JP7185065B2 - 垂直多関節ロボット - Google Patents

垂直多関節ロボット Download PDF

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Publication number
JP7185065B2
JP7185065B2 JP2021548053A JP2021548053A JP7185065B2 JP 7185065 B2 JP7185065 B2 JP 7185065B2 JP 2021548053 A JP2021548053 A JP 2021548053A JP 2021548053 A JP2021548053 A JP 2021548053A JP 7185065 B2 JP7185065 B2 JP 7185065B2
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Japan
Prior art keywords
motor
joint shaft
brake
wiring
speed reducer
Prior art date
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Active
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JP2021548053A
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English (en)
Japanese (ja)
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JPWO2021059405A1 (https=
JPWO2021059405A5 (https=
Inventor
俊文 馬目
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.)
Yamaha Motor Co Ltd
Original Assignee
Yamaha Motor Co Ltd
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
Application filed by Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Publication of JPWO2021059405A1 publication Critical patent/JPWO2021059405A1/ja
Publication of JPWO2021059405A5 publication Critical patent/JPWO2021059405A5/ja
Application granted granted Critical
Publication of JP7185065B2 publication Critical patent/JP7185065B2/ja
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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
    • 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
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J19/0004—Braking devices

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2021548053A 2019-09-25 2019-09-25 垂直多関節ロボット Active JP7185065B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/037655 WO2021059405A1 (ja) 2019-09-25 2019-09-25 垂直多関節ロボット

Publications (3)

Publication Number Publication Date
JPWO2021059405A1 JPWO2021059405A1 (https=) 2021-04-01
JPWO2021059405A5 JPWO2021059405A5 (https=) 2022-06-29
JP7185065B2 true JP7185065B2 (ja) 2022-12-06

Family

ID=75164879

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021548053A Active JP7185065B2 (ja) 2019-09-25 2019-09-25 垂直多関節ロボット

Country Status (5)

Country Link
US (1) US11986952B2 (https=)
JP (1) JP7185065B2 (https=)
CN (1) CN114423572B (https=)
DE (1) DE112019007745T5 (https=)
WO (1) WO2021059405A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113910291B (zh) * 2021-12-14 2022-03-08 沈阳新松机器人自动化股份有限公司 一种机器人末端内空关节结构
CN118679037A (zh) * 2022-06-06 2024-09-20 雅马哈发动机株式会社 机械臂
DE102023115329A1 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator für eine Erntemaschine
DE102023115328B3 (de) 2023-06-13 2024-08-22 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Gelenkarm mit versteifender Geometrie für einen Manipulator einer Erntemaschine
WO2024255962A2 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator mit gelenkarm für eine erntemaschine
DE102023115330B4 (de) 2023-06-13 2025-03-06 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Gelenkarm mit Gabelgelenk für einen Manipulator einer Erntemaschine
DE102023115331A1 (de) 2023-06-13 2024-12-19 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator mit Steuermodulanordnung für eine Erntemaschine
JP2025085362A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット
JP2025085368A (ja) * 2023-11-24 2025-06-05 株式会社安川電機 ロボット

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004174704A (ja) 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
JP2013035098A (ja) 2011-08-08 2013-02-21 Yaskawa Electric Corp ロボット
JP2014151412A (ja) 2013-02-12 2014-08-25 Yaskawa Electric Corp 関節機構およびロボット
JP2015171746A (ja) 2014-03-12 2015-10-01 ファナック株式会社 制動部を備えた駆動軸を有する産業用ロボット
CN113910291A (zh) 2021-12-14 2022-01-11 沈阳新松机器人自动化股份有限公司 一种机器人末端内空关节结构

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5257263Y2 (https=) 1972-11-29 1977-12-24
JPH06320471A (ja) 1993-05-18 1994-11-22 Hitachi Ltd マニピュレータ用関節
JPH07124887A (ja) * 1993-10-29 1995-05-16 Fanuc Ltd 産業用ロボットのケーブル処理装置
KR100460083B1 (ko) 2003-10-31 2004-12-08 주식회사 세진아이지비 교차축을 구비하는 다축 로봇 모듈
JP5257263B2 (ja) 2009-06-19 2013-08-07 株式会社安川電機 減速機構内蔵アクチュエータおよびこれを用いた多関節ロボット
JP2011119556A (ja) * 2009-12-07 2011-06-16 Yaskawa Electric Corp 水平多関節ロボットおよびそれを備えた搬送装置
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
JP5718134B2 (ja) * 2011-04-11 2015-05-13 ヤマハ発動機株式会社 ロボット
JP5549950B2 (ja) * 2012-11-19 2014-07-16 株式会社安川電機 ロボット
CN103112003B (zh) 2013-02-06 2014-12-24 创美工艺(常熟)有限公司 多关节机械手
JP2017213670A (ja) 2016-05-26 2017-12-07 セイコーエプソン株式会社 水平多関節型ロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004174704A (ja) 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
JP2013035098A (ja) 2011-08-08 2013-02-21 Yaskawa Electric Corp ロボット
JP2014151412A (ja) 2013-02-12 2014-08-25 Yaskawa Electric Corp 関節機構およびロボット
JP2015171746A (ja) 2014-03-12 2015-10-01 ファナック株式会社 制動部を備えた駆動軸を有する産業用ロボット
CN113910291A (zh) 2021-12-14 2022-01-11 沈阳新松机器人自动化股份有限公司 一种机器人末端内空关节结构

Also Published As

Publication number Publication date
US20220339802A1 (en) 2022-10-27
JPWO2021059405A1 (https=) 2021-04-01
CN114423572B (zh) 2024-09-10
DE112019007745T5 (de) 2022-08-04
WO2021059405A1 (ja) 2021-04-01
CN114423572A (zh) 2022-04-29
US11986952B2 (en) 2024-05-21

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