JPH0443742B2 - - Google Patents

Info

Publication number
JPH0443742B2
JPH0443742B2 JP61119085A JP11908586A JPH0443742B2 JP H0443742 B2 JPH0443742 B2 JP H0443742B2 JP 61119085 A JP61119085 A JP 61119085A JP 11908586 A JP11908586 A JP 11908586A JP H0443742 B2 JPH0443742 B2 JP H0443742B2
Authority
JP
Japan
Prior art keywords
upper arm
axis
forearm
drive motor
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.)
Expired - Lifetime
Application number
JP61119085A
Other languages
English (en)
Japanese (ja)
Other versions
JPS62277292A (ja
Inventor
Nobutoshi Torii
Hitoshi Mizuno
Takashi Iwasaki
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP61119085A priority Critical patent/JPS62277292A/ja
Priority to KR1019880700080A priority patent/KR880701162A/ko
Priority to PCT/JP1987/000333 priority patent/WO1987007200A1/ja
Priority to EP19870903424 priority patent/EP0269749A4/en
Priority to US07/150,429 priority patent/US4842474A/en
Publication of JPS62277292A publication Critical patent/JPS62277292A/ja
Publication of JPH0443742B2 publication Critical patent/JPH0443742B2/ja
Granted legal-status Critical Current

Links

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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated 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
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP61119085A 1986-05-26 1986-05-26 垂直多関節形ロボツト Granted JPS62277292A (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP61119085A JPS62277292A (ja) 1986-05-26 1986-05-26 垂直多関節形ロボツト
KR1019880700080A KR880701162A (ko) 1986-05-26 1987-05-26 수직 다관절 로보트
PCT/JP1987/000333 WO1987007200A1 (en) 1986-05-26 1987-05-26 Vertical multi-articulated robot
EP19870903424 EP0269749A4 (en) 1986-05-26 1987-05-26 Vertical multi-articulated robot
US07/150,429 US4842474A (en) 1986-05-26 1987-05-26 Vertical multi-articulated robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61119085A JPS62277292A (ja) 1986-05-26 1986-05-26 垂直多関節形ロボツト

Publications (2)

Publication Number Publication Date
JPS62277292A JPS62277292A (ja) 1987-12-02
JPH0443742B2 true JPH0443742B2 (en]) 1992-07-17

Family

ID=14752515

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61119085A Granted JPS62277292A (ja) 1986-05-26 1986-05-26 垂直多関節形ロボツト

Country Status (5)

Country Link
US (1) US4842474A (en])
EP (1) EP0269749A4 (en])
JP (1) JPS62277292A (en])
KR (1) KR880701162A (en])
WO (1) WO1987007200A1 (en])

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE8802414D0 (sv) * 1988-06-27 1988-06-28 Astra Meditec Ab Nytt kirurgiskt material
US5107754A (en) * 1987-12-30 1992-04-28 Honda Giken Kogyo Kabushiki Kaisha Articulated mechanism with rotary vane motors
JPH0832401B2 (ja) * 1988-09-08 1996-03-29 川崎重工業株式会社 産業用ロボット
DE4001885A1 (de) * 1990-01-23 1991-07-25 Kuka Schweissanlagen & Roboter Mehrachsiger industrieroboter
JP2572483B2 (ja) * 1990-10-16 1997-01-16 本田技研工業株式会社 産業用ロボット装置
DE9200618U1 (de) * 1992-01-20 1992-04-23 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Mehrachsiger Roboter
US5697255A (en) * 1993-09-21 1997-12-16 Kabushiki Kaisha Fujikoshi Vertical non-parallel link type robot
US5697256A (en) * 1996-06-28 1997-12-16 Matteo; Joseph C. Hybrid differential transmission
US6122981A (en) * 1998-10-09 2000-09-26 Matteo; Joseph C. Triple epicyclic differential transmission
DE10258633A1 (de) * 2002-12-16 2004-07-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Positionieren von zusammenzufügenden Bauteilen
DE102006022648A1 (de) * 2006-05-12 2007-11-15 Kuka Roboter Gmbh Roboterhand-Antriebsvorrichtung
EP2213425B1 (en) * 2007-11-26 2014-06-25 Kabushiki Kaisha Yaskawa Denki Vertical multi-joint robot
JP6640821B2 (ja) 2017-11-24 2020-02-05 ファナック株式会社 ロボットの構造

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB966609A (en]) * 1965-03-10 1900-01-01
JPS5323536B2 (en]) * 1973-06-06 1978-07-15
US4260941A (en) * 1975-10-28 1981-04-07 Unimation, Inc. Programmable automatic assembly system
FR2510023A1 (fr) * 1981-07-21 1983-01-28 Pharemme Robot de manipulation
JPS58154086A (ja) * 1982-03-09 1983-09-13 明昌特殊産業株式会社 裁断式自動改札機の入場方法
JPS58177285A (ja) * 1982-04-08 1983-10-17 株式会社日立製作所 工業用多関節形ロボツト
JPS58154086U (ja) * 1982-04-09 1983-10-14 株式会社神戸製鋼所 工業用多関節型ロボツト
JPS58202786A (ja) * 1982-05-14 1983-11-26 株式会社小松製作所 産業用ロボツト
JPS58202788A (ja) * 1982-05-17 1983-11-26 株式会社日立製作所 工業用関節形ロボツト
JPS59110579A (ja) * 1982-12-16 1984-06-26 松下電器産業株式会社 工業用関節形ロボツト
US4693663A (en) * 1984-10-05 1987-09-15 Donaldson Company, Inc. Robot with articulated arm
JPH05116557A (ja) * 1991-10-28 1993-05-14 Fujitsu Ltd 車両の自動速度制御装置及び距離検出装置

Also Published As

Publication number Publication date
EP0269749A4 (en) 1990-12-12
WO1987007200A1 (en) 1987-12-03
KR880701162A (ko) 1988-07-26
US4842474A (en) 1989-06-27
JPS62277292A (ja) 1987-12-02
EP0269749A1 (en) 1988-06-08

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