WO2009069389A1 - 垂直多関節形ロボット - Google Patents

垂直多関節形ロボット Download PDF

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Publication number
WO2009069389A1
WO2009069389A1 PCT/JP2008/068627 JP2008068627W WO2009069389A1 WO 2009069389 A1 WO2009069389 A1 WO 2009069389A1 JP 2008068627 W JP2008068627 W JP 2008068627W WO 2009069389 A1 WO2009069389 A1 WO 2009069389A1
Authority
WO
WIPO (PCT)
Prior art keywords
upper arm
rotation axis
base
arm
vertical multi
Prior art date
Application number
PCT/JP2008/068627
Other languages
English (en)
French (fr)
Inventor
Keisuke Yonehara
Takashi Sanada
Tomoyuki Shiraki
Ryuta Kagawa
Takashi Hatanaka
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 EP08853361.7A priority Critical patent/EP2213425B1/en
Priority to JP2009543711A priority patent/JPWO2009069389A1/ja
Publication of WO2009069389A1 publication Critical patent/WO2009069389A1/ja
Priority to US12/720,677 priority patent/US8266979B2/en
Priority to US13/590,117 priority patent/US8720296B2/en

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
    • B25J9/06—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
    • 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
    • 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
    • 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
    • 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
    • Y10T74/20317—Robotic arm including electric motor
    • 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

Landscapes

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

Abstract

　本発明は、駆動用モータ交換に費やす時間を短縮するとともに機械的な位置のずれを簡単に修正できるとともにロボット自身に近い領域でも作業できる垂直多関節形ロボットを提供する。 　基台１と、前記基台１に対して第１の回転軸心（１）周りに旋回可能に設けられた旋回台２と、前記旋回台２に、前記第１の回転軸心（１）と直交する面内の第２の回転軸心（２）周りに回動可能に設けられた第１の上腕５と、前記第１の上腕５の先端部に、前記第２の回転軸心（２）と直交する第３の回転軸心（３）周りに旋回可能に設けられた第２の上腕８と、前記第２の上腕８の先端部に、前記第３の回転軸心（３）と直交する平面内の第４の回転軸心（４）周りに回動可能に設けられた前腕と、前記前腕の先端部に取り付けられた手首組立体１４とから構成され、前記第１の上腕５と、前記第２の上腕８と、前記前腕の各々を、各々の回動軸心周りに回転駆動するモータとを備え、前記第２の上腕８を回動するモータ１０が前記第２の上腕８のフレームに取り付けられたものである。
PCT/JP2008/068627 2007-11-26 2008-10-15 垂直多関節形ロボット WO2009069389A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP08853361.7A EP2213425B1 (en) 2007-11-26 2008-10-15 Vertical multi-joint robot
JP2009543711A JPWO2009069389A1 (ja) 2007-11-26 2008-10-15 垂直多関節形ロボット
US12/720,677 US8266979B2 (en) 2007-11-26 2010-03-10 Vertical articulated robot
US13/590,117 US8720296B2 (en) 2007-11-26 2012-08-20 Vertical articulated robot

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007-305001 2007-11-26
JP2007305001 2007-11-26
JP2008062522 2008-03-12
JP2008-062522 2008-03-12

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/720,677 Continuation US8266979B2 (en) 2007-11-26 2010-03-10 Vertical articulated robot

Publications (1)

Publication Number Publication Date
WO2009069389A1 true WO2009069389A1 (ja) 2009-06-04

Family

ID=40678293

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/068627 WO2009069389A1 (ja) 2007-11-26 2008-10-15 垂直多関節形ロボット

Country Status (5)

Country Link
US (2) US8266979B2 (ja)
EP (1) EP2213425B1 (ja)
JP (2) JPWO2009069389A1 (ja)
TW (1) TWI461270B (ja)
WO (1) WO2009069389A1 (ja)

Cited By (14)

* Cited by examiner, † Cited by third party
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JP2011152591A (ja) * 2010-01-26 2011-08-11 Daihen Corp 溶接用ロボット
JP2011255493A (ja) * 2010-06-04 2011-12-22 Robotis Co Ltd 多様な関節の形に適用可能なアクチュエータモジュール
DE102013015926A1 (de) 2012-09-26 2014-03-27 Fanuc Corporation Versorgungselement-Anbringungsvorrichtung eines Roboters
DE102013016734A1 (de) 2012-10-12 2014-04-30 Fanuc Corporation Vorrichtung zur Anbindung eines Versorgungselements an einen Roboter
WO2014087615A1 (ja) * 2012-12-05 2014-06-12 川崎重工業株式会社 ロボットの関節シール構造
KR101425056B1 (ko) 2013-02-21 2014-08-01 주식회사 로보스타 스프링 탄성을 이용한 로봇 내장 케이블 설치 구조
JP2014159081A (ja) * 2014-06-13 2014-09-04 Fanuc Ltd ロボットの線条体取付装置
US8893577B2 (en) 2010-04-14 2014-11-25 Fanuc Corporation Umbilical member arrangement unit of robot arm section
CN105215986A (zh) * 2015-11-11 2016-01-06 深圳市松崎机器人自动化设备有限公司 一种多轴机械手
US9975239B2 (en) 2015-03-02 2018-05-22 Kabushiki Kaisha Yaskawa Denki Robot
DE102018128444A1 (de) 2017-11-24 2019-05-29 Fanuc Corporation Roboterstruktur
JP2020116686A (ja) * 2019-01-24 2020-08-06 ファナック株式会社 ロボットの線条体処理構造および線条体増設用固定部材
DE102011014150B4 (de) * 2010-04-16 2021-03-11 Fanuc Corporation Versorgungskabelanordnungseinheit eines Roboterhandgelenkabschnittes
US11230002B2 (en) 2019-03-11 2022-01-25 Fanuc Corporation Robot

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WO2009069389A1 (ja) * 2007-11-26 2009-06-04 Kabushiki Kaisha Yaskawa Denki 垂直多関節形ロボット
US8903547B2 (en) * 2009-03-11 2014-12-02 Honda Motor Co., Ltd. Working device and working method
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JP5482742B2 (ja) * 2011-07-26 2014-05-07 株式会社安川電機 ロボットの製造方法
CN103056877B (zh) * 2011-10-21 2015-07-29 鸿富锦精密工业（深圳）有限公司 机械手
CN103120992A (zh) * 2011-11-18 2013-05-29 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP6184161B2 (ja) * 2012-07-12 2017-08-23 キヤノン株式会社 ロボット
JP5576911B2 (ja) * 2012-08-20 2014-08-20 ファナック株式会社 両持ち式のアーム部材を備えた多関節ロボット
JP5884785B2 (ja) * 2013-07-30 2016-03-15 株式会社安川電機 ロボット
US20150068350A1 (en) * 2013-09-10 2015-03-12 Seiko Epson Corporation Robot arm and robot
JP6337432B2 (ja) 2013-09-10 2018-06-06 セイコーエプソン株式会社 関節駆動装置及びロボット
WO2016103297A1 (ja) * 2014-12-25 2016-06-30 川崎重工業株式会社 アーム型のロボットの障害物自動回避方法及び制御装置
JP2016140917A (ja) * 2015-01-29 2016-08-08 株式会社安川電機 ロボット
CN104821526B (zh) * 2015-05-14 2017-03-15 湖北骐通智能科技股份有限公司 工业机器人的线缆布置结构以及工业机器人
GB201512966D0 (en) 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
CN108025445A (zh) * 2015-07-23 2018-05-11 斯里国际 机器人臂及机器人手术系统
JP6416746B2 (ja) 2015-12-24 2018-10-31 ファナック株式会社 小型化された関節部を備える産業用の多関節ロボット
DE102016003966A1 (de) 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
JP2018001315A (ja) * 2016-06-29 2018-01-11 セイコーエプソン株式会社 ロボット、制御装置およびロボットシステム
CN106737840A (zh) * 2016-12-30 2017-05-31 安徽泰富重工制造有限公司 一种机器人旋转臂结构
JP6499701B2 (ja) * 2017-03-30 2019-04-10 ファナック株式会社 ロボット
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JP2011152591A (ja) * 2010-01-26 2011-08-11 Daihen Corp 溶接用ロボット
US8893577B2 (en) 2010-04-14 2014-11-25 Fanuc Corporation Umbilical member arrangement unit of robot arm section
DE102011014150B4 (de) * 2010-04-16 2021-03-11 Fanuc Corporation Versorgungskabelanordnungseinheit eines Roboterhandgelenkabschnittes
JP2011255493A (ja) * 2010-06-04 2011-12-22 Robotis Co Ltd 多様な関節の形に適用可能なアクチュエータモジュール
DE102013015926A1 (de) 2012-09-26 2014-03-27 Fanuc Corporation Versorgungselement-Anbringungsvorrichtung eines Roboters
JP2014065110A (ja) * 2012-09-26 2014-04-17 Fanuc Ltd ロボットの線条体取付装置
US9233475B2 (en) 2012-09-26 2016-01-12 Fanuc Corporation Umbilical member attachment device of robot
DE102013016734A1 (de) 2012-10-12 2014-04-30 Fanuc Corporation Vorrichtung zur Anbindung eines Versorgungselements an einen Roboter
JP2014079818A (ja) * 2012-10-12 2014-05-08 Fanuc Ltd ロボットの線条体取付装置
US9393703B2 (en) 2012-10-12 2016-07-19 Fanuc Corporation Umbilical member attachment device of robot
CN106182086B (zh) * 2012-12-05 2019-01-11 川崎重工业株式会社 机械手的关节密封结构
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CN106182086A (zh) * 2012-12-05 2016-12-07 川崎重工业株式会社 机械手的关节密封结构
JPWO2014087615A1 (ja) * 2012-12-05 2017-01-05 川崎重工業株式会社 ロボットの関節シール構造
CN104812536A (zh) * 2012-12-05 2015-07-29 川崎重工业株式会社 机械手的关节密封结构
WO2014087615A1 (ja) * 2012-12-05 2014-06-12 川崎重工業株式会社 ロボットの関節シール構造
CN104002312A (zh) * 2013-02-21 2014-08-27 罗普伺达机器人有限公司 利用弹簧弹性的机器人内置电缆安装结构
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CN105215986A (zh) * 2015-11-11 2016-01-06 深圳市松崎机器人自动化设备有限公司 一种多轴机械手
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EP2213425A1 (en) 2010-08-04
US20100162845A1 (en) 2010-07-01
TWI461270B (zh) 2014-11-21
EP2213425B1 (en) 2014-06-25
US8266979B2 (en) 2012-09-18
US20120312116A1 (en) 2012-12-13
JP2013006271A (ja) 2013-01-10
JP5464251B2 (ja) 2014-04-09
TW200930525A (en) 2009-07-16
US8720296B2 (en) 2014-05-13

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