DE102004002416B8 - Knickarmroboter - Google Patents

Knickarmroboter Download PDF

Info

Publication number
DE102004002416B8
DE102004002416B8 DE102004002416.2A DE102004002416A DE102004002416B8 DE 102004002416 B8 DE102004002416 B8 DE 102004002416B8 DE 102004002416 A DE102004002416 A DE 102004002416A DE 102004002416 B8 DE102004002416 B8 DE 102004002416B8
Authority
DE
Germany
Prior art keywords
articulated robot
articulated
robot
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.)
Expired - Lifetime
Application number
DE102004002416.2A
Other languages
English (en)
Other versions
DE102004002416B4 (de
DE102004002416A1 (de
Inventor
Hideo Narita
Hisanori Nakamura
Morihiko Ohkura
Masato Shirai
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.)
Toyota Motor Corp
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Toyota Motor Corp
Kawasaki Jukogyo KK
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 Kawasaki Heavy Industries Ltd, Toyota Motor Corp, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Publication of DE102004002416A1 publication Critical patent/DE102004002416A1/de
Application granted granted Critical
Publication of DE102004002416B4 publication Critical patent/DE102004002416B4/de
Publication of DE102004002416B8 publication Critical patent/DE102004002416B8/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • 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)
DE102004002416.2A 2003-01-17 2004-01-16 Knickarmroboter Expired - Lifetime DE102004002416B8 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003-009826 2003-01-17
JP2003009826A JP3952955B2 (ja) 2003-01-17 2003-01-17 多関節ロボット

Publications (3)

Publication Number Publication Date
DE102004002416A1 DE102004002416A1 (de) 2004-10-07
DE102004002416B4 DE102004002416B4 (de) 2016-12-15
DE102004002416B8 true DE102004002416B8 (de) 2017-04-13

Family

ID=32767229

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102004002416.2A Expired - Lifetime DE102004002416B8 (de) 2003-01-17 2004-01-16 Knickarmroboter

Country Status (3)

Country Link
US (1) US7597025B2 (de)
JP (1) JP3952955B2 (de)
DE (1) DE102004002416B8 (de)

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WO2007011398A2 (en) 2004-10-21 2007-01-25 Deka Products Limited Partnership Controllable launcher
WO2006085819A2 (en) * 2005-02-11 2006-08-17 Abb Ab An industrial robot with several axes, with multistage transmission gears and prepared for working in an aggressive and limited working area
WO2006085818A2 (en) * 2005-02-11 2006-08-17 Abb Ab An industrial robot and a drive package for the third axis, with a multistage gear transmission
US7870807B2 (en) * 2005-09-26 2011-01-18 Durr Systems Inc. Multi axis robot wrist and method of operation
JP5221017B2 (ja) * 2005-09-27 2013-06-26 株式会社安川電機 搬送システム
KR101323918B1 (ko) 2005-09-27 2013-10-31 가부시키가이샤 야스카와덴키 다관절 머니퓰레이터
JP4326558B2 (ja) * 2006-08-24 2009-09-09 ファナック株式会社 産業用ロボットアームの駆動機構
US8006586B2 (en) * 2007-03-12 2011-08-30 Comau S.P.A. Articulated robot wrist
US20080314181A1 (en) * 2007-06-19 2008-12-25 Bruce Schena Robotic Manipulator with Remote Center of Motion and Compact Drive
JP4280295B2 (ja) * 2007-06-20 2009-06-17 ファナック株式会社 産業用ロボット
CN101412221B (zh) * 2007-10-15 2011-05-04 鸿富锦精密工业（深圳）有限公司 旋转机构
DE102008001314A1 (de) * 2008-04-22 2009-10-29 Robert Bosch Gmbh Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum
US20100107864A1 (en) * 2008-10-16 2010-05-06 James Allen Bushner Electro-hydraulic double-rod actuating cylinder
WO2011003451A1 (en) * 2009-07-09 2011-01-13 Abb Research Ltd A robot arm system and a robot arm
JP5422295B2 (ja) * 2009-08-03 2014-02-19 株式会社ニューギン 遊技機
JP5528207B2 (ja) * 2010-05-19 2014-06-25 Ｎｔｎ株式会社 リンク作動装置
DE102011009259A1 (de) 2011-01-24 2012-07-26 Böllhoff Verbindungstechnik GmbH Fügekopf zum Befestigen eines Befestigungselements sowie ein Befestigungsverfahren
DE202011100455U1 (de) * 2011-05-09 2012-05-10 Peter Fendt Roboter mit mehreren Gelenkarmen
CN103158158A (zh) * 2011-12-09 2013-06-19 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5383846B2 (ja) * 2012-03-27 2014-01-08 ファナック株式会社 産業用ロボットの手首先端部における線条体案内機構部
JP5617900B2 (ja) * 2012-11-19 2014-11-05 株式会社安川電機 ロボット
KR101438513B1 (ko) * 2013-01-24 2014-09-12 한국원자력연구원 내부배선을 적용한 뱀 로봇용 양단지지형 구동모듈
CA2807287C (en) * 2013-02-26 2018-06-12 Ahmad Kamal Bakir Manipulator arm module
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
DE102013110215A1 (de) * 2013-09-17 2015-03-19 Rg Mechatronics Gmbh Vorrichtung zum Positionieren eines Endeffektors eines chirurgischen Instruments, und chirurgisches Instrument mit einem integrierten Manipulator
CN103538064B (zh) * 2013-10-24 2016-08-17 上海电机学院 魔棒机器人
KR101558375B1 (ko) * 2013-12-17 2015-10-07 현대자동차 주식회사 조립 기기용 마운팅 위치 변환장치
JP5670588B2 (ja) * 2014-02-28 2015-02-18 株式会社ダイヘン 多関節形ロボット
DE102014107071A1 (de) 2014-05-20 2015-11-26 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Gelenkanordnung mit zumindest einer angetriebenen Achse
JP6229617B2 (ja) * 2014-08-01 2017-11-15 株式会社安川電機 ロボット
US20180111275A1 (en) * 2014-08-01 2018-04-26 Kugar Inc. Modular system for constructing robots
JP2016068203A (ja) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット
WO2016103301A1 (ja) * 2014-12-26 2016-06-30 川崎重工業株式会社 多関節ロボット及びそのモジュール
CN104802156A (zh) * 2015-05-15 2015-07-29 广东中聪机器人科技有限公司 一种双臂机器人
DE102015212256A1 (de) 2015-06-30 2017-01-05 Dürr Ecoclean GmbH Vorrichtung für das Manipulieren eines Werkzeugs und/oder Werk-stücks
US11139707B2 (en) 2015-08-11 2021-10-05 Genesis Robotics And Motion Technologies Canada, Ulc Axial gap electric machine with permanent magnets arranged between posts
JP2018529302A (ja) 2015-08-11 2018-10-04 ジェネシス ロボティクス エルエルピー 電気機械
FR3040145B1 (fr) * 2015-08-21 2018-02-09 Nimbl'bot Bras de robot articule
WO2017062648A1 (en) * 2015-10-06 2017-04-13 Impossible Incorporated Llc Snake-like robot
CN105563477A (zh) * 2016-01-29 2016-05-11 坚毅机械工程(高要)有限公司 一种旋转适配器及具有该旋转适配器的机械手
JP6506195B2 (ja) * 2016-03-09 2019-04-24 ファナック株式会社 回転軸モジュールおよび多関節ロボット
US10288458B2 (en) * 2016-06-29 2019-05-14 GM Global Technology Operations LLC Systems and methods for sensor platform
US10175658B2 (en) 2016-06-29 2019-01-08 GM Global Technology Operations LLC Systems and methods for sensor platform
US11043885B2 (en) 2016-07-15 2021-06-22 Genesis Robotics And Motion Technologies Canada, Ulc Rotary actuator
JP6402318B2 (ja) * 2016-07-26 2018-10-10 Ｇｒｏｏｖｅ Ｘ株式会社 多関節ロボット
USD824977S1 (en) 2016-09-09 2018-08-07 GYS Tech, LLC Robotic arm
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
CN106363642A (zh) * 2016-11-18 2017-02-01 中国科学院合肥物质科学研究院 一种仿人机器人躯干结构
DE102017002787B4 (de) 2017-03-23 2018-11-08 Audi Ag Spannvorrichtung
EP3600787A4 (de) * 2017-03-26 2021-01-13 Genesis Robotics and Motion Technologies Canada, ULC Roboterarm
WO2019012431A1 (en) * 2017-07-11 2019-01-17 Genesis Robotics And Motion Technologies Canada, Ulc ELECTRICAL MACHINE WITH INTEGRATED BOX
DE102017011151A1 (de) * 2017-12-02 2019-06-06 Audi Ag Spannvorrichtung für eine Fügeanlage und Fügeanlage sowie Verfahren zum Fügen eines Bauteilverbunds
CN111391883B (zh) * 2020-04-03 2024-05-28 哈尔滨市科佳通用机电股份有限公司 一种动车组底部故障检测装置
TWI770509B (zh) * 2020-05-19 2022-07-11 黃瀚毅 多節旋轉角度之機械手臂
JP7171669B2 (ja) * 2020-10-14 2022-11-15 川崎重工業株式会社 手術支援システム、患者側装置および手術支援システムの制御方法
CN112975238B (zh) * 2021-02-01 2022-12-09 深圳市长驰精密科技有限公司 一种用于汽车零件生产的夹持装置
DE102022100608A1 (de) 2022-01-12 2023-07-13 Dürr Systems Ag Roboterhand, insbesondere zum Tragen einer Applikationsvorrichtung
CN115556139A (zh) * 2022-09-09 2023-01-03 江门市众能电控科技有限公司 活动臂***

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4046262A (en) 1974-01-24 1977-09-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Anthropomorphic master/slave manipulator system
DE3332040A1 (de) 1982-09-07 1984-03-08 Deutsche Itt Industries Gmbh, 7800 Freiburg Gelenkarmmechanismus
DE3536747A1 (de) 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Gelenkmechanismus
JPS63288690A (ja) 1987-05-20 1988-11-25 トキコ株式会社 手首機構
DE3790743T1 (de) 1986-11-26 1989-01-19
DE4242575A1 (en) 1991-12-17 1993-06-24 Toshiba Kawasaki Kk Motor driven joint module for multi degree of freedom remotely controlled manipulators - has motor in housing with bevel gear transmission to output section with built-in connections for coupling units together.
JPH0621882U (ja) 1983-03-01 1994-03-22 ウエスチングハウス・エレクトリック・コーポレイション 二軸手首モジュール
FR2753925A1 (fr) 1996-10-02 1998-04-03 Commissariat Energie Atomique Articulation oblique de robot
WO2001051259A2 (en) 2000-01-11 2001-07-19 Hai Hong Zhu Modular robot manipulator apparatus
US6408224B1 (en) 1999-11-10 2002-06-18 National Aerospace Laboratory Of Science Technology Agency Rotary articulated robot and method of control thereof
US6430475B2 (en) 2000-04-10 2002-08-06 National Aerospace Laboratory Of Japan Pressure-distribution sensor for controlling multi-jointed nursing robot
US20030010148A1 (en) 2001-07-12 2003-01-16 National Aerospace Laboratory Of Japan Offset rotary joint unit equipped with rotation correction mechanism

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US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
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JPH10225881A (ja) * 1997-02-14 1998-08-25 Natl Aerospace Lab オフセット回転関節及び該オフセット回転関節を有する多関節ロボット
JP3734135B2 (ja) 1999-08-03 2006-01-11 株式会社不二越 産業用ロボットの手首装置
DE10010615A1 (de) * 2000-03-03 2001-09-06 Duerr Systems Gmbh Roboter zum Beschichten oder Behandeln von Werkstücken
JP3765393B2 (ja) 2001-03-12 2006-04-12 川崎重工業株式会社 多関節ロボットの減速装置
JP2004148449A (ja) 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4046262A (en) 1974-01-24 1977-09-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Anthropomorphic master/slave manipulator system
DE3332040A1 (de) 1982-09-07 1984-03-08 Deutsche Itt Industries Gmbh, 7800 Freiburg Gelenkarmmechanismus
JPH0621882U (ja) 1983-03-01 1994-03-22 ウエスチングハウス・エレクトリック・コーポレイション 二軸手首モジュール
DE3536747A1 (de) 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Gelenkmechanismus
DE3790743T1 (de) 1986-11-26 1989-01-19
JPS63288690A (ja) 1987-05-20 1988-11-25 トキコ株式会社 手首機構
DE4242575A1 (en) 1991-12-17 1993-06-24 Toshiba Kawasaki Kk Motor driven joint module for multi degree of freedom remotely controlled manipulators - has motor in housing with bevel gear transmission to output section with built-in connections for coupling units together.
FR2753925A1 (fr) 1996-10-02 1998-04-03 Commissariat Energie Atomique Articulation oblique de robot
US6408224B1 (en) 1999-11-10 2002-06-18 National Aerospace Laboratory Of Science Technology Agency Rotary articulated robot and method of control thereof
WO2001051259A2 (en) 2000-01-11 2001-07-19 Hai Hong Zhu Modular robot manipulator apparatus
US6430475B2 (en) 2000-04-10 2002-08-06 National Aerospace Laboratory Of Japan Pressure-distribution sensor for controlling multi-jointed nursing robot
US20030010148A1 (en) 2001-07-12 2003-01-16 National Aerospace Laboratory Of Japan Offset rotary joint unit equipped with rotation correction mechanism

Also Published As

Publication number Publication date
US20040149064A1 (en) 2004-08-05
DE102004002416B4 (de) 2016-12-15
JP2004216535A (ja) 2004-08-05
JP3952955B2 (ja) 2007-08-01
US7597025B2 (en) 2009-10-06
DE102004002416A1 (de) 2004-10-07

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
8127 New person/name/address of the applicant

Owner name: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KOBE, HYOGO, JP

Owner name: TOYOTA JIDOSHA KABUSHIKI KAISHA, TOYOTA, AICHI, JP

R016 Response to examination communication
R016 Response to examination communication
R018 Grant decision by examination section/examining division
R082 Change of representative

Representative=s name: KUHNEN & WACKER PATENT- UND RECHTSANWALTSBUERO, DE

R020 Patent grant now final
R071 Expiry of right