WO2000021721A1 - Bras robotique - Google Patents

Bras robotique Download PDF

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Publication number
WO2000021721A1
WO2000021721A1 PCT/JP1999/005663 JP9905663W WO0021721A1 WO 2000021721 A1 WO2000021721 A1 WO 2000021721A1 JP 9905663 W JP9905663 W JP 9905663W WO 0021721 A1 WO0021721 A1 WO 0021721A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
shaft
end side
timing
timing pulley
Prior art date
Application number
PCT/JP1999/005663
Other languages
English (en)
Japanese (ja)
Inventor
Kenichi Nishio
Original Assignee
Kenichi Nishio
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 Kenichi Nishio filed Critical Kenichi Nishio
Priority to JP2000575666A priority Critical patent/JP3230090B2/ja
Publication of WO2000021721A1 publication Critical patent/WO2000021721A1/fr

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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
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
    • H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
    • H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
    • H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
    • H01L21/67742—Mechanical parts of transfer devices

Definitions

  • the present invention relates to a robot arm having a finger arm provided with a suction beak on the distal end side, and to a robot arm capable of performing a rotary motion about a rotation axis and capable of moving up and down in a vertical direction.
  • the robot arm in the above-described robot arm, can be rotated any number of times at least 360 degrees around the rotation axis, and the distance from the rotation axis to the suction beak can be expanded and contracted.
  • the invention related to the rotation device of the articulated robot has been proposed.
  • Japanese Patent Laid-Open No. 61-273636 there has also been proposed a robot rotation mechanism having a mechanical stopper and capable of rotating more than 360 degrees (Japanese Patent Application Laid-Open No. 61-273636).
  • a turning device for an industrial robot having a rotating body such as a turning arm that rotates within a predetermined range Japanese Patent Application Laid-Open No. 4-275758.
  • a parent arm, a child arm, etc., constituting a robot arm can be rotated indefinitely by more than 360 degrees
  • the purpose is to propose a robot arm that can arbitrarily expand and contract the distance from the robot arm to the finger arm provided on the distal end side of the robot arm, and can adjust the vertical height of the robot arm as desired.
  • the present invention provides a robot arm as described above, in which the distance from the center of rotation of the robot arm to the finger arm is arbitrarily expanded or contracted at any position where the robot arm rotates infinitely.
  • a robot arm capable of performing an operation of sucking a work or the like by a suction beak provided on the finger arm at any position where the height of the robot arm is arbitrarily raised and lowered in the vertical direction. The purpose is to propose.
  • the robot arm proposed by the present invention to solve the above object is configured as follows.
  • the basic configuration of the robot arm according to the present invention includes an inner / outer double shaft composed of an inner shaft and an outer shaft, each of which has a lower end rotatably attached to a lifting plate, and an upper end side of the outer shaft.
  • a parent arm whose base end is rotatably mounted; a child arm whose base end is rotatably mounted on a first shaft erected on the distal end of the parent arm; And a finger arm whose base end is rotatably attached to a second shaft erected on the distal end of the arm.
  • the inner shaft and the outer shaft are provided with a rotation detector and a rotation force input means, respectively, and a first timing pulley and a second timing pulley are fixed to an upper end side, respectively.
  • the first timing pulley and the second timing pulley are timing pulleys that are rotatably mounted on the first shaft, and are the third timing pulleys that are vertically combined.
  • a pulley and a fourth timing pulley are connected to each other by a first evening timing belt and a second timing belt, and the base end of the child arm is connected to the upper end of the third timing pulley. By being fixed, it is rotatably attached to the first shaft.
  • a fifth timing pulley is further fixed to the first shaft, and the fifth timing bouley is rotatably attached to a second shaft erected on the distal end side of the child arm.
  • the finger arms are connected to each other, and are fixed to the sixth timing pulley so as to be rotatably attached to the second shaft.
  • the first, second, third, fourth, fifth, and sixth timing pulleys are formed as toothed pulleys, respectively.
  • a predetermined tooth number ratio is defined between the number of teeth of each timing pulley.
  • the robot arm of the present invention can rotate infinitely over 360 degrees around the rotation axis, and can freely set the distance from the rotation center to one finger. Can be expanded and contracted.
  • the infinite rotation can be performed in either the forward or reverse direction, so that the parent arm and the like can be moved and rotated with a minimum amount of rotation.
  • the robot can be moved and rotated to a desired position, which can improve the efficiency of work using a robot.
  • Another robot arm proposed by the present invention is the above-mentioned robot arm, wherein the finger arm further includes a suction beak on a tip side thereof, and the inner shaft has a hollow cylindrical shape with upper and lower ends closed.
  • the upper end side of the hollow portion of the inner shaft is provided with a ventilation portion in the parent arm, a ventilation portion provided in the first shaft, a ventilation portion in the child arm, and a ventilation portion provided in the second shaft.
  • a distal end of a suction pipe which communicates with a suction beak on the distal end side of the finger arm through a ventilation portion in the finger arm, and has a proximal end connected to a gas supply / discharge means at a lower end of the hollow portion of the inner shaft;
  • the robot arm has a side opening inserted over a predetermined vertical height.
  • FIG. 1 is a sectional view in which a part of the embodiment of the present invention is omitted.
  • FIG. 2 is a plan view in which a part of the embodiment shown in FIG. 1 is omitted.
  • FIG. 3 is a perspective view for explaining a rotating state of the parent arm and the like when the distance from the center of rotation to the tip of the finger arm is expanded and contracted.
  • FIG. 4 is a perspective view in which a part of the rotation state of a parent arm and the like is omitted.
  • FIG. 5 is a cross-sectional view partially illustrating a connection structure of a parent arm and the like, with parts omitted.
  • FIG. 6 is a partially omitted cross-sectional view showing a connection example of a ventilation hole in a central portion of the rotary motion.
  • a lifting plate 6 is attached to a ball screw 4 that is rotatably installed upright between the lower plate 2 of the machine casing 1 and the upper plate 3 (the left side in FIG. 1). )
  • the cylindrical nut 5 fixed to is screwed.
  • An electromagnetic brake 50 is mounted on the upper end side of the ball screw 4, and a timing pulley 41 is fixed.
  • the timing pulley 41 is connected to a timing pulley 39 fixed to the rotating shaft of a stepping motor 38 disposed on a support plate 37 supported by the machine frame 1 by a timing belt 40.
  • the ball screw 4 rotates by receiving rotation input from the stepping motor 38.
  • the lower end of the inner shaft 8 of the robot arm is rotatably mounted on the other side (the right side in FIG. 1) of the elevating plate 6, the lower end of the inner shaft 8 of the robot arm is rotatably mounted.
  • the outer shaft 9 of the robot arm is coaxially fitted on the inner shaft 8, and the outer shaft 9 is supported by the inner shaft 8 as shown in FIG. With this configuration, the inner shaft 8 and the outer shaft 9 that form the inner and outer double shafts of the robot arm have their lower ends rotatably attached to the elevating plate 6, respectively.
  • the basic configuration of the robot arm of the present invention is as follows: a parent arm 24 whose base end is rotatably attached to the upper end of the outer shaft 9 described above; The base arm is rotatably mounted on the first shaft 26, the base end of which is rotatably mounted, and the second shaft 27, which is set up on the distal end of the child arm 25, is rotatable on the base end. freely And a finger arm 28 provided with a suction beak 49 on the distal end side.
  • timing pulleys 11 and 10 and sensor dogs 13 and 12 are fixed to lower ends of the inner shaft 8 and the outer shaft 9, respectively.
  • the lower end of the bracket 14 is fixed to the lifting plate 6, and the photosensors 16 and 15 arranged at positions facing the sensor dogs 13 and 12 are attached to the bracket 1.
  • Installed on 4. These form a rotation detector attached to the inner shaft 8 and the outer shaft 9.
  • timing pulleys 19, 20 fixed to the output shafts of the stepping motors 17, 18 mounted on the elevating plate 6, and the inner shaft 8 are connected by timing belts 21 and 22 respectively, and are attached to the inner shaft 8 and the outer shaft 9 by these.
  • a rotating force input means is configured.
  • a first timing pulley 29 and a second evening pulley 23 are fixed (FIGS. 1 and 5).
  • the first timing pulley 29 and the second timing pulley 23 are rotatably attached to a first shaft 26 fixedly provided on the leading end side of the parent arm 24.
  • the third pulley 30 and the fourth evening pulley 32 and the first timing belt 31 and the second evening belt 33 are combined by the timing pulley and upper and lower. It is connected ( Figure 1, Figure 5). It is preferable to arrange a guide pulley 56 as shown in FIG. 1 between the first timing belt 31 and the second timing belt 33, but such a guide pulley 56 is arranged. It is also possible to adopt a configuration that is not stored.
  • the child arm 25 is rotatably attached to the first shaft 26 because its base end is fixed to the upper end of the third timing tree 30.
  • a fifth timing pulley 34 is further fixed to the first shaft 26, and the fifth timing pulley 34 is connected to the distal end of the child arm 25.
  • a sixth timing tree 35 rotatably attached to a second shaft 27 fixedly mounted on the side and a third evening belt 36 I have. It is preferable to arrange a guide pulley 57 in the middle of the third timing belt 36 as shown in FIG. 1, but it is also possible to adopt a configuration in which such a guide pulley 57 is not provided. It is.
  • the finger arm 28 having the suction beak 49 on the distal end side is rotatable about the second shaft 27 because its base end side is fixed to the sixth timing pulley 35. Attached to.
  • parent arm 24, etc. The vertical direction of the parent arm 24, the child arm 25, and the finger-arm 28 (hereinafter, these are collectively referred to as "parent arm 24, etc.") in the robot arm of this embodiment. Is performed as follows.
  • the cylindrical nut 5 moves up and down in the directions of arrows 4 2 and 4 3 according to the rotation direction of the ball screw 4 (see FIG. 1).
  • the elevating plate 6 and the inner shaft 8 and the outer shaft 9 whose lower ends are rotatably attached thereto are also moved up and down in the directions of arrows 42 and 43. Therefore, the parent arm 24 whose base end is rotatably attached to the upper end of the outer shaft 9 also moves up and down in the directions of arrows 42 and 43, and the raising and lowering operations of the parent arm 24 and the like are performed. .
  • the stepping motor 38 is provided with a sensor dog 51 and a photo sensor 52, as shown in Fig. 1, so that the rotation of the stepping motor 38 is detected, and the desired rotation is provided to the parent arm 24 or the like. Up and down movement can be performed.
  • the operation for extending and contracting the distance L (FIG. 3) from the inner / outer double shaft consisting of the inner shaft 8 and the outer shaft 9 to the tip of the finger arm 28 is performed as follows.
  • Stepping motor overnight 17 is stopped, and outer shaft 9 is prevented from rotating.
  • the stepping motor 18 is operated, and only the inner shaft 8 is rotated, for example, in the direction of arrow 59 in FIG.
  • the first pulling pulley 29 fixed to the upper end of the inner shaft 8 tries to rotate in the direction of arrow 59 as the inner shaft 8 rotates, and this rotational force is transmitted through the first evening belt 31.
  • the third timing pulley 30 and the fourth evening pulley 32 formed integrally therewith are similarly driven in the directions indicated by arrows 59 around the first shaft 26. Try to rotate.
  • the fourth timing pulley 32 is connected to the second timing pulley 23 fixed to the upper end side of the outer shaft 9 which is prevented from rotating by the second timing belt 33. Therefore, the third timing pulley 130 and the fourth sunset pulley 32 cannot rotate in the direction of arrow 59 around the first shaft 26.
  • the third and fourth timing pulleys 30 and 32 maintain the tension of the first and second evening imaging belts 31 and 33 while maintaining the inner shaft 8 and the first timing pulley. 29
  • the outer shaft 9 is rotated while rotating in the direction of arrow 5 (Fig. 3, Fig. 4) around the first axis 26 in the direction of arrow 5 It will rotate (revolve) in the direction indicated by arrow 5 as the center of the arrow.
  • the first shaft 26 also rotates (revolves) in the direction indicated by the arrow 53 around the outer shaft 9 as the center of rotation, so that the first shaft 26 is fixedly erected on the distal end side.
  • the parent arm 24 also rotates around the outer shaft 9 in the direction of arrow 53 (FIG. 4).
  • the slave arm 25 is rotatably attached to the first shaft 26 because its base end is fixed to the upper end of the third timing pulley 130.
  • the third timing pulley 30 rotates (rotates) in the direction indicated by the arrow 54 around the first shaft 26 (FIGS. 3 and 4)
  • the third timing pulley 30 also rotates about the first shaft 26.
  • Arrow 5 Rotate in 4 directions (Figs. 3 and 4).
  • a sixth timing pulley 135 is rotatably mounted on a second shaft 27 fixedly provided on the distal end side of the slave arm 25.
  • the sixth timing pulley The third timing belt 36 is connected to a fifth timing pulley 34 fixed to the first shaft 26.
  • the first shaft 26 and the fifth timing pulley 34 revolve around the inner shaft 8 and the outer shaft 9 as the center of rotation as shown by an arrow 53 (FIG. 4).
  • the sixth timing pulley 135 rotatably attached to the second shaft 27 is connected to the first shaft 26 of the child arm 25 to which the second shaft 27 is fixed at its tip. Rotation in four directions (Fig.
  • the distance L (FIG. 3) from the inner / outer double shaft of the inner shaft 8 and the outer shaft 9 which is the center of the rotation of the robot arm of the present invention to the tip of the finger arm 28 expands and contracts. Is done.
  • the base end of the parent arm 24 is rotatably attached to the upper end of the outer shaft 9, and the base end of the child arm 25 is fixed to the distal end of the parent arm 24.
  • the third timing pulley 130 is rotatably attached to the first shaft 26, and the finger arm
  • the base end side of 28 is fixed to the upper end side of a sixth timing pulley 35 rotatably attached to a second shaft 27 fixed to the distal end side of the sub arm 25.
  • arrow 55 It is possible to make the rotation of the parent arm 24, etc. in 5 directions endlessly over 360 degrees or more. Also, the inner shaft 8 is rotated in the direction opposite to the arrows 59 (FIG. 4), and the parent arm 24 and the like are moved in the directions opposite to the arrows 53, 54, and 55. It can be rotated infinitely.
  • the rotation of the parent arm 24 and the like in the above can be accurately performed to a desired angle by controlling the rotation detectors and the torque input means attached to the inner shaft 8 and the outer shaft 9 described above. And with strict reproducibility.
  • the ratio of the number of teeth of each timing pulley formed as a toothed pulley is appropriately determined in advance, and the rotation is performed under the determined tooth number ratio.
  • the distance L (Fig. 3) from the inner / outer double shaft of the inner shaft 8 and the outer shaft 9 to the tip of the finger arm 28 is set to the desired size.
  • the parent arm 24 and the like can be rotated by a desired angle while expanding and contracting.
  • the ratio of the number of teeth of each timing tree and the length of the parent arm 24 and the like are appropriately determined in advance, the number of rotations of the inner shaft 8 will increase the number of rotations of the finger arm 28. It is possible to plan in advance where the tip of the can be moved.
  • the distance L (FIG. 3) from the inner / outer double shaft of the inner shaft 8 and the outer shaft 9 which is the center of the rotation of the robot arm to the tip of the finger arm 28 is extended and contracted.
  • control the stepping spiders 17 and 18 to synchronize the inner shaft 8 and outer shaft 9 to rotate at the same angular velocity. That is, the inner shaft 8 and the outer shaft 9 are fixed so that the first timing pulley 29 fixed to the inner shaft 8 and the second timing pulley 23 fixed to the outer shaft 9 do not relatively change with each other.
  • Axis 9 is rotated synchronously at the same angular velocity.
  • the inner shaft 8 and the outer shaft 9 are synchronized and rotated at the same angular velocity in the directions indicated by arrows 59 (FIG. 4).
  • the third timing pulley 30 and the fourth timing pulley 1 rotatably mounted on the first shaft 26 fixedly mounted on the distal end side of the parent arm 24 so as to be rotatable.
  • the first timing belt 31 and the second timing belt 33 are provided with the first timing pulley 29 and the second timing pulley 23 so as not to be relatively displaced from each other.
  • the third and fourth timing pulleys 30 and 32 try to rotate (rotate) in the direction of arrow 59 (Fig. 4) around the first shaft 26, respectively. .
  • the first, second, third and fourth timing pulleys 29, 23, 30 and 32 formed as toothed pulleys have the above-described ratio of the number of teeth.
  • the fourth timing pulley 30 and 32, the first and second evening around the first shaft 26 The first and second timing belts 31 and 33 are kept in tension while rotating (rotating) in the same direction as the imming pulleys 29 and 23, that is, in the direction of arrow 59 (Fig. 4). As it rotates, it rotates in the direction of arrow 53 (Fig. 4) with the inner and outer dual axes consisting of the inner shaft 8 and the outer shaft 9 as the center of rotation.
  • the first shaft 26 also revolves in the direction of the arrow 53 (FIG. 4) with the outer shaft 9 as the center of rotation, so that the first shaft 26 is fixedly erected on the tip side.
  • the parent arm 24 also rotates around the outer shaft 9 in the direction of arrow 53 (FIG. 4).
  • the third evening imaging tree 30 to which the base end side of the child arm 25 is fixed is rotated around the first shaft 26 in the direction indicated by arrow 53 (FIG. 4).
  • the child arm 25 also shows an arrow around the first shaft 26 in accordance with the rotation of the third timing pulley 30 around the first shaft 26 as the center of rotation. 5 Rotate in three directions (Fig. 4).
  • the first timing pulley 29, the second timing pulley 23, the third timing pulley 30, the fourth timing pulley 32, and the fifth timing pulley 3 As described above, there is a tooth ratio of 1: 2: 2: 1: 1: 2 between the fourth and sixth timing trees 35, and the fifth evening pulley 34 Rotates in the direction of arrow 53 (FIG.
  • a finger arm 28 whose base end is fixed to a sixth timing pulley 35 rotatably attached to a second shaft 27 fixed to the distal end of the slave arm 25
  • the sixth timing pulley 135 is rotating (rotating) around the second shaft 27 in the direction indicated by arrow 53 (that is, the direction opposite to the direction indicated by arrow 54) (FIG. 4).
  • the shaft rotates about the second axis 27 in the direction indicated by the arrow 55 (that is, in the same direction as the arrow 53) (FIG. 4).
  • the rotation of the finger arm 28 in the direction of the arrow 55 (FIG. 4) about the second axis 27 also depends on the tooth ratio between the respective timing pulleys. Same as child arm 25 without causing relative displacement In the expected direction, it will be performed in the direction of arrow 55 (that is, in the same direction as arrow 53 and in the opposite direction of arrow 54) (Fig. 4).
  • the child arm 25 and the finger arm 28 both move the outer shaft 9 together with the rotation of the parent arm 24 in the direction of arrow 53 (FIG. 4) with the outer shaft 9 as the center of rotation. As the center of rotation, it rotates in the direction indicated by the arrow 53 (Fig. 4).
  • the distance L (Fig. 3) from the inner / outer double shaft of the inner shaft 8 and outer shaft 9, which is the center of the rotational movement of the robot arm, to the tip of the finger arm 28 is not expanded or contracted.
  • the following tooth ratios are maintained between the timing pulleys so that the rotation from 24 to the finger arm 28 can be integrally performed without causing relative displacement between them as described above. Need to be.
  • the ratio of the number of teeth between the first evening pulley 29 and the second evening pulley 23 is equal to the number of teeth between the third timing pulley 30 and the fourth timing pulley 32.
  • the ratio of the number of teeth between the third evening imaging pulley 30 and the fourth evening imaging pulley 32 is the inverse of the number ratio, and the fifth evening imaging pulley 34 and the sixth evening It is necessary to set the gear ratio between the timing pulleys so as to be the reciprocal of the gear ratio between each pulley 35.
  • the parent arm 24 or the like is arbitrarily raised or lowered in the upward or downward direction, the parent arm 24 or the like is rotated infinitely by 360 degrees or more, or the robot arm rotates. Even when the distance L (Fig. 3) from the inner / outer double shaft of the inner shaft 8 and outer shaft 9 that is the center of the Of the workpiece etc. by the suction beak 4 9 Can do the work. This is made possible by employing the structure and configuration described below.
  • the inner shaft 8 is formed in a hollow cylindrical shape whose upper and lower ends are closed, and as shown in FIG. 1, the upper end side of the hollow portion of the inner shaft 8 is a ventilation portion in the parent arm 24. Vent holes 45, vents provided on first shaft 26, vents 47 as vents in child arm 25, vents provided on second shaft 27, finger arms
  • the finger arm 28 communicates with the suction beak 49 on the distal end side through a ventilation hole 48 which is a ventilation part in the inside 28.
  • the ventilation section provided in the first shaft 26 is configured as shown in FIG. That is, a stopper cylinder 58 provided with an annular ventilation hole 46 is fitted to the first shaft 26, and a ventilation hole 45 in the parent arm 24 and a ventilation hole 4 in the child arm 25. 7 are each configured to communicate with the annular vent hole 46.
  • a stopper cylinder 58 provided with an annular ventilation hole 46 is fitted to the first shaft 26, and a ventilation hole 45 in the parent arm 24 and a ventilation hole 4 in the child arm 25. 7 are each configured to communicate with the annular vent hole 46.
  • connection between the upper end side of the hollow portion of the inner shaft 8 and the air hole 45 in the parent arm 24 is provided on the second shaft 27 from the air hole 47 of the child arm 25.
  • the connection of the finger arm 28 to the ventilation hole 48 through the ventilation portion can also adopt the configuration of the ventilation portion provided on the first shaft 26 shown in FIG.
  • the intake pipe 4 is connected to 4.
  • the predetermined length at which the upper end opening of the suction pipe 7 extends vertically in the hollow portion of the inner shaft 8 needs to be at least longer than the above-described vertical movement of the elevating plate 6. If the length at which the upper end opening of the suction pipe 7 extends vertically in the hollow portion of the inner shaft 8 is set as described above, the vertical movement of the lifting plate 6, that is, the vertical movement of the parent arm 24, etc. The upper end opening of the suction pipe 7 can always be present in the hollow portion of the inner shaft 8 even in the directional movement.
  • the suction beak 49 on the distal end side of the finger arm 28 can be At any time during the elevating operation and rotating operation of the system 24, etc., it is connected to the intake pipe 44, and the base end of the intake pipe 44 is connected to the gas supply / discharge means. By sucking and discharging the work, the work can be sucked and released by the suction beak 49.
  • the ventilation section provided on the first shaft 26 and the like the ingress of dust and leakage of ventilation can be prevented by sealing the bearing with a mechanical seal or a magnetic seal.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

Cette invention concerne un bras robotique qui est capable de faire tourner des bras primaire et secondaire, et analogues, sur une plage de 360° à l'infini, qui peut éventuellement augmenter ou réduire la distance entre le centre de rotation des bras robotiques et un bras de type doigt monté à l'extrémité avant du bras robotique, et qui peut éventuellement ajuster la longueur verticale des bras robotiques. Cette invention concerne également un bras robotique, tel que celui décrit précédemment, où le robot est capable d'effectuer un mouvement visant à attirer une pièce à usiner, ou analogue, à l'aide d'un ergot attracteur monté sur le bras de type doigt, ceci quelle que soit la position dans laquelle le bras robotique tourne à l'infini, quelle que soit la position dans laquelle la distance entre le centre de rotation du bras robotique et le bras de type doigt est éventuellement accrue ou réduite, et quelle que soit la position dans laquelle la hauteur du bras robotique est éventuellement accrue ou réduite.
PCT/JP1999/005663 1998-10-14 1999-10-14 Bras robotique WO2000021721A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000575666A JP3230090B2 (ja) 1998-10-14 1999-10-14 ロボットアーム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP29214098 1998-10-14
JP10/292140 1998-10-14

Publications (1)

Publication Number Publication Date
WO2000021721A1 true WO2000021721A1 (fr) 2000-04-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1999/005663 WO2000021721A1 (fr) 1998-10-14 1999-10-14 Bras robotique

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JP (1) JP3230090B2 (fr)
WO (1) WO2000021721A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002034477A2 (fr) * 2000-10-24 2002-05-02 Innovative Robotic Solutions Système d'entraînement pour bras de robot à plusieurs axes
CN104552285A (zh) * 2013-10-28 2015-04-29 精工爱普生株式会社 机器人、机器人控制装置以及机器人系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61121888A (ja) * 1984-11-19 1986-06-09 新明和工業株式会社 産業用ロボツト
JPH01316184A (ja) * 1988-06-14 1989-12-21 Mitsubishi Electric Corp 産業用ロボット
JPH0473482U (fr) * 1990-10-31 1992-06-26
JPH0557641A (ja) * 1991-08-27 1993-03-09 Canon Inc 移送ロボツト

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61121888A (ja) * 1984-11-19 1986-06-09 新明和工業株式会社 産業用ロボツト
JPH01316184A (ja) * 1988-06-14 1989-12-21 Mitsubishi Electric Corp 産業用ロボット
JPH0473482U (fr) * 1990-10-31 1992-06-26
JPH0557641A (ja) * 1991-08-27 1993-03-09 Canon Inc 移送ロボツト

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002034477A2 (fr) * 2000-10-24 2002-05-02 Innovative Robotic Solutions Système d'entraînement pour bras de robot à plusieurs axes
WO2002034477A3 (fr) * 2000-10-24 2002-12-19 Innovative Robotic Solutions Système d'entraînement pour bras de robot à plusieurs axes
US6601468B2 (en) 2000-10-24 2003-08-05 Innovative Robotic Solutions Drive system for multiple axis robot arm
CN104552285A (zh) * 2013-10-28 2015-04-29 精工爱普生株式会社 机器人、机器人控制装置以及机器人系统

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Publication number Publication date
JP3230090B2 (ja) 2001-11-19

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