correspondingly slide mechanism is set more, the device height overall A in the time of then can suppressing to dwindle also can obtain bigger haul distance.
In addition, in the present embodiment, be provided with the gear-box 22 (these being called " driving mechanism ") that constitutes by motor 9 and gear train (gear 7,8, pinion 9a, idler gear 21 etc.), but can be not pinion 9a of these the 1st gear the 7, the 2nd gears 8, idler gear 21, motor 9 and this motor 9 etc. be accommodated in the gear-box 22 yet, but for example be configured in the upper end of the 1st framework 3.Even be not accommodated in the gear-box 22 and be configured in the situation of the upper end of the 1st framework 3, when carrying out the upkeep operation of robot (wherein also comprising driving mechanism), if the 1st framework 3 is moved to lower position, also there is the position of driving mechanism concerning the operator, to be easy to carry out the advantage of upkeep operation.Especially when the 1st framework 3 is positioned at lowest positions,, thereby can correspondingly carry out upkeep operation safely because the 1st framework 3 can not continue to descend (falling) in the operation.Moreover, because the lower end side of the 1st framework 3 is idle space, so in this space the exhaust apparatus 29 that is made of scavenger fan etc. can be set, by such exhaust apparatus 29 is set, thereby can be used for requiring the conveyance of glass substrate of the liquid crystal etc. of operation under cleaning ambient.
In addition, in 3 segmentation robots shown in Figure 4, in order to ensure the stroke maximum, configuration guidance part 30 on the total length of the 2nd framework (fixed frame) 4, that can guide the 3rd framework 23 is guided parts 31 (with reference to Fig. 4).Moreover, if when there is no need to guarantee to use the stroke of the 2nd framework (fixed frame) 4 total lengths, also can be in the bottom configuration driven portion of the 2nd framework (fixed frame) 4 that becomes idle space.But, the allocation position of motor 26 drive divisions such as grade is not limited to this, for example also configurable upper end side at the 2nd framework 4.At this moment, can make the 1st framework 3 and the 2nd framework 4 move to the minimum lowest positions of height overall and open lid of being arranged on the 3rd framework (central frame) 23 upsides etc. and carry out upkeep operation, the operation middle frame can unexpectedly not descend with the gear-box 22 of the 1st framework 3 simultaneously yet in addition, thereby can correspondingly carry out upkeep operation safely.In addition, the lower end can be provided with exhaust gear etc. certainly.
In addition, in robot shown in Figure 4,,, can increase the rigidity of the 3rd framework (central frame) 23 so can obtain the framework of big closed cross-section with the space of minimum because the 3rd framework 23 is the sample attitude around the 2nd framework 4.In addition, appending space that the 3rd framework 23 causes increases part and imbeds the 2nd framework 4 by being guided portion's (being equivalent to symbol 16 among Fig. 1), and then the thickness that need not directly increase guide member to the thickness of slab of the 3rd framework 23 can solve, and also can realize miniaturization.
Moreover the 3rd framework 23 also can be the shape of general hollow, but because the such driving force transmission mechanism of configuration space without limits, does not interfere with the 2nd framework 4 that ground is simple to constitute the appropriate rigidity structures so can guarantee desired rigidity as required.
Because the such driving force transmission mechanism of configuration space without limits during 2 segmentations, even the minimum driving force transmission mechanism of configuration gets final product when being 3 segmentations, so the 2nd framework 4 can be guaranteed the rigidity of epimere portion load such as abundant supported hand the 2, the 1st framework 3 simply.
Claims (3)
1, a kind of robot, has the hand that keeps workpiece, it is characterized in that, comprise the 1st framework that can support described hand and the 2nd framework that can support the 1st framework with moving up and down with moving up and down, in described the 1st framework, at above-below direction and be arranged with side by side and make the 1st ball-screw that described hand moves up and down and the 2nd ball-screw that described the 1st framework is moved up and down with respect to described the 2nd framework, also take in directly or indirectly in addition and the 1st gear that rotates integratedly with described the 1st ball-screw and the motor that links with the 2nd gear that described the 2nd ball-screw rotates integratedly.
2, robot as claimed in claim 1, it is characterized in that, also comprise other frameworks that move up and down between described the 1st framework and described the 2nd framework and other ball-screws, gear, motor that these other frameworks are relatively moved up and down.
3, robot as claimed in claim 1 or 2, it is characterized in that, dispose in the upper end of described the 1st framework: described the 1st, the 2nd gear, with these the 1st, the 2nd gears in any one engagement idler gear, with pinion and this motor on the described motor of being arranged on of this idler gear engagement.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004293868 | 2004-10-06 | ||
| JP2004293868A JP2006102886A (en) | 2004-10-06 | 2004-10-06 | Robot |
| JP2004-293868 | 2004-10-06 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101422180A Division CN101108484A (en) | 2004-10-06 | 2005-09-30 | Robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1757491A true CN1757491A (en) | 2006-04-12 |
| CN1757491B CN1757491B (en) | 2010-12-08 |
Family
ID=36373168
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101422180A Pending CN101108484A (en) | 2004-10-06 | 2005-09-30 | Robot |
| CN2005101085440A Active CN1757491B (en) | 2004-10-06 | 2005-09-30 | Robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007101422180A Pending CN101108484A (en) | 2004-10-06 | 2005-09-30 | Robot |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2006102886A (en) |
| KR (1) | KR100680394B1 (en) |
| CN (2) | CN101108484A (en) |
| TW (1) | TW200626321A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659055A (en) * | 2008-08-26 | 2010-03-03 | 日本电产三协株式会社 | Industrial robot |
| CN105612031A (en) * | 2013-10-21 | 2016-05-25 | 川崎重工业株式会社 | Dialing operation method |
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| JP5243109B2 (en) * | 2008-06-11 | 2013-07-24 | 東洋自動機株式会社 | Automatic bagging and packaging machine |
| KR101110876B1 (en) * | 2009-06-30 | 2012-02-15 | (주)화담알앤알 | industrial robot |
| KR101477835B1 (en) * | 2010-07-15 | 2014-12-30 | 현대중공업 주식회사 | Purification Unit of Air Pollution for Clean Robot With the Rack-Pinion Moving Assembly |
| KR101278021B1 (en) * | 2011-05-02 | 2013-06-24 | 주식회사 로보스타 | Vertical driving apparatus of 2 step sliding |
| KR101281453B1 (en) | 2011-07-05 | 2013-07-03 | 주식회사 에스엠이씨 | single-arm type cassette lifting robot |
| KR101301052B1 (en) * | 2011-12-06 | 2013-08-28 | 주식회사 테라세미콘 | Wafer processing apparatus |
| CN102602039B (en) * | 2012-03-29 | 2015-09-23 | 奇瑞汽车股份有限公司 | A kind of connecting gear of press machine mechanical hand |
| JP5437444B2 (en) * | 2012-06-04 | 2014-03-12 | 真 内海 | Actuator device and robot device using the same |
| JP6937103B2 (en) * | 2015-10-20 | 2021-09-22 | キヤノンメディカルシステムズ株式会社 | X-ray computed tomography equipment and gantry equipment |
| JP2019123024A (en) * | 2018-01-12 | 2019-07-25 | 日本電産サンキョー株式会社 | Industrial robot |
| CN210335988U (en) | 2019-06-28 | 2020-04-17 | 日本电产三协（浙江）有限公司 | Robot |
| CN210335967U (en) | 2019-06-28 | 2020-04-17 | 日本电产三协（浙江）有限公司 | Industrial robot |
| CN114319852B (en) * | 2022-01-20 | 2023-04-14 | 深圳市嘉盛建筑工程有限公司 | Aluminum alloy totally-enclosed stair template |
| CN115816049A (en) * | 2022-09-30 | 2023-03-21 | 陕西法士特齿轮有限责任公司 | Assembly device, assembly system and assembly method for narrow space of gearbox |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03111196A (en) * | 1989-09-27 | 1991-05-10 | Fanuc Ltd | Operation mechanism for telescopic axis of industrial robot |
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2004
- 2004-10-06 JP JP2004293868A patent/JP2006102886A/en active Pending
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2005
- 2005-09-26 TW TW094133332A patent/TW200626321A/en unknown
- 2005-09-30 CN CNA2007101422180A patent/CN101108484A/en active Pending
- 2005-09-30 CN CN2005101085440A patent/CN1757491B/en active Active
- 2005-10-06 KR KR1020050093759A patent/KR100680394B1/en active IP Right Grant
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101659055A (en) * | 2008-08-26 | 2010-03-03 | 日本电产三协株式会社 | Industrial robot |
| CN105612031A (en) * | 2013-10-21 | 2016-05-25 | 川崎重工业株式会社 | Dialing operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1757491B (en) | 2010-12-08 |
| TW200626321A (en) | 2006-08-01 |
| KR20060052067A (en) | 2006-05-19 |
| KR100680394B1 (en) | 2007-02-08 |
| JP2006102886A (en) | 2006-04-20 |
| CN101108484A (en) | 2008-01-23 |
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