KR970069253A - Industrial robot - Google Patents

Industrial robot Download PDF

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Publication number
KR970069253A
KR970069253A KR1019970015603A KR19970015603A KR970069253A KR 970069253 A KR970069253 A KR 970069253A KR 1019970015603 A KR1019970015603 A KR 1019970015603A KR 19970015603 A KR19970015603 A KR 19970015603A KR 970069253 A KR970069253 A KR 970069253A
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KR
South Korea
Prior art keywords
robot
end effector
main frame
industrial robot
axis
Prior art date
Application number
KR1019970015603A
Other languages
Korean (ko)
Other versions
KR100287973B1 (en
Inventor
히로후미 다나까
노부히꼬 나까오까
야스히꼬 하시모또
데쯔야 요시다
Original Assignee
오오바 히로시
가와사끼 쥬고교 가부시끼가이샤
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.)
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Publication date
Application filed by 오오바 히로시, 가와사끼 쥬고교 가부시끼가이샤 filed Critical 오오바 히로시
Publication of KR970069253A publication Critical patent/KR970069253A/en
Application granted granted Critical
Publication of KR100287973B1 publication Critical patent/KR100287973B1/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
    • 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
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • 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
    • 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
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable

Landscapes

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

Abstract

산업용 로봇은 기부 유닛(4)과, 구동 모터(M6)에 의해서 상기 기부 유닛(4)에 대해서 회전될 수 있는 로봇아암(22)과, 상기 로봇 아암(22)상에 장착된 활주 기구(30)를 호함한다. 상기 활주 기구(30)는 화활 유닛(32)과, 상기 화주 유닛(32)상에서 구동 모터(50)에 의해서 선형으로 이동될 수있도록 지지되는 캐리지(64)와, 상기 캐리지(64)상에서 지지되는 로봇 손과 같은 단부 작동체(60)를 갖는다. 캐리지(60)가 주 프레임(36)상의 전방 위치에 위치될 때, 단부 작동체(60)의 대부분은 활주 유닛(32)에서 외향으로 돌출하여서, 작업 기계상에서 작업물(84)을 취급할 산업용 로봇의 주요 구성 부재들이 작업 기계(88 또는 90)와 간섭하지 않게 해준다.The industrial robot includes a base unit 4, a robot arm 22 that can be rotated with respect to the base unit 4 by a drive motor M6, and a slide mechanism 30 mounted on the robot arm 22. ) Shouts. The slide mechanism 30 is supported on the active unit 32, the carriage 64 supported to be linearly moved by the drive motor 50 on the ship unit 32, and the carriage 64 is supported on the carriage 64 It has an end effector 60 such as a robot hand. When the carriage 60 is located in the forward position on the main frame 36, most of the end effector 60 protrudes outwardly from the slide unit 32, thereby handling the work piece 84 on the work machine. Main components of the robot do not interfere with the working machine 88 or 90.

Description

산업용 로봇Industrial robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명에 따르는 양호한 실시예의 산업용 로봇의 개략적 측면도, 제2도는 제1도의 산업용 로봇에 포함된 활주 기구의 단면도, 제3도는 제2도의 Ⅲ-Ⅲ라인을 따라서 취한 단면도, 제4도는 제1도의 산업용 로봇의 작동을 설명하는데 도음이 되는 개략 평면도.1 is a schematic side view of an industrial robot of a preferred embodiment according to the present invention, FIG. 2 is a sectional view of a slide mechanism included in the industrial robot of FIG. 1, FIG. 3 is a sectional view taken along line III-III of FIG. 2, and FIG. A schematic plan view to assist in explaining the operation of the industrial robot of FIG.

Claims (7)

기부 유닛과, 상기 기부 유닛에 대새서 회전될 수 있는 로봇 아암과, 로봇 아암을 회전 구동시키기 위한 제1구동 수단과, 제1구동 수단을 제어하기 위한 제어수단과, 상기 로봇 아암 상에 장착된 활주 기구를 포함하고, 상기 활주 기구는 주 프레임과, 상기 주 프레임의 한 단부에 있는 제1위치와 다른 단부에 있는 제2위치 사이에서 이동될 수 있는 가동 부재와, 상기 가동 부재를 이동시키기 위한 제2구동 수단과, 상기 가동 부재상에 장착된 단부 작동체를 포함하며, 상기 주 프레임의 중간부는 로봇 아암의 자유단에 결합되며, 상기 단부 작동체는 가동 부재가 활주 기구의 주 프레임 상의 전방 위치에 위치될 때 상기 단부 작동체의 대부분이 활주 기구의 주 프레임에서 외향으로 돌출하도록 제공되는 것을 특징으로 하는 산업용 로봇.A base unit, a robot arm rotatable about the base unit, first driving means for rotationally driving the robot arm, control means for controlling the first driving means, mounted on the robot arm A sliding mechanism, wherein the sliding mechanism is movable between a main frame, a first position at one end of the main frame and a second position at the other end, and a movable member for moving the movable member. A second driving means and an end effector mounted on the movable member, the intermediate portion of the main frame being coupled to a free end of the robot arm, the end effector having a movable member forward on the main frame of the sliding mechanism. An industrial robot, characterized in that the majority of the end effector is provided to project outwardly from the main frame of the sliding mechanism when positioned in position. 제1항에 있어서, 상기 로봇은 7축 로봇이며, 제1구동 수단은 제6축 둘레를 회전하도록 관련 구성 부재를 구동시키는 작동을 하기 위해 제어 수단에 의해서 제어된 제1모터이고, 제2구동 수단은 제7축 둘레를 회전하도록 관련 구성 부재를 구동시키는 작동을 하기 위해 제어 수단에 의해서 제어된 제2모터인 것을 특징으로 하는 산업용 로봇.2. The robot of claim 1, wherein the robot is a seven-axis robot, the first drive means is a first motor controlled by control means for actuating driving the associated component member to rotate about a sixth axis, and a second drive. The means is an industrial robot, characterized in that the second motor is controlled by the control means to actuate the associated component member to rotate about the seventh axis. 제1항에 있어서, 상기 로봇은 7축 로봇이며, 제1구동 수단은 제6축 둘레를 회전하도록 관련 구성 부재를 회전시키기 위한 작업에 대한 제어 수단에 의해서 제어된 제1모터이고, 제2구동 수단은 다른 제어 수단에 의해서 제어된 제2모터인 것을 특징으로 하는 산업용 로봇.2. The robot of claim 1, wherein the robot is a seven-axis robot, the first drive means is a first motor controlled by control means for a task for rotating the associated component member to rotate about a sixth axis, and a second drive. The means is an industrial robot, characterized in that the second motor controlled by another control means. 제1항에 있어서, 상기 단부 작동체는 작업물을 보유 지지하기 위한 로봇 손인 것을 특징으로 하는 산업용 로봇.The industrial robot of claim 1, wherein the end effector is a robot hand for holding a workpiece. 제1항에 있어서, 상기 단부 작동체는 세척 헤드인 것을 특징으로 하는 산업용 로봇.The industrial robot of claim 1, wherein the end effector is a cleaning head. 제1항에 있어서, 상기 단부 작동체는 용접 헤드인 것을 특징으로 하는 산업용 로봇.The robot of claim 1, wherein the end effector is a welding head. 제1항에 있어서, 상기 단부 작동체는 도장 헤드인 것을 특징으로 하는 산업용 로봇.The industrial robot of claim 1, wherein the end effector is a painting head. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019970015603A 1996-04-26 1997-04-25 Industrial Robot KR100287973B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP10766996A JP3327770B2 (en) 1996-04-26 1996-04-26 Robot device
JP96-107669 1996-04-26

Publications (2)

Publication Number Publication Date
KR970069253A true KR970069253A (en) 1997-11-07
KR100287973B1 KR100287973B1 (en) 2001-10-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019970015603A KR100287973B1 (en) 1996-04-26 1997-04-25 Industrial Robot

Country Status (3)

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JP (1) JP3327770B2 (en)
KR (1) KR100287973B1 (en)
GB (1) GB2312414A (en)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
KR20210080281A (en) * 2019-12-20 2021-06-30 통가오 어드밴스드 매뉴팩처링 테크놀로지 컴퍼니 리미티드 Auto polishing system for car roof welding seams

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RU2484946C1 (en) * 2011-12-20 2013-06-20 Юрий Иванович Русанов Yu rusanov computer-aided device for back-and-force turn of surgical elements of multifunctional robotics system for patient table
RU2470594C1 (en) * 2011-12-20 2012-12-27 Юрий Иванович Русанов Device of sliding element of clamp of j.i. rusanov's multifunctional diagnostic-surgical robotic system with possibility of information-computer control
CN104647357A (en) * 2015-01-09 2015-05-27 广西大学 Four-degree-of-freedom stepper motor driving joint-type manipulator
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CN111942885B (en) * 2020-08-31 2021-11-23 向炳玲 Clamping and transferring device for lithium battery material production
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210080281A (en) * 2019-12-20 2021-06-30 통가오 어드밴스드 매뉴팩처링 테크놀로지 컴퍼니 리미티드 Auto polishing system for car roof welding seams

Also Published As

Publication number Publication date
JPH09290391A (en) 1997-11-11
JP3327770B2 (en) 2002-09-24
GB9708032D0 (en) 1997-06-11
KR100287973B1 (en) 2001-10-26
GB2312414A (en) 1997-10-29

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