KR102026785B1 - 로봇 팔 및 로봇 손목 - Google Patents

로봇 팔 및 로봇 손목 Download PDF

Info

Publication number
KR102026785B1
KR102026785B1 KR1020187007407A KR20187007407A KR102026785B1 KR 102026785 B1 KR102026785 B1 KR 102026785B1 KR 1020187007407 A KR1020187007407 A KR 1020187007407A KR 20187007407 A KR20187007407 A KR 20187007407A KR 102026785 B1 KR102026785 B1 KR 102026785B1
Authority
KR
South Korea
Prior art keywords
wrist
rotation
hgv
axis
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.)
Active
Application number
KR1020187007407A
Other languages
English (en)
Korean (ko)
Other versions
KR20180099623A (ko
Inventor
사미 하다딘
Original Assignee
프랜카 에미카 게엠바하
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 프랜카 에미카 게엠바하 filed Critical 프랜카 에미카 게엠바하
Publication of KR20180099623A publication Critical patent/KR20180099623A/ko
Application granted granted Critical
Publication of KR102026785B1 publication Critical patent/KR102026785B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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—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
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-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—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
KR1020187007407A 2015-08-14 2016-08-10 로봇 팔 및 로봇 손목 Active KR102026785B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015113467.5 2015-08-14
DE102015113467.5A DE102015113467A1 (de) 2015-08-14 2015-08-14 Roboterarm und Roboterhandgelenk
PCT/EP2016/069060 WO2017029170A1 (de) 2015-08-14 2016-08-10 Roboterarm und roboterhandgelenk

Publications (2)

Publication Number Publication Date
KR20180099623A KR20180099623A (ko) 2018-09-05
KR102026785B1 true KR102026785B1 (ko) 2019-09-30

Family

ID=56801509

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020187007407A Active KR102026785B1 (ko) 2015-08-14 2016-08-10 로봇 팔 및 로봇 손목

Country Status (9)

Country Link
US (1) US10836051B2 (https=)
EP (1) EP3334574B1 (https=)
JP (1) JP2018528085A (https=)
KR (1) KR102026785B1 (https=)
CN (1) CN108136593B (https=)
DE (1) DE102015113467A1 (https=)
DK (1) DK3334574T3 (https=)
SG (1) SG11201801260YA (https=)
WO (1) WO2017029170A1 (https=)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6443875B2 (ja) * 2014-10-24 2018-12-26 ライフロボティクス株式会社 ロボットアーム機構
JP7087575B2 (ja) * 2018-03-30 2022-06-21 日本電産株式会社 ６軸ロボットの姿勢調整方法
JP6841802B2 (ja) 2018-08-31 2021-03-10 ファナック株式会社 ロボットおよびロボットシステム
DE102019128082B4 (de) * 2019-10-17 2022-03-10 Franka Emika Gmbh Drehmomentbegrenztes Bremsen eines Robotermanipulators
FR3103126B1 (fr) * 2019-11-20 2022-03-25 Safran Aircraft Engines Dispositif et procédé améliorés d’usinage de pièce aéronautique
GB2592411B (en) * 2020-02-27 2022-08-17 Dyson Technology Ltd Force sensing device
KR102746699B1 (ko) * 2020-04-09 2024-12-26 애자일 로보츠 에스이 관절이 있는 로봇팔
US11752518B2 (en) * 2021-06-03 2023-09-12 Sst Systems, Inc. Robot-centered coating system with multiple curing workstations

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008272883A (ja) * 2007-04-27 2008-11-13 Yaskawa Electric Corp 双腕型ロボットマニピュレータ
JP2011101918A (ja) 2009-11-10 2011-05-26 Yaskawa Electric Corp ロボット及びロボットシステム

Family Cites Families (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0261588U (https=) * 1988-10-24 1990-05-08
KR950010972B1 (ko) * 1991-12-07 1995-09-26 포항종합제철주식회사 업셋(offset)이 있는 로보트손목의 기구변수 결정법
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
JP3207728B2 (ja) * 1995-10-11 2001-09-10 三菱重工業株式会社 冗長マニピュレータの制御方法
JP2000141270A (ja) * 1998-11-06 2000-05-23 Matsushita Electric Ind Co Ltd 多関節型ロボット
DE10010615A1 (de) * 2000-03-03 2001-09-06 Duerr Systems Gmbh Roboter zum Beschichten oder Behandeln von Werkstücken
JP4267368B2 (ja) * 2003-05-26 2009-05-27 ナブテスコ株式会社 荷重検出システム
JP4133843B2 (ja) * 2004-01-14 2008-08-13 川崎重工業株式会社 産業用ロボット
JP4273335B2 (ja) 2004-06-16 2009-06-03 独立行政法人産業技術総合研究所 ロボットアーム
PL1996376T3 (pl) * 2006-03-03 2016-12-30 Programowalny robot i interfejs użytkownika
JP2008073775A (ja) * 2006-09-19 2008-04-03 Yaskawa Electric Corp 産業用ロボット
DE202007019624U1 (de) * 2007-04-16 2014-07-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Antriebseinheit und ein die Antriebseinheit umfassender Gelenkarm
JP5135069B2 (ja) * 2008-06-12 2013-01-30 三鷹光器株式会社 医療用器具保持アーム装置
EP2419244B1 (en) * 2009-04-15 2013-03-06 ABB Research Ltd. An apparatus for a robot arm
DE202010005313U1 (de) * 2010-04-27 2011-10-27 Kuka Laboratories Gmbh Bearbeitungseinrichtung
CN103237633B (zh) * 2010-11-30 2015-07-22 奥林巴斯株式会社 主操作输入装置以及主-从机械手
CN103328161B (zh) * 2011-01-31 2015-08-19 丰田自动车株式会社 多关节型臂机器人及其控制方法
JP5545263B2 (ja) 2011-04-27 2014-07-09 株式会社安川電機 ロボットシステム及び被作業物の製造方法
JP5834473B2 (ja) 2011-04-28 2015-12-24 セイコーエプソン株式会社 ロボット
JP5582313B2 (ja) * 2011-06-28 2014-09-03 株式会社安川電機 ロボットシステム
DE102012102749A1 (de) * 2012-03-29 2013-10-02 Reis Group Holding Gmbh & Co. Kg Vorrichtung und Verfahren zur Bedienung eines Industrieroboters
EP2862679A1 (en) 2012-06-19 2015-04-22 Kabushiki Kaisha Yaskawa Denki Robotic system and method for manufacturing processed goods
JP5713047B2 (ja) * 2013-04-18 2015-05-07 株式会社安川電機 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法
DE102013222456A1 (de) * 2013-11-05 2015-05-07 Kuka Laboratories Gmbh Verfahren zum Programmieren von Bewegungsabläufen eines redundanten Industrieroboters und zugehöriger Industrieroboter
JP2015142454A (ja) * 2014-01-29 2015-08-03 キヤノン株式会社 アクチュエータ及び多関節ロボットアーム
CN203752148U (zh) * 2014-02-18 2014-08-06 中国人民解放军军事医学科学院卫生装备研究所 具有关节轴线正交关系的可折叠六自由度轻型操作臂
US9981389B2 (en) * 2014-03-03 2018-05-29 California Institute Of Technology Robotics platforms incorporating manipulators having common joint designs
JP6816721B2 (ja) * 2015-10-01 2021-01-20 ソニー株式会社 医療用支持アーム装置及び医療用システム
US10919149B2 (en) * 2017-11-24 2021-02-16 Denso Wave Incorporated Controller for robot and inverse transforming method for robot
JP2019177436A (ja) * 2018-03-30 2019-10-17 日本電産株式会社 ロボット制御装置、ロボットの関節の角度を求める方法、プログラム
JP7087575B2 (ja) * 2018-03-30 2022-06-21 日本電産株式会社 ６軸ロボットの姿勢調整方法
KR102284509B1 (ko) * 2019-07-25 2021-08-03 엘지전자 주식회사 충전 로봇 및 그 제어방법

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008272883A (ja) * 2007-04-27 2008-11-13 Yaskawa Electric Corp 双腕型ロボットマニピュレータ
JP2011101918A (ja) 2009-11-10 2011-05-26 Yaskawa Electric Corp ロボット及びロボットシステム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Mecanique & Industries 4. 2003년, pp559~563*

Also Published As

Publication number Publication date
SG11201801260YA (en) 2018-03-28
JP2018528085A (ja) 2018-09-27
DK3334574T3 (da) 2021-06-14
KR20180099623A (ko) 2018-09-05
DE102015113467A1 (de) 2017-02-16
CN108136593A (zh) 2018-06-08
US10836051B2 (en) 2020-11-17
US20180243928A1 (en) 2018-08-30
EP3334574B1 (de) 2021-03-10
EP3334574A1 (de) 2018-06-20
WO2017029170A1 (de) 2017-02-23
CN108136593B (zh) 2021-10-15

Similar Documents

Publication Publication Date Title
KR102026785B1 (ko) 로봇 팔 및 로봇 손목
ES2424244T3 (es) Procedimiento y dispositivo para regular un manipulador
JP6504864B2 (ja) ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法
JP6083145B2 (ja) ロボットの制御装置、およびロボット
US9381641B2 (en) Robot and method of operating robot
US11717964B2 (en) Control device for robot that works collaboratively with people
JP5701055B2 (ja) ７軸多関節ロボットの制御方法、制御プログラム及びロボット制御装置
US11745364B2 (en) Robot and first arm member
JP5531996B2 (ja) ６軸ロボットの軸間オフセット検出方法
EP2743040B1 (en) A method of determination of a position of a center of a machining tool gripped in a cooperative gripping head and a corresponding arrangement
CN109955279B (zh) 机器人手、其控制方法、物品的组装方法及存储介质
US12076857B2 (en) Method for precise, intuitive positioning of robotic welding machine
JP2019093526A (ja) ロボットの直接教示装置及びその方法
JP2007118177A (ja) 双腕ロボット
US20210129322A1 (en) Control Method And Calculation Device
KR102190455B1 (ko) 로봇 관절 장치
CN116802026B (zh) 位移检测传感器、控制装置以及控制系统
JP4822067B2 (ja) ロボットおよびその直接教示装置
JP7362103B2 (ja) ロボット及びロボット用手先部材
JP5348298B2 (ja) ロボット
CN115087524A (zh) 机器人臂机构
JP6252272B2 (ja) 垂直多関節型ロボットの位置誤差抑制方法
JP7414426B2 (ja) ロボットシステム
CN223849236U (zh) 机器人系统
KR20140140155A (ko) 다관절 로봇 및 다관절 로봇의 제어방법

Legal Events

Date Code Title Description
A201 Request for examination
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

T11-X000 Administrative time limit extension requested

St.27 status event code: U-3-3-T10-T11-oth-X000

PE0801 Dismissal of amendment

St.27 status event code: A-2-2-P10-P12-nap-PE0801

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

R18-X000 Changes to party contact information recorded

St.27 status event code: A-5-5-R10-R18-oth-X000

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 5

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 6

PN2301 Change of applicant

St.27 status event code: A-5-5-R10-R11-asn-PN2301

R11 Change to the name of applicant or owner or transfer of ownership requested

Free format text: ST27 STATUS EVENT CODE: A-5-5-R10-R11-ASN-PN2301 (AS PROVIDED BY THE NATIONAL OFFICE)