KR920006657B1 - 다관절(多關節)로보트 - Google Patents

다관절(多關節)로보트 Download PDF

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Publication number
KR920006657B1
KR920006657B1 KR1019880701640A KR880701640A KR920006657B1 KR 920006657 B1 KR920006657 B1 KR 920006657B1 KR 1019880701640 A KR1019880701640 A KR 1019880701640A KR 880701640 A KR880701640 A KR 880701640A KR 920006657 B1 KR920006657 B1 KR 920006657B1
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KR
South Korea
Prior art keywords
circler
arm
line
common
bracket
Prior art date
Application number
KR1019880701640A
Other languages
English (en)
Korean (ko)
Other versions
KR890701287A (ko
Inventor
쓰네오 데타우찌
다까아끼 니시무라
Original Assignee
미쓰비시전기 주식회사
시끼 모리야
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 미쓰비시전기 주식회사, 시끼 모리야 filed Critical 미쓰비시전기 주식회사
Publication of KR890701287A publication Critical patent/KR890701287A/ko
Application granted granted Critical
Publication of KR920006657B1 publication Critical patent/KR920006657B1/ko

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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)
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
JP62167852A JPS6411777A (en) 1987-07-07 1987-07-07 Multi-joint robot
JP62-167852 1987-07-07
JP???62-167852 1987-07-07
PCT/JP1988/000684 WO1989000095A1 (en) 1987-07-07 1988-07-07 Articulated robot

Publications (2)

Publication Number Publication Date
KR890701287A KR890701287A (ko) 1989-12-20
KR920006657B1 true 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 (US06312121-20011106-C00033.png)
JP (1) JPS6411777A (US06312121-20011106-C00033.png)
KR (1) KR920006657B1 (US06312121-20011106-C00033.png)
DE (2) DE3890561T1 (US06312121-20011106-C00033.png)
WO (1) WO1989000095A1 (US06312121-20011106-C00033.png)

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* Cited by examiner, † Cited by third party
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WO1993007996A1 (en) * 1991-10-17 1993-04-29 Kabushiki Kaisha Yaskawa Denki Arm driving device of industrial robot
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.
WO1995005270A1 (fr) * 1993-08-18 1995-02-23 Kabushiki Kaisha Yaskawa Denki Ensemble poignet pour robots articules
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
US20030070502A1 (en) * 2001-10-16 2003-04-17 Brett Tommy Douglas 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
US7699021B2 (en) 2004-12-22 2010-04-20 Sokudo Co., Ltd. Cluster tool substrate throughput optimization
US7651306B2 (en) 2004-12-22 2010-01-26 Applied Materials, Inc. Cartesian robot cluster tool architecture
US20060130767A1 (en) 2004-12-22 2006-06-22 Applied Materials, Inc. Purged vacuum chuck with proximity pins
US7819079B2 (en) 2004-12-22 2010-10-26 Applied Materials, Inc. Cartesian cluster tool configuration for lithography type processes
US7798764B2 (en) 2005-12-22 2010-09-21 Applied Materials, Inc. Substrate processing sequence in a cartesian robot cluster tool
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
CN102341221A (zh) * 2009-03-06 2012-02-01 株式会社安川电机 机器人关节单元及机器人
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 (US06312121-20011106-C00033.png) * 1969-08-18 1973-12-24
JPS5126695B2 (US06312121-20011106-C00033.png) * 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
JPS6411777A (en) 1989-01-17
WO1989000095A1 (en) 1989-01-12
JPH0583353B2 (US06312121-20011106-C00033.png) 1993-11-25
KR890701287A (ko) 1989-12-20
DE3890561T1 (de) 1989-08-17
DE3890561C2 (de) 1995-02-16
US5054332A (en) 1991-10-08

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