KR100955405B1 - 다관절 로봇 및 그의 감속기 교환 방법 - Google Patents

다관절 로봇 및 그의 감속기 교환 방법 Download PDF

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Publication number
KR100955405B1
KR100955405B1 KR1020080039293A KR20080039293A KR100955405B1 KR 100955405 B1 KR100955405 B1 KR 100955405B1 KR 1020080039293 A KR1020080039293 A KR 1020080039293A KR 20080039293 A KR20080039293 A KR 20080039293A KR 100955405 B1 KR100955405 B1 KR 100955405B1
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KR
South Korea
Prior art keywords
pedestal
reducer
column
arm
bearing
Prior art date
Application number
KR1020080039293A
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English (en)
Korean (ko)
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KR20090102590A (ko
Inventor
사토시 스에요시
마사히코 오오쿠라
토모히로 마츠오
Original Assignee
가부시키가이샤 야스카와덴키
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.)
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Application filed by 가부시키가이샤 야스카와덴키 filed Critical 가부시키가이샤 야스카와덴키
Publication of KR20090102590A publication Critical patent/KR20090102590A/ko
Application granted granted Critical
Publication of KR100955405B1 publication Critical patent/KR100955405B1/ko

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    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • B25J18/04—Arms extensible rotatable
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
KR1020080039293A 2008-03-26 2008-04-28 다관절 로봇 및 그의 감속기 교환 방법 KR100955405B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2008081125 2008-03-26
JPJP-P-2008-00081125 2008-03-26
JP2008099658 2008-04-07
JPJP-P-2008-00099658 2008-04-07

Publications (2)

Publication Number Publication Date
KR20090102590A KR20090102590A (ko) 2009-09-30
KR100955405B1 true KR100955405B1 (ko) 2010-04-29

Family

ID=40666672

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020080039293A KR100955405B1 (ko) 2008-03-26 2008-04-28 다관절 로봇 및 그의 감속기 교환 방법

Country Status (4)

Country Link
JP (1) JP4258851B1 (ja)
KR (1) KR100955405B1 (ja)
CN (1) CN101543992B (ja)
TW (1) TWI415778B (ja)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101817452A (zh) * 2010-04-02 2010-09-01 大连佳林设备制造有限公司 装箱、码垛机器人
KR101226838B1 (ko) * 2010-12-28 2013-01-25 삼익티에이치케이 주식회사 기판이송장치
JP5429256B2 (ja) 2011-10-03 2014-02-26 株式会社安川電機 ロボットシステム
CN102717384A (zh) * 2012-06-07 2012-10-10 中建钢构江苏有限公司 多功能自动焊接机器手
KR101410246B1 (ko) * 2013-03-18 2014-06-20 주식회사 로보스타 패널 반송용 트리플 암 로봇
CN103978482A (zh) * 2014-05-21 2014-08-13 福州大学 类scara工业机器人
CN106002937A (zh) * 2016-06-12 2016-10-12 江苏新光数控技术有限公司 一种可调节高度的机械手臂
CN106041875B (zh) * 2016-06-28 2018-08-07 江苏捷帝机器人股份有限公司 一种便于移动的机械臂
JP2018089765A (ja) * 2016-12-07 2018-06-14 日本電産サンキョー株式会社 産業用ロボット
CN107009354B (zh) * 2017-04-24 2020-05-12 上海宇航系统工程研究所 用于板块拼接的2sps+rrprr机器人抓取机构
JP6572254B2 (ja) * 2017-05-02 2019-09-04 ファナック株式会社 アーム固定装置および減速機交換方法
CN107553467B (zh) * 2017-09-14 2023-11-17 国机智能技术研究院有限公司 一种低重心多功能主手装置
JP6659649B2 (ja) 2017-10-10 2020-03-04 ファナック株式会社 関節軸構造および水平多関節型ロボット
CN108789447B (zh) * 2018-07-19 2023-12-19 常州善巧复合材料科技有限公司 静音针刺机器人及其恒弧长联动控制方法
CN109512612B (zh) * 2019-01-07 2023-10-27 中国科学院沈阳自动化研究所 一种适用于狭窄空间的伤员抢运机器人腰部起重关节
CN109771037B (zh) * 2019-03-22 2024-04-30 重庆金山医疗机器人有限公司 一种机械手立柱回转结构
JP2021154424A (ja) * 2020-03-26 2021-10-07 セイコーエプソン株式会社 ロボット
CN111645103B (zh) * 2020-06-05 2022-07-26 安徽兴永机电设备有限公司 一种工业机器人用回转平台
CN113146607A (zh) * 2021-04-29 2021-07-23 江苏登新流体科技有限公司 一种带有调节结构的防静电输油臂

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0300050A1 (en) 1987-02-03 1989-01-25 Fanuc Ltd. Structure for supporting bearing in wrist of industrial robot
JPH06143186A (ja) * 1992-10-28 1994-05-24 Fanuc Ltd 中空減速機を用いたロボットの関節構造
JPH10291185A (ja) 1997-04-18 1998-11-04 Yaskawa Electric Corp ハーモニック減速機およびハーモニック減速機付き産業用ロボット

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6056891A (ja) * 1983-09-06 1985-04-02 株式会社東芝 工業用ロボツト
JPH02160485A (ja) * 1988-12-07 1990-06-20 Hitachi Ltd 産業用ロボツトの旋回機構
JP3973006B2 (ja) * 2000-03-23 2007-09-05 日本電産サンキョー株式会社 ダブルアーム型ロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0300050A1 (en) 1987-02-03 1989-01-25 Fanuc Ltd. Structure for supporting bearing in wrist of industrial robot
JPH06143186A (ja) * 1992-10-28 1994-05-24 Fanuc Ltd 中空減速機を用いたロボットの関節構造
JPH10291185A (ja) 1997-04-18 1998-11-04 Yaskawa Electric Corp ハーモニック減速機およびハーモニック減速機付き産業用ロボット

Also Published As

Publication number Publication date
JP2009269126A (ja) 2009-11-19
TWI415778B (zh) 2013-11-21
CN101543992B (zh) 2012-08-08
TW200940429A (en) 2009-10-01
CN101543992A (zh) 2009-09-30
KR20090102590A (ko) 2009-09-30
JP4258851B1 (ja) 2009-04-30

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