WO2016103302A1 - 双腕ロボット - Google Patents
双腕ロボット Download PDFInfo
- Publication number
- WO2016103302A1 WO2016103302A1 PCT/JP2014/006493 JP2014006493W WO2016103302A1 WO 2016103302 A1 WO2016103302 A1 WO 2016103302A1 JP 2014006493 W JP2014006493 W JP 2014006493W WO 2016103302 A1 WO2016103302 A1 WO 2016103302A1
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- link
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- 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
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Definitions
- the present invention relates to a double-arm robot provided with two robot arms.
- a double-arm robot (also referred to as a double-arm robot or a dual-arm robot) having two robot arms for one support is known.
- a double-arm robot also referred to as a double-arm robot or a dual-arm robot
- FIG. 2 of Patent Document 1 a plurality of robot arms are arranged with a predetermined height difference in a vertical relationship on a support column erected on a fixed base, and each of the plurality of robot arms is independent.
- an industrial robot configured to be horizontally swiveled and horizontally extendable is shown.
- the left and right robot arms can work independently or work together.
- an end effector corresponding to the work is attached to the tip of each robot arm.
- As one of the cooperative operations of the two robot arms for example, there is a conveyance operation in which a plate-like workpiece is held and lifted by two end effectors at two points and moved. In this transporting operation, for example, by aligning the height positions of the action points of the two end effectors with respect to the plate-shaped workpiece, the plate-shaped workpiece is transported while maintaining a horizontal posture.
- the present invention has been made in view of the above circumstances, and its purpose is to at least alleviate one or more of the problems of the prior art.
- a dual-arm robot according to one aspect of the present invention is provided.
- a first arm and a second arm each having a first link rotatable about a first axis, and a second link rotatably connected to the first link and having an end effector mounting portion defined therein
- the first link of the first arm and the first link of the second arm are disposed apart from each other in the extending direction of the first axis
- the second link of the first arm and the second link of the second arm extend the first axis of the first link of the first arm and the first link of the second arm.
- the end effector mounting portions are disposed so that the positions of the end effector mounting portions in the extending direction of the first axis are substantially the same.
- the heights of the end effector attachment portions of the first arm and the second arm are equal. Accordingly, end effectors having the same configuration can be attached to the end effector attachment portions of the first arm and the second arm.
- FIG. 1 is a front view showing an overall schematic configuration of a dual-arm robot according to an embodiment of the present invention.
- FIG. 2 is a plan view showing a schematic configuration of the double-arm robot shown in FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 2, showing a schematic configuration of power transmission of the double-arm robot.
- a double-arm robot according to an embodiment of the present invention is provided in an assembly line for electric / electronic parts, etc., and transfers, assembly / rearrangement of parts, rearrangement, etc. to a workpiece flowing along the line. For performing at least one of the operations.
- the end effector attached to the robot arm is replaced according to work.
- FIG. 1 is a front view showing an overall configuration of a double-arm robot according to an embodiment of the present invention
- FIG. 2 is a plan view of the double-arm robot shown in FIG.
- a double-arm robot 1 according to an embodiment of the present invention includes a carriage 7, two robot arms 3 and 4 supported by the carriage 7, and two robot arms 3. , 4 is provided with a controller 6 for controlling the operation.
- An end effector 5 is detachably attached to the tip of each robot arm 3, 4. The operation of these end effectors 5 is also controlled by the controller 6.
- each component of the double-arm robot 1 will be described in detail.
- the carriage 7 includes a rectangular parallelepiped housing 71, a plurality of wheels 72 provided on the lower surface of the housing 71, and a handle 73 provided on the back surface of the housing 71.
- the casing 71 is hollow, and the controller 6 and an air pressure supply device (not shown) are disposed inside the casing 71.
- Each of the two robot arms 3 and 4 includes a first link 21 that rotates about the first axis L ⁇ b> 1 and a second link 22 that is connected to the tip of the first link 21.
- the first axis L1 of the first link 21 of the two robot arms 3 and 4 is the same, and the first link 21 of one robot arm 3 and the first link 21 of the other robot arm 4 are vertically different. Is arranged.
- one of the two robot arms 3 and 4 where the first link 21 is positioned below is referred to as a first arm 3, and the other is referred to as a second arm 4.
- the first arm 3 is connected to the first link 21 around the second axis L2 defined at the tip of the first link 21 and the first link 21 connected to the carriage 7 so as to be rotatable around the first axis L1.
- the second link 22 is rotatably connected to the second link 22.
- the first axis L1 and the second axis L2 are parallel, and the first axis L1 and the second axis L2 according to the present embodiment extend vertically.
- FIG. 3 is a cross-sectional view taken along the line III-III in FIG.
- the first link 21 is configured such that the link member 30, the first shaft 31 through which the first axis L ⁇ b> 1 passes through the axis, and the link member 30 can rotate with respect to the first shaft 31.
- a bearing 32 to be connected and a first drive device 33 for rotating the link member 30 relative to the first shaft 31 around the first axis L1 are provided.
- the link member 30 can rotate 360 ° around the first axis L1.
- the link member 30 is a hollow box that is long in the horizontal direction.
- the upper end of the first shaft 31 is inserted into the base end of the link member 30 from the lower surface, and the link member 30 is rotatably supported by the first shaft 31 via a bearing 32.
- a gear 313 is fitted and fixed to the upper portion of the first shaft 31 inside the link member 30.
- the first shaft 31 has a hollow shaft shape as a whole, and a bush 315 is inserted into the hollow portion.
- the inner peripheral side of the bush 315 is used as a wiring / piping space.
- the inner diameter of the bush 315 according to this embodiment is constant, but the bush 315 is a hollow shaft-like body having an inner diameter that expands upward in a trumpet shape, such that the upper inner diameter gradually increases upward. May be. As a result, friction between the wiring and piping and the bush 315 is reduced, and damage to the wiring and piping can be prevented.
- the first drive device 33 is provided inside the link member 30.
- the first drive device 33 transmits the motor output of the servo motor 81 to the gear 313 of the first shaft 31 via the servo motor 81 as a drive source and the output gear 82 meshing with the gear 313 of the first shaft 31.
- a power transmission mechanism 83 is provided.
- the output gear 82 is fixed to an output shaft 84 that is rotatably supported by the link member 30 or is formed integrally with the output shaft 84.
- the power transmission mechanism 83 is composed of a plurality of gears, and also has a function as a speed reducer that reduces the rotational speed of the motor output and outputs it to the output gear 82.
- the operation of the first drive device 33 is controlled by the controller 6, and the cables connecting the first drive device 33 and the controller 6 are provided inside the link member 30 and the bush 315 of the first shaft 31. Has been passed.
- the first link 21 includes a second shaft 41 through which the second axis L2 passes the axis, a bearing 42 that rotatably connects the second shaft 41 to the link member 30, and a second shaft 41 that connects the link member 30. And a second driving device 43 that rotates about the second axis L2.
- the lower part of the second shaft 41 is inserted into the upper surface of the tip of the link member 30, and the second shaft 41 is rotatably supported by the link member 30 via a bearing 42.
- the second shaft 41 can rotate 360 ° around the second axis L ⁇ b> 2 with respect to the link member 30.
- the second shaft 41 is formed integrally or is configured to be splittable. In the present embodiment, a portion 411 that appears outside the link member 30 and a portion 412 that is inserted into the link member 30 are connected in series in the direction in which the axis of the second shaft 41 extends. A gear 413 is fitted and fixed to a portion 412 of the second shaft 41 inserted into the link member 30.
- the second shaft 41 has a hollow shaft shape as a whole, and a bush 415 is inserted into the hollow portion. The inner peripheral side of the bush 415 is used as a wiring / piping space.
- the base end of the second link 22 is fixed to a portion 411 that appears outside the link member 30 of the second shaft 41.
- the second link 22 behaves integrally with the second shaft 41 and is rotationally driven around the second axis L ⁇ b> 2 by the second driving device 43.
- the second link 22 is a plate-like member that is long in the horizontal direction, and an end effector mounting portion 222 for detachably mounting the end effector 5 is defined on the upper surface of the tip of the second link 22.
- the end effector mounting portion 222 according to this embodiment is provided with a fastening hole (not shown) for fastening a bracket 51 described later.
- the second driving device 43 is provided inside the link member 30.
- the second drive device 43 has substantially the same configuration as that of the first drive device 33, and members having functions common to the first drive device 33 and the second drive device 43 are denoted by the same reference numerals.
- the second driving device 43 transmits the motor output of the servo motor 81 to the gear 413 of the second shaft 41 via the servo motor 81 as a driving source and the output gear 82 meshing with the gear 413 of the second shaft 41.
- a power transmission mechanism 83 is provided.
- the first link 21, the inside, and the inside of the carriage 7 are communicated with each other by an opening provided on the upper surface of the carriage 7 and a bush 315 of the first shaft 31 standing on the opening.
- the first link 21 is communicated with the inside and the outside by a bush 415 of the second shaft 41.
- the second link 22 is provided with a wiring base 25 for bundling wiring and piping drawn from the tip of the first link 21 to the outside through the inside of the first link 21 from the carriage 7.
- the second arm 4 is connected to the first link 21 that rotates about the first axis L1 and to the first link 21 so as to be rotatable about the second axis L2 ′ defined at the tip of the first link 21.
- the second link 22 is provided.
- the second shaft 41 of the first link 21 protrudes upward from the link member 30, whereas in the second arm 4, the second shaft 41 of the first link 21 protrudes downward from the link member 30.
- the second arm 4 is different from the first arm 3. Except for this difference, the second arm 4 and the first arm 3 have substantially the same structure. Therefore, regarding the structure of the second arm 4, the same reference numerals as those of the constituent elements already described for the first arm 3 are attached, and further detailed description is omitted.
- the first shaft 31 of the first link 21 of the second arm 4 having the above-described configuration is disposed so as to coincide with the first axis L1 of the first arm 3, and the base end of the first link 21 of the first arm 3 is arranged. It is fixed on the top surface.
- the lower part 311 of the first shaft 31 of the first link 21 of the second arm 4 functions as a support member that supports the link member 30 of the second arm 4, and the first link 21 and the second arm of the first arm 3. And a function as a spacer for separating the four first links 21 in the extending direction of the first axis L1.
- the end effector 5 has an appropriate structure according to the work performed by the double-arm robot 1. Therefore, here, an example of the end effector 5 will be briefly described.
- the end effector 5 according to the present embodiment is generally composed of a wrist portion 5A and a tool portion 5B provided at the tip of the wrist portion 5A.
- the wrist portion 5A has an elevating function for moving the tool portion 5B in the vertical direction along the vertical axis, and a rotating function for rotating the tool portion 5B about the vertical axis.
- the wrist 5 ⁇ / b> A is attached to an end effector mounting portion 222 of the second link 22 detachably attached by a fastener or the like, a linear guide 52 fixed to the bracket 51, and a slider 521 of the linear guide 52.
- the stay 55 includes a fixed stay 55, a servo motor 53 supported by the stay 55, and a speed reducer 54 connected to the output shaft of the servo motor 53.
- work is attached to the output shaft of the reduction gear 54.
- the double-arm robot 1 includes two robot arms, the first arm 3 and the second arm 4.
- the first arm 3 and the second arm 4 are connected to the first link 21 that can rotate about the first axis L1, the first link 21, and the end effector mounting portion 222.
- Each has a second link 22.
- the first arm 3 and the second arm 4 since the first axis L1 of the first link 21 is on the same axis, compared to the case where the first axes L1 of the first link 21 are on different axes. Thus, the installation space for the double-arm robot 1 can be reduced.
- the first link 21 of the first arm 3 and the first link 21 of the second arm 4 are the lower part of the first shaft 31 of the second arm 4 that functions as a spacer. 311 is spaced apart in the extending direction of the first axis L1. And the 2nd link 22 of the 1st arm 3 protrudes in the direction which goes to the 1st link 21 of the 2nd arm 4 from the 1st link 21 of the 1st arm 3 seeing from the direction orthogonal to the 1st axis L1. It is supported by the second shaft 41 (first projecting member).
- the second link 22 of the second arm 4 protrudes in the direction from the first link 21 of the second arm 4 toward the first link 21 of the first arm 3 when viewed from the direction orthogonal to the first axis L1. Supported by the second shaft 41 (second projecting member).
- the second link 22 of the first arm 3 and the second link 22 of the second arm 4 are the first link 21 of the first arm 3 and the first link 21 of the second arm 4. It is located between the extending directions of the axis L1 and is disposed so that the positions of the end effector mounting portions 222 in the extending direction of the first axis L1 are substantially the same.
- the distance in the extending direction of the first axis L1 from the height reference for example, the upper surface of the casing 71 of the carriage 7) to the end effector mounting portion 222 of the first arm 3, and the second arm 4 from the height reference.
- the distance in the extending direction of the first axis L1 to the end effector mounting portion 222 is substantially equal.
- the second link 22 and the second link of the first arm 3 are defined.
- the second link 22 of the arm 4 is disposed so that the position in the extending direction of the first axis L1 is substantially the same. In other words, the distance in the extending direction of the first axis L1 from the height reference to the upper surface of the second link 22 of the first arm 3, and the distance from the height reference to the upper surface of the second link 22 of the second arm 4 The distance in the extending direction of the first axis L1 is substantially equal.
- the components of the robot arms 3 and 4 have substantially the same shape. Then, the shape of the link member 30 and the lower part 311 functioning as the spacer of the first shaft 31 so that the height positions of the end effector mounting portions 222 of the robot arms 3 and 4 are substantially equal from the height reference.
- the length in the direction of the first axis L1, the amount of protrusion of the second shaft 41 in the direction of the first axis L1, and the like are determined.
- each component of each robot arm 3 and 4 has a manufacturing shape / size error.
- a shim plate or the like provided at least at one place, such as between the second shaft 41 and the second link 22, between the link member 30 of the first arm 3 and the first shaft 31 of the second arm 4, or the like.
- the height adjusting members are adjusted so that the positions in the extending direction of the first axis L1 between the end effector mounting portions 222 of the robot arms 3 and 4 are substantially equal.
- the end effector 5 attached to the robot arms 3 and 4 is The structure can be substantially the same. That is, the first link 21 of each robot arm 3, 4 has a difference in the position in the extending direction of the first axis L 1, but this difference may not be absorbed by the two end effectors 5. .
- substantially the same structure means that the shape and function of the components of the end effector 5 are the same.
- the end effector 5 such as a left-right symmetric structure or a left-right inverted structure included.
- the two end effectors 5 have substantially the same structure, an increase in the types of components can be suppressed, maintenance such as component replacement and adjustment can be facilitated, and costs can be reduced. This is advantageous, for example, when the end effector 5 is customized according to the user's request.
- the two end effectors 5 have substantially the same structure, the amount of deflection of the two robot arms 3 and 4 due to their own weight and the weight of the end effector 5 is substantially equal. Therefore, the adjustment for aligning the height positions of the two end effectors 5 becomes easy during maintenance and replacement. Further, when the two robot arms 3 and 4 perform the collaborative work, it is possible to simplify the control of the robot arms 3 and 4 and the end effector 5 for aligning the height positions reached by the two end effectors 5. it can.
- the double-arm robot 1 of the present embodiment is capable of rotating about the first axis 31 (support member) on the first link 21 of each robot arm 3, 4 and about the first axis L 1 on the first axis 31.
- a supported link member 30 and a first drive device 33 provided on the link member 30 and rotating the link member 30 about the first axis L1 with respect to the first shaft 31 are provided.
- the first link 21 of each robot arm 3, 4 is linked to a second shaft 41 (shaft member) supported by the link member 30 so as to be rotatable about a second axis L 2 parallel to the first axis L 1.
- a second driving device 43 provided on the member 30 and rotating the second shaft 41 around the second axis L2 with respect to the link member 30 is provided.
- the mechanism to make it collect is collected. Therefore, since the second link 22 of each robot arm 3, 4 can be formed by a simple link member having a flat plate shape, for example, the position of the end effector mounting portion 222 of each robot arm 3, 4 is adjusted. It becomes easy.
- the first shaft 31 of the first link 21 of the second arm 4 is fixed to the link member 30 of the first link 21 of the first arm 3, and this second The first link 31 of the first arm 3 and the first link 21 of the second arm 4 are separated in the extending direction of the first axis L1 by the first shaft 31 of the arm 4.
- the relative positioning in the extending direction of the first axis L1 of the first link 21 of the second arm 4 with respect to the first link 21 of the first arm 3 is the lower portion 311 of the first shaft 31 of the second arm 4. Therefore, the distance between the first links 21 can be adjusted at the first shaft 31 or the connecting portion between the first shaft 31 and the link member 30. Thereby, it becomes easy to adjust the position of the end effector mounting portion 222 of each robot arm 3, 4.
- Double-arm robot 3 Robot arm (first arm) 4: Robot arm (second arm) 5: End effector 6: Controller 7: Cart 21: First link 22: Second link 25: Wiring board 30: Link member 31: First shaft (support member) 32: Bearing 33: First drive device 41: Second shaft (shaft member) 42: bearing 43: second driving device 51: bracket 52: linear guide 53: servo motor 54: speed reducer 55: stay 71: housing 72: wheel 73: handle 81: servo motor 82: output gear 83: power transmission mechanism 84: output shaft 222: end effector mounting portion 313: gear 315: bush 413: gear 415: bush L1: first axis L2, L2 ′: second axis
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Abstract
Description
第1軸線まわりに回動可能な第1リンクと、前記第1リンクに回動可能に連結されるとともにエンドエフェクタ取付部が規定された第2リンクとを各々に有する第1アーム及び第2アームを備え、
前記第1アームの前記第1リンクと前記第2アームの前記第1リンクとが、前記第1軸線の延在方向に離間して配設され、
前記第1アームの前記第2リンクと前記第2アームの前記第2リンクとが、前記第1アームの前記第1リンクと前記第2アームの前記第1リンクとの前記第1軸線の延在方向の間に位置し、且つ、前記エンドエフェクタ取付部どうしの前記第1軸線の延在方向の位置が実質的に同一となるように配設されていることを特徴としている。
3 :ロボットアーム(第1アーム)
4 :ロボットアーム(第2アーム)
5 :エンドエフェクタ
6 :コントローラ
7 :台車
21 :第1リンク
22 :第2リンク
25 :配線台
30 :リンク部材
31 :第1軸(支持部材)
32 :軸受
33 :第1駆動装置
41 :第2軸(軸部材)
42 :軸受
43 :第2駆動装置
51 :ブラケット
52 :リニアガイド
53 :サーボモータ
54 :減速機
55 :ステー
71 :筐体
72 :車輪
73 :ハンドル
81 :サーボモータ
82 :出力歯車
83 :動力伝達機構
84 :出力軸
222 :エンドエフェクタ取付部
313 :歯車
315 :ブッシュ
413 :歯車
415 :ブッシュ
L1 :第1軸線
L2,L2' :第2軸線
Claims (6)
- 第1軸線まわりに回動可能な第1リンクと、前記第1リンクに回動可能に連結されるとともにエンドエフェクタ取付部が規定された第2リンクとを各々に有する第1アーム及び第2アームを備え、
前記第1アームの前記第1リンクと前記第2アームの前記第1リンクとが、前記第1軸線の延在方向に離間して配設され、
前記第1アームの前記第2リンクと前記第2アームの前記第2リンクとが、前記第1アームの前記第1リンクと前記第2アームの前記第1リンクとの前記第1軸線の延在方向の間に位置し、且つ、前記エンドエフェクタ取付部どうしの前記第1軸線の延在方向の位置が実質的に同一となるように配設されている、
双腕ロボット。 - 前記第1アームの前記第2リンクが、前記第1軸線と直交する方向から見て、前記第1アームの前記第1リンクから前記第2アームの前記第1リンクへ向かう方向に突出する第1の突出部材に支持されており、
前記第2アームの前記第2リンクが、前記第1軸線と直交する方向から見て、前記第2アームの前記第1リンクから前記第1アームの前記第1リンクへ向かう方向に突出する第2の突出部材に支持されている、
請求項1に記載の双腕ロボット。 - 前記第1アームの前記第2リンクと前記第2アームの前記第2リンクとが、前記第1軸線の延在方向の位置が実質的に同一となるように配設されている、
請求項1に記載の双腕ロボット。 - 前記第1リンクが、支持部材と、前記支持部材に前記第1軸線まわりに回動可能に支持されたリンク部材と、前記リンク部材に設けられ当該リンク部材を前記支持部材に対して前記第1軸線まわりに回動させる第1駆動装置とを有する、
請求項1~3のいずれか一項に記載の双腕ロボット。 - 前記第1リンクが、前記リンク部材に前記第1軸線と平行な第2軸線まわりに回動可能に支持された軸部材と、前記リンク部材に設けられ前記軸部材を前記リンク部材に対して前記第2軸線まわりに回動させる第2駆動装置とを、更に有し、
前記第2リンクが前記軸部材に固定されている、請求項4に記載の双腕ロボット。 - 前記第1アームの前記第1リンクの前記リンク部材に、前記第2アームの前記第1リンクの前記支持部材が固定されており、当該支持部材によって前記第1アームの前記第1リンクと前記第2アームの前記第1リンクとが前記第1軸線の延在方向に離間されている、請求項4に記載の双腕ロボット。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14908913.8A EP3238885B1 (en) | 2014-12-26 | 2014-12-26 | Dual-arm robot |
CN201480084313.8A CN107000201B (zh) | 2014-12-26 | 2014-12-26 | 双臂机器人 |
PCT/JP2014/006493 WO2016103302A1 (ja) | 2014-12-26 | 2014-12-26 | 双腕ロボット |
KR1020177019976A KR101963334B1 (ko) | 2014-12-26 | 2014-12-26 | 더블 아암 로봇 |
JP2016565602A JP6450401B2 (ja) | 2014-12-26 | 2014-12-26 | 双腕ロボット |
US15/539,824 US10213918B2 (en) | 2014-12-26 | 2014-12-26 | Dual-arm robot |
TW104131252A TWI586495B (zh) | 2014-12-26 | 2015-09-22 | Arms robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/006493 WO2016103302A1 (ja) | 2014-12-26 | 2014-12-26 | 双腕ロボット |
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Publication Number | Publication Date |
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WO2016103302A1 true WO2016103302A1 (ja) | 2016-06-30 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2014/006493 WO2016103302A1 (ja) | 2014-12-26 | 2014-12-26 | 双腕ロボット |
Country Status (7)
Country | Link |
---|---|
US (1) | US10213918B2 (ja) |
EP (1) | EP3238885B1 (ja) |
JP (1) | JP6450401B2 (ja) |
KR (1) | KR101963334B1 (ja) |
CN (1) | CN107000201B (ja) |
TW (1) | TWI586495B (ja) |
WO (1) | WO2016103302A1 (ja) |
Cited By (7)
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CN109789936A (zh) * | 2016-10-07 | 2019-05-21 | 川崎重工业株式会社 | 食品的保持装置 |
WO2018110428A1 (ja) * | 2016-12-13 | 2018-06-21 | 川崎重工業株式会社 | 搬送装置及びその運転方法 |
CN110800390A (zh) * | 2017-06-06 | 2020-02-14 | 川崎重工业株式会社 | 导线的插入方法及其实施所使用的保持装置 |
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CN109846411A (zh) * | 2018-12-28 | 2019-06-07 | 尚一盛世(北京)科技有限公司 | 一种攀爬支撑臂扬角控制系统 |
CN109846411B (zh) * | 2018-12-28 | 2020-12-29 | 尚一盛世(北京)科技有限公司 | 一种攀爬支撑臂扬角控制系统 |
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CN113874176A (zh) * | 2019-05-31 | 2021-12-31 | 川崎重工业株式会社 | 保持装置、具备其的机器人以及保持装置的控制方法 |
JP2021154473A (ja) * | 2020-03-30 | 2021-10-07 | 川田テクノロジーズ株式会社 | 作業ロボット |
Also Published As
Publication number | Publication date |
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US10213918B2 (en) | 2019-02-26 |
CN107000201B (zh) | 2020-07-03 |
TW201622918A (zh) | 2016-07-01 |
EP3238885A1 (en) | 2017-11-01 |
TWI586495B (zh) | 2017-06-11 |
US20170341224A1 (en) | 2017-11-30 |
JP6450401B2 (ja) | 2019-01-09 |
EP3238885A4 (en) | 2018-09-26 |
JPWO2016103302A1 (ja) | 2017-07-20 |
KR20170118050A (ko) | 2017-10-24 |
EP3238885B1 (en) | 2022-05-04 |
CN107000201A (zh) | 2017-08-01 |
KR101963334B1 (ko) | 2019-03-28 |
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