JP2006102847A - 加工搬送装置 - Google Patents
加工搬送装置 Download PDFInfo
- Publication number
- JP2006102847A JP2006102847A JP2004291048A JP2004291048A JP2006102847A JP 2006102847 A JP2006102847 A JP 2006102847A JP 2004291048 A JP2004291048 A JP 2004291048A JP 2004291048 A JP2004291048 A JP 2004291048A JP 2006102847 A JP2006102847 A JP 2006102847A
- Authority
- JP
- Japan
- Prior art keywords
- movable arm
- arm
- movable
- processing
- rotation axis
- 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.)
- Granted
Links
- 238000003754 machining Methods 0.000 title abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 238000009434 installation Methods 0.000 description 2
- 241000238366 Cephalopoda Species 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual 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
- B25J9/046—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
-
- 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
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5176—Plural diverse manufacturing apparatus including means for metal shaping or assembling including machining means
- Y10T29/5177—Plural diverse manufacturing apparatus including means for metal shaping or assembling including machining means and work-holder for assembly
-
- 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
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53961—Means to assemble or disassemble with work-holder for assembly
- Y10T29/53974—Means to assemble or disassemble with work-holder for assembly having means to permit support movement while work is thereon
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
【解決手段】加工搬送装置1は、可動アーム2の関節の回転軸5,6,7に対して垂直な回転軸14を中心として可動アーム2を回動させるべく可動アーム2の基端とベースプレート16との間に設けた第1の回動手段15と、該回動手段15の回転軸14と関節の回転軸5,6,7の双方に対して垂直な回転軸19を中心として可動アーム2を回動させるべく可動アーム2の基端側アーム片11に設けた第2の回動手段20とを備えている。
【選択図】図1
Description
2 可動アーム
3 旋回装置
4 基台
5,6,7 回転軸
8〜11 アーム片
14 回転軸
15 第1の回動手段
16 ベースプレート
17 モータ
18 減速装置
19 回転軸
20 第2の回動手段
21 モータ
22 減速装置
23 回転軸
24 L型アーム
25 回転軸
26 モータ
27 減速装置
27 減速装置
Claims (1)
- 同一方向を向いた回転軸を中心として回動する間接を複数個有する可動アームと、該可動アームの先端に設けた加工又は保持手段とを備えた加工搬送装置において、上記間接の回転軸に対し平面的に見て交差する回転軸を中心として上記可動アームを回動させるべく上記可動アームの基端と被装着部との間に設けた第1の回動手段と、該回動手段の回転軸と上記関節の回転軸の双方に対して垂直な回転軸を中心として上記可動アームを回動させるべく上記可動アームの基端側アーム片に設けた第2の回動手段とを備えたことを特徴とする加工搬送装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004291048A JP4541091B2 (ja) | 2004-10-04 | 2004-10-04 | 加工搬送装置 |
PCT/JP2005/017351 WO2006038463A1 (ja) | 2004-10-04 | 2005-09-21 | 加工搬送装置 |
DE602005017416T DE602005017416D1 (de) | 2004-10-04 | 2005-09-21 | Bearbeitungs- und übertragungsvorrichtung |
CA2583166A CA2583166C (en) | 2004-10-04 | 2005-09-21 | Machining and conveying apparatus |
EP05785701A EP1800808B1 (en) | 2004-10-04 | 2005-09-21 | Processing and transferring apparatus |
CN200580033893.9A CN100586665C (zh) | 2004-10-04 | 2005-09-21 | 加工搬送装置 |
US11/664,534 US20080168639A1 (en) | 2004-10-04 | 2005-09-21 | Machining and Conveying Apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004291048A JP4541091B2 (ja) | 2004-10-04 | 2004-10-04 | 加工搬送装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006102847A true JP2006102847A (ja) | 2006-04-20 |
JP4541091B2 JP4541091B2 (ja) | 2010-09-08 |
Family
ID=36142542
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004291048A Expired - Fee Related JP4541091B2 (ja) | 2004-10-04 | 2004-10-04 | 加工搬送装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20080168639A1 (ja) |
EP (1) | EP1800808B1 (ja) |
JP (1) | JP4541091B2 (ja) |
CN (1) | CN100586665C (ja) |
CA (1) | CA2583166C (ja) |
DE (1) | DE602005017416D1 (ja) |
WO (1) | WO2006038463A1 (ja) |
Cited By (11)
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KR100897034B1 (ko) | 2007-10-31 | 2009-05-14 | 한국기계연구원 | 한팔 또는 양팔 구축이 용이한 듀얼용 산업형 로봇 |
JP2009125892A (ja) * | 2007-11-27 | 2009-06-11 | Yaskawa Electric Corp | ロボットシステム |
WO2009122824A1 (ja) * | 2008-03-31 | 2009-10-08 | 本田技研工業株式会社 | ワーク取付システムおよびワーク取付方法 |
JP2010120124A (ja) * | 2008-11-20 | 2010-06-03 | Toyota Motor Corp | ロボットアームの教示システム及び方法 |
JP2012140022A (ja) * | 2010-12-28 | 2012-07-26 | Honda Motor Co Ltd | ドア把持装置及び方法 |
JP2012140024A (ja) * | 2010-12-28 | 2012-07-26 | Honda Motor Co Ltd | 車体のドア開け方法及び装置 |
JP2012140023A (ja) * | 2010-12-28 | 2012-07-26 | Honda Motor Co Ltd | ドア取り外し装置及び方法 |
JP2013237121A (ja) * | 2012-05-15 | 2013-11-28 | Fanuc Ltd | ロボットの動作範囲を拡張するロボット用旋回装置 |
JP2014054727A (ja) * | 2013-12-26 | 2014-03-27 | Yaskawa Electric Corp | ロボット |
JP2014508658A (ja) * | 2011-03-23 | 2014-04-10 | エスアールアイ インターナショナル | 高機能遠隔マニピュレーターシステム |
US8950050B2 (en) | 2010-12-28 | 2015-02-10 | Honda Motor Co., Ltd. | Vehicle body door opening method and device, door removing device and method, door holding device and method, and socket |
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FR2905886B1 (fr) * | 2006-09-14 | 2008-11-21 | Abb Mc Soc Par Actions Simplif | Station de travail avec support de pieces multiface et procede de pilotage d'une telle station |
TR200704706A2 (tr) * | 2007-07-05 | 2008-12-22 | Teknodrom Roboti̇k Ve Otomasyon San.Ti̇c. Ltd.Şti̇. | Robotik lazer, plazma, su jeti, freze, vb. parça işleme sistemi |
WO2009113360A1 (ja) * | 2008-03-10 | 2009-09-17 | 本田技研工業株式会社 | ドア取り外しシステムおよびドア取り外し方法 |
TR200909397A2 (tr) * | 2009-12-14 | 2011-07-21 | Vargin Gök Gökhan | Çoklu eksene haiz bir robot. |
CN102189275B (zh) * | 2011-05-04 | 2013-04-10 | 孟秋华 | 机械手 |
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JP2015531608A (ja) | 2012-05-01 | 2015-11-05 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | 単孔式ロボット機器および関連システムと方法 |
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US9010214B2 (en) * | 2012-06-22 | 2015-04-21 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
JP2015526171A (ja) | 2012-08-08 | 2015-09-10 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボット手術用デバイス、システム及び関連の方法 |
JP5803887B2 (ja) * | 2012-12-03 | 2015-11-04 | 株式会社安川電機 | ロボット |
CN102975076A (zh) * | 2012-12-13 | 2013-03-20 | 昆山亿诚化工容器有限公司 | 夹取机构 |
KR101438639B1 (ko) * | 2013-07-09 | 2014-09-05 | 현대자동차 주식회사 | 차량용 도어 장착기의 도어 정위치 장치 |
EP3021779A4 (en) | 2013-07-17 | 2017-08-23 | Board of Regents of the University of Nebraska | Robotic surgical devices, systems and related methods |
CN104385265A (zh) * | 2014-07-02 | 2015-03-04 | 中国科学院合肥物质科学研究院 | 一种具有冗余自由度的机器人 |
JP6606319B2 (ja) * | 2014-07-10 | 2019-11-13 | 日本電産サンキョー株式会社 | 産業用ロボット |
CN104175162B (zh) * | 2014-08-05 | 2016-08-24 | 王彩艳 | 一种自动上下料机器手臂及自动上下料方法 |
WO2017024081A1 (en) | 2015-08-03 | 2017-02-09 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices systems and related methods |
AT517912B1 (de) * | 2015-10-21 | 2019-03-15 | Hubert Ing Rapperstorfer | Fertigungsanlage zum Fertigen von Bewehrungselementen |
KR101734241B1 (ko) * | 2015-12-10 | 2017-05-11 | 현대자동차 주식회사 | 트렁크 리드 힌지 지능형 로더유닛 |
CN105522565A (zh) * | 2016-01-26 | 2016-04-27 | 中塑联新材料科技湖北有限公司 | 一种塑料板或塑料片材码垛机械手 |
US10751136B2 (en) | 2016-05-18 | 2020-08-25 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
CN106272378A (zh) * | 2016-09-18 | 2017-01-04 | 上海发那科机器人有限公司 | 一种汽车开盖机器人安装结构 |
JP6506344B2 (ja) * | 2017-05-19 | 2019-04-24 | ファナック株式会社 | ネジガイド装置およびネジ締めロボットシステム |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS584381A (ja) * | 1981-06-26 | 1983-01-11 | 日産自動車株式会社 | 2腕ロボット |
JPS59134688A (ja) * | 1983-01-06 | 1984-08-02 | インテレデツクス・インコ−ポレ−テツド | ロボツト・ア−ム |
JPH03178788A (ja) * | 1989-12-06 | 1991-08-02 | Hitachi Ltd | マニピュレータの制御方法 |
JPH04315589A (ja) * | 1991-04-16 | 1992-11-06 | Fanuc Ltd | 7自由度関節形マニプレータ |
Family Cites Families (11)
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DE2530261C2 (de) * | 1974-10-22 | 1986-10-23 | Asea S.p.A., Mailand/Milano | Programmiereinrichtung für einen Manipulator |
US4555217A (en) * | 1983-01-06 | 1985-11-26 | Intelledex Incorporated | Robot arm with split wrist motion |
US4539462A (en) * | 1983-01-24 | 1985-09-03 | Westinghouse Electric Corp. | Robotic laser beam delivery apparatus |
US4585387A (en) * | 1983-10-11 | 1986-04-29 | William Jayne | Robot arm |
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JPH06312385A (ja) * | 1993-04-28 | 1994-11-08 | Sigma Eng Kk | 複腕ロボット装置 |
CA2103626A1 (en) * | 1993-08-09 | 1995-02-10 | Septimiu Edmund Salcudean | Motion scaling tele-operating system with force feedback suitable for microsurgery |
JPH07223180A (ja) * | 1994-02-10 | 1995-08-22 | Tescon:Kk | 水平多関節ロボット |
US6714839B2 (en) * | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
FR2809047B1 (fr) * | 2000-05-18 | 2002-07-12 | Commissariat Energie Atomique | Bras de commande parallele a deux branches |
US7155316B2 (en) * | 2002-08-13 | 2006-12-26 | Microbotics Corporation | Microsurgical robot system |
-
2004
- 2004-10-04 JP JP2004291048A patent/JP4541091B2/ja not_active Expired - Fee Related
-
2005
- 2005-09-21 CA CA2583166A patent/CA2583166C/en not_active Expired - Fee Related
- 2005-09-21 US US11/664,534 patent/US20080168639A1/en not_active Abandoned
- 2005-09-21 WO PCT/JP2005/017351 patent/WO2006038463A1/ja active Application Filing
- 2005-09-21 DE DE602005017416T patent/DE602005017416D1/de active Active
- 2005-09-21 EP EP05785701A patent/EP1800808B1/en not_active Expired - Fee Related
- 2005-09-21 CN CN200580033893.9A patent/CN100586665C/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS584381A (ja) * | 1981-06-26 | 1983-01-11 | 日産自動車株式会社 | 2腕ロボット |
JPS59134688A (ja) * | 1983-01-06 | 1984-08-02 | インテレデツクス・インコ−ポレ−テツド | ロボツト・ア−ム |
JPH03178788A (ja) * | 1989-12-06 | 1991-08-02 | Hitachi Ltd | マニピュレータの制御方法 |
JPH04315589A (ja) * | 1991-04-16 | 1992-11-06 | Fanuc Ltd | 7自由度関節形マニプレータ |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100897034B1 (ko) | 2007-10-31 | 2009-05-14 | 한국기계연구원 | 한팔 또는 양팔 구축이 용이한 듀얼용 산업형 로봇 |
JP2009125892A (ja) * | 2007-11-27 | 2009-06-11 | Yaskawa Electric Corp | ロボットシステム |
WO2009122824A1 (ja) * | 2008-03-31 | 2009-10-08 | 本田技研工業株式会社 | ワーク取付システムおよびワーク取付方法 |
US8406920B2 (en) | 2008-03-31 | 2013-03-26 | Honda Motor Co., Ltd. | Work mounting system and method of mounting work |
JP2010120124A (ja) * | 2008-11-20 | 2010-06-03 | Toyota Motor Corp | ロボットアームの教示システム及び方法 |
JP2012140023A (ja) * | 2010-12-28 | 2012-07-26 | Honda Motor Co Ltd | ドア取り外し装置及び方法 |
JP2012140024A (ja) * | 2010-12-28 | 2012-07-26 | Honda Motor Co Ltd | 車体のドア開け方法及び装置 |
JP2012140022A (ja) * | 2010-12-28 | 2012-07-26 | Honda Motor Co Ltd | ドア把持装置及び方法 |
US8950050B2 (en) | 2010-12-28 | 2015-02-10 | Honda Motor Co., Ltd. | Vehicle body door opening method and device, door removing device and method, door holding device and method, and socket |
JP2014508658A (ja) * | 2011-03-23 | 2014-04-10 | エスアールアイ インターナショナル | 高機能遠隔マニピュレーターシステム |
US9527207B2 (en) | 2011-03-23 | 2016-12-27 | Sri International | Dexterous telemanipulator system |
JP2013237121A (ja) * | 2012-05-15 | 2013-11-28 | Fanuc Ltd | ロボットの動作範囲を拡張するロボット用旋回装置 |
JP2014054727A (ja) * | 2013-12-26 | 2014-03-27 | Yaskawa Electric Corp | ロボット |
Also Published As
Publication number | Publication date |
---|---|
CA2583166A1 (en) | 2006-04-13 |
EP1800808B1 (en) | 2009-10-28 |
WO2006038463A1 (ja) | 2006-04-13 |
US20080168639A1 (en) | 2008-07-17 |
JP4541091B2 (ja) | 2010-09-08 |
CA2583166C (en) | 2010-08-17 |
EP1800808A4 (en) | 2007-10-17 |
EP1800808A1 (en) | 2007-06-27 |
CN100586665C (zh) | 2010-02-03 |
CN101035655A (zh) | 2007-09-12 |
DE602005017416D1 (de) | 2009-12-10 |
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