JP4618252B2 - 多関節ロボット - Google Patents

多関節ロボット Download PDF

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Publication number
JP4618252B2
JP4618252B2 JP2006531897A JP2006531897A JP4618252B2 JP 4618252 B2 JP4618252 B2 JP 4618252B2 JP 2006531897 A JP2006531897 A JP 2006531897A JP 2006531897 A JP2006531897 A JP 2006531897A JP 4618252 B2 JP4618252 B2 JP 4618252B2
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JP
Japan
Prior art keywords
arm
horizontal axis
base
link
supported
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 - Lifetime
Application number
JP2006531897A
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English (en)
Japanese (ja)
Other versions
JPWO2006022231A1 (ja
Inventor
謙太郎 田中
智 末吉
英次 田中
浩二 津久田
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.)
Yaskawa Electric Corp
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Yaskawa Electric Corp
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Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Publication of JPWO2006022231A1 publication Critical patent/JPWO2006022231A1/ja
Application granted granted Critical
Publication of JP4618252B2 publication Critical patent/JP4618252B2/ja
Anticipated expiration legal-status Critical
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2006531897A 2004-08-25 2005-08-22 多関節ロボット Expired - Lifetime JP4618252B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2004245411 2004-08-25
JP2004245411 2004-08-25
PCT/JP2005/015220 WO2006022231A1 (ja) 2004-08-25 2005-08-22 多関節ロボット

Publications (2)

Publication Number Publication Date
JPWO2006022231A1 JPWO2006022231A1 (ja) 2008-05-08
JP4618252B2 true JP4618252B2 (ja) 2011-01-26

Family

ID=35967443

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006531897A Expired - Lifetime JP4618252B2 (ja) 2004-08-25 2005-08-22 多関節ロボット

Country Status (6)

Country Link
US (1) US7814811B2 (enExample)
JP (1) JP4618252B2 (enExample)
KR (1) KR101193761B1 (enExample)
DE (1) DE112005002074T5 (enExample)
TW (1) TW200615099A (enExample)
WO (1) WO2006022231A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393243B2 (en) 2005-10-18 2013-03-12 Seiko Epson Corporation Parallel link mechanism and industrial robot

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120205928A1 (en) * 2011-02-11 2012-08-16 Stefano La Rovere Gripper Assembly for Mechanical Device
US9004846B2 (en) 2011-02-11 2015-04-14 The Procter & Gamble Company Gripper assembly for moving device
KR101382673B1 (ko) * 2012-10-19 2014-04-14 현대중공업 주식회사 글라스용 반송로봇구조
CN106839782B (zh) * 2017-01-22 2018-11-30 浙江厚达智能科技股份有限公司 钢铁生产用单力源倾倒装置
CN107355656A (zh) * 2017-07-11 2017-11-17 罗厚镇 一种机械臂系统及其驱动方法
CN112091947B (zh) * 2020-09-22 2023-04-14 威海海洋职业学院 一种可以跟踪抓取动态目标的机器人
CN112192608B (zh) * 2020-10-26 2025-09-23 大陆智源科技（北京）有限公司 机器人头颈结构和机器人
WO2023152319A1 (en) * 2022-02-11 2023-08-17 Fruitcore Robotics Gmbh Robot with drive linkage and end effector orientation determining linkage

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07148684A (ja) * 1993-11-25 1995-06-13 Toshiba Corp マスタ・スレーブシステムのマスタアーム装置
JPH07214482A (ja) * 1994-01-28 1995-08-15 Fujitsu Ltd 多関節アーム機構
JPH07328982A (ja) * 1994-06-02 1995-12-19 Shin Meiwa Ind Co Ltd 多関節型ロボットの配線・配管構造
JPH11238779A (ja) * 1998-02-23 1999-08-31 Mecs Corp 薄型基板搬送多関節ロボット
JPH11300663A (ja) * 1998-04-24 1999-11-02 Mecs Corp 薄型基板搬送装置
JP2000006064A (ja) * 1998-06-18 2000-01-11 Mecs Corp 基板搬送ロボット
JP2000024966A (ja) * 1998-07-14 2000-01-25 Mitsubishi Electric Corp 産業用ロボット
JP2001217298A (ja) * 2000-02-04 2001-08-10 Shinko Electric Co Ltd ロードポート装置におけるウェハキャリアの移載装置
JP2001239482A (ja) * 2000-02-26 2001-09-04 Samsung Electronics Co Ltd 作業対象物移送装置
JP2002210684A (ja) * 2000-11-14 2002-07-30 Daihen Corp トランスファロボット
JP2002326182A (ja) * 2001-04-26 2002-11-12 Daihen Corp アーム動作機構およびこれを備えた産業用ロボット
JP2002326181A (ja) * 2001-04-26 2002-11-12 Daihen Corp アーム動作機構およびこれを備えた産業用ロボット
JP2003197713A (ja) * 2001-12-28 2003-07-11 Dainippon Screen Mfg Co Ltd 基板処理装置および基板処理方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5012860Y1 (enExample) * 1969-11-29 1975-04-19
JPS5345986B2 (enExample) 1973-07-31 1978-12-11
JPS637286A (ja) * 1986-06-24 1988-01-13 松下電器産業株式会社 ロボツトの原点補正方法
JPH08373B2 (ja) * 1993-03-12 1996-01-10 日本電気株式会社 マニピュレータ
JPH11123675A (ja) 1997-10-22 1999-05-11 Sankyo Seiki Mfg Co Ltd ロボットの垂直軸上下機構
JP2002166376A (ja) * 2000-11-30 2002-06-11 Hirata Corp 基板搬送用ロボット
JP2002332197A (ja) * 2001-05-08 2002-11-22 Aitec:Kk 昇降装置
JP4411025B2 (ja) * 2003-07-11 2010-02-10 株式会社ダイヘン ２アーム式搬送ロボット

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07148684A (ja) * 1993-11-25 1995-06-13 Toshiba Corp マスタ・スレーブシステムのマスタアーム装置
JPH07214482A (ja) * 1994-01-28 1995-08-15 Fujitsu Ltd 多関節アーム機構
JPH07328982A (ja) * 1994-06-02 1995-12-19 Shin Meiwa Ind Co Ltd 多関節型ロボットの配線・配管構造
JPH11238779A (ja) * 1998-02-23 1999-08-31 Mecs Corp 薄型基板搬送多関節ロボット
JPH11300663A (ja) * 1998-04-24 1999-11-02 Mecs Corp 薄型基板搬送装置
JP2000006064A (ja) * 1998-06-18 2000-01-11 Mecs Corp 基板搬送ロボット
JP2000024966A (ja) * 1998-07-14 2000-01-25 Mitsubishi Electric Corp 産業用ロボット
JP2001217298A (ja) * 2000-02-04 2001-08-10 Shinko Electric Co Ltd ロードポート装置におけるウェハキャリアの移載装置
JP2001239482A (ja) * 2000-02-26 2001-09-04 Samsung Electronics Co Ltd 作業対象物移送装置
JP2002210684A (ja) * 2000-11-14 2002-07-30 Daihen Corp トランスファロボット
JP2002326182A (ja) * 2001-04-26 2002-11-12 Daihen Corp アーム動作機構およびこれを備えた産業用ロボット
JP2002326181A (ja) * 2001-04-26 2002-11-12 Daihen Corp アーム動作機構およびこれを備えた産業用ロボット
JP2003197713A (ja) * 2001-12-28 2003-07-11 Dainippon Screen Mfg Co Ltd 基板処理装置および基板処理方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8393243B2 (en) 2005-10-18 2013-03-12 Seiko Epson Corporation Parallel link mechanism and industrial robot

Also Published As

Publication number Publication date
TW200615099A (en) 2006-05-16
DE112005002074T5 (de) 2007-07-05
KR20070043942A (ko) 2007-04-26
TWI379749B (enExample) 2012-12-21
US7814811B2 (en) 2010-10-19
KR101193761B1 (ko) 2012-10-23
US20090003983A1 (en) 2009-01-01
WO2006022231A1 (ja) 2006-03-02
JPWO2006022231A1 (ja) 2008-05-08

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