JP4541091B2 - 加工搬送装置 - Google Patents
加工搬送装置 Download PDFInfo
- Publication number
- JP4541091B2 JP4541091B2 JP2004291048A JP2004291048A JP4541091B2 JP 4541091 B2 JP4541091 B2 JP 4541091B2 JP 2004291048 A JP2004291048 A JP 2004291048A JP 2004291048 A JP2004291048 A JP 2004291048A JP 4541091 B2 JP4541091 B2 JP 4541091B2
- Authority
- JP
- Japan
- Prior art keywords
- movable arm
- arm
- processing
- rotation axis
- rotation
- 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
Links
- 239000003638 chemical reducing agent Substances 0.000 description 9
- 238000003754 machining Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 2
- 241000238366 Cephalopoda Species 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 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
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)
- 同一の構成を有する第1部分と第2部分とを備えた加工搬送装置であって、
前記第1部分及び前記第2部分は、各々、
同一方向を向いた回転軸を中心として回動する関節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、
上記関節の回転軸に対し垂直に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、
該第1の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、さらに、
前記第1の回動手段の回転軸に対して平行な回転軸を中心として、前記第1部分と前記第2部分とを回動させるべく第3の回動手段を前記第1部分と前記第2部分との中央部に設け、
前記被装着部のうち、中央部には、前記第3の回動手段が固設され、一方の端部には、前記第1部分の前記第1の回動手段が固設され、他方の端部には、前記第2部分の前記第1の回動手段が固設される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 |
EP05785701A EP1800808B1 (en) | 2004-10-04 | 2005-09-21 | Processing and transferring apparatus |
US11/664,534 US20080168639A1 (en) | 2004-10-04 | 2005-09-21 | Machining and Conveying Apparatus |
CN200580033893.9A CN100586665C (zh) | 2004-10-04 | 2005-09-21 | 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 |
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 JP2006102847A (ja) | 2006-04-20 |
JP4541091B2 true 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) |
Families Citing this family (41)
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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 |
KR100897034B1 (ko) | 2007-10-31 | 2009-05-14 | 한국기계연구원 | 한팔 또는 양팔 구축이 용이한 듀얼용 산업형 로봇 |
JP5190983B2 (ja) * | 2007-11-27 | 2013-04-24 | 株式会社安川電機 | ロボットシステム |
US20110022228A1 (en) * | 2008-03-10 | 2011-01-27 | Honda Motor Co., Ltd. | Door removing system and door removing method |
JP2009241227A (ja) | 2008-03-31 | 2009-10-22 | Honda Motor Co Ltd | ワーク取付システムおよびワーク取付方法 |
JP5175691B2 (ja) * | 2008-11-20 | 2013-04-03 | トヨタ自動車株式会社 | ロボットアームの教示システム及び方法 |
TR200909397A2 (tr) * | 2009-12-14 | 2011-07-21 | Vargin Gök Gökhan | Çoklu eksene haiz bir robot. |
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 |
JP5399366B2 (ja) * | 2010-12-28 | 2014-01-29 | 本田技研工業株式会社 | ドア把持装置及び方法 |
JP5399368B2 (ja) * | 2010-12-28 | 2014-01-29 | 本田技研工業株式会社 | 車体のドア開け方法及び装置 |
JP5399367B2 (ja) * | 2010-12-28 | 2014-01-29 | 本田技研工業株式会社 | ドア取り外し装置及び方法 |
WO2012129251A2 (en) | 2011-03-23 | 2012-09-27 | Sri International | Dexterous telemanipulator system |
CN102189275B (zh) * | 2011-05-04 | 2013-04-10 | 孟秋华 | 机械手 |
EP2732344B1 (en) | 2011-07-11 | 2019-06-05 | Board of Regents of the University of Nebraska | Robotic surgical system |
EP3845190B1 (en) | 2012-05-01 | 2023-07-12 | Board of Regents of the University of Nebraska | Single site robotic device and related systems |
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 |
CN102699612B (zh) * | 2012-06-11 | 2015-07-15 | 徐州华恒机器人系统有限公司 | 精密五轴双工位变位机 |
EP3943255B1 (en) * | 2012-06-22 | 2023-06-14 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
EP2882331A4 (en) | 2012-08-08 | 2016-03-23 | Univ Nebraska | ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS |
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 |
US10966700B2 (en) | 2013-07-17 | 2021-04-06 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
JP6182064B2 (ja) * | 2013-12-26 | 2017-08-16 | 株式会社安川電機 | ロボット |
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 |
CN114098975A (zh) | 2016-05-18 | 2022-03-01 | 虚拟切割有限公司 | 机器人外科装置、系统及相关方法 |
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 |
CN107398895A (zh) * | 2017-09-20 | 2017-11-28 | 柳州欧卡机器人有限公司 | 一种双臂可旋转的工业机器人 |
EP3735341A4 (en) | 2018-01-05 | 2021-10-06 | Board of Regents of the University of Nebraska | ROBOTIC DEVICE HAVING A SINGLE ARM OF A COMPACT JOINT DESIGN AND RELATED SYSTEMS AND PROCESSES |
US11254381B2 (en) * | 2018-03-19 | 2022-02-22 | Divergent Technologies, Inc. | Manufacturing cell based vehicle manufacturing system and method |
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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 |
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-
2004
- 2004-10-04 JP JP2004291048A patent/JP4541091B2/ja not_active Expired - Fee Related
-
2005
- 2005-09-21 US US11/664,534 patent/US20080168639A1/en not_active Abandoned
- 2005-09-21 CN CN200580033893.9A patent/CN100586665C/zh not_active Expired - Fee Related
- 2005-09-21 DE DE602005017416T patent/DE602005017416D1/de active Active
- 2005-09-21 WO PCT/JP2005/017351 patent/WO2006038463A1/ja active Application Filing
- 2005-09-21 CA CA2583166A patent/CA2583166C/en not_active Expired - Fee Related
- 2005-09-21 EP EP05785701A patent/EP1800808B1/en not_active Expired - Fee Related
Patent 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 |
Also Published As
Publication number | Publication date |
---|---|
CN101035655A (zh) | 2007-09-12 |
EP1800808B1 (en) | 2009-10-28 |
JP2006102847A (ja) | 2006-04-20 |
DE602005017416D1 (de) | 2009-12-10 |
CA2583166A1 (en) | 2006-04-13 |
CN100586665C (zh) | 2010-02-03 |
EP1800808A4 (en) | 2007-10-17 |
WO2006038463A1 (ja) | 2006-04-13 |
US20080168639A1 (en) | 2008-07-17 |
CA2583166C (en) | 2010-08-17 |
EP1800808A1 (en) | 2007-06-27 |
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