DE602006005442D1 - Mechanismus mit parallelen Stangen und Industrieroboter mit einem solchen Mechanismus - Google Patents
Mechanismus mit parallelen Stangen und Industrieroboter mit einem solchen MechanismusInfo
- Publication number
- DE602006005442D1 DE602006005442D1 DE602006005442T DE602006005442T DE602006005442D1 DE 602006005442 D1 DE602006005442 D1 DE 602006005442D1 DE 602006005442 T DE602006005442 T DE 602006005442T DE 602006005442 T DE602006005442 T DE 602006005442T DE 602006005442 D1 DE602006005442 D1 DE 602006005442D1
- Authority
- DE
- Germany
- Prior art keywords
- parallel bars
- industrial robots
- robots
- industrial
- bars
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/04—Guiding mechanisms, e.g. for straight-line guidance
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- Y10T74/19—Gearing
-
- 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
-
- 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
-
- 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
- Y10T74/20317—Robotic arm including electric motor
-
- 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
-
- 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
- Y10T74/20341—Power elements as controlling elements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005303416 | 2005-10-18 | ||
JP2006167510A JP4148280B2 (ja) | 2005-10-18 | 2006-06-16 | 平行リンク機構及び産業用ロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
DE602006005442D1 true DE602006005442D1 (de) | 2009-04-16 |
Family
ID=37696003
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE602006005442T Active DE602006005442D1 (de) | 2005-10-18 | 2006-10-16 | Mechanismus mit parallelen Stangen und Industrieroboter mit einem solchen Mechanismus |
Country Status (7)
Country | Link |
---|---|
US (3) | US7752939B2 (de) |
EP (1) | EP1777044B1 (de) |
JP (1) | JP4148280B2 (de) |
KR (1) | KR100814185B1 (de) |
CN (1) | CN100503181C (de) |
DE (1) | DE602006005442D1 (de) |
TW (1) | TW200730309A (de) |
Families Citing this family (71)
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EP1726412A1 (de) * | 2005-05-23 | 2006-11-29 | Vrije Universiteit Brussel | Gelenk mit einstellbarer Steifigkeit |
JP4148280B2 (ja) * | 2005-10-18 | 2008-09-10 | セイコーエプソン株式会社 | 平行リンク機構及び産業用ロボット |
CN101412221B (zh) * | 2007-10-15 | 2011-05-04 | 鸿富锦精密工业(深圳)有限公司 | 旋转机构 |
US20090281266A1 (en) * | 2008-05-12 | 2009-11-12 | O'lenick Kevin Anthony | Star silicone resins |
FR2937269B1 (fr) * | 2008-10-17 | 2010-10-29 | Staubli Sa Ets | Structure articulee de robot multi-axes et robot comprenant une telle structure. |
WO2010090360A1 (ko) * | 2009-02-05 | 2010-08-12 | 한국기계연구원 | 모듈형 로봇 구동부의 구조 |
US8291788B2 (en) * | 2009-09-22 | 2012-10-23 | GM Global Technology Operations LLC | Rotary series elastic actuator |
JP4653848B1 (ja) * | 2009-10-26 | 2011-03-16 | ファナック株式会社 | パラレルリンクロボット |
CN102101292B (zh) * | 2009-12-21 | 2012-09-26 | 厦门至工机电有限公司 | 四关节视觉机器人 |
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JP5697356B2 (ja) * | 2010-04-06 | 2015-04-08 | キヤノン株式会社 | 波動歯車装置及びロボットアーム |
CN102338197B (zh) * | 2010-07-20 | 2014-01-15 | 鸿富锦精密工业(深圳)有限公司 | 齿轮传动装置及具有该齿轮传动装置的机械手臂 |
CN102407524A (zh) * | 2010-09-21 | 2012-04-11 | 鸿富锦精密工业(深圳)有限公司 | 机器人 |
JP2012147541A (ja) * | 2011-01-11 | 2012-08-02 | Seiko Epson Corp | 電気機械装置およびそれを用いたアクチュエーター、モーター、ロボット、ロボットハンド。 |
JP2012152015A (ja) * | 2011-01-19 | 2012-08-09 | Seiko Epson Corp | 電気機械装置及びロボット |
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JP5821210B2 (ja) * | 2011-02-22 | 2015-11-24 | セイコーエプソン株式会社 | 水平多関節ロボット及び水平多関節ロボットの制御方法 |
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JP5387611B2 (ja) * | 2011-04-19 | 2014-01-15 | 株式会社安川電機 | 駆動機構およびロボット |
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JP4722617B2 (ja) | 2005-08-11 | 2011-07-13 | 東芝機械株式会社 | 産業用ロボット |
JP4148280B2 (ja) * | 2005-10-18 | 2008-09-10 | セイコーエプソン株式会社 | 平行リンク機構及び産業用ロボット |
JP4232795B2 (ja) * | 2005-10-19 | 2009-03-04 | セイコーエプソン株式会社 | 平行リンク機構及び産業用ロボット |
-
2006
- 2006-06-16 JP JP2006167510A patent/JP4148280B2/ja not_active Expired - Fee Related
- 2006-10-16 EP EP06021625A patent/EP1777044B1/de not_active Expired - Fee Related
- 2006-10-16 DE DE602006005442T patent/DE602006005442D1/de active Active
- 2006-10-16 CN CNB2006101355143A patent/CN100503181C/zh not_active Expired - Fee Related
- 2006-10-16 US US11/581,741 patent/US7752939B2/en active Active
- 2006-10-17 KR KR1020060100674A patent/KR100814185B1/ko active IP Right Grant
- 2006-10-17 TW TW095138287A patent/TW200730309A/zh unknown
-
2010
- 2010-06-03 US US12/793,019 patent/US8393243B2/en active Active
-
2013
- 2013-02-06 US US13/760,675 patent/US20130145892A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US7752939B2 (en) | 2010-07-13 |
EP1777044B1 (de) | 2009-03-04 |
TW200730309A (en) | 2007-08-16 |
KR20070042468A (ko) | 2007-04-23 |
US8393243B2 (en) | 2013-03-12 |
CN100503181C (zh) | 2009-06-24 |
CN1951643A (zh) | 2007-04-25 |
KR100814185B1 (ko) | 2008-03-14 |
US20100236351A1 (en) | 2010-09-23 |
EP1777044A2 (de) | 2007-04-25 |
EP1777044A3 (de) | 2008-01-09 |
JP2007136657A (ja) | 2007-06-07 |
US20070110554A1 (en) | 2007-05-17 |
JP4148280B2 (ja) | 2008-09-10 |
US20130145892A1 (en) | 2013-06-13 |
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