KR890701287A - 다관절 로보트 - Google Patents

다관절 로보트

Info

Publication number
KR890701287A
KR890701287A KR1019880701640A KR880701640A KR890701287A KR 890701287 A KR890701287 A KR 890701287A KR 1019880701640 A KR1019880701640 A KR 1019880701640A KR 880701640 A KR880701640 A KR 880701640A KR 890701287 A KR890701287 A KR 890701287A
Authority
KR
South Korea
Prior art keywords
articulated robot
common circular
wave generators
spline
brackets
Prior art date
Application number
KR1019880701640A
Other languages
English (en)
Other versions
KR920006657B1 (ko
Inventor
쓰네오 데라우찌
다까아끼 니시무라
Original Assignee
시끼 모리야
미쓰비시전기 주식회사
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 시끼 모리야, 미쓰비시전기 주식회사 filed Critical 시끼 모리야
Publication of KR890701287A publication Critical patent/KR890701287A/ko
Application granted granted Critical
Publication of KR920006657B1 publication Critical patent/KR920006657B1/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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
    • Y10T74/19—Gearing
    • 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
    • Y10T74/20323—Robotic arm including flaccid drive element

Landscapes

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

Abstract

내용 없음

Description

다관절 로보트
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 종래예를 표시한 정면도. 제2도는 동측면도. 제3도는 제1도 A부에서 표시한 관절구동부분의 단면도이다.

Claims (6)

  1. 적어도 두개의 제어아암과, 양제어암의 관절부에 설치된 동일축상에서 상대하는 두개의 감속기등을 가진 다관절로보트에 있어서, 상기 두개의 감속기가 한쪽의 제어아암의 관절부에 고정된 공통의 서큘러스프라인과, 이 공통의 서큘러스프라인의 일단에 이 서큘러스프라인과 상대적으로 회전하도록 부착되고 다른쪽의 제어아암의 관절부에 연결된 브라케트등을 구비한 제1 및 제2의 하모닉 드라이브감속기로 된 것을 특징으로 하는 다관절로보트.
  2. 청구범위 제1항에 있어서, 공통의 서큘러스프라인과 브라케트의 사이에 크로스로울러베어링을 장착시킨것을 특징으로 하는 다관절로보트.
  3. 청구범위 제1항에 있어서, 공통의 서큘러스프라인의 타단데 크로스로울러베어링을 통하여 베이스에 고정된다른쪽의 브라케트가 설치되어 있는 것을 특징으로 하는 다관절로보트.
  4. 청구범위 제1항에 있어서, 제1및 제2의 하모닉드라이브감속기가 공통의 서큘러스프라인, 이 공통의 서큘러스프라인내에 동일축상에서 상대되어 맞물려 결합된 제1 및 제2의 프레이크스프라인, 이 프레이크스프라인의 각 동일축상에 내장된 제1 및2의 웨이브제네레이터, 이 웨이브제네레이터의 각축을 베어링을 통하여 지지하는 제1 및 제2의 브라케트및 이 브라케트와 상기 서큘러스프라인의 사이에 각각 장설된 크로스로울러 베어링에 의하여 유니트화 되어 있는 것을 특징으로 하는 다관절 로보트.
  5. 청구범위 제4항에 있어서, 제1 및 제2의 웨이브제네레이터의 각축과 상기 두개의 제어아암의 후방 또는 하방에 설치된 각 모터의 출력축을 밸트전동기구에 의하여 연결된 것을 특징으로 하는 다관절 로보트.
  6. 청구범위 제4항에 있어서, 제1 및 제2의 웨이브제네레이터의 각축에 브레이크 장치를 설치한 것을 특징으로 하는 다관절 로보트.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019880701640A 1987-07-07 1988-07-07 다관절(多關節)로보트 KR920006657B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP???62-167852 1987-07-07
JP62-167852 1987-07-07
JP62167852A JPS6411777A (en) 1987-07-07 1987-07-07 Multi-joint robot
PCT/JP1988/000684 WO1989000095A1 (en) 1987-07-07 1988-07-07 Articulated robot

Publications (2)

Publication Number Publication Date
KR890701287A true KR890701287A (ko) 1989-12-20
KR920006657B1 KR920006657B1 (ko) 1992-08-14

Family

ID=15857284

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019880701640A KR920006657B1 (ko) 1987-07-07 1988-07-07 다관절(多關節)로보트

Country Status (5)

Country Link
US (1) US5054332A (ko)
JP (1) JPS6411777A (ko)
KR (1) KR920006657B1 (ko)
DE (2) DE3890561T1 (ko)
WO (1) WO1989000095A1 (ko)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2513588Y2 (ja) * 1990-04-20 1996-10-09 株式会社安川電機 産業用ロボットのア―ム駆動装置
IT1250471B (it) * 1991-02-12 1995-04-07 Jobs Spa Robot con carrello automotore.
DE69119784T2 (de) * 1991-10-17 1997-01-23 Yaskawa Denki Kitakyushu Kk Antriebseinrichtung für industrieroboterarm
EP0666150B1 (en) * 1993-08-18 1998-10-21 Kabushiki Kaisha Yaskawa Denki Articulated robot
JPH07223180A (ja) * 1994-02-10 1995-08-22 Tescon:Kk 水平多関節ロボット
US5634377A (en) * 1994-03-09 1997-06-03 Sony Corporation Articulated robot
DE29510012U1 (de) * 1995-06-20 1995-08-31 Gerhard Schubert GmbH, 74564 Crailsheim Roboter
US5624398A (en) * 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
KR100730661B1 (ko) * 2000-07-10 2007-06-21 티에스 코포레이션 트랙션 구동 감속기, 트랙션 구동 감속기를 이용하는 운반장치, 및 운반 장치의 이축 출력 엔코더 기구
CA2404246A1 (en) * 2001-10-16 2003-04-16 Ventax Robot Inc. Twin-link robotic arm
JP4336831B2 (ja) * 2004-11-24 2009-09-30 東芝機械株式会社 産業用ロボット
JP3988768B2 (ja) * 2004-12-16 2007-10-10 セイコーエプソン株式会社 リンク駆動機構およびこれを用いた産業用ロボット
US7819079B2 (en) 2004-12-22 2010-10-26 Applied Materials, Inc. Cartesian cluster tool configuration for lithography type processes
US7651306B2 (en) 2004-12-22 2010-01-26 Applied Materials, Inc. Cartesian robot cluster tool architecture
US7699021B2 (en) 2004-12-22 2010-04-20 Sokudo Co., Ltd. Cluster tool substrate throughput optimization
US7798764B2 (en) 2005-12-22 2010-09-21 Applied Materials, Inc. Substrate processing sequence in a cartesian robot cluster tool
US7255747B2 (en) 2004-12-22 2007-08-14 Sokudo Co., Ltd. Coat/develop module with independent stations
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
JP4232795B2 (ja) * 2005-10-19 2009-03-04 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
JP2008023642A (ja) * 2006-07-20 2008-02-07 Fanuc Ltd 産業用ロボットのアーム構造体
US7694688B2 (en) 2007-01-05 2010-04-13 Applied Materials, Inc. Wet clean system design
US7950407B2 (en) 2007-02-07 2011-05-31 Applied Materials, Inc. Apparatus for rapid filling of a processing volume
JP2010000587A (ja) * 2008-06-23 2010-01-07 Nsk Ltd マニピュレータ用関節部
EP2404713A4 (en) * 2009-03-06 2014-08-20 Yaskawa Denki Seisakusho Kk JOINT UNIT FOR ROBOT AND ROBOT
CN101829996A (zh) * 2009-03-09 2010-09-15 鸿富锦精密工业（深圳）有限公司 机械接口及使用该接口的机械手
DE102009028612A1 (de) * 2009-08-18 2011-02-24 Zf Friedrichshafen Ag Windkraftanlage und Verfahren zur Betriebssteuerung einer Windkraftanlage
CN102001095B (zh) * 2009-09-03 2014-07-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件及机器人
CN102085667B (zh) * 2009-12-04 2013-10-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102310404A (zh) * 2010-06-29 2012-01-11 鸿富锦精密工业（深圳）有限公司 机器人
IT1404528B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
CN104526701A (zh) * 2015-01-21 2015-04-22 安徽工业大学 一种简易分拣机器人
CN108284436B (zh) * 2018-03-17 2020-09-25 北京工业大学 具有模仿学习机制的远程机械双臂系统及方法
US11060597B2 (en) 2019-03-14 2021-07-13 Skg Inc. Rotation deceleration transmission apparatus
CN112128342A (zh) * 2020-10-15 2020-12-25 重庆金山医疗器械有限公司 谐波减速机连接结构和胶囊内窥镜控制器
CN112451098B (zh) * 2020-11-12 2022-10-25 山东威高手术机器人有限公司 机械臂转动关节
CN114179122A (zh) * 2021-12-31 2022-03-15 成都卡诺普机器人技术股份有限公司 一种协作机器人关节及协作机器人

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4844948Y1 (ko) * 1969-08-18 1973-12-24
JPS5126695B2 (ko) * 1971-10-07 1976-08-07
JPS5656395A (en) * 1979-10-12 1981-05-18 Hitachi Ltd Industrial multiple joint type robot
JPS6039518B2 (ja) * 1980-09-30 1985-09-06 ファナック株式会社 工業用ロボットの手首機構
JPS58155197A (ja) * 1982-02-12 1983-09-14 株式会社日平トヤマ ロボツトハンド駆動装置
JPS58165978A (ja) * 1982-03-24 1983-10-01 三菱電機株式会社 工業用ロボツト
JPS58181586A (ja) * 1982-04-20 1983-10-24 株式会社日立製作所 ロボツトの関節機構
JPS59107896A (ja) * 1982-12-10 1984-06-22 松下電器産業株式会社 関節装置
JPS6036192U (ja) * 1983-08-18 1985-03-12 シルバー精工株式会社 産業用ロボット
GB2149707B (en) * 1983-11-15 1987-10-28 Hitachi Shipbuilding Eng Co Automatic welding apparatus

Also Published As

Publication number Publication date
DE3890561C2 (de) 1995-02-16
DE3890561T1 (de) 1989-08-17
KR920006657B1 (ko) 1992-08-14
US5054332A (en) 1991-10-08
JPH0583353B2 (ko) 1993-11-25
WO1989000095A1 (en) 1989-01-12
JPS6411777A (en) 1989-01-17

Similar Documents

Publication Publication Date Title
KR890701287A (ko) 다관절 로보트
EP0222018A4 (en) JOINT DRIVE FOR INDUSTRIAL ROBOTS.
KR950031402A (ko) 다관절형 로보트
KR880009227A (ko) 조화감속기(調和減速機)
US5065639A (en) Double bevel gear angular drive
JPS62287991A (ja) 産業用ロボツトの手首駆動機構
US6389921B1 (en) Wrist mechanism of industrial robot
KR940703733A (ko) 중공감속기를 사용한 관절을 갖춘 산업용 로보트(industrial robot having joints using a hollow reduction gear)
KR840003979A (ko) 로보트의 관절장치
KR850000283A (ko) 로보트의 관절구조
DE3561116D1 (en) Mechanical speed reducer
FR2390629A1 (fr) Joint universel
EP0271585A4 (en) ARM STRUCTURE OF AN INDUSTRIAL ROBOT.
ES2129299A1 (es) Dispositivo de transmision de par de giro.
FR2393192A1 (fr) Joint universel
JPH0451244Y2 (ko)
KR890000871Y1 (ko) 로보트 아암 (arm) 의 관절부에 대한 양단축 분할장치
KR950017113A (ko) 수직다관절 로보트의 아암부구조
ATE229904T1 (de) Mehrpropeller system mit ausgleichsgetriebe
ES2038869T3 (es) Perfeccionamientos en las transmisiones de vehiculos equipadas con ralentizadores electricos.
JPH0453912Y2 (ko)
FR2588129B1 (fr) Motoreducteur pour l'entrainement simultane de deux organes
KR960013703A (ko) 전방향 유성차륜형 이동시스템
KR950017115A (ko) 산업용 로보트팔의 손목구조
KR200184349Y1 (ko) 밸트를 이용한 갠트리 구동장치

Legal Events

Date Code Title Description
A201 Request for examination
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 19990729

Year of fee payment: 8

LAPS Lapse due to unpaid annual fee