ATE522329T1 - Gelenkstruktur eines mehrachs-roboters und eine solche struktur aufweisender roboter - Google Patents

Gelenkstruktur eines mehrachs-roboters und eine solche struktur aufweisender roboter

Info

Publication number
ATE522329T1
ATE522329T1 AT09173227T AT09173227T ATE522329T1 AT E522329 T1 ATE522329 T1 AT E522329T1 AT 09173227 T AT09173227 T AT 09173227T AT 09173227 T AT09173227 T AT 09173227T AT E522329 T1 ATE522329 T1 AT E522329T1
Authority
AT
Austria
Prior art keywords
robots
axis robot
forearm
arm
connecting rod
Prior art date
Application number
AT09173227T
Other languages
English (en)
Inventor
Joseph Palau
Vincent Gerat
Eric Sallet
Original Assignee
Staubli Sa Ets
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 Staubli Sa Ets filed Critical Staubli Sa Ets
Application granted granted Critical
Publication of ATE522329T1 publication Critical patent/ATE522329T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • Y10T74/20317—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)
AT09173227T 2008-10-17 2009-10-16 Gelenkstruktur eines mehrachs-roboters und eine solche struktur aufweisender roboter ATE522329T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0857097A FR2937269B1 (fr) 2008-10-17 2008-10-17 Structure articulee de robot multi-axes et robot comprenant une telle structure.

Publications (1)

Publication Number Publication Date
ATE522329T1 true ATE522329T1 (de) 2011-09-15

Family

ID=40654833

Family Applications (1)

Application Number Title Priority Date Filing Date
AT09173227T ATE522329T1 (de) 2008-10-17 2009-10-16 Gelenkstruktur eines mehrachs-roboters und eine solche struktur aufweisender roboter

Country Status (6)

Country Link
US (1) US8381609B2 (de)
EP (1) EP2177325B1 (de)
JP (1) JP5546826B2 (de)
CN (1) CN101722515B (de)
AT (1) ATE522329T1 (de)
FR (1) FR2937269B1 (de)

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CN102049783A (zh) * 2009-11-10 2011-05-11 鸿富锦精密工业（深圳）有限公司 机器人结构
US9267585B2 (en) * 2011-06-02 2016-02-23 Empire Technology Development Llc Actuator with joints
JP5434991B2 (ja) * 2011-09-01 2014-03-05 株式会社安川電機 ロボット
CN102765086A (zh) * 2012-07-26 2012-11-07 江苏尚诚精密模具科技有限公司 冲压搬运智能机器人
JP5660401B2 (ja) * 2012-11-19 2015-01-28 株式会社安川電機 ロボット装置
JP5413524B1 (ja) * 2013-01-17 2014-02-12 株式会社安川電機 ロボット
CN104015187A (zh) * 2014-05-26 2014-09-03 苏州西点金工精密机械有限公司 柔性冲压机械手
DE102015102014A1 (de) * 2014-09-25 2016-03-31 Gerhard Schubert Gmbh Roboter und daraus bestehende Roboterstraße sowie Verfahren zum Steuern des Roboters
JP6067805B1 (ja) * 2015-09-07 2017-01-25 Ntn株式会社 リンク作動装置を用いた複合作業装置
CN105232153B (zh) * 2015-09-08 2019-03-26 微创（上海）医疗机器人有限公司 机械臂
ITUB20159241A1 (it) * 2015-12-23 2017-06-23 Comau Spa Robot industriale multi-asse, in particolare di tipo SCARA
CN105415364B (zh) * 2015-12-29 2017-03-22 苏州卓德电子有限公司 一种机械手臂移动关节水平调节装置
JP1581640S (de) * 2016-02-26 2017-07-18
JP1574746S (de) * 2016-02-26 2017-04-24
CN107433569B (zh) * 2016-05-26 2022-10-28 精工爱普生株式会社 水平多关节型机器人
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
DE102016222255B3 (de) * 2016-11-14 2018-04-12 Kuka Roboter Gmbh Roboterarm, mobiler Roboter und Logistiksystem
CN107671836A (zh) * 2017-10-26 2018-02-09 上海新时达机器人有限公司 一种平面关节机器人
KR20200105657A (ko) * 2018-01-15 2020-09-08 코그니보티스 에이비 산업용 로봇 아암
JP7028702B2 (ja) * 2018-04-17 2022-03-02 Ckd株式会社 アーム型助力装置
FR3082126B1 (fr) * 2018-06-11 2022-10-28 Getinge La Calhene Systeme de transfert pour enceinte etanche comportant un dispositif de connexion etanche avec un volume clos
CN109397328A (zh) * 2018-12-13 2019-03-01 哈尔滨理工大学 一种新型拟人机械臂肩关节
JP6944008B1 (ja) * 2020-03-30 2021-10-06 川田テクノロジーズ株式会社 作業ロボット
CN112276919A (zh) * 2020-11-24 2021-01-29 北京欣达亿科技有限公司 碳纤维全自动摇臂机械手
CA3218368A1 (en) * 2021-04-28 2022-11-03 Apptronik, Inc Deployable robotic arm
JP7428457B1 (ja) * 2022-06-14 2024-02-06 リバーフィールド株式会社 マニピュレータアーム
JP2024049638A (ja) * 2022-09-29 2024-04-10 セイコーエプソン株式会社 水平多関節ロボット

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JPH06262556A (ja) * 1993-03-15 1994-09-20 Mitsubishi Heavy Ind Ltd 水平多関節型ロボットのアーム
DE69317574T2 (de) * 1993-09-01 1998-07-09 Yaskawa Denki Kitakyushu Kk Gelenkroboter
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JP2001145634A (ja) * 1999-11-19 2001-05-29 Olympus Optical Co Ltd 内視鏡保持装置
WO2002040228A1 (fr) * 2000-11-17 2002-05-23 Honda Giken Kogyo Kabushiki Kaisha Structure de jambe d'un robot a jambes
JP3447709B2 (ja) * 2001-03-19 2003-09-16 川崎重工業株式会社 産業用ロボット
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EP1930130A1 (de) * 2006-12-07 2008-06-11 Abb Ab Industrieroboter mit Treibstange
CN102049773B (zh) * 2009-10-29 2013-08-28 鸿富锦精密工业（深圳）有限公司 平面关节型机器人

Also Published As

Publication number Publication date
CN101722515B (zh) 2014-06-25
EP2177325A1 (de) 2010-04-21
JP2010115776A (ja) 2010-05-27
US8381609B2 (en) 2013-02-26
EP2177325B1 (de) 2011-08-31
FR2937269A1 (fr) 2010-04-23
FR2937269B1 (fr) 2010-10-29
US20100095800A1 (en) 2010-04-22
JP5546826B2 (ja) 2014-07-09
CN101722515A (zh) 2010-06-09

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