KR20060069263A - 수평 다관절형 로봇 - Google Patents
수평 다관절형 로봇 Download PDFInfo
- Publication number
- KR20060069263A KR20060069263A KR1020050115807A KR20050115807A KR20060069263A KR 20060069263 A KR20060069263 A KR 20060069263A KR 1020050115807 A KR1020050115807 A KR 1020050115807A KR 20050115807 A KR20050115807 A KR 20050115807A KR 20060069263 A KR20060069263 A KR 20060069263A
- Authority
- KR
- South Korea
- Prior art keywords
- arm
- articulated robot
- end effector
- horizontal articulated
- rotating shaft
- Prior art date
Links
Images
Classifications
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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
- B25J9/02—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
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
-
- 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
- B25J9/041—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—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/131—Transmission-line guide for a shiftable handler
-
- 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
- Y10T74/20311—Robotic arm including power cable or connector
-
- 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
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
- 관절축에 의해 연결된 복수의 수평 아암을 갖고, 그중 선단 아암의 선단부에 설치된 작업축이 상하 양단부에 엔드 이펙터의 장착부를 갖는 것을 특징으로 하는수평 다관절형 로봇.
- 제 1 항에 있어서,상기 작업축은 중공 회전축으로 이루어지는 것을 특징으로 하는수평 다관절형 로봇.
- 제 2 항에 있어서,상기 중공 회전축은 적어도 일단부에 장착 플랜지를 갖는 것을 특징으로 하는수평 다관절형 로봇.
- 제 2 항 또는 제 3 항에 있어서,상기 엔드 이펙터를 위한 배선이 상기 중공 회전축 속을 통과하는 구성으로 되어 있는 것을 특징으로 하는수평 다관절형 로봇.
- 제 2 항 또는 제 3 항에 있어서,상기 엔드 이펙터를 위한 배관이 상기 중공 회전축 속을 통과하는 구성, 또는 상기 엔드 이펙터의 장착부와 반대측의 장착부에 기밀하게 접속한 구성으로 되어 있는 것을 특징으로 하는수평 다관절형 로봇.
- 제 1 항 내지 제 3 항중 어느 한 항에 있어서,상기 엔드 이펙터의 장착부는 플랜지 결합 수단 또는 순간 착탈식 결합 수단으로 이루어지는 것을 특징으로 하는수평 다관절형 로봇.
- 제 1 항 내지 제 3 항중 어느 한 항에 있어서,상기 작업축의 구동 수단이 상기 선단 아암의 내부에 설치되어 있는 것을 특징으로 하는수평 다관절형 로봇.
- 제 1 항 내지 제 3 항중 어느 한 항에 있어서,상기 복수의 수평 아암과 복수의 관절축 및 아암 구동 수단은 모두 중공으로 구성되어 있는 것을 특징으로 하는수평 다관절형 로봇.
- 제 8 항에 있어서,상하 이동 기구에 연결되고, 상기 수평 아암을 지지하는 아암 베이스가 중공으로 구성되어 있는 것을 특징으로 하는수평 다관절형 로봇.
- 제 8 항에 있어서,상기 엔드 이펙터의 배선 및/또는 배관이 상기 선단 아암 속을 통과하는 구성으로 되어 있는 것을 특징으로 하는수평 다관절형 로봇.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2004-00363919 | 2004-12-16 | ||
JP2004363919A JP2006167864A (ja) | 2004-12-16 | 2004-12-16 | 水平多関節型ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20060069263A true KR20060069263A (ko) | 2006-06-21 |
KR100705143B1 KR100705143B1 (ko) | 2007-04-09 |
Family
ID=35998562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020050115807A KR100705143B1 (ko) | 2004-12-16 | 2005-11-30 | 수평 다관절형 로봇 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7422412B2 (ko) |
EP (1) | EP1671755B1 (ko) |
JP (1) | JP2006167864A (ko) |
KR (1) | KR100705143B1 (ko) |
CN (1) | CN100410027C (ko) |
DE (1) | DE602005005429T2 (ko) |
TW (1) | TWI289102B (ko) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100817864B1 (ko) * | 2007-11-19 | 2008-03-31 | 주식회사 로보스 | 델타로봇 |
KR20190141139A (ko) * | 2017-04-20 | 2019-12-23 | 다이후쿠 아메리카 코퍼레이션 | 고밀도 스토커 |
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2004
- 2004-12-16 JP JP2004363919A patent/JP2006167864A/ja not_active Withdrawn
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2005
- 2005-11-30 KR KR1020050115807A patent/KR100705143B1/ko active IP Right Grant
- 2005-12-08 TW TW094143386A patent/TWI289102B/zh not_active IP Right Cessation
- 2005-12-12 DE DE602005005429T patent/DE602005005429T2/de active Active
- 2005-12-12 EP EP05027077A patent/EP1671755B1/en not_active Expired - Fee Related
- 2005-12-15 CN CNB2005101316036A patent/CN100410027C/zh active Active
- 2005-12-15 US US11/304,935 patent/US7422412B2/en active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100817864B1 (ko) * | 2007-11-19 | 2008-03-31 | 주식회사 로보스 | 델타로봇 |
KR20190141139A (ko) * | 2017-04-20 | 2019-12-23 | 다이후쿠 아메리카 코퍼레이션 | 고밀도 스토커 |
Also Published As
Publication number | Publication date |
---|---|
US7422412B2 (en) | 2008-09-09 |
EP1671755B1 (en) | 2008-03-19 |
US20060133918A1 (en) | 2006-06-22 |
TW200626322A (en) | 2006-08-01 |
DE602005005429D1 (de) | 2008-04-30 |
TWI289102B (en) | 2007-11-01 |
DE602005005429T2 (de) | 2009-07-23 |
KR100705143B1 (ko) | 2007-04-09 |
CN100410027C (zh) | 2008-08-13 |
EP1671755A1 (en) | 2006-06-21 |
JP2006167864A (ja) | 2006-06-29 |
CN1788943A (zh) | 2006-06-21 |
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