JP2014240111A - ロボットアーム - Google Patents
ロボットアーム Download PDFInfo
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- JP2014240111A JP2014240111A JP2013123844A JP2013123844A JP2014240111A JP 2014240111 A JP2014240111 A JP 2014240111A JP 2013123844 A JP2013123844 A JP 2013123844A JP 2013123844 A JP2013123844 A JP 2013123844A JP 2014240111 A JP2014240111 A JP 2014240111A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/5406—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair
- B23Q1/5431—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair followed parallelly by a single sliding pair
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4828—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair
- B23Q1/4833—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair followed perpendicularly by a single rotating pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
- B23Q1/5475—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed perpendicularly by a single rotating pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
- B23Q1/5493—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- 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
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/39—Jaw changers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/003—Automatic supply or removal of metal workpieces in a lathe
-
- 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
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
- Y10S901/29—Wrist
-
- 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
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1702—Rotating work machine tool [e.g., screw machine, lathe, etc.]
- Y10T483/1707—Tool having specific mounting or work treating feature
- Y10T483/171—Workpiece holder [e.g., chuck or chuck jaw, collet, etc.]
-
- 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
- Y10T74/20335—Wrist
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Feeding Of Workpieces (AREA)
Abstract
Description
(一実施形態)
図1から図3に示すように、本発明の一実施形態によるロボットアームは、アーム11、固定ユニット12、スライドユニット13、ストッパ14、連結ユニット15、腕部16および駆動装置17を備える。
111:第一接続部、
12:固定ユニット、
121:ガイド溝、
13:スライドユニット、
14:ストッパ、
15:連結ユニット、
16:腕部、
161:第二接続部、
162:第三接続部、
17:駆動装置、
171:本体、
172:突出部位、
18:調整ボルト、
19:カバ、
21:ねじりスプリング、
211:第一端、
212:第二端、
81:可動アーム、
811:第一部位、
812:第二部位、
82:第一サーボモータ、
83:第二サーボモータ、
91:加工機、
911:チャック、
92:把持装置、
P1:第一平面、
P2:第二平面、
θ:角度。
111:第一接続部、
12:固定ユニット、
121:ガイド溝、
13:スライドユニット、
14:ストッパ、
15:連結ユニット、
16:腕部、
161:第二接続部、
162:第三接続部、
17:駆動装置、
171:本体、
172:突出部位、
18:調整ボルト、
19:カバー、
21:ねじりスプリング、
211:第一端、
212:第二端、
81:可動アーム、
811:第一部位、
812:第二部位、
82:第一サーボモータ、
83:第二サーボモータ、
91:加工機、
911:チャック、
92:把持装置、
P1:第一平面、
P2:第二平面、
θ:角度。
Claims (5)
- アーム、固定ユニット、スライドユニット、ストッパ、腕部、および、駆動装置を備え、
前記アームは、第一接続部を有し、
前記固定ユニットは、前記アームの一端に連結され、
前記スライドユニットは、移動可能に前記固定ユニットに装着され、
前記ストッパは、前記スライドユニットに連結され、かつ前記固定ユニットに向かってスライドする前記スライドユニットの行程を抑制し、
前記腕部は、第二接続部および第三接続部を有し、前記第二接続部が前記スライドユニットに回転可能に接続され、
前記駆動装置は、外力を受けて相対的に移動する本体および突出部位を有し、前記本体が前記アームの前記第一接続部に接続され、前記突出部位が前記腕部の前記第三接続部に接続されていることを特徴とするロボットアーム。 - アーム、固定ユニット、スライドユニット、ストッパ、連結ユニット、腕部、および、駆動装置を備え、
前記アームは、第一接続部を有し、
前記固定ユニットは、前記アームの一端に連結され、
前記スライドユニットは、移動可能に前記固定ユニットに装着され、
前記ストッパは、前記スライドユニットに連結され、かつ前記固定ユニットに向かってスライドする前記スライドユニットの行程を抑制し、
前記連結ユニットは、前記ストッパと所定間隔を有する位置で前記スライドユニットに固定され、
前記腕部は、第二接続部および第三接続部を有し、前記第二接続部が前記連結ユニットに回転可能に接続され、
前記駆動装置は、外力を受けて相対的に移動する本体および突出部位を有し、前記本体は前記アームの前記第一接続部に接続され、前記突出部位が前記腕部の前記第三接続部に接続されていることを特徴とするロボットアーム。 - 前記アームは、さらにカバを有し、
前記第一接続部は、前記カバの内側に形成されていることを特徴とする請求項1に記載のロボットアーム。 - 前記第一接続部および前記第三接続部を通過する第一平面、および、前記第二接続部および前記第三接続部を通過する第二平面をさらに有し、
前記第一平面と前記第二平面との間の角度は90度から135度であることを特徴とする請求項1に記載のロボットアーム。 - 前記第一平面と前記第二平面との間の角度は105度であることを特徴とする請求項4に記載のロボットアーム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310203783.9A CN104175316B (zh) | 2013-05-28 | 2013-05-28 | 机械手臂 |
JP2013123844A JP5766235B2 (ja) | 2013-05-28 | 2013-06-12 | ロボットアーム |
US13/955,895 US9089975B2 (en) | 2013-05-28 | 2013-07-31 | Robotic arm |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310203783.9A CN104175316B (zh) | 2013-05-28 | 2013-05-28 | 机械手臂 |
JP2013123844A JP5766235B2 (ja) | 2013-05-28 | 2013-06-12 | ロボットアーム |
US13/955,895 US9089975B2 (en) | 2013-05-28 | 2013-07-31 | Robotic arm |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014240111A true JP2014240111A (ja) | 2014-12-25 |
JP5766235B2 JP5766235B2 (ja) | 2015-08-19 |
Family
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JP2013123844A Active JP5766235B2 (ja) | 2013-05-28 | 2013-06-12 | ロボットアーム |
Country Status (3)
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US (1) | US9089975B2 (ja) |
JP (1) | JP5766235B2 (ja) |
CN (1) | CN104175316B (ja) |
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CN105965471A (zh) * | 2016-07-18 | 2016-09-28 | 佛山市联智新创科技有限公司 | 一种设有升降滚轮的六轴通用机器人 |
CN106041909A (zh) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | 一对小臂上设有机械爪手的六轴通用机器人 |
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- 2013-07-31 US US13/955,895 patent/US9089975B2/en active Active
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Also Published As
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CN104175316A (zh) | 2014-12-03 |
JP5766235B2 (ja) | 2015-08-19 |
CN104175316B (zh) | 2016-06-08 |
US20150033898A1 (en) | 2015-02-05 |
US9089975B2 (en) | 2015-07-28 |
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