JP2010099787A - ロボット - Google Patents
ロボット Download PDFInfo
- Publication number
- JP2010099787A JP2010099787A JP2008274263A JP2008274263A JP2010099787A JP 2010099787 A JP2010099787 A JP 2010099787A JP 2008274263 A JP2008274263 A JP 2008274263A JP 2008274263 A JP2008274263 A JP 2008274263A JP 2010099787 A JP2010099787 A JP 2010099787A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- arm
- linear motion
- axis direction
- 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.)
- Granted
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 19
- 230000008602 contraction Effects 0.000 description 4
- 208000036829 Device dislocation Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
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
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
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- 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
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
【解決手段】移動体3を、X軸移動用モータ5の駆動により直動レール2に沿ってX軸方向に移動するように設け、移動体3の前面部に、旋回アーム9を、r軸用モータ10の駆動によりr軸を中心に旋回するように設ける。旋回アーム9の先端に、テレスコピック型の伸縮アームからなる直動アーム12を、Y軸移動用モータの駆動によりY軸(前後)方向に自在に移動(伸縮)するように設け、直動アーム12の筒状部14aの先端に、作業用ツールが装着される手首部11を、T軸を中心に同軸回転するように設ける。
【選択図】図1
Description
Claims (2)
- X軸方向に水平に延びる直動レールと、
この直動レールに沿ってX軸方向に直線移動される移動体と、
この移動体に、基端側が前記X軸方向と直交して水平方向に延びるr軸を中心に回転可能に連結され、先端側が前記r軸から放射方向に延び、該r軸を中心に旋回される旋回アームと、
この旋回アームの先端部に連結され、作業用ツールが装着可能な手首部を前記r軸と平行なY軸方向に直線移動させる直動アームとを具備してなるロボット。 - 前記直動アームは、テレスコピック型の伸縮アームから構成されていることを特徴とする請求項1記載のロボット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008274263A JP5272647B2 (ja) | 2008-10-24 | 2008-10-24 | ロボット |
DE102009044318.5A DE102009044318B4 (de) | 2008-10-24 | 2009-10-23 | Mit einem entlang einer Linearbewegungsschiene bewegbaren Körper versehener Roboter |
US12/588,683 US8650981B2 (en) | 2008-10-24 | 2009-10-23 | Robot provided with movable body moved along linear movement rail |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008274263A JP5272647B2 (ja) | 2008-10-24 | 2008-10-24 | ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010099787A true JP2010099787A (ja) | 2010-05-06 |
JP5272647B2 JP5272647B2 (ja) | 2013-08-28 |
Family
ID=42055326
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008274263A Active JP5272647B2 (ja) | 2008-10-24 | 2008-10-24 | ロボット |
Country Status (3)
Country | Link |
---|---|
US (1) | US8650981B2 (ja) |
JP (1) | JP5272647B2 (ja) |
DE (1) | DE102009044318B4 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107351061A (zh) * | 2017-07-18 | 2017-11-17 | 青岛丰光精密机械股份有限公司 | 一种机器人底盘 |
CN113146592A (zh) * | 2021-03-12 | 2021-07-23 | 南京智必达自动化科技有限公司 | 五轴桁架机械手 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009119564A (ja) * | 2007-11-15 | 2009-06-04 | Denso Wave Inc | ロボット |
JP5149942B2 (ja) * | 2010-07-21 | 2013-02-20 | ヤマハ発動機株式会社 | ヘッド駆動装置および部品実装装置 |
US8926240B2 (en) * | 2010-07-23 | 2015-01-06 | Zagar Inc. | End effector |
DE202011100970U1 (de) | 2011-05-19 | 2011-10-20 | HAP Handhabungs-, Automatisierungs- und Präzisionstechnik GmbH | Vorrichtung zur Manipulation von Gegenständen |
DE102017104840A1 (de) * | 2017-03-08 | 2018-09-13 | SW Automation GmbH | Verfahrsystem |
CN113334350A (zh) * | 2021-06-30 | 2021-09-03 | 江苏科技大学 | 一种通用型工业机器人附加轴导轨结构 |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61131884A (ja) * | 1984-11-30 | 1986-06-19 | ぺんてる株式会社 | 直線摺動型ロボツト装置 |
JPS63251180A (ja) * | 1987-04-08 | 1988-10-18 | 豊川 純聖 | 搬送装置 |
JPH0311583U (ja) * | 1989-06-14 | 1991-02-05 | ||
JPH04115885A (ja) * | 1990-09-06 | 1992-04-16 | Mitsubishi Electric Corp | 走行ロボット及び走行ロボット付装置 |
JPH04122481U (ja) * | 1991-04-17 | 1992-11-04 | ダイキン工業株式会社 | プレスブレーキ用平板材料取扱ロボツト |
JPH0578487U (ja) * | 1992-03-31 | 1993-10-26 | ぺんてる株式会社 | 平面切削機能を有する球面作業ロボット |
JPH06190748A (ja) * | 1992-12-22 | 1994-07-12 | Takizawa Tekkosho:Kk | 搬送ロボット |
JP2004090186A (ja) * | 2002-09-02 | 2004-03-25 | Aitec Corp | クリーン搬送ロボット |
JP2005246553A (ja) * | 2004-03-04 | 2005-09-15 | Line Works:Kk | 搬送装置 |
JP2007203434A (ja) * | 2006-02-06 | 2007-08-16 | Nidec Sankyo Corp | ロボット装置 |
JP2010089228A (ja) * | 2008-10-09 | 2010-04-22 | Fanuc Ltd | ロボットにより工作機械へワークの着脱を行うロボットシステム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61125782A (ja) * | 1984-11-26 | 1986-06-13 | 株式会社東芝 | 産業用ロボツト |
NL8502525A (nl) * | 1985-09-16 | 1987-04-16 | Groot R Holding Laag Zuthem Bv | Manipulator. |
JPH03111196A (ja) * | 1989-09-27 | 1991-05-10 | Fanuc Ltd | 産業用ロボットの伸縮軸作動機構 |
IT1237707B (it) * | 1989-12-20 | 1993-06-15 | Prima Ind Spa | Struttura di macchina operatrice |
JP3143988B2 (ja) | 1991-09-19 | 2001-03-07 | 東ソー株式会社 | 高分子量ポリフェニレンスルフィドの製造方法 |
NL9101673A (nl) | 1991-10-04 | 1993-05-03 | Texas Industries Inc | Inrichting voor het reinigen van spenen van melkgevende dieren. |
JPH06304217A (ja) | 1993-04-26 | 1994-11-01 | Mitsuhiro Yokoyama | 指圧マッサージ機用マッサージユニット、該ユニットを使用した指圧マッサージロボット及び指圧マッサージ椅子 |
JP2694511B2 (ja) | 1994-11-17 | 1997-12-24 | セントラル自動車株式会社 | 直交ロボットの手首軸 |
US5606262A (en) * | 1995-06-07 | 1997-02-25 | Teradyne, Inc. | Manipulator for automatic test equipment test head |
JP2008274263A (ja) | 2007-04-03 | 2008-11-13 | Sumitomo Chemical Co Ltd | ポリプロピレン系樹脂組成物及びそれからなる発泡成形体 |
JP5136064B2 (ja) | 2008-01-09 | 2013-02-06 | 株式会社デンソーウェーブ | ロボット |
DE102008023836B4 (de) | 2007-05-17 | 2020-10-29 | Denso Wave Inc. | Roboter mit einem linear beweglichen Unterstützungsteil, das an einer Greifvorrichtung befestigt ist |
-
2008
- 2008-10-24 JP JP2008274263A patent/JP5272647B2/ja active Active
-
2009
- 2009-10-23 US US12/588,683 patent/US8650981B2/en active Active
- 2009-10-23 DE DE102009044318.5A patent/DE102009044318B4/de not_active Expired - Fee Related
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61131884A (ja) * | 1984-11-30 | 1986-06-19 | ぺんてる株式会社 | 直線摺動型ロボツト装置 |
JPS63251180A (ja) * | 1987-04-08 | 1988-10-18 | 豊川 純聖 | 搬送装置 |
JPH0311583U (ja) * | 1989-06-14 | 1991-02-05 | ||
JPH04115885A (ja) * | 1990-09-06 | 1992-04-16 | Mitsubishi Electric Corp | 走行ロボット及び走行ロボット付装置 |
JPH04122481U (ja) * | 1991-04-17 | 1992-11-04 | ダイキン工業株式会社 | プレスブレーキ用平板材料取扱ロボツト |
JPH0578487U (ja) * | 1992-03-31 | 1993-10-26 | ぺんてる株式会社 | 平面切削機能を有する球面作業ロボット |
JPH06190748A (ja) * | 1992-12-22 | 1994-07-12 | Takizawa Tekkosho:Kk | 搬送ロボット |
JP2004090186A (ja) * | 2002-09-02 | 2004-03-25 | Aitec Corp | クリーン搬送ロボット |
JP2005246553A (ja) * | 2004-03-04 | 2005-09-15 | Line Works:Kk | 搬送装置 |
JP2007203434A (ja) * | 2006-02-06 | 2007-08-16 | Nidec Sankyo Corp | ロボット装置 |
JP2010089228A (ja) * | 2008-10-09 | 2010-04-22 | Fanuc Ltd | ロボットにより工作機械へワークの着脱を行うロボットシステム |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107351061A (zh) * | 2017-07-18 | 2017-11-17 | 青岛丰光精密机械股份有限公司 | 一种机器人底盘 |
CN107351061B (zh) * | 2017-07-18 | 2022-08-05 | 青岛丰光精密机械股份有限公司 | 一种机器人底盘 |
CN113146592A (zh) * | 2021-03-12 | 2021-07-23 | 南京智必达自动化科技有限公司 | 五轴桁架机械手 |
Also Published As
Publication number | Publication date |
---|---|
US20100101360A1 (en) | 2010-04-29 |
JP5272647B2 (ja) | 2013-08-28 |
DE102009044318A1 (de) | 2010-04-29 |
DE102009044318B4 (de) | 2019-10-31 |
US8650981B2 (en) | 2014-02-18 |
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