WO2008084737A1 - 産業用ロボット - Google Patents

産業用ロボット Download PDF

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Publication number
WO2008084737A1
WO2008084737A1 PCT/JP2007/075271 JP2007075271W WO2008084737A1 WO 2008084737 A1 WO2008084737 A1 WO 2008084737A1 JP 2007075271 W JP2007075271 W JP 2007075271W WO 2008084737 A1 WO2008084737 A1 WO 2008084737A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
rotating shaft
industrial robot
merit
suppressed
Prior art date
Application number
PCT/JP2007/075271
Other languages
English (en)
French (fr)
Inventor
Ryuta Kagawa
Yoshiaki Miyazono
Takayuki Imanaka
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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 Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to EP07860474A priority Critical patent/EP2105265A4/en
Priority to JP2008525291A priority patent/JP4632181B2/ja
Publication of WO2008084737A1 publication Critical patent/WO2008084737A1/ja
Priority to US12/499,083 priority patent/US8079285B2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional 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
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • Y10T74/20311—Robotic arm including power cable or connector
    • 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
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist
    • 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
    • Y10T74/20341—Power elements as controlling elements
    • Y10T74/2036—Pair of power elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)

Abstract

　従来の産業用ロボットの干渉が発生しないというメリットはそのままに、コンジットケーブルの耐久性を損なわずにアームの振動を抑制することができるアーク溶接ロボットを提供する。 　板形部材を滑らかに湾曲させた断面Ｕ字形状の補強部材（１０）を、第１のアーム（３）の回転軸（第４軸）にＵ字形状の凹部側を向けて取り付ける。
PCT/JP2007/075271 2007-01-09 2007-12-28 産業用ロボット WO2008084737A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP07860474A EP2105265A4 (en) 2007-01-09 2007-12-28 INDUSTRIAL ROBOT
JP2008525291A JP4632181B2 (ja) 2007-01-09 2007-12-28 産業用ロボット
US12/499,083 US8079285B2 (en) 2007-01-09 2009-07-07 Robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007001757 2007-01-09
JP2007-001757 2007-01-09

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/499,083 Continuation US8079285B2 (en) 2007-01-09 2009-07-07 Robot

Publications (1)

Publication Number Publication Date
WO2008084737A1 true WO2008084737A1 (ja) 2008-07-17

Family

ID=39608631

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/075271 WO2008084737A1 (ja) 2007-01-09 2007-12-28 産業用ロボット

Country Status (4)

Country Link
US (1) US8079285B2 (ja)
EP (1) EP2105265A4 (ja)
JP (1) JP4632181B2 (ja)
WO (1) WO2008084737A1 (ja)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012240140A (ja) * 2011-05-17 2012-12-10 Toshiba Mach Co Ltd 垂直多関節ロボット
JP5413524B1 (ja) * 2013-01-17 2014-02-12 株式会社安川電機 ロボット
JP2015104764A (ja) * 2013-11-29 2015-06-08 キヤノン株式会社 アーム機構
JP2019181627A (ja) * 2018-04-11 2019-10-24 ファナック株式会社 ロボットの手首構造

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008001314A1 (de) * 2008-04-22 2009-10-29 Robert Bosch Gmbh Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum
WO2010052031A1 (en) * 2008-11-04 2010-05-14 Abb Technology Ab A process turning disc, a robot arm comprising a process turning disc, a robot and a use of a process turning disc
JP5344315B2 (ja) * 2010-11-04 2013-11-20 株式会社安川電機 ロボットの手首構造及びロボット
EP2711145B1 (en) * 2011-05-13 2019-02-27 Kawasaki Jukogyo Kabushiki Kaisha Multiple-joint industrial robot
JP5895914B2 (ja) * 2013-09-19 2016-03-30 株式会社安川電機 ロボット
CN106737583A (zh) * 2016-12-28 2017-05-31 上海未来伙伴机器人有限公司 类人机器人的舵机走线结构及类人机器人
JP6670455B2 (ja) * 2017-08-31 2020-03-25 株式会社安川電機 ロボット及びロボットシステム
CN114872033A (zh) * 2022-04-29 2022-08-09 广东博智林机器人有限公司 三轴旋转模块和机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11170184A (ja) * 1997-12-11 1999-06-29 Seiko Epson Corp ロボットのアーム構造
JP2003200376A (ja) 2001-10-22 2003-07-15 Yaskawa Electric Corp 産業用ロボット
JP2004306072A (ja) 2003-04-04 2004-11-04 Daihen Corp アーク溶接ロボットにおける溶接ワイヤ等の供給機構
JP2004338071A (ja) * 2003-05-19 2004-12-02 Yaskawa Electric Corp 産業用ロボットの中空手首および産業用ロボット
JP2005246532A (ja) * 2004-03-03 2005-09-15 Yaskawa Electric Corp ロボットのケーブル処理機構

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5881604A (en) * 1996-08-09 1999-03-16 Honda Giken Kogyo Kabushiki Kaisha Industrial robot
SE516877C2 (sv) * 1999-12-01 2002-03-19 Abb Ab Ett förfarande och ett vridorgan för dragning av ett kablage för en industrirobot
JP2005096073A (ja) * 2001-10-22 2005-04-14 Yaskawa Electric Corp 産業用ロボット
JP2004358649A (ja) * 2003-05-12 2004-12-24 Yaskawa Electric Corp 産業用ロボット
JP4286684B2 (ja) * 2004-02-27 2009-07-01 株式会社ダイヘン アーク溶接ロボットにおけるケーブル配設構造
JP4653427B2 (ja) * 2004-06-30 2011-03-16 ファナック株式会社 アーク溶接ロボットのトーチケーブル処理構造
DE102007056774A1 (de) * 2007-11-23 2009-06-04 Kuka Roboter Gmbh Industrieroboter mit einem Arm zur Führung einer Leitungsanordnung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11170184A (ja) * 1997-12-11 1999-06-29 Seiko Epson Corp ロボットのアーム構造
JP2003200376A (ja) 2001-10-22 2003-07-15 Yaskawa Electric Corp 産業用ロボット
JP2004306072A (ja) 2003-04-04 2004-11-04 Daihen Corp アーク溶接ロボットにおける溶接ワイヤ等の供給機構
JP2004338071A (ja) * 2003-05-19 2004-12-02 Yaskawa Electric Corp 産業用ロボットの中空手首および産業用ロボット
JP2005246532A (ja) * 2004-03-03 2005-09-15 Yaskawa Electric Corp ロボットのケーブル処理機構

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2105265A4 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012240140A (ja) * 2011-05-17 2012-12-10 Toshiba Mach Co Ltd 垂直多関節ロボット
JP5413524B1 (ja) * 2013-01-17 2014-02-12 株式会社安川電機 ロボット
US9481095B2 (en) 2013-01-17 2016-11-01 Kabushiki Kaisha Yaskawa Denki Robot
JP2015104764A (ja) * 2013-11-29 2015-06-08 キヤノン株式会社 アーム機構
JP2019181627A (ja) * 2018-04-11 2019-10-24 ファナック株式会社 ロボットの手首構造
US10807251B2 (en) 2018-04-11 2020-10-20 Fanuc Corporation Robot wrist structure

Also Published As

Publication number Publication date
US20100000364A1 (en) 2010-01-07
US8079285B2 (en) 2011-12-20
EP2105265A1 (en) 2009-09-30
EP2105265A4 (en) 2010-03-17
JP4632181B2 (ja) 2011-02-16
JPWO2008084737A1 (ja) 2010-04-30

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