WO2012173374A3 - 위상유지수단이 구비된 장치 - Google Patents

위상유지수단이 구비된 장치 Download PDF

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Publication number
WO2012173374A3
WO2012173374A3 PCT/KR2012/004633 KR2012004633W WO2012173374A3 WO 2012173374 A3 WO2012173374 A3 WO 2012173374A3 KR 2012004633 W KR2012004633 W KR 2012004633W WO 2012173374 A3 WO2012173374 A3 WO 2012173374A3
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
phase maintenance
maintenance means
apparatus equipped
slave
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2012/004633
Other languages
English (en)
French (fr)
Other versions
WO2012173374A2 (ko
Inventor
박순필
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to EP12799780.7A priority Critical patent/EP2722139A4/en
Priority to US14/125,790 priority patent/US20140119871A1/en
Priority to CN201280039816.4A priority patent/CN103764353B/zh
Publication of WO2012173374A2 publication Critical patent/WO2012173374A2/ko
Publication of WO2012173374A3 publication Critical patent/WO2012173374A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—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
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • 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
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)

Abstract

본 발명에 의한 위상유지수단이 구비된 장치는, 다수 부품을 지지하는 프레임 일측에 고정되는 기준축과, 상기 기준축을 기준으로 일정한 거리를 유지하면서 공전하는 종동축과, 상기 종동축과 기준축에 결합하여 종동축의 자전을 규제하는 힘전달부와, 힘발생부에서 제공된 회전력으로 회전시에 기준축을 중심으로 종동축의 공전을 안내하고, 종동축의 위상이 유지되도록 하는 지지부로 이루어진 위상유지수단과; 상기 종동축 일측에 결합 및 고정된 위상유지부를 포함하여 구성됨을 특징으로 한다.
PCT/KR2012/004633 2011-06-14 2012-06-12 위상유지수단이 구비된 장치 Ceased WO2012173374A2 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP12799780.7A EP2722139A4 (en) 2011-06-14 2012-06-12 DEVICE WITH PHASE MAINTENANCE DEVICE
US14/125,790 US20140119871A1 (en) 2011-06-14 2012-06-12 Apparatus equipped with phase maintenance means
CN201280039816.4A CN103764353B (zh) 2011-06-14 2012-06-12 具有位相维持手段的装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110057319A KR101271458B1 (ko) 2011-06-14 2011-06-14 위상유지수단이 구비된 장치
KR10-2011-0057319 2011-06-14

Publications (2)

Publication Number Publication Date
WO2012173374A2 WO2012173374A2 (ko) 2012-12-20
WO2012173374A3 true WO2012173374A3 (ko) 2013-03-28

Family

ID=47357585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2012/004633 Ceased WO2012173374A2 (ko) 2011-06-14 2012-06-12 위상유지수단이 구비된 장치

Country Status (5)

Country Link
US (1) US20140119871A1 (ko)
EP (1) EP2722139A4 (ko)
KR (1) KR101271458B1 (ko)
CN (1) CN103764353B (ko)
WO (1) WO2012173374A2 (ko)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200467726Y1 (ko) * 2013-03-18 2013-07-03 규델 리니어텍 주식회사 체인 구동형 그립퍼
KR101378736B1 (ko) * 2013-09-09 2014-03-28 박기연 다관절 위상유지장치
AT514707B1 (de) * 2013-09-27 2015-03-15 Engel Austria Gmbh Handlingvorrichtung für eine Formgebungsmaschine
KR101724490B1 (ko) * 2015-12-02 2017-04-07 기아자동차 주식회사 협업로봇을 이용한 차량 생산시스템 및 생산방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07195280A (ja) * 1993-12-29 1995-08-01 Bridgestone Corp マスタアーム
KR19990075130A (ko) * 1998-03-17 1999-10-15 서두칠 음극선관용 패널의 공정간 이송장치
JP2003136459A (ja) * 2001-10-30 2003-05-14 Yokogawa Electric Corp 産業用ロボット
JP2004299823A (ja) * 2003-03-31 2004-10-28 Nigrelli Systems Inc シート送り装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4398863A (en) * 1981-05-15 1983-08-16 Westinghouse Electric Corp. Pick and place robot
US4505166A (en) * 1982-03-30 1985-03-19 University Of Florida Control-in-the-small system for precision, under load control of _robot manipulator
JPS58202790A (ja) * 1982-05-14 1983-11-26 豊田工機株式会社 関節形ロボツト
JPS61152389A (ja) * 1984-12-25 1986-07-11 吉川　政能 多関節ロボツトにおける自動バランス装置
SE455772B (sv) * 1985-06-04 1988-08-08 Asea Ab Anordning for utbalansering av en industrirobots armsystem
JPS6219186U (ko) * 1985-07-19 1987-02-04
JPH0970778A (ja) * 1995-09-08 1997-03-18 Yamaha Motor Co Ltd 振り子型ロボット
WO2003037574A2 (en) * 2001-10-31 2003-05-08 Thermo Crs Ltd. Robotic arm provided with a gripping head having a constant orientation
CN100500388C (zh) * 2005-10-19 2009-06-17 精工爱普生株式会社 平行连杆机构及工业用机器人
KR100810488B1 (ko) * 2006-11-15 2008-03-07 주식회사 로보스타 더블암형 로봇
JP2009119580A (ja) * 2007-11-16 2009-06-04 Aida Eng Ltd 搬送装置および大型搬送装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07195280A (ja) * 1993-12-29 1995-08-01 Bridgestone Corp マスタアーム
KR19990075130A (ko) * 1998-03-17 1999-10-15 서두칠 음극선관용 패널의 공정간 이송장치
JP2003136459A (ja) * 2001-10-30 2003-05-14 Yokogawa Electric Corp 産業用ロボット
JP2004299823A (ja) * 2003-03-31 2004-10-28 Nigrelli Systems Inc シート送り装置

Also Published As

Publication number Publication date
US20140119871A1 (en) 2014-05-01
KR101271458B1 (ko) 2013-06-05
CN103764353B (zh) 2016-03-30
KR20120138051A (ko) 2012-12-24
WO2012173374A2 (ko) 2012-12-20
EP2722139A4 (en) 2015-11-04
CN103764353A (zh) 2014-04-30
EP2722139A2 (en) 2014-04-23

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