KR950701562A - 다관절 로보트 - Google Patents

다관절 로보트

Info

Publication number
KR950701562A
KR950701562A KR1019940704205A KR19940704205A KR950701562A KR 950701562 A KR950701562 A KR 950701562A KR 1019940704205 A KR1019940704205 A KR 1019940704205A KR 19940704205 A KR19940704205 A KR 19940704205A KR 950701562 A KR950701562 A KR 950701562A
Authority
KR
South Korea
Prior art keywords
arm
supported
base
lower arm
forth
Prior art date
Application number
KR1019940704205A
Other languages
English (en)
Inventor
마사노리 니시
히데아끼 와따나베
Original Assignee
기꾸찌 꼬우
가부시끼가이샤 야스까와 덴끼
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 기꾸찌 꼬우, 가부시끼가이샤 야스까와 덴끼 filed Critical 기꾸찌 꼬우
Publication of KR950701562A publication Critical patent/KR950701562A/ko

Links

Classifications

    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-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—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
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Landscapes

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

Abstract

하부베이스(1)에 전후로 기울수 있도록 지지된 하부아암(2)과, 하부아암(2)에 평행하고 하부베이스(1)에 전후로 기울 수 있도록 지지한 연결링크(21)와, 하부아암(2)의 선단과 연결아암(21)의 선단을 회전할 수 있도록 연결한 상부베이스(22)에 의해서 평행링크기구를 구성하며, 상부베이스(22)에 수평으로 선회할 수 있도록 지지한 선회부(3)와, 상기 선회부(3)에 선회측(Z)으로부터 이동된 위치에 상부아암(4)을 상하로 기울수 있도록 지지한 것이다.
따라서, 상부아암이 하부아암과 간섭하지 않아, 상부아암의 동작영역을 확장할수 있다.

Description

다관절 로보트
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 실시예를 도시한 측면도.
제2도는 제1도의 평면도.

Claims (1)

  1. 하부베이스(1)와 상기 하부베이스(1)에 전후로 기울수 있도록 지지된 하부아암(2)과, 상기 하부아암(2)에 평행하고 상기 하부베이스(1)에 전후로 기울 수 있도록 지지한 연결링크(21)와, 상기 하부아암(2)의 선단과 상기 연결아암의 선단을 회전할 수 있도록 연결한 상부베이스(22)에 의해서 평행링크기구를 구성하며, 상기 상부베이스(22)에 수평으로 선회할 수 있도록 지지한 선회부(3)와, 상기 선회부(3)에 설치한 상부아암(4)을 갖춘 다관절 로보트에 있어서, 상기 선회부(3)의 선회축으로부터 이동된 위치에 상기 상부아암(4)을 상하로 기울수 있도록 지지한 것을 특징으로 하는 다관절 로보트.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019940704205A 1993-03-31 1994-03-29 다관절 로보트 KR950701562A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP09882693A JP3307458B2 (ja) 1993-03-31 1993-03-31 多関節ロボット
JP93-098826 1993-03-31
PCT/JP1994/000504 WO1994022643A1 (en) 1993-03-31 1994-03-29 Articulated robot

Publications (1)

Publication Number Publication Date
KR950701562A true KR950701562A (ko) 1995-04-28

Family

ID=14230106

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019940704205A KR950701562A (ko) 1993-03-31 1994-03-29 다관절 로보트

Country Status (6)

Country Link
US (1) US5562012A (ko)
EP (1) EP0647507B1 (ko)
JP (1) JP3307458B2 (ko)
KR (1) KR950701562A (ko)
DE (1) DE69406624T2 (ko)
WO (1) WO1994022643A1 (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101595753B1 (ko) * 2015-12-10 2016-02-19 주식회사 월드이엔지 4축 수직 다관절 로보트

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU7935294A (en) * 1993-10-26 1995-05-22 Vincent Hayward Mechanisms for orienting and placing articles
US6336374B1 (en) * 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
WO2004014244A2 (en) 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
JP5272588B2 (ja) * 2008-09-01 2013-08-28 セイコーエプソン株式会社 水平多関節型ロボット
WO2010104157A1 (ja) * 2009-03-11 2010-09-16 本田技研工業株式会社 作業装置及び作業方法
DE102012212345B4 (de) * 2012-07-13 2020-12-17 Eb-Invent Gmbh Vorrichtung zur Bewegung einer Last
CN103009384A (zh) * 2012-12-27 2013-04-03 广西大学 一种可控码垛机器人
CN104647353A (zh) * 2014-12-25 2015-05-27 广西大学 一种高精度大承载码垛机器人机构

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1217651A1 (ru) * 1984-04-21 1986-03-15 Проектно-Конструкторское Бюро Министерства Приборостроения,Средств Автоматизации И Систем Управления Г.Чебоксары Манипул тор
DE3445055A1 (de) * 1984-12-11 1986-06-12 Reis GmbH & Co, 8753 Obernburg Mehrachsiger, programmierbarer manipulator mit einem trainingsarm zum programmieren des manipulators
JP2797421B2 (ja) * 1989-05-18 1998-09-17 日産自動車株式会社 ロボットのアーム駆動機構
JPH03104574A (ja) * 1989-09-20 1991-05-01 Hitachi Ltd 多関節形ロボツト
JPH0832402B2 (ja) * 1989-12-28 1996-03-29 川崎重工業株式会社 産業用ロボツト
US5423648A (en) * 1992-01-21 1995-06-13 Fanuc Robotics North America, Inc. Method and system for quickly and efficiently transferring a workpiece from a first station to a second station

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101595753B1 (ko) * 2015-12-10 2016-02-19 주식회사 월드이엔지 4축 수직 다관절 로보트

Also Published As

Publication number Publication date
DE69406624T2 (de) 1998-04-02
US5562012A (en) 1996-10-08
JP3307458B2 (ja) 2002-07-24
EP0647507B1 (en) 1997-11-05
EP0647507A4 (ko) 1995-05-03
DE69406624D1 (de) 1997-12-11
EP0647507A1 (en) 1995-04-12
JPH06285778A (ja) 1994-10-11
WO1994022643A1 (en) 1994-10-13

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Legal Events

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A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application