CN108161895A - Industrial robot - Google Patents
Industrial robot Download PDFInfo
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- CN108161895A CN108161895A CN201710197256.XA CN201710197256A CN108161895A CN 108161895 A CN108161895 A CN 108161895A CN 201710197256 A CN201710197256 A CN 201710197256A CN 108161895 A CN108161895 A CN 108161895A
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- Prior art keywords
- component
- convolution
- arm
- base station
- convolution component
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- 230000007246 mechanism Effects 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 20
- 239000000758 substrate Substances 0.000 description 8
- 230000003028 elevating effect Effects 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
A kind of industrial robot, it is the articulated type industrial robot for including convolution component, above-mentioned convolution component supports the lower end of cylindrical component, and base station can be rotationally connected with, arm is kept into and can lifted via arm supporting member by above-mentioned cylindrical component, and above-mentioned industrial robot can improve the torsional rigidity of convolution component.In above-mentioned industrial robot, the base end side of convolution component (18) can be rotationally connected with base station (6), the front end side of convolution component is fixed with the lower end side of cylindrical component, and arm is kept into and can lifted via arm supporting member by above-mentioned cylindrical component.The thickness of the cardinal extremity part (18b) of the thickness ratio convolution component (18) of the center portion (18a) of convolution component (18) is big.In above-mentioned industrial robot, convolution component (18) and the connecting portion of base station (6) are made of retarder (30), retarder is directly connected to motor (29), above-mentioned motor (29) for make convolution component (18) relative to base station (6) rotate.
Description
Technical field
The present invention relates to a kind of articulated type industrial robots.
Background technology
All the time, it is known that a kind of horizontal articulated robot for carrying workpiece (for example, referring to patent document 1).Specially
Robot recorded in sharp document 1 includes：Hand, the hand keep workpiece；Arm, hand can be rotationally connected with the arm；Branch
Bearing member, the supporting member support arm；Supporting member is supported to and can lift by column, the column；Pedestal, the pedestal supply column
Lower end fix；And base station, pedestal can be rotationally connected with the base station.The shape of pedestal when from upper and lower directions is
Generally rectangular, the one end of pedestal can be rotationally connected with base station.The other end of pedestal is fixed for the lower end side of column.Pedestal
Another side part thickness ratio pedestal one end part thickness it is big.
In the robot recorded in patent document 1, the connecting portion of pedestal and base station is made of retarder.Above-mentioned retarder
Via band connection in motor, as the motor rotates, pedestal can be rotated relative to base station.Motor is configured at the interior of pedestal
Portion.In addition, motor is configured at the another side part for the pedestal that thickness becomes larger.It is formed in the upper surface of pedestal for will be electric
Motivation is configured at the relatively large opening portion of the inside of pedestal.Opening portion is formed in the other end side for the pedestal that thickness becomes larger
The upper surface divided.In addition, opening portion is covered by lid.
Patent document 1：Japanese Patent Laid-Open 2009-269126 bulletins
In the robot recorded in patent document 1, the upper surface shape in the another side part for the pedestal that thickness becomes larger
Into the relatively large opening portion for being useful for configuration motor.Therefore, in the case of above-mentioned robot, although pedestal is another
The thickness of one end side portion becomes larger, and the torsional rigidity of pedestal may still reduce.If in addition, pedestal torsional rigidity reduce, Gu
It is easily tilted when action of the column in robot of pedestal, therefore, arm or hand easily generate vibration during the action of robot,
As a result it is to improve the movement speed of robot to become more difficult.
Invention content
Therefore, the issue of the present invention is to provide a kind of industrial robots, are to include the horizontal articulated of component that circle round
Type industrial robot, the convolution component support the lower end of cylindrical component, and can be rotationally connected with base station, institute
It states cylindrical component arm is kept into and can be lifted via arm supporting member, above-mentioned industrial robot can improve the antitorque of convolution component
Rigidity.
In order to solve the above problems, industrial robot of the invention is characterised by comprising：Hand, the hand load carrying pair
As object；Arm, hand are connected to the front end side of the arm；Arm supporting member, the base end side of arm can be rotationally connected with arm bearing structure
Part；Arm supporting member is kept into and can lift by cylindrical component, the cylindrical component；Circle round component, and the convolution component is to column structure
The lower end side of part is supported；Base station, convolution component can be rotationally connected with the base station；And rotating mechanism, the rotating machine
Structure makes convolution component be rotated relative to base station, and the shape of convolution component when from upper and lower directions is rectangle or oblong,
If the long side direction of convolution component during by from upper and lower directions is set as first direction, component is circled round in a first direction
One end be connected to base station, the another side in a first direction for the component that circles round is fixed with the lower end side of cylindrical component, return
Revolve the one end part of the first direction of the thickness ratio convolution component of the upper and lower directions of the center portion of the first direction of component
The thickness of upper and lower directions is big, and rotating mechanism includes：Motor, the motor are configured at the inside of convolution component；Retarder, this subtracts
Fast device forms the connecting portion of convolution component and base station, and by motor be rotated in deceleration after transmit, motor is with subtracting
Fast device is directly connected to.
In the industrial robot of the present invention, the thickness ratio of the upper and lower directions of the center portion of the first direction for the component that circles round
The thickness of the upper and lower directions of the one end part of the first direction of convolution component is big.In addition, in the present invention, the of the component that circles round
The one end in one direction is connected to base station, and the connecting portion of circle round component and base station is made of retarder.In addition, in the present invention,
Motor is directly connected to retarder, is matched in the position of the retarder relative close of the connecting portion with forming convolution component and base station
It is equipped with motor.That is, in the present invention, match in one end, convolution component the inside of the first direction closer to convolution component
It is equipped with motor.
Therefore, in the present invention, the center portion of the first direction of the convolution component formation without becoming larger in thickness is used for
The opening portion of motor is configured or even if the center portion in the first direction of convolution component is formed with opening portion, can also reduce
It is formed in the size of the opening portion of center portion.Thus, in the present invention, it can ensure that the rigidity for the center portion that thickness becomes larger,
As a result, the torsional rigidity of convolution component can be improved.
In the present invention, for example, forming or being fixed with gear on the output shaft of motor, retarder includes nibbling with gear
The input gear of conjunction.In addition, in the present invention, retarder is, for example, cycloidal-pin gear speed reducer.
As described above, it in the present invention, in the articulated type industrial robot including circling round component, can improve back
The torsional rigidity of component is revolved, wherein, the convolution component supports the lower end of cylindrical component, and can rotationally connect
In base station, arm is kept into and can lifted via arm supporting member by the cylindrical component.
Description of the drawings
Fig. 1 is the vertical view of the industrial robot of embodiment of the present invention.
Fig. 2 is the side view of industrial robot shown in FIG. 1.
Fig. 3 is the rearview of the lower end of industrial robot shown in FIG. 1.
Fig. 4 is the sectional view illustrated for the internal structure to base station shown in Fig. 3 and the connecting portion of convolution component.
Fig. 5 is the vertical view of the convolution base end side of component shown in Fig. 4, motor and retarder.
Symbol description
1 robot (industrial robot)；
2 substrates (glass substrate, handling object)；
3 hands；
4 arms；
6 base stations；
15 supporting members (part for arm supporting member)；
16 lift components (part for arm supporting member)；
17 cylindrical components；
18 convolution components；
18a center portions (center portion of first direction)；
18b cardinal extremities part (the one end part of first direction)；
24 rotating mechanisms；
29 motor；
29a gears；
30 retarders；
31 input gears.
Specific embodiment
Hereinafter, with reference to attached drawing, embodiments of the present invention will be described.
(outline structure of industrial robot)
Fig. 1 is the vertical view of the industrial robot 1 of embodiment of the present invention.Fig. 2 is industrial robot 1 shown in FIG. 1
Side view.Fig. 3 is the rearview of the lower end of industrial robot 1 shown in FIG. 1.
The industrial robot 1 (calling in the following text " robot 1 ") of present embodiment is the liquid crystal for carrying as handling object
The horizontal articulated robot of the glass substrate 2 (calling in the following text " substrate 2 ") of display.Above-mentioned robot 1 includes：Two hands 3,
Two above-mentioned hands 3 load substrate 2；Two arms 4, the front end side of two said arm 4 are connected to two hands 3；Main part 5, should
Main part 5 supports two arms 4；And base station 6, the base station 6 support main part 5.Hand 3 can be connected rotationally
In the front end side of arm 4.The base end side of arm 4 can be rotationally connected with main part 5.Main part 5 can be rotationally connected with base station
6。
Arm 4 is made of the first arm 8 and second arm 9 the two arms, and flexible relative to main part 5.First arm 8
Base end side can be rotationally connected with main part 5.The base end side of second arm 9 can be rotationally connected with the first arm 8
Front end side.Hand 3 can be rotationally connected with the front end side of the second arm 9.
Main part 5 includes：Two supporting members 15, two supporting members 15 respectively carry out the base end side of two arms 4
Bearing；Lift component 16, the lift component 16 are fixed, and can move up and down for two supporting members 15；Cylindrical component 17,
Lift component 16 is kept into and can lift by the cylindrical component 17；And convolution component 18, the convolution component 18 is to cylindrical component 17
Lower end side supported, and base station 6 can be rotationally connected with.
The base end side (that is, base end side of the first arm 8) of arm 4 can be rotationally connected with the front end side of supporting member 15.
The base end side of supporting member 15 is fixed on lift component 16.In the present embodiment, by 16 structure of supporting member 15 and lift component
Into arm supporting member, the base end side of arm 4 can be rotationally connected with the arm supporting member.Cylindrical component 17 is by being fixed on convolution structure
The two column portions of the second column portion 20 that first column portion 19 of part 18 and be kept into lift component 16 can lift are formed.Second column
Portion 20 is held in the first column portion 19 in a manner of it can lift.In addition, cylindrical component 17 can also be made of a column portion.
As shown in Fig. 2, in one arm 4 in two arms 4, arm supporting member 15, first is configured in order from downside
Arm 8, the second arm 9 and hand 3, in another arm 4, be configured in order from upside arm supporting member 15, the first arm 8,
Second arm 9 and hand 3.In addition, in the present embodiment, two hands 3, two arms 4 and two arm supporting members 15 are with upper and lower
The mode being overlapped on direction is configured.That is, the robot 1 of present embodiment is double arm robot.
In robot 1, the second column portion 20 is moved up and down relative to the first column portion 19, and lift component 16 is relative to the second column
Portion 20 moves up and down together with 4 grade of hand 3 and arm.In addition, arm 4 is flexible relative to main part 5.Specifically, arm 4 is so that hand 3 exists
The mode linearly moved in the state of towards fixed-direction is stretched.In addition, convolution component 18 is rotated relative to base station 6.It is logical
The combination of above-mentioned action is crossed, so as to 1 handling substrate 2 of robot.
The robot 1 of present embodiment includes the rotating mechanism 24 that convolution component 18 is made to be rotated relative to base station 6 (with reference to figure
4).Hereinafter, structure, base station 6 and the convolution structure of connecting portion of component 18 and the structure of rotating mechanism 24 to the component 18 that circles round
It illustrates.In addition, robot 1 include making 4 telescopic arm of arm and make arm driving mechanism (not shown) that hand 3 rotates relative to arm 4,
Make the elevating mechanism (not shown) and make elevating mechanism 16 relative to second that the second column portion 20 is lifted relative to the first column portion 19
The elevating mechanism (not shown) that column portion 20 lifts.
(structure, base station and the structure of connecting portion of component and the structure of rotating mechanism of circling round of convolution component)
Fig. 4 is the section view illustrated for the internal structure to base station 6 shown in Fig. 3 and the connecting portion of convolution component 18
Figure.Fig. 5 is the vertical view of the convolution base end side of component 18 shown in Fig. 4, motor 29 and retarder 30.
Shape when convolution component 18 is formed as from upper and lower directions is rectangle or the bulk of oblong.In addition, it returns
Rotation component 18 is shaped generally as cuboid.If the long side direction of the convolution component 18 during by from upper and lower directions is set as first party
To then as shown in figure 3, the one end of the convolution component 18 of first direction is connected to base station 6.That is, the cardinal extremity of convolution inner member 18
Side can be rotationally connected with base station 6.Convolution component 18 is configured at the position more upper than base station 6.The convolution structure of first direction
The another side of part 18 is fixed with the lower end side of cylindrical component 17.That is, it is fixed with cylindrical component in the front end side of convolution component 18
17 lower end side.Specifically, the upper surface of the front end side of convolution component 18 is fixed in the lower face in the first column portion 19.
The thickness (thickness of upper and lower directions) of the center portion 18a of the first direction of convolution component 18 is than convolution component 18
The thickness (thickness of upper and lower directions) of the one end part of first direction is big.That is, the thickness ratio convolution component 18 of center portion 18a
Cardinal extremity part 18b thickness it is big.In addition, the another side of the first direction of the thickness ratio convolution component 18 of center portion 18a
Partial thickness (thickness of upper and lower directions) is big.That is, the fore-end 18c of the thickness ratio convolution component 18 of center portion 18a
Thickness is big.
As shown in Figure 4, Figure 5, it is formed on the 18b of cardinal extremity part from the upper table of cardinal extremity part 18b side recess downwards
Recess portion 18d.The motor 29 described hereinafter for forming rotating mechanism 24 is configured among recess portion 18d.Recess portion 18d is from upside quilt
Lid 25 covers.The upper surface of the thinning fore-end 18c of thickness is fixed in the lower face in the first column portion 19.The front end of first direction
The width of part 18c and the width in the first column portion 19 of first direction are roughly equal.
Convolution component 18 is for example formed by aluminium alloy.In addition, convolution component 18 is formed as hollow form.Present embodiment is returned
Rotation component 18 is formed by having used the casting of sand mold, and the leakage for the inside for leading to convolution component 18 is formed on convolution component 18
The smaller opening portion 18e of sand.Opening portion 18e is formed in multiple positions of the upper surface of convolution component 18, and is formed in
Multiple positions of the lower surface of convolution component 18.Opening portion 18e is by lid 25 or is formed as laminal 26 grade of lid covering.In addition,
In Fig. 1, the diagram of lid 26 is omitted.
If the direction orthogonal with upper and lower directions and first direction is set as second direction, in the convolution component of second direction
18 center is formed with the rib (not shown) for being formed as flat reinforcement.Above-mentioned rib is formed in the interior of convolution component 18
The whole region of the upper and lower directions in portion.In addition, the thickness direction that above-mentioned ribbed becomes rib is consistent with second direction.It is in addition, above-mentioned
The center portion 18a that rib becomes larger at least formed on thickness.
Rotating mechanism 24 includes motor 29 and forms the retarder 30 of base station 6 and the connecting portion for the component 18 that circles round.In electricity
Gear 29a is formed directly on the output shaft of motivation 29.Alternatively, the output shaft on the output shaft of motor 29 with motor 29
In concentrically fixed gear 29a.Motor 29 is configured at the inside of convolution component 18.Specifically, motor 29 is configured at
Among recess portion 18d.That is, motor 29 is configured at cardinal extremity part 18b.In addition, motor 29 is with the output shaft side that side protrudes downward
Formula is fixed on cardinal extremity part 18b.Motor 29 is configured at position of the center than retarder 30 by the another side of first direction.
When from upper and lower directions, motor 29 is be overlapped with retarder 30.
Retarder 30 makes the rotational deceleration of motor 29 and is transmitted.The retarder 30 of present embodiment is cycloidal-pin wheel
Retarder.Cardinal extremity part 18b is fixed in the output section of retarder 30 from downside.By the input unit of retarder 30 and retarder 30
Output section is supported to the central part that the housing of retarder 30 that can be rotated is fixed on base station 6 from upside.Retarder 30 with it is electronic
Machine 29 is directly connected to.Specifically, the input unit of retarder 30 includes input gear 31, gear 29a is engaged with input gear 31.
Cardinal extremity part 18b is fixed on alternatively, it is also possible to the housing of retarder 30, the center of base station 6 is fixed in the output section of retarder 30
Portion.In addition, retarder 30 can also be the retarder other than cycloidal-pin gear speed reducer.
As shown in figure 5, in the present embodiment, by the curved surface 18f of concave curved planar, planar plane 18g, planar
Plane 18h and planar plane 18j forms the boundary face between center portion 18a and cardinal extremity part 18b, wherein, above-mentioned curved surface
18f forms the side of the another side of the recess portion 18d of first direction, and above-mentioned plane 18g is from one end of the curved surface 18f of second direction
It is extended to the side of second direction, opposite sides of the above-mentioned plane 18h from the other end of the curved surface 18f of second direction to second direction
Extension, above-mentioned plane 18j are connected to the other end of the plane 18h of second direction.
That is, as shown in figure 5, a part for the another side of the cardinal extremity part 18b of first direction enters in a first direction
Among center portion 18a.Specifically, another side, second direction the central part of the cardinal extremity part 18b of first direction
Enter among center portion 18a in a first direction.The shape of curved surface 18f when from upper and lower directions is semicircular arc.It is flat
Face 18g, 18h are the plane orthogonal with first direction.Plane 18j is slightly slanted relative to plane 18h.Motor 29 is configured at ratio
Plane 18g, 18h is by the position of the another side of first direction.The center configuration of retarder 30 in than plane 18g, 18h lean on first
The position of the one end in direction.
(main effect of present embodiment)
As described above, in the present embodiment, the thickness ratio base end part of the center portion 18a of convolution component 18
The thickness for dividing 18b is big.In addition, in the present embodiment, on retarder 30 of the base station 6 with the connecting portion for the component 18 that circles round is formed
Motor 29 is directly connected to, 18b is configured with motor 29 in cardinal extremity part.Therefore, in the present embodiment, without becoming in thickness
Big center portion 18a forms the opening portion for motor 29 to be configured.Thus, in the present embodiment, it can ensure that thickness becomes
The rigidity of big center portion 18a, as a result, the torsional rigidity of convolution component 18 can be improved.
(other embodiment)
The above embodiment is an example of the preferred embodiment of the present invention, but it's not limited to that, can not change this
Various modifications are carried out in the range of invention thought.
In the above-described embodiment, during motor 29 is configured at cardinal extremity part 18b, but motor 29 can also be configured at
Entreat the boundary portion between part 18a and cardinal extremity part 18b.In this case, it can be formed that motor is configured in center portion 18a
29 opening portion, but since above-mentioned opening portion is formed in the boundary portion between center portion 18a and cardinal extremity part 18b, even if
The size of above-mentioned opening portion can also be reduced by being formed with opening portion in center portion 18a.Thus, even if in this case, it also can be true
The rigidity of center portion 18a that thickness becomes larger is protected, as a result, the torsional rigidity of convolution component 18 can be improved.
In the above-described embodiment, the method other than the casting by using sand mold forms the feelings of convolution component 18
Under condition, opening portion 18e can not also be formed on convolution component 18.In addition, in the above-described embodiment, fore-end 18c
Thickness can also be equal with the thickness of center portion 18a.In addition, in the above-described embodiment, it can also be in a first direction
The end face (other end of the first direction of convolution component 18) of fore-end 18c be fixed with the lower end side in the first column portion 19
Side.In addition, in the above-described embodiment, arm 4 can also be made of the arm of three or more.
In the above-described embodiment, robot 1 is the so-called double arm robot for including two hands 3 and two arms 4,
But robot 1 can also be the single armed humanoid robot for including a hand 3 and an arm 4.In addition, in the above-described embodiment,
Base station 6 can also in the horizontal direction move.In addition, in the above-described embodiment, the moving object carried by robot 1
Object is substrate 2, but the handling object carried by robot 1 can also be semiconductor wafer other than substrate 2 etc..
Claims (3)
1. a kind of industrial robot, which is characterized in that including：
Hand, the hand load handling object；
Arm, the hand are connected to the front end side of the arm；
Arm supporting member, the base end side of the arm can be rotationally connected with the arm supporting member；
The arm supporting member is kept into and can lifted by cylindrical component, the cylindrical component；
Circle round component, which supports the lower end side of the cylindrical component；
Base station, the convolution component can be rotationally connected with the base station；And
Rotating mechanism, the rotating mechanism make the convolution component be rotated relative to the base station,
The shape of convolution component when from upper and lower directions be rectangle or oblong,
If the long side direction of convolution component during by from upper and lower directions is set as first direction,
The one end in a first direction of the convolution component is connected to the base station,
The another side in a first direction of the convolution component is fixed with the lower end side of the cylindrical component,
The first direction of convolution component described in the thickness ratio of the upper and lower directions of the center portion of the first direction of the convolution component
One end part upper and lower directions thickness it is big,
The rotating mechanism includes：Motor, the motor are configured at the inside of the convolution component；And retarder, this subtracts
Fast device forms the connecting portion of the convolution component and the base station, and by the motor be rotated in deceleration after pass
It passs,
The motor is directly connected to the retarder.
2. industrial robot as described in claim 1, which is characterized in that
Gear is formed or is fixed on the output shaft of the motor,
The retarder includes the input gear engaged with the gear.
3. industrial robot as claimed in claim 1 or 2, which is characterized in that
The retarder is cycloidal-pin gear speed reducer.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-237675 | 2016-12-07 | ||
| JP2016237675A JP2018089765A (en) | 2016-12-07 | 2016-12-07 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161895A true CN108161895A (en) | 2018-06-15 |
Family
ID=61423263
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720319953.3U Active CN206982659U (en) | 2016-12-07 | 2017-03-29 | Industrial robot |
| CN201710197256.XA Pending CN108161895A (en) | 2016-12-07 | 2017-03-29 | Industrial robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720319953.3U Active CN206982659U (en) | 2016-12-07 | 2017-03-29 | Industrial robot |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2018089765A (en) |
| CN (2) | CN206982659U (en) |
| TW (1) | TW201822969A (en) |
| WO (1) | WO2018105284A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018089765A (en) * | 2016-12-07 | 2018-06-14 | 日本電産サンキョー株式会社 | Industrial robot |
| CN111319063B (en) * | 2018-12-13 | 2021-11-12 | 日本电产三协（浙江）有限公司 | Method for manufacturing robot |
| JP2022131436A (en) * | 2021-02-26 | 2022-09-07 | 日本電産サンキョー株式会社 | industrial robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007229906A (en) * | 2006-03-03 | 2007-09-13 | Kawasaki Heavy Ind Ltd | Clean space robot |
| CN101543992A (en) * | 2008-03-26 | 2009-09-30 | 株式会社安川电机 | Multijoint robot |
| CN102380872A (en) * | 2010-07-16 | 2012-03-21 | 日本电产三协株式会社 | Industrial robot |
| CN102985231A (en) * | 2010-07-14 | 2013-03-20 | 日本电产三协株式会社 | Industrial robot, method for controlling industrial robot, and method for teaching industrial robot |
| CN206982659U (en) * | 2016-12-07 | 2018-02-09 | 日本电产三协（浙江）有限公司 | Industrial robot |
-
2016
- 2016-12-07 JP JP2016237675A patent/JP2018089765A/en not_active Withdrawn
-
2017
- 2017-03-29 CN CN201720319953.3U patent/CN206982659U/en active Active
- 2017-03-29 CN CN201710197256.XA patent/CN108161895A/en active Pending
- 2017-11-06 WO PCT/JP2017/039852 patent/WO2018105284A1/en active Application Filing
- 2017-11-20 TW TW106140036A patent/TW201822969A/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007229906A (en) * | 2006-03-03 | 2007-09-13 | Kawasaki Heavy Ind Ltd | Clean space robot |
| CN101543992A (en) * | 2008-03-26 | 2009-09-30 | 株式会社安川电机 | Multijoint robot |
| CN102985231A (en) * | 2010-07-14 | 2013-03-20 | 日本电产三协株式会社 | Industrial robot, method for controlling industrial robot, and method for teaching industrial robot |
| CN102380872A (en) * | 2010-07-16 | 2012-03-21 | 日本电产三协株式会社 | Industrial robot |
| CN206982659U (en) * | 2016-12-07 | 2018-02-09 | 日本电产三协（浙江）有限公司 | Industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN206982659U (en) | 2018-02-09 |
| WO2018105284A1 (en) | 2018-06-14 |
| TW201822969A (en) | 2018-07-01 |
| JP2018089765A (en) | 2018-06-14 |
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