DE69402405T2 - Industrieroboter mit integriertem Untersetzungsgetriebe - Google Patents

Industrieroboter mit integriertem Untersetzungsgetriebe

Info

Publication number
DE69402405T2
DE69402405T2 DE69402405T DE69402405T DE69402405T2 DE 69402405 T2 DE69402405 T2 DE 69402405T2 DE 69402405 T DE69402405 T DE 69402405T DE 69402405 T DE69402405 T DE 69402405T DE 69402405 T2 DE69402405 T2 DE 69402405T2
Authority
DE
Germany
Prior art keywords
reduction gear
industrial robot
integrated reduction
integrated
elements
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 - Fee Related
Application number
DE69402405T
Other languages
English (en)
Other versions
DE69402405D1 (de
Inventor
Enrico Mauletti
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Publication of DE69402405D1 publication Critical patent/DE69402405D1/de
Application granted granted Critical
Publication of DE69402405T2 publication Critical patent/DE69402405T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J17/00—Joints
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
DE69402405T 1993-12-17 1994-12-01 Industrieroboter mit integriertem Untersetzungsgetriebe Expired - Fee Related DE69402405T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO930960A IT1272083B (it) 1993-12-17 1993-12-17 Robot industriale con gruppi riduttori integrati.

Publications (2)

Publication Number Publication Date
DE69402405D1 DE69402405D1 (de) 1997-05-07
DE69402405T2 true DE69402405T2 (de) 1997-07-10

Family

ID=11411942

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69402405T Expired - Fee Related DE69402405T2 (de) 1993-12-17 1994-12-01 Industrieroboter mit integriertem Untersetzungsgetriebe

Country Status (10)

Country Link
US (1) US5606235A (de)
EP (1) EP0658405B1 (de)
JP (1) JP2652354B2 (de)
KR (1) KR0178812B1 (de)
CN (1) CN1042607C (de)
AT (1) ATE151002T1 (de)
CA (1) CA2137022C (de)
DE (1) DE69402405T2 (de)
ES (1) ES2101478T3 (de)
IT (1) IT1272083B (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9393703B2 (en) 2012-10-12 2016-07-19 Fanuc Corporation Umbilical member attachment device of robot
DE102016003966A1 (de) * 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
DE102017122067A1 (de) * 2017-09-22 2019-03-28 Roschiwal + Partner Ingenieur Gmbh Augsburg Roboterfräsen

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US6455799B1 (en) * 1998-12-18 2002-09-24 Abb Ab Robot device
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JP3545995B2 (ja) * 2000-06-12 2004-07-21 ファナック株式会社 ロボットの関節構造
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JP4755357B2 (ja) * 2001-04-18 2011-08-24 ナブテスコ株式会社 減速機
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JP4267950B2 (ja) * 2003-03-28 2009-05-27 住友重機械工業株式会社 内歯揺動型内接噛合遊星歯車装置
CA2489941C (en) * 2003-12-18 2012-08-14 Comau S.P.A. A method and device for laser welding
JP4063781B2 (ja) * 2004-03-04 2008-03-19 株式会社ラインワークス 搬送装置
ITTO20040361A1 (it) * 2004-05-28 2004-08-28 Comau Spa Metodo e dispositivo per saldatura laser remota mediante robot, con controllo semplificato della direzione di focalizzazione del fascio laser.
JP4589712B2 (ja) 2004-12-14 2010-12-01 本田技研工業株式会社 ロボットの関節構造
WO2006075752A1 (ja) * 2005-01-17 2006-07-20 Sumitomo Heavy Industries, Ltd. 動力伝達装置
WO2006085819A2 (en) * 2005-02-11 2006-08-17 Abb Ab An industrial robot with several axes, with multistage transmission gears and prepared for working in an aggressive and limited working area
WO2006085818A2 (en) * 2005-02-11 2006-08-17 Abb Ab An industrial robot and a drive package for the third axis, with a multistage gear transmission
CN100488692C (zh) 2005-08-29 2009-05-20 松下电器产业株式会社 工业用机器人
US20090114053A1 (en) * 2005-10-21 2009-05-07 Abb Ab Arm part of an industrial robot as well as an industrial robot provided therewith
KR100714904B1 (ko) * 2006-05-18 2007-05-04 곽문규 소형물체의 도장을 위한 도장로봇 구조체 및 도장 시스템
EP1930130A1 (de) * 2006-12-07 2008-06-11 Abb Ab Industrieroboter mit Treibstange
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
KR100897034B1 (ko) * 2007-10-31 2009-05-14 한국기계연구원 한팔 또는 양팔 구축이 용이한 듀얼용 산업형 로봇
US20090304488A1 (en) * 2008-06-06 2009-12-10 Spx Corporation Engine Filter Lifting Device
US20100037819A1 (en) * 2008-08-14 2010-02-18 Snu R&Db Foundation Device for positioning nano materials
FR2937269B1 (fr) * 2008-10-17 2010-10-29 Staubli Sa Ets Structure articulee de robot multi-axes et robot comprenant une telle structure.
CN102069493A (zh) 2009-11-19 2011-05-25 鸿富锦精密工业（深圳）有限公司 机器人臂部件及机器人
KR101205364B1 (ko) * 2010-05-13 2012-11-28 삼성중공업 주식회사 탈부착형 ４절 링크기구 구동장치를 갖는 산업용 로봇
CN102275158A (zh) * 2010-06-10 2011-12-14 鸿富锦精密工业（深圳）有限公司 机器人
CN102811843A (zh) * 2010-09-03 2012-12-05 Abb研究有限公司 工业机器人、用于该工业机器人的组件系统以及用于组装该工业机器人的方法
IT1404527B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404529B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404528B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
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
CN102431040A (zh) * 2011-12-14 2012-05-02 杭州英若飞科技有限公司 动平衡机械手臂
EP3352007B1 (de) * 2012-04-30 2020-12-23 Threat Spectrum Inc. Motorantriebsanordnung
DE102012212337B4 (de) * 2012-07-13 2015-06-25 Dango & Dienenthal Maschinenbau Gmbh Manipulator oder dergleichen
JP5591894B2 (ja) * 2012-09-26 2014-09-17 ファナック株式会社 ロボットの線条体取付装置
DE102013206791A1 (de) * 2013-04-16 2014-10-16 Kuka Roboter Gmbh Industrieroboter mit einer an einem Armausleger angeordneten Antriebsanordnung
CN103192647A (zh) * 2013-04-23 2013-07-10 青岛速霸数控设备有限公司 一种多轴雕刻机
JP5884785B2 (ja) * 2013-07-30 2016-03-15 株式会社安川電機 ロボット
JP5949693B2 (ja) * 2013-07-30 2016-07-13 株式会社安川電機 ロボット
CN104511899A (zh) * 2013-09-27 2015-04-15 中日龙(襄阳)机电技术开发有限公司 二轴数控电动姿势部机构
JP6098535B2 (ja) * 2014-01-31 2017-03-22 株式会社デンソーウェーブ アクチュエータ
USD740338S1 (en) * 2014-06-05 2015-10-06 Sunstone Engineering, Inc. LDC welder
JP6196588B2 (ja) * 2014-07-24 2017-09-13 株式会社スギノマシン 送り台装置、および対象物駆動装置
JP2016022571A (ja) * 2014-07-24 2016-02-08 株式会社安川電機 ロボットの関節機構およびロボット
CN104400014B (zh) * 2014-11-05 2017-01-11 苏州道众机械制造有限公司 一种机械手旋转机构
JP2016140917A (ja) * 2015-01-29 2016-08-08 株式会社安川電機 ロボット
CN110662633B (zh) * 2015-05-16 2023-02-17 Abb瑞士股份有限公司 机器人的旋转补充轴线
CN104972589B (zh) * 2015-06-24 2017-07-14 东莞市松庆智能自动化科技有限公司 一种多轴联动式机器人及其自动化浇注系统
JP6477877B2 (ja) * 2015-06-30 2019-03-06 株式会社安川電機 ロボットシステム
CN105459090A (zh) * 2016-01-04 2016-04-06 江苏科技大学 一种示教型六自由度搬运机械手
CN105537814B (zh) * 2016-02-17 2017-05-03 湖北长永建材有限公司 一种机械手自动化焊接装置及操作方法
CN105756353A (zh) * 2016-05-12 2016-07-13 郑州三迪建筑科技有限公司 一种六轴建墙机器人
JP6499620B2 (ja) * 2016-08-05 2019-04-10 ファナック株式会社 回転軸モジュールおよび多関節ロボット
JP6777561B2 (ja) * 2017-02-01 2020-10-28 株式会社神戸製鋼所 ロボットアームのハーネス接続構造、及び多関節溶接ロボット
KR101866128B1 (ko) * 2017-03-24 2018-07-13 경남대학교 산학협력단 충돌방지기능을 구비한 고온환경 작업용 6축 수직 다관절 로봇
CN107053250A (zh) * 2017-06-12 2017-08-18 东莞市新本自动化设备有限公司 一种基于旋转平台的五自由度机械手轴臂
US20210060764A1 (en) * 2017-08-31 2021-03-04 Laser Mechanisms, Inc. Robotic arm end effector
CN108214541A (zh) * 2017-12-14 2018-06-29 杭州娃哈哈精密机械有限公司 一种机械臂的肩关节
US11312006B2 (en) 2018-03-30 2022-04-26 Fanuc Corporation Robot drive unit and robot
JP6827437B2 (ja) 2018-03-30 2021-02-10 ファナック株式会社 ロボット用駆動ユニット、ロボットおよびシール構造
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CN110202475B (zh) * 2019-06-18 2020-04-17 方鼎科技有限公司 一种玻璃加工用翻转调整装置
CN110405737A (zh) * 2019-08-08 2019-11-05 中新智擎科技有限公司 动力装置及具有此动力装置的机器人
CN110587591A (zh) * 2019-10-21 2019-12-20 江苏图灵智能机器人有限公司 一种五关节搬运机器人机构
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9393703B2 (en) 2012-10-12 2016-07-19 Fanuc Corporation Umbilical member attachment device of robot
DE102016003966A1 (de) * 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
WO2017167683A1 (de) 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
US11548164B2 (en) 2016-04-01 2023-01-10 Dürr Systems Ag Coating robot
DE102017122067A1 (de) * 2017-09-22 2019-03-28 Roschiwal + Partner Ingenieur Gmbh Augsburg Roboterfräsen

Also Published As

Publication number Publication date
DE69402405D1 (de) 1997-05-07
ITTO930960A0 (it) 1993-12-17
KR950017117A (ko) 1995-07-20
CN1112474A (zh) 1995-11-29
CA2137022A1 (en) 1995-06-18
JP2652354B2 (ja) 1997-09-10
ITTO930960A1 (it) 1995-05-17
JPH07205065A (ja) 1995-08-08
IT1272083B (it) 1997-06-11
US5606235A (en) 1997-02-25
KR0178812B1 (ko) 1999-04-01
EP0658405A1 (de) 1995-06-21
ES2101478T3 (es) 1997-07-01
CN1042607C (zh) 1999-03-24
EP0658405B1 (de) 1997-04-02
ATE151002T1 (de) 1997-04-15
CA2137022C (en) 1998-01-06

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