KR840007983A - Multi-joint robot - Google Patents

Multi-joint robot Download PDF

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Publication number
KR840007983A
KR840007983A KR1019830003095A KR830003095A KR840007983A KR 840007983 A KR840007983 A KR 840007983A KR 1019830003095 A KR1019830003095 A KR 1019830003095A KR 830003095 A KR830003095 A KR 830003095A KR 840007983 A KR840007983 A KR 840007983A
Authority
KR
South Korea
Prior art keywords
arm
movable arm
vertical
vertical pivot
shaft
Prior art date
Application number
KR1019830003095A
Other languages
Korean (ko)
Inventor
노리아기 나까니시
Original Assignee
나까니시 이사부로우
나까니시 기가이 가부시기 가이샤
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 나까니시 이사부로우, 나까니시 기가이 가부시기 가이샤 filed Critical 나까니시 이사부로우
Publication of KR840007983A publication Critical patent/KR840007983A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • 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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

내용 없음.No content.

Description

다관절(多關節) 로보트Multi-joint robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 종래의 다관절 로봇을 나타내는 측면도.1 is a side view showing a conventional articulated robot.

제4도는 작업역(作業域) 설명도.4 is a working area explanatory diagram.

제6도는 제3실시예를 나타내는 측면도.6 is a side view showing a third embodiment.

Claims (6)

기대(11)상에 입설된 자주(12)에 고정아암(14)이 수평으로 부설되고, 이 고정아암(14)의 선단에 제1가동아암(19)이 제1수직 회동축(18)을 개입시켜 수평 방향으로 선회 자재하게 부설되어, 이 제1가동아암(19)의 선단에 제2가동아암(29)이 하향돌출상의 제2수직회동축(28)을 개입시켜 수평 방향으로 선회자재하게 부설되어,이 제2가동아암(29)의 선단에는 공구유지용 수직회동축(30)이 부설되었으며, 또, 상기 제2가동아암(29)의 선단상면은 상기 고정아암(14) 하단면보다 하부에 위치됨과 동시에, 상기 제2수직회동축(28)내지 공구유지용 수직회동(30)의 적어도 한쪽이 상하이동할 수 있게 되어 있는 다관절로보트.A fixed arm 14 is laid horizontally on the arm 12, which is placed on the base 11, and the first movable arm 19 moves the first vertical pivot 18 to the tip of the fixed arm 14. It intervenes and pivots in the horizontal direction, and the second movable arm 29 pivots in the horizontal direction through the second vertical pivot shaft 28 of the downward protrusion at the tip of the first movable arm 19. To the end of the second movable arm (29), a tool holding vertical pivot shaft (30) was placed, and the upper end surface of the second movable arm (29) was lower than the lower surface of the fixed arm (14). And a second joint pivot (28) to at least one of the vertical pivot (30) for tool holding, which is located at the same time. 제1가동아암(19)은 적어도 2개의 아암부재(21)(22)를 착탈자재하게 연결하여 구성되어 이루어진 특허청구의 범위 제1항 기재의 다관절로보트.The first movable arm (19) is a multi-joint robot described in claim 1, which is configured by detachably connecting at least two arm members (21) (22). 고정아암(14)의 선부내지, 제1가동아암(19)의 기부(20)의 적어도 한 쪽은 제1수직회동축(18)이 착탈자재하게 2할상으로 되어 이루어진 특허청구의 범위 제1항 기재의 다관절로보트.At least one of the tip portion of the fixed arm 14 and the base 20 of the first movable arm 19 is the scope of the claims, wherein the first vertical pivot shaft 18 is detachably formed in two-phase. Multi-joint robot of description. 제1가동아암(19)의 선부는 제2수직회동축(28)이 착탈 자재하게 2할상으로 되어 이루어진 특허청구의 범위 제1항 기재의 다관절로보트.The articulated robot according to claim 1, wherein the front end of the first movable arm (19) has a second vertical rotation shaft (28) made of detachable material. 공구유지용 수직회동축(30)은 베벨기어(31)를 개입시켜 회동자재로 되어 이루어진 특허청구의 범위 제1항 기재의 다관절로보트.Vertical joint shaft 30 for tool holding is a multi-joint robot described in claim 1 made of a rotating material through the bevel gear (31). 공구유지용 수직회동축(30)은 제2가동아암(29)에 부설구를 개입하여 착탈자재로 되어 이루어진 특허청구의 범위 제1항 기재의 다관절로보트.The vertical pivot shaft 30 for tool holding is a multi-joint robot according to claim 1, wherein the vertical movable shaft 30 is made of a detachable material through an installation tool on the second movable arm 29. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019830003095A 1983-03-03 1983-07-07 Multi-joint robot KR840007983A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP31870 1983-03-03
JP1983031870U JPS59136282U (en) 1983-03-03 1983-03-03 articulated robot

Publications (1)

Publication Number Publication Date
KR840007983A true KR840007983A (en) 1984-12-12

Family

ID=12343070

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019830003095A KR840007983A (en) 1983-03-03 1983-07-07 Multi-joint robot

Country Status (3)

Country Link
JP (1) JPS59136282U (en)
KR (1) KR840007983A (en)
DE (1) DE3323976A1 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60232837A (en) * 1984-05-04 1985-11-19 Komatsu Ltd Screwing device
JPS6263078A (en) * 1985-09-11 1987-03-19 フアナツク株式会社 Module system in industrial robot
DE3543335A1 (en) * 1985-12-07 1987-06-25 Black & Decker Inc Industrial robot as well as tool holder for an industrial robot
DE3702185A1 (en) * 1987-01-26 1988-08-04 Siemens Ag Device for the transport of an article from one position to another along a straight line
EP0355100B1 (en) * 1987-03-31 1992-11-25 Siemens Aktiengesellschaft Industrial robot
JP2699510B2 (en) * 1989-01-23 1998-01-19 ソニー株式会社 Articulated robot
DE4037773A1 (en) * 1990-11-28 1992-06-04 Bosch Gmbh Robert SWING ARM ROBOT
US5540541A (en) * 1990-11-28 1996-07-30 Robert Bosch Gmbh Pivotal robot arm
DE4201827C1 (en) * 1992-01-24 1993-06-09 Robert Bosch Gmbh, 7000 Stuttgart, De Pneumatically and hydraulically driven lift-and-turn device - has groove in vertical spindle for transmission of torque from ball-race between flanges of bearing
CN102909722A (en) * 2011-08-01 2013-02-06 扬州多维数控系统有限公司 Planar multi-joint robot arm
CN103640028B (en) * 2013-11-28 2016-01-06 华南理工大学 A kind of selective compliance assembly robot arm's structure
CN104889977B (en) * 2015-06-19 2017-05-10 昆山威典电子有限公司 Manipulator device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2745404A1 (en) * 1977-10-08 1979-06-13 Grisebach Hans Theodor Worm drive arrangement for electromechanical load handling appts. - has at least one worm shaft with ball runners converting shaft rotation into reciprocal motion of telescopic arm
DE2852821B1 (en) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg manipulator

Also Published As

Publication number Publication date
DE3323976A1 (en) 1984-09-06
JPS59136282U (en) 1984-09-11

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