TWI468274B - Scara type robot - Google Patents
Scara type robot Download PDFInfo
- Publication number
- TWI468274B TWI468274B TW98144056A TW98144056A TWI468274B TW I468274 B TWI468274 B TW I468274B TW 98144056 A TW98144056 A TW 98144056A TW 98144056 A TW98144056 A TW 98144056A TW I468274 B TWI468274 B TW I468274B
- Authority
- TW
- Taiwan
- Prior art keywords
- rotating shaft
- motor
- bearing
- arm
- articulated robot
- Prior art date
Links
Landscapes
- Manipulator (AREA)
Description
本發明涉及一機器人,尤其涉及一平面關節型工業機器人。 The present invention relates to a robot, and more particularly to a planar articulated industrial robot.
平面關節型機器人係目前使用最為廣泛之裝配機器人之一,它專門用於垂直安裝作業,例如於印刷電路板上插貼元器件。該類機器人具有四關節:三水平轉動關節及一垂直滑動關節,因此能抓取元件於水平方向定位,並於垂直方向進行插入或旋轉作業。其平面轉動關節可放鬆而使插入元件時可順著孔之位置作微小調整,具有柔順性,因而稱為於選擇方向具有柔順性之安裝機器人(Selective Compliance Assembly Robot Arm,SCARA)。 Planar articulated robots are one of the most widely used assembly robots and are designed for vertical mounting operations, such as plugging components on printed circuit boards. This type of robot has four joints: a three-level rotating joint and a vertical sliding joint, so that the gripping elements can be positioned in the horizontal direction and inserted or rotated in the vertical direction. The planar rotating joint can be relaxed to make small adjustments along the position of the hole when inserting the component, and is flexible, so it is called a Selective Compliance Assembly Robot Arm (SCARA).
一平面關節型機器人,其包括基座、大臂及小臂。該小臂內設有主軸及驅動該主軸旋轉之步進電機。該主軸上設有藉由花鍵固定之帶輪,並與該步進電機之間藉由皮帶傳動。惟,使用帶輪傳動容易造成電機慣量比過大而不易控制,致使剛性較差;且主軸高速旋轉時皮帶容易變形,導致定位精度不高。 A planar articulated robot comprising a base, a boom and an arm. A spindle and a stepping motor for driving the spindle are provided in the arm. The main shaft is provided with a spline fixed by a spline, and is driven by the belt between the stepping motor and the stepping motor. However, the use of the pulley drive is likely to cause the motor inertia ratio to be too large to be easily controlled, resulting in poor rigidity; and the belt is easily deformed when the spindle rotates at a high speed, resulting in low positioning accuracy.
有鑒於此,有必要提供一剛性較好、精度較高之平面關節型機器人。 In view of this, it is necessary to provide a planar articulated robot with better rigidity and higher precision.
一平面關節型機器人,包括基座、大臂及小臂。基座上設有第一轉軸及驅動第一轉軸旋轉之第一馬達。大臂一端藉由第一轉軸可 轉動地與基座連接。小臂包括第二轉軸及驅動第二轉軸之第二馬達,並藉由第二轉軸可轉動地與大臂另一端相連。小臂還包括固定第二馬達之固定座、與固定座固定之第三馬達、由第三馬達驅動之第三轉軸、與固定座活動相連之絲桿、連接第三轉軸與絲桿之傳動裝置、與絲桿活動相連之螺母、與螺母固定相連之第四馬達、由第四馬達驅動之第四轉軸及設於固定座且供第四轉軸穿設之軸承組件,該軸承組件包括直線軸承、套筒及滾動軸承,該第四轉軸穿設於該直線軸承內,該套筒套設並固定於該直線軸承,該滾動軸承設於該套筒與該固定座之間。該第四轉軸與該直線軸承之間之摩擦力大於滾動軸承內外圈之間之摩擦力,進而使該直線軸承及該套筒能夠和該第四轉軸形成一整體於滾動軸承之限制下相對固定座旋轉。 A planar articulated robot that includes a base, a boom and an arm. The base has a first rotating shaft and a first motor that drives the first rotating shaft to rotate. One end of the boom can be used by the first shaft Rotatingly connected to the base. The arm includes a second rotating shaft and a second motor that drives the second rotating shaft, and is rotatably coupled to the other end of the boom by the second rotating shaft. The arm further includes a fixing base for fixing the second motor, a third motor fixed to the fixing seat, a third rotating shaft driven by the third motor, a screw rod movably connected to the fixing base, and a transmission device connecting the third rotating shaft and the screw rod a nut connected to the screw rod, a fourth motor fixedly connected to the nut, a fourth rotating shaft driven by the fourth motor, and a bearing assembly disposed on the fixing seat and extending through the fourth rotating shaft, the bearing assembly including a linear bearing, The sleeve and the rolling bearing, the fourth rotating shaft is disposed in the linear bearing, the sleeve is sleeved and fixed to the linear bearing, and the rolling bearing is disposed between the sleeve and the fixing seat. The friction between the fourth rotating shaft and the linear bearing is greater than the friction between the inner and outer rings of the rolling bearing, so that the linear bearing and the sleeve can form a whole with the fourth rotating shaft and rotate relative to the fixed seat under the limitation of the rolling bearing. .
上述平面關節型機器人之各轉軸與各馬達直接驅動相連,省卻傳統之帶輪、花鍵等傳動機構,剛性較好、精度較高。 Each of the rotating shafts of the above-mentioned planar articulated robot is directly driven and connected to each motor, and the conventional pulley, spline and other transmission mechanisms are omitted, and the rigidity is good and the precision is high.
100‧‧‧機器人 100‧‧‧ Robot
10‧‧‧基座 10‧‧‧ Pedestal
20‧‧‧大臂 20‧‧‧Big
30‧‧‧小臂 30‧‧‧ Arm
11‧‧‧第一轉軸 11‧‧‧First shaft
13‧‧‧第一馬達 13‧‧‧First motor
31‧‧‧第二轉軸 31‧‧‧second shaft
32‧‧‧第二馬達 32‧‧‧second motor
33‧‧‧第三轉軸 33‧‧‧ Third shaft
34‧‧‧第三馬達 34‧‧‧third motor
35‧‧‧傳動裝置 35‧‧‧Transmission
36‧‧‧絲桿 36‧‧‧Spindle
37‧‧‧螺母 37‧‧‧ nuts
38‧‧‧第四馬達 38‧‧‧fourth motor
39‧‧‧第四轉軸 39‧‧‧fourth shaft
40‧‧‧軸承組件 40‧‧‧ bearing assembly
41‧‧‧直線軸承 41‧‧‧Linear bearings
43‧‧‧套筒 43‧‧‧ sleeve
45‧‧‧滾動軸承 45‧‧‧ rolling bearings
47‧‧‧卡環 47‧‧‧ card ring
301‧‧‧固定座 301‧‧‧ fixed seat
302‧‧‧外殼 302‧‧‧Shell
351‧‧‧第一帶輪 351‧‧‧First pulley
353‧‧‧第二帶輪 353‧‧‧Second pulley
355‧‧‧皮帶 355‧‧‧Land
361‧‧‧導軌座 361‧‧‧ rail seat
363‧‧‧導軌 363‧‧‧rails
371‧‧‧連接板 371‧‧‧Connecting plate
373‧‧‧滑塊 373‧‧‧ Slider
364‧‧‧螺釘 364‧‧‧screw
365‧‧‧擋塊 365‧‧ ‧block
381‧‧‧減速機 381‧‧‧Reducer
391‧‧‧連接孔 391‧‧‧connection hole
411‧‧‧卡槽 411‧‧‧ card slot
431‧‧‧卡合槽 431‧‧‧ snap groove
圖1係本發明實施方式之平面關節型機器人之傳動原理示意圖。 FIG. 1 is a schematic diagram of a transmission principle of a planar articulated robot according to an embodiment of the present invention.
圖2係本發明實施方式之平面關節型機器人之立體組裝示意圖。 2 is a schematic perspective view of a planar articulated robot according to an embodiment of the present invention.
圖3係圖2所示平面關節型機器人之小臂之局部立體圖。 3 is a partial perspective view of the arm of the planar articulated robot shown in FIG. 2.
圖4係圖2所示平面關節型機器人之小臂沿IV-IV方向之剖面示意圖。 4 is a schematic cross-sectional view of the arm of the planar articulated robot shown in FIG. 2 taken along the IV-IV direction.
圖5係圖4所示V處之局部放大圖。 Figure 5 is a partial enlarged view of a portion V shown in Figure 4.
下面將結合附圖及實施方式對本發明之平面關節型機器人作進一 步詳細說明。 The planar articulated robot of the present invention will be further developed in conjunction with the drawings and embodiments. Step details.
請同時參閱圖1和圖2,本發明實施方式之機器人100為平面關節型機器人,其包括基座10、大臂20及小臂30。基座10用於將機器人100安裝至地面或工作台上,其內部設有第一轉軸11及驅動第一轉軸11旋轉之第一馬達13。大臂20一端藉由第一轉軸11可轉動地設置於基座10上。小臂30內設有第二轉軸31及驅動第二轉軸31旋轉之第二馬達32。小臂30藉由第二轉軸31可轉動地設置於大臂20另一端上。 Referring to FIG. 1 and FIG. 2 simultaneously, the robot 100 of the embodiment of the present invention is a planar articulated robot including a base 10, a boom 20 and an arm 30. The base 10 is used to mount the robot 100 to the ground or the table, and is internally provided with a first rotating shaft 11 and a first motor 13 that drives the rotation of the first rotating shaft 11. One end of the boom 20 is rotatably disposed on the base 10 by the first rotating shaft 11. A second rotating shaft 31 and a second motor 32 for driving the rotation of the second rotating shaft 31 are disposed in the arm 30. The arm 30 is rotatably disposed on the other end of the boom 20 by the second rotating shaft 31.
小臂30還包括第三轉軸33、第三馬達34、傳動裝置35、絲桿36、螺母37、第四馬達38、第四轉軸39及軸承組件40。第三馬達34可驅動第三轉軸33旋轉。傳動裝置35分別與第三轉軸33和絲桿36相連。螺母37活動套設於絲桿36上。第四馬達38與螺母37固定。第四轉軸39由第四馬達38驅動相連,並穿設於軸承組件40。 The arm 30 further includes a third rotating shaft 33, a third motor 34, a transmission 35, a lead screw 36, a nut 37, a fourth motor 38, a fourth rotating shaft 39, and a bearing assembly 40. The third motor 34 can drive the third shaft 33 to rotate. The transmission 35 is coupled to the third shaft 33 and the lead screw 36, respectively. The nut 37 is sleeved on the lead screw 36. The fourth motor 38 is fixed to the nut 37. The fourth rotating shaft 39 is driven and connected by the fourth motor 38 and is passed through the bearing assembly 40.
請同時參閱圖3和圖4,小臂30進一步包括固定座301及安裝於固定座301上且罩設於其他零件上之外殼302。第二馬達32、第三馬達34及軸承組件40均固定安裝於固定座301上,絲桿36藉由一連接座(未標示)可轉動地安裝於固定座301上,上述設計可使小臂30之整體重心較低且較為靠近大臂20,以減少慣量、增強剛性。傳動裝置35包括第一帶輪351、第二帶輪353及皮帶355。第一帶輪351套設固定於第三轉軸33。第二帶輪353套設並固定於絲桿36底端。皮帶355分別與第一帶輪351和第二帶輪353相連,並可將動力從第一帶輪351傳遞到第二帶輪353。 Referring to FIG. 3 and FIG. 4 simultaneously, the arm 30 further includes a fixing base 301 and a housing 302 mounted on the fixing base 301 and covering the other parts. The second motor 32, the third motor 34 and the bearing assembly 40 are fixedly mounted on the fixing base 301. The screw rod 36 is rotatably mounted on the fixing base 301 by a connecting seat (not shown). The overall center of gravity of 30 is lower and closer to the boom 20 to reduce inertia and increase rigidity. The transmission 35 includes a first pulley 351, a second pulley 353, and a belt 355. The first pulley 351 is sleeved and fixed to the third rotating shaft 33. The second pulley 353 is sleeved and fixed to the bottom end of the screw 36. The belt 355 is coupled to the first pulley 351 and the second pulley 353, respectively, and can transmit power from the first pulley 351 to the second pulley 353.
為保證螺母37沿絲桿36軸向運動時之精度,小臂30進一步包括導軌座361、導軌363、連接板371及滑塊373。導軌座361固設於固 定座301上且位於第三馬達34與絲桿36之間,以儘量節約內部空間。導軌363大致為與絲桿36平行之長條,其藉由複數螺釘364固定於導軌座361上。連接板371一端套設並固定於螺母37,並且與滑塊373固定。第四馬達38固定安裝於連接板371之另一端。滑塊373可活動地卡合於導軌363,且當螺母37沿絲桿36軸向運動時,滑塊373可沿導軌363滑動。為防止螺母37向上運動時從絲桿36頂部脫落,絲桿36頂端上固設有可與螺母37相抵之擋塊365。本實施方式中,絲桿36為滾珠絲桿,螺母37為滾珠螺母。 In order to ensure the accuracy of the nut 37 moving axially along the screw 36, the arm 30 further includes a rail seat 361, a rail 363, a connecting plate 371, and a slider 373. The rail seat 361 is fixed to the solid The seat 301 is located between the third motor 34 and the lead screw 36 to save internal space as much as possible. The guide rail 363 is substantially a strip parallel to the lead screw 36 and is fixed to the rail mount 361 by a plurality of screws 364. The connecting plate 371 is sleeved at one end and fixed to the nut 37, and is fixed to the slider 373. The fourth motor 38 is fixedly mounted to the other end of the connecting plate 371. The slider 373 is movably engaged with the guide rail 363, and when the nut 37 moves axially along the screw shaft 36, the slider 373 is slidable along the guide rail 363. In order to prevent the nut 37 from falling off from the top of the screw 36 when moving upward, a stopper 365 which can abut against the nut 37 is fixed to the top end of the screw 36. In the present embodiment, the screw 36 is a ball screw, and the nut 37 is a ball nut.
為降低第四馬達38之轉速並提高輸出力矩,第三小臂30進一步包括減速機381。減速機381固定於連接板371上並設於第四馬達38與第四轉軸39之間。本實施方式中,第四馬達38為低慣量之伺服馬達,減速機381為實心軸諧波減速機。 In order to reduce the rotational speed of the fourth motor 38 and increase the output torque, the third arm 30 further includes a speed reducer 381. The speed reducer 381 is fixed to the connecting plate 371 and disposed between the fourth motor 38 and the fourth rotating shaft 39. In the present embodiment, the fourth motor 38 is a low inertia servo motor, and the speed reducer 381 is a solid shaft harmonic reducer.
第四轉軸39末端開設有連接孔391。各類末端執行器,例如夾具、探測裝置、刀具等可藉由連接孔391與第四轉軸39相連。 A connecting hole 391 is formed at the end of the fourth rotating shaft 39. Various types of end effectors, such as clamps, detecting devices, tools, and the like, may be coupled to the fourth rotating shaft 39 via the connecting holes 391.
請參閱圖5,軸承組件40包括直線軸承41、套筒43、兩滾動軸承45及兩卡環47。第四轉軸39穿設於直線軸承41。第四轉軸39與直線軸承41之間之軸向摩擦力較小,故,第四轉軸39可於直線軸承41內沿軸向上下滑動。直線軸承41上下兩端之外側壁上各開設有一環形卡槽411。二卡環47分別卡入二卡槽411內。套筒43套設於直線軸承41上,且位於二卡環47之間。由此,套筒43與直線軸承41固定於一起。套筒43上下二端分別開設有階梯狀之卡合槽431。二滾動軸承45分別套設於套筒43二端,且滾動軸承45之內圈卡合固定於卡合槽431。滾動軸承45之外圈與固定座301固定。滾動軸承45之內外圈之間之摩擦力小於第四轉軸39與直線軸承41之間 之摩擦力。本實施方式中,滾動軸承45為成本較低之深溝球軸承。 Referring to FIG. 5, the bearing assembly 40 includes a linear bearing 41, a sleeve 43, two rolling bearings 45, and two snap rings 47. The fourth rotating shaft 39 is bored in the linear bearing 41. The axial frictional force between the fourth rotating shaft 39 and the linear bearing 41 is small, so that the fourth rotating shaft 39 can slide up and down in the axial direction inside the linear bearing 41. An annular card slot 411 is defined in each of the upper and lower ends of the linear bearing 41. The two snap rings 47 are respectively inserted into the two card slots 411. The sleeve 43 is sleeved on the linear bearing 41 and located between the two snap rings 47. Thereby, the sleeve 43 and the linear bearing 41 are fixed together. A stepped engagement groove 431 is defined in each of the upper and lower ends of the sleeve 43. The two rolling bearings 45 are respectively sleeved on both ends of the sleeve 43 , and the inner ring of the rolling bearing 45 is engaged and fixed to the engaging groove 431 . The outer ring of the rolling bearing 45 is fixed to the fixing base 301. The friction between the inner and outer rings of the rolling bearing 45 is smaller than between the fourth rotating shaft 39 and the linear bearing 41 Friction. In the present embodiment, the rolling bearing 45 is a deep groove ball bearing having a low cost.
以下僅介紹小臂30之動作情況,機器人100其餘機構,例如基座10、大臂20之動作情況與現有機器人相似。當需第四轉軸39做直線運動時,第三馬達34驅動第三轉軸33旋轉,帶動第一帶輪351旋轉,並經由皮帶355帶動第二帶輪353旋轉,最終帶動絲桿36旋轉。套設於絲桿36上之螺母37帶動連接板371沿絲桿36軸向運動,由此帶動第四馬達38、減速機381及第四轉軸39一起做直線運動,並且帶動滑塊373沿導軌363滑動。由於第四轉軸39與直線軸承41之間之軸向摩擦力較小,故,第四轉軸39可於直線軸承41內沿軸向運動。當需第四轉軸39做旋轉運動時,第四馬達38經過減速機381減速後驅動第四轉軸39轉動。第四轉軸39轉動時,由於第四轉軸39與直線軸承41之間之摩擦力大於滾動軸承45內外圈之間之摩擦力,故,直線軸承41及套筒43將和第四轉軸39形成一整體於滾動軸承45之限制下相對固定座301旋轉。 Only the operation of the arm 30 will be described below, and the rest of the mechanism of the robot 100, such as the base 10 and the boom 20, be similar to the existing robot. When the fourth rotating shaft 39 is required to perform linear motion, the third motor 34 drives the third rotating shaft 33 to rotate, drives the first pulley 351 to rotate, and drives the second pulley 353 to rotate via the belt 355, thereby finally driving the screw 36 to rotate. The nut 37 disposed on the lead screw 36 drives the connecting plate 371 to move axially along the screw rod 36, thereby driving the fourth motor 38, the speed reducer 381 and the fourth rotating shaft 39 to linearly move together, and driving the slider 373 along the guide rail. 363 sliding. Since the axial friction between the fourth rotating shaft 39 and the linear bearing 41 is small, the fourth rotating shaft 39 can move in the axial direction within the linear bearing 41. When the fourth rotating shaft 39 is required to perform a rotational motion, the fourth motor 38 is decelerated by the speed reducer 381 to drive the fourth rotating shaft 39 to rotate. When the fourth rotating shaft 39 rotates, since the frictional force between the fourth rotating shaft 39 and the linear bearing 41 is greater than the friction between the inner and outer rings of the rolling bearing 45, the linear bearing 41 and the sleeve 43 will form a whole with the fourth rotating shaft 39. Rotating relative to the fixed seat 301 under the restriction of the rolling bearing 45.
與習知機器人相比,本實施方式之第四轉軸39與第四馬達38直接驅動相連,省卻傳統之帶輪、花鍵等傳動機構,故精度較高、剛度較好、回應速度快。實驗證明,本實施方式之機器人100之最大負載為20千克,且容許有100mm以上之偏心量。 Compared with the conventional robot, the fourth rotating shaft 39 of the present embodiment is directly driven and connected with the fourth motor 38, and the conventional pulley, spline and other transmission mechanisms are omitted, so that the precision is high, the rigidity is good, and the response speed is fast. Experiments have shown that the maximum load of the robot 100 of the present embodiment is 20 kg, and an eccentric amount of 100 mm or more is allowed.
可理解,滾動軸承45也可為深溝球軸承,例如可為角接觸球軸承、圓柱滾子軸承等;滾動軸承45之數量也可為一或多於二。如果軸承組件40之直線軸承41直接與滾動軸承45相連,套筒43也可省卻。若第四轉軸39與直線軸承41之間之摩擦力小於滾動軸承45之摩擦力,則第四轉軸39於直線軸承41內轉動。 It can be understood that the rolling bearing 45 can also be a deep groove ball bearing, for example, an angular contact ball bearing, a cylindrical roller bearing, etc.; the number of the rolling bearings 45 can also be one or more than two. If the linear bearing 41 of the bearing assembly 40 is directly connected to the rolling bearing 45, the sleeve 43 can also be omitted. If the frictional force between the fourth rotating shaft 39 and the linear bearing 41 is smaller than the frictional force of the rolling bearing 45, the fourth rotating shaft 39 rotates in the linear bearing 41.
若第四馬達38之轉速較低,減速機381也可省卻。若絲桿36頂端與小臂30之固定座301固定,導軌363、導軌座361及滑塊373也可省卻。 If the rotational speed of the fourth motor 38 is low, the speed reducer 381 can also be omitted. If the top end of the lead screw 36 is fixed to the fixing base 301 of the arm 30, the guide rail 363, the rail seat 361 and the slider 373 can also be omitted.
綜上所述,本發明確已符合發明專利之要件,遂依法提出專利申請。惟,以上所述者僅為本發明之較佳實施方式,自不能以此限制本案之申請專利範圍。舉凡熟悉本案技藝之人士援依本發明之精神所作之等效修飾或變化,皆應涵蓋於以下申請專利範圍內。 In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.
100‧‧‧機器人 100‧‧‧ Robot
10‧‧‧基座 10‧‧‧ Pedestal
11‧‧‧第一轉軸 11‧‧‧First shaft
13‧‧‧第一馬達 13‧‧‧First motor
20‧‧‧大臂 20‧‧‧Big
30‧‧‧小臂 30‧‧‧ Arm
31‧‧‧第二轉軸 31‧‧‧second shaft
32‧‧‧第二馬達 32‧‧‧second motor
33‧‧‧第三轉軸 33‧‧‧ Third shaft
34‧‧‧第三馬達 34‧‧‧third motor
35‧‧‧傳動裝置 35‧‧‧Transmission
36‧‧‧絲桿 36‧‧‧Spindle
37‧‧‧螺母 37‧‧‧ nuts
38‧‧‧第四馬達 38‧‧‧fourth motor
39‧‧‧第四轉軸 39‧‧‧fourth shaft
40‧‧‧軸承組件 40‧‧‧ bearing assembly
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW98144056A TWI468274B (en) | 2009-12-22 | 2009-12-22 | Scara type robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW98144056A TWI468274B (en) | 2009-12-22 | 2009-12-22 | Scara type robot |
Publications (2)
Publication Number | Publication Date |
---|---|
TW201121738A TW201121738A (en) | 2011-07-01 |
TWI468274B true TWI468274B (en) | 2015-01-11 |
Family
ID=45045765
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW98144056A TWI468274B (en) | 2009-12-22 | 2009-12-22 | Scara type robot |
Country Status (1)
Country | Link |
---|---|
TW (1) | TWI468274B (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105479484A (en) * | 2016-01-04 | 2016-04-13 | 珠海格力电器股份有限公司 | Robot joint assembly and robot with same |
CN107685322A (en) * | 2017-09-28 | 2018-02-13 | 李从宾 | A kind of manipulator of multiple degrees of freedom industrial robot |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW436398B (en) * | 1998-07-29 | 2001-05-28 | Janome Sewing Machine Co Ltd | A robot with multiple articulated arms capable of moving horizontally |
JP2003275978A (en) * | 2002-03-20 | 2003-09-30 | Yamaha Motor Co Ltd | Scara robot |
US20050087034A1 (en) * | 2003-10-23 | 2005-04-28 | Boris Friedrich | Robot of SCARA type |
TWI289102B (en) * | 2004-12-16 | 2007-11-01 | Seiko Epson Corp | Horizontal articulated robot |
-
2009
- 2009-12-22 TW TW98144056A patent/TWI468274B/en not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW436398B (en) * | 1998-07-29 | 2001-05-28 | Janome Sewing Machine Co Ltd | A robot with multiple articulated arms capable of moving horizontally |
JP2003275978A (en) * | 2002-03-20 | 2003-09-30 | Yamaha Motor Co Ltd | Scara robot |
US20050087034A1 (en) * | 2003-10-23 | 2005-04-28 | Boris Friedrich | Robot of SCARA type |
TWI289102B (en) * | 2004-12-16 | 2007-11-01 | Seiko Epson Corp | Horizontal articulated robot |
Also Published As
Publication number | Publication date |
---|---|
TW201121738A (en) | 2011-07-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8201472B2 (en) | Robot arm | |
JP4560235B2 (en) | Angle adjustment table device | |
CN102059697B (en) | Translating branch chain and parallel robot using same | |
US20150158186A1 (en) | Scara robot | |
US20110132125A1 (en) | Cartesian coordinate robot | |
CN205521374U (en) | Coaxial transmission structure's arm | |
TWI468274B (en) | Scara type robot | |
JP2007178002A (en) | Sliding device | |
CN108942996A (en) | A kind of new-energy automobile gear box casing catching robot | |
CN114043455B (en) | Small-sized industrial desktop mechanical arm, base thereof and robot | |
JP2005299828A (en) | Link operating device | |
JP2013006259A (en) | Industrial robot | |
JPS63163063A (en) | Two-degree of freedom driving mechanism performing straight advancing motion and rotary motion | |
JPH09239635A (en) | Xy positioning table device | |
JP2015147286A (en) | actuator and robot | |
CN111002297A (en) | Ball spline robot | |
JP5958543B2 (en) | robot | |
CN212635739U (en) | SCARA robot | |
JP2523219Y2 (en) | Slide guide mechanism of Cartesian coordinate robot | |
JP4471874B2 (en) | Linear drive | |
CN111409063A (en) | SCARA robot | |
JPS61168478A (en) | Multi-joint robot | |
JP2014084975A (en) | Linear motion table device and ball screw support mechanism of linear motion table device | |
JP4674308B2 (en) | Exercise device and chip mounter using the same | |
JP3126440U (en) | Articulated robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
MM4A | Annulment or lapse of patent due to non-payment of fees |