DE69509689D1 - Gelenkroboter - Google Patents

Gelenkroboter

Info

Publication number
DE69509689D1
DE69509689D1 DE69509689T DE69509689T DE69509689D1 DE 69509689 D1 DE69509689 D1 DE 69509689D1 DE 69509689 T DE69509689 T DE 69509689T DE 69509689 T DE69509689 T DE 69509689T DE 69509689 D1 DE69509689 D1 DE 69509689D1
Authority
DE
Germany
Prior art keywords
articulated robot
articulated
robot
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
DE69509689T
Other languages
English (en)
Other versions
DE69509689T2 (de
Inventor
Akira Kimura
Morio Tominaga
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.)
Sony Corp
Original Assignee
Sony 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 JP06433994A external-priority patent/JP3413676B2/ja
Priority claimed from JP6819294A external-priority patent/JPH07246580A/ja
Application filed by Sony Corp filed Critical Sony Corp
Publication of DE69509689D1 publication Critical patent/DE69509689D1/de
Application granted granted Critical
Publication of DE69509689T2 publication Critical patent/DE69509689T2/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
    • 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
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • 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
    • Y10T74/20323—Robotic arm including flaccid drive element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE69509689T 1994-03-09 1995-03-08 Gelenkroboter Expired - Fee Related DE69509689T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP06433994A JP3413676B2 (ja) 1994-03-09 1994-03-09 多関節型ロボット
JP6819294A JPH07246580A (ja) 1994-03-14 1994-03-14 多関節型ロボット

Publications (2)

Publication Number Publication Date
DE69509689D1 true DE69509689D1 (de) 1999-06-24
DE69509689T2 DE69509689T2 (de) 1999-09-23

Family

ID=26405463

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69509689T Expired - Fee Related DE69509689T2 (de) 1994-03-09 1995-03-08 Gelenkroboter

Country Status (4)

Country Link
US (1) US5634377A (de)
EP (1) EP0671245B1 (de)
KR (1) KR100381504B1 (de)
DE (1) DE69509689T2 (de)

Families Citing this family (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6439076B1 (en) * 1999-06-17 2002-08-27 Rory C. Flemmer Robotic loader for machinery
US6354167B1 (en) 2000-06-26 2002-03-12 The United States Of America As Represented By The Secretary Of The Navy Scara type robot with counterbalanced arms
US6749386B2 (en) 2001-08-20 2004-06-15 Maclean-Fogg Company Locking fastener assembly
DE10149462A1 (de) * 2001-10-08 2003-04-17 Waldmann Gmbh & Co Herbert Bestrahlungsgerät insbesondere zur fotodynamischen Therapie
US20030070502A1 (en) * 2001-10-16 2003-04-17 Brett Tommy Douglas Twin-link robotic arm
JP4299567B2 (ja) * 2003-03-31 2009-07-22 本田技研工業株式会社 脚式移動ロボット
US7819079B2 (en) 2004-12-22 2010-10-26 Applied Materials, Inc. Cartesian cluster tool configuration for lithography type processes
US7651306B2 (en) 2004-12-22 2010-01-26 Applied Materials, Inc. Cartesian robot cluster tool architecture
US7798764B2 (en) 2005-12-22 2010-09-21 Applied Materials, Inc. Substrate processing sequence in a cartesian robot cluster tool
US7699021B2 (en) 2004-12-22 2010-04-20 Sokudo Co., Ltd. Cluster tool substrate throughput optimization
US7396412B2 (en) 2004-12-22 2008-07-08 Sokudo Co., Ltd. Coat/develop module with shared dispense
US7694688B2 (en) 2007-01-05 2010-04-13 Applied Materials, Inc. Wet clean system design
US7950407B2 (en) * 2007-02-07 2011-05-31 Applied Materials, Inc. Apparatus for rapid filling of a processing volume
US20080314181A1 (en) * 2007-06-19 2008-12-25 Bruce Schena Robotic Manipulator with Remote Center of Motion and Compact Drive
FR2937269B1 (fr) * 2008-10-17 2010-10-29 Staubli Sa Ets Structure articulee de robot multi-axes et robot comprenant une telle structure.
CN102049773B (zh) * 2009-10-29 2013-08-28 鸿富锦精密工业（深圳）有限公司 平面关节型机器人
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
US9333469B2 (en) * 2011-03-09 2016-05-10 Distek, Inc. Multi-motion assembly for leadscrew system
CN102909722A (zh) * 2011-08-01 2013-02-06 扬州多维数控系统有限公司 一种平面多关节机器人手臂
JP6051021B2 (ja) 2012-08-09 2016-12-21 日本電産サンキョー株式会社 産業用ロボットおよび産業用ロボットの制御方法
CN103406898A (zh) * 2013-09-03 2013-11-27 昆山莱捷有色金属有限公司 一种双夹钳机械手
JP5942953B2 (ja) * 2013-09-25 2016-06-29 日本電気株式会社 線条材搬送機構、線条材搬送方法、及びテープ搬送機構
CN103538059B (zh) * 2013-11-08 2015-06-03 江苏科技大学 吹塑托盘抓取机器人结构
US9308644B2 (en) * 2013-12-05 2016-04-12 Hiwin Technologies Corp. Robotic arm for processing machine
JP2015211998A (ja) * 2014-05-07 2015-11-26 セイコーエプソン株式会社 ロボット
KR101549847B1 (ko) 2014-05-26 2015-09-07 주식회사 사이보그-랩 교체가 용이한 의료용 로봇
CN104070532A (zh) * 2014-07-14 2014-10-01 中国科学院合肥物质科学研究院 一种多节折叠式遥操作机械臂的关节
JP2016068201A (ja) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット
CN105500346B (zh) * 2016-01-22 2018-01-30 安徽骏马化工科技股份有限公司 红丹、黄丹生产专用加铅机器人及其工作方法
JP6711066B2 (ja) * 2016-03-28 2020-06-17 セイコーエプソン株式会社 ロボット、歯車装置および可撓性歯車の製造方法
JP6735149B2 (ja) * 2016-05-11 2020-08-05 オークマ株式会社 工作機械
CN105922241A (zh) * 2016-06-24 2016-09-07 无锡市宇正铁路油封制造有限公司 一种带配重双面双导轨的五轴机械手
CN106141608A (zh) * 2016-06-30 2016-11-23 苏州博众精工科技有限公司 一种旋转搬运机构
CN107791277B (zh) * 2016-08-31 2022-06-28 精工爱普生株式会社 机器人
JP2018087611A (ja) 2016-11-29 2018-06-07 セイコーエプソン株式会社 ロボット、可撓性歯車、歯車装置および可撓性歯車の製造方法
JP7188880B2 (ja) * 2017-12-05 2022-12-13 オークマ株式会社 工作機械
IT201900000775A1 (it) * 2019-01-18 2020-07-18 Metal Work Spa Manipolatore per robot industriali.
EP3708307A1 (de) * 2019-03-13 2020-09-16 Mikron SA Boudry Fördervorrichtung für werkstücke
EP4238710A1 (de) * 2022-03-02 2023-09-06 Dynamic Concept Robotersystem für aluminiumofenoperationen
JP2024049638A (ja) * 2022-09-29 2024-04-10 セイコーエプソン株式会社 水平多関節ロボット

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2908523A1 (de) * 1979-03-05 1981-01-29 Jungheinrich Unternehmensverw Automatisches arbeitsgeraet
JPS58165978A (ja) * 1982-03-24 1983-10-01 三菱電機株式会社 工業用ロボツト
JPS5969283A (ja) * 1982-10-12 1984-04-19 豊田工機株式会社 水平多関節型ロボツト
AU595163B2 (en) * 1984-09-07 1990-03-29 Sony Corporation Industrial robot with servo system
DE3618223A1 (de) * 1985-06-04 1986-12-04 ASEA AB, Västerås Industrieroboteranordnung
JPS62203786A (ja) * 1986-03-03 1987-09-08 株式会社東芝 産業用ロボツト
US5031474A (en) * 1987-03-31 1991-07-16 Siemens Aktiengesellschaft Industrial robot
JPS6411777A (en) * 1987-07-07 1989-01-17 Mitsubishi Electric Corp Multi-joint robot
JPH02311285A (ja) * 1989-05-19 1990-12-26 Toyoda Mach Works Ltd 工業用ロボット
JPH0832402B2 (ja) * 1989-12-28 1996-03-29 川崎重工業株式会社 産業用ロボツト
JP2826556B2 (ja) * 1990-11-28 1998-11-18 キヤノン株式会社 工業用ロボツト
JP2647301B2 (ja) * 1992-03-05 1997-08-27 ファナック株式会社 ロボットアームのバランサ装置

Also Published As

Publication number Publication date
DE69509689T2 (de) 1999-09-23
EP0671245B1 (de) 1999-05-19
KR950031402A (ko) 1995-12-18
EP0671245A1 (de) 1995-09-13
US5634377A (en) 1997-06-03
KR100381504B1 (ko) 2003-06-25

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee