DE69317574T2 - Gelenkroboter - Google Patents

Gelenkroboter

Info

Publication number
DE69317574T2
DE69317574T2 DE69317574T DE69317574T DE69317574T2 DE 69317574 T2 DE69317574 T2 DE 69317574T2 DE 69317574 T DE69317574 T DE 69317574T DE 69317574 T DE69317574 T DE 69317574T DE 69317574 T2 DE69317574 T2 DE 69317574T2
Authority
DE
Germany
Prior art keywords
joint robot
robot
joint
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.)
Expired - Lifetime
Application number
DE69317574T
Other languages
English (en)
Other versions
DE69317574D1 (de
Inventor
Masahiro Ogawa
Shuichi Tohnai
Masanori Nishi
Atsushi Ichibangase
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric 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
Priority claimed from JP1993052591U external-priority patent/JP2607558Y2/ja
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Application granted granted Critical
Publication of DE69317574D1 publication Critical patent/DE69317574D1/de
Publication of DE69317574T2 publication Critical patent/DE69317574T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • 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
    • B25J9/10—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
    • 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
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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
DE69317574T 1993-09-01 1993-09-20 Gelenkroboter Expired - Lifetime DE69317574T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1993052591U JP2607558Y2 (ja) 1992-09-25 1993-09-01 多関節ロボット
PCT/JP1993/001345 WO1995006546A1 (fr) 1993-09-01 1993-09-20 Robot articule

Publications (2)

Publication Number Publication Date
DE69317574D1 DE69317574D1 (de) 1998-04-23
DE69317574T2 true DE69317574T2 (de) 1998-07-09

Family

ID=12919037

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69317574T Expired - Lifetime DE69317574T2 (de) 1993-09-01 1993-09-20 Gelenkroboter

Country Status (5)

Country Link
US (1) US5577414A (de)
EP (1) EP0667214B1 (de)
KR (1) KR100292539B1 (de)
DE (1) DE69317574T2 (de)
WO (1) WO1995006546A1 (de)

Families Citing this family (27)

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US6336374B1 (en) 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
US6540471B1 (en) 1997-01-14 2003-04-01 Abb Ab Device for relative displacement of two elements
NL1010446C2 (nl) * 1998-11-02 2000-05-03 Exact Dynamics B V Manipulator.
JP3456910B2 (ja) * 1998-11-05 2003-10-14 三鷹光器株式会社 バランシングスタンド用の自動バランス装置
US6253458B1 (en) * 1998-12-08 2001-07-03 Faro Technologies, Inc. Adjustable counterbalance mechanism for a coordinate measurement machine
US6439076B1 (en) * 1999-06-17 2002-08-27 Rory C. Flemmer Robotic loader for machinery
US20040012217A1 (en) * 2002-07-18 2004-01-22 Shafer Richard E. End effector
US20060142738A1 (en) * 2002-10-21 2006-06-29 Takeyoshi Dohi Positioning unit, and positioning arm using the same
JP4336831B2 (ja) * 2004-11-24 2009-09-30 東芝機械株式会社 産業用ロボット
WO2009069389A1 (ja) 2007-11-26 2009-06-04 Kabushiki Kaisha Yaskawa Denki 垂直多関節形ロボット
US8065996B1 (en) 2008-07-16 2011-11-29 Dan Neuvelt Tailgate grill system
JP5272588B2 (ja) * 2008-09-01 2013-08-28 セイコーエプソン株式会社 水平多関節型ロボット
FR2937269B1 (fr) * 2008-10-17 2010-10-29 Staubli Sa Ets Structure articulee de robot multi-axes et robot comprenant une telle structure.
US8176809B2 (en) * 2008-12-10 2012-05-15 GM Global Technology Operations LLC Planar torsion spring
JP5480246B2 (ja) * 2009-03-11 2014-04-23 本田技研工業株式会社 作業装置及び作業方法
JP5499647B2 (ja) * 2009-11-10 2014-05-21 株式会社安川電機 ロボット及びロボットシステム
US8601897B2 (en) * 2009-11-30 2013-12-10 GM Global Technology Operations LLC Force limiting device and method
KR101213385B1 (ko) * 2010-12-14 2012-12-18 김현겸 인공지능 로봇 안마장치
JP5482742B2 (ja) * 2011-07-26 2014-05-07 株式会社安川電機 ロボットの製造方法
CN103121215A (zh) * 2011-11-18 2013-05-29 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN103192378B (zh) * 2013-02-06 2016-01-13 李月芹 码垛机械人
JP5975129B1 (ja) 2015-03-02 2016-08-23 株式会社安川電機 ロボット
CN104786214A (zh) * 2015-04-14 2015-07-22 山东交通学院 一种全自动双向码垛机器人
US10179282B2 (en) 2016-02-26 2019-01-15 Impyrium, Inc. Joystick input apparatus with living hinges
CN106272402B (zh) * 2016-09-19 2018-09-07 江苏瑞伯特视觉科技股份有限公司 一种智能控制直立行走机器人
CN112874782B (zh) * 2019-11-29 2022-09-20 北京二郎神科技有限公司 无人机、能量供应站和换电系统
CN113977569A (zh) * 2021-11-15 2022-01-28 杭州千岛湖瑞淳机器人研究院有限公司 一种轻型三平动机器人

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DE2222356C2 (de) * 1972-05-06 1974-05-09 Rudolf 5882 Meinerzhagen Kallenbach Schneidbrennerfühmng
SU642149A1 (ru) * 1977-06-03 1979-01-15 Предприятие П/Я В-2946 Манипул тор
JPS5575053A (en) * 1978-11-30 1980-06-06 Masao Tsuchida Tile application
JPS5838564B2 (ja) * 1979-01-30 1983-08-24 三和機材株式会社 コンクリ−ト破砕機
JPS56106284A (en) * 1980-01-26 1981-08-24 Kawai Musical Instr Mfg Co Channel handling system for electronic musical instrument
JPS571693A (en) * 1980-06-03 1982-01-06 Matsushita Electric Ind Co Ltd Safety device for wrist section of industrial robot
JPS601994Y2 (ja) * 1980-07-16 1985-01-19 株式会社安川電機 外部接触検知装置
US4433495A (en) * 1981-01-31 1984-02-28 Mitsuhiro Kishi Digger with supporting base pivotable on transversible member
JPS5813989U (ja) * 1981-07-17 1983-01-28 ぺんてる株式会社 平行４辺形型ロボツト装置
JPS5817604A (ja) * 1981-07-24 1983-02-01 Comput Basic Mach Technol Res Assoc 磁気バブル材料
JPS5932962A (ja) * 1982-08-19 1984-02-22 Matsushita Electric Ind Co Ltd 静電式浄油装置
JPS59108691A (ja) * 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
US4511242A (en) * 1982-12-22 1985-04-16 International Business Machines Corporation Electronic alignment for a paper processing machine
JPS59146774A (ja) * 1983-02-04 1984-08-22 神鋼電機株式会社 物品のパレタイズ用多関節ロボツト
US4592697A (en) * 1983-04-26 1986-06-03 Kabushiki Kaisha Kobe Seiko Sho Gravity balancing device for rocking arm
IT8354029V0 (it) * 1983-12-12 1983-12-12 Comau Spa Robot manipolatore particolarmente per il trasferimento di elementi di lamiera da una stazione di stampaggio alla stazione successiva di una linea di stampaggio
JPS60177887A (ja) * 1984-02-22 1985-09-11 ケイピイデイ株式会社 ア−ムロボツト
US4600355A (en) * 1984-08-29 1986-07-15 Cybot, Inc. Modular robotics system with basic interchangeable parts
JPS61103793A (ja) * 1984-10-24 1986-05-22 シャープ株式会社 多関節ロボツト
DE3445055A1 (de) * 1984-12-11 1986-06-12 Reis GmbH & Co, 8753 Obernburg Mehrachsiger, programmierbarer manipulator mit einem trainingsarm zum programmieren des manipulators
US4946337A (en) * 1987-07-09 1990-08-07 Kabushiki Kaisha Yaskawa Denki Seisakusho Parallel link robot arm
DE3808121C2 (de) * 1988-03-11 1994-10-20 Wilfried Baeder Handhabungsgerät zum Greifen und Bewegen von Gegenständen
JPH02106286A (ja) * 1988-10-13 1990-04-18 Mitsubishi Electric Corp 産業用ロボット装置
JPH0832402B2 (ja) * 1989-12-28 1996-03-29 川崎重工業株式会社 産業用ロボツト
JP2808826B2 (ja) * 1990-05-25 1998-10-08 松下電器産業株式会社 基板の移し換え装置
JPH04164593A (ja) * 1990-10-25 1992-06-10 Mitsubishi Electric Corp ロボットアームのケーブル処理機構
IT1251017B (it) * 1991-05-21 1995-04-28 Ugo Crippa Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche
US5222409A (en) * 1991-09-25 1993-06-29 Dalakian Sergei V Industrial robot arms
US5305653A (en) * 1991-09-30 1994-04-26 Tokico Ltd. Robot wrist mechanism
DE4200118A1 (de) * 1992-01-04 1993-07-08 G & W Buehler Maschinenbau Gmb Handhabungsgeraet
DE4202922A1 (de) * 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ

Also Published As

Publication number Publication date
KR100292539B1 (ko) 2001-06-01
US5577414A (en) 1996-11-26
EP0667214A1 (de) 1995-08-16
WO1995006546A1 (fr) 1995-03-09
DE69317574D1 (de) 1998-04-23
EP0667214A4 (de) 1996-01-03
EP0667214B1 (de) 1998-03-18

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Legal Events

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