KR101193761B1 - 다관절 로봇 - Google Patents

다관절 로봇 Download PDF

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Publication number
KR101193761B1
KR101193761B1 KR1020067027218A KR20067027218A KR101193761B1 KR 101193761 B1 KR101193761 B1 KR 101193761B1 KR 1020067027218 A KR1020067027218 A KR 1020067027218A KR 20067027218 A KR20067027218 A KR 20067027218A KR 101193761 B1 KR101193761 B1 KR 101193761B1
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KR
South Korea
Prior art keywords
arm
horizontal axis
base
link
supported
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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
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KR1020067027218A
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English (en)
Korean (ko)
Other versions
KR20070043942A (ko
Inventor
켄타로 타나카
사토시 스에요시
에이지 타나카
코우지 츠쿠다
Original Assignee
가부시키가이샤 야스카와덴키
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Application filed by 가부시키가이샤 야스카와덴키 filed Critical 가부시키가이샤 야스카와덴키
Publication of KR20070043942A publication Critical patent/KR20070043942A/ko
Application granted granted Critical
Publication of KR101193761B1 publication Critical patent/KR101193761B1/ko
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Expired - Fee Related legal-status Critical Current

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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)
KR1020067027218A 2004-08-25 2005-08-22 다관절 로봇 Expired - Fee Related KR101193761B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2004245411 2004-08-25
JPJP-P-2004-00245411 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
KR20070043942A KR20070043942A (ko) 2007-04-26
KR101193761B1 true KR101193761B1 (ko) 2012-10-23

Family

ID=35967443

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020067027218A Expired - Fee Related KR101193761B1 (ko) 2004-08-25 2005-08-22 다관절 로봇

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)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4148280B2 (ja) 2005-10-18 2008-09-10 セイコーエプソン株式会社 平行リンク機構及び産業用ロボット
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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2002332197A (ja) * 2001-05-08 2002-11-22 Aitec:Kk 昇降装置

Family Cites Families (19)

* 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
JP3612085B2 (ja) * 1993-11-25 2005-01-19 株式会社東芝 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
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
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
JP3403942B2 (ja) 1998-07-14 2003-05-06 三菱電機株式会社 産業用ロボット
JP4479034B2 (ja) * 2000-02-04 2010-06-09 シンフォニアテクノロジー株式会社 ロードポート装置におけるウェハキャリアの移載装置
KR100592957B1 (ko) * 2000-02-26 2006-06-23 삼성전자주식회사 작업대상물 이송장치
JP4558981B2 (ja) * 2000-11-14 2010-10-06 株式会社ダイヘン トランスファロボット
JP2002166376A (ja) * 2000-11-30 2002-06-11 Hirata Corp 基板搬送用ロボット
JP4615760B2 (ja) * 2001-04-26 2011-01-19 株式会社ダイヘン アーム動作機構およびこれを備えた産業用ロボット
JP4025069B2 (ja) * 2001-12-28 2007-12-19 大日本スクリーン製造株式会社 基板処理装置および基板処理方法
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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP2002332197A (ja) * 2001-05-08 2002-11-22 Aitec:Kk 昇降装置

Also Published As

Publication number Publication date
TW200615099A (en) 2006-05-16
DE112005002074T5 (de) 2007-07-05
KR20070043942A (ko) 2007-04-26
JP4618252B2 (ja) 2011-01-26
TWI379749B (enExample) 2012-12-21
US7814811B2 (en) 2010-10-19
US20090003983A1 (en) 2009-01-01
WO2006022231A1 (ja) 2006-03-02
JPWO2006022231A1 (ja) 2008-05-08

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