KR950017118A - 산업용 로봇 - Google Patents

산업용 로봇 Download PDF

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Publication number
KR950017118A
KR950017118A KR1019940034555A KR19940034555A KR950017118A KR 950017118 A KR950017118 A KR 950017118A KR 1019940034555 A KR1019940034555 A KR 1019940034555A KR 19940034555 A KR19940034555 A KR 19940034555A KR 950017118 A KR950017118 A KR 950017118A
Authority
KR
South Korea
Prior art keywords
axis
rotatably installed
arm
around
industrial robot
Prior art date
Application number
KR1019940034555A
Other languages
English (en)
Other versions
KR0168697B1 (ko
Inventor
마울레티 엔리코
Original Assignee
로베르토 테스토레
코마우 쏘시에떼 퍼 아찌오니
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 로베르토 테스토레, 코마우 쏘시에떼 퍼 아찌오니 filed Critical 로베르토 테스토레
Publication of KR950017118A publication Critical patent/KR950017118A/ko
Application granted granted Critical
Publication of KR0168697B1 publication Critical patent/KR0168697B1/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

고정몸체(71)위의 제1수직축(1) 주위에 회전가능하게 설치된 아암(10), 아암(10) 아래 제2수직축 주위에 회전가능하게 설치된 제2몸체(72), 제2몸체(72)위의 제3수평축 주위에 회전가능하게 설치된 평행사변형 연결장치(75) 및 평행사변형 연결장치에 의해 이동하며 서로 수직한 두 축(4, 5) 주위에 연결된 리스트(80)를 포함하는 새로운 구조를 가진 산업용 로봇이 기술된다.(제1도 참조).

Description

산업용 로봇
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1, 2도는 각각 본 발명에 따른 로봇의 우선 실시예의 측면도 및 평면도이다.

Claims (1)

  1. 각각의 연결축들(1-5) 주위에 서로 연결되며 각각의 연결축들(1-5)주위에 로봇의 각 연결요소를 구동시키기 위한 다수의 전기모터들(39, 51, 72a, 80a, 80b)이 제공되는 다수의 요소들(71, 10, 72, 81, 82) 및 각 전기모터 및 각 피구동요소 사이의 연결에 삽입된 감속기어장치를 포함하는 산업용 로봇에 있어서, 이 로봇이 고정몸체(71), 고정몸체(71)위의 제1수직축 주위에 회전가능하게 설치된 아암(10), 아암(10) 아래 수직으로 제2축(2)주의에 회전가능하게 설치된 제2몸체(72), 제2몸체(72) 의의 제3수평축(3) 주위에 회전가능하게 설치된 평행사변형 연결장치(75), 평행사변형 연결장치(75)에 의해 이동되며 제1요소(81)를 포함하는 리스트(80), 제4축(4)에 수직한 축(15)주위의 제2요소(82)위에서 회전이 가능한 플랜지(83)를 포함하는 것을 특징으로 하는 산업용 로봇.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019940034555A 1993-12-17 1994-12-16 산업용 로봇 KR0168697B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITTO93A000962 1993-12-17
ITT093A000962 1993-12-17
ITTO930962A IT1272085B (it) 1993-12-17 1993-12-17 Robot industriale

Publications (2)

Publication Number Publication Date
KR950017118A true KR950017118A (ko) 1995-07-20
KR0168697B1 KR0168697B1 (ko) 1999-02-01

Family

ID=11411944

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019940034555A KR0168697B1 (ko) 1993-12-17 1994-12-16 산업용 로봇

Country Status (9)

Country Link
EP (1) EP0658404B1 (ko)
JP (1) JPH07205064A (ko)
KR (1) KR0168697B1 (ko)
CN (1) CN1042606C (ko)
AT (1) ATE149903T1 (ko)
CA (1) CA2137024C (ko)
DE (1) DE69402036T2 (ko)
ES (1) ES2098897T3 (ko)
IT (1) IT1272085B (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190071178A (ko) 2017-12-14 2019-06-24 주식회사 포스코 연마장치

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3988768B2 (ja) * 2004-12-16 2007-10-10 セイコーエプソン株式会社 リンク駆動機構およびこれを用いた産業用ロボット
CN100358680C (zh) * 2004-12-21 2008-01-02 财团法人工业技术研究院 物料取放机构
FR2937269B1 (fr) * 2008-10-17 2010-10-29 Staubli Sa Ets Structure articulee de robot multi-axes et robot comprenant une telle structure.
ES2364359B1 (es) * 2008-12-05 2012-09-14 Consejo Superior De Investigaciones Científicas (Csic) Brazo manipulador de cargas con pares de actuacion reducidos.
CN102101292B (zh) * 2009-12-21 2012-09-26 厦门至工机电有限公司 四关节视觉机器人
CN102962834B (zh) * 2012-12-10 2015-07-29 东北大学 一种高压输电线巡检机器人机构
CN103737209A (zh) * 2013-12-17 2014-04-23 广西大学 具有对称的机构式焊接机器人
CN103737208A (zh) * 2013-12-17 2014-04-23 广西大学 一种多自由度焊接机器人
JP6677970B2 (ja) * 2015-02-20 2020-04-08 川崎重工業株式会社 産業用ロボット
ITUB20159345A1 (it) * 2015-12-23 2017-06-23 Comau Spa Robot industriale multi-asse, in particolare di tipo SCARA
CN106041440B (zh) * 2016-06-29 2018-05-11 深圳市欧斯凯曼科技有限公司 天线端子自动压合机的下料机械手
CN107570928A (zh) * 2016-10-01 2018-01-12 钟水龙 一种高危环境焊接机器人
EP3378579B1 (en) 2017-03-24 2023-07-05 All4One S.R.L. Gripping device, and apparatus for loading/unloading slab materials comprising said device
CN110722544B (zh) * 2019-11-13 2020-10-30 惠安县崇武镇洛妤茶具商行 一种自动抓取机械手
CN110979059B (zh) * 2019-11-27 2022-08-02 长安大学 一种电动卡车充电臂及其装置
CN112589669A (zh) * 2020-12-09 2021-04-02 苏州斯尔特微电子有限公司 晶圆研磨用供料机构
CN114313482A (zh) * 2022-02-15 2022-04-12 河南中烟工业有限责任公司 触压式条烟缺包检测装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59146774A (ja) * 1983-02-04 1984-08-22 神鋼電機株式会社 物品のパレタイズ用多関節ロボツト
JPS60207270A (ja) * 1984-03-30 1985-10-18 日本航空電子工業株式会社 コネクタ
DE8803290U1 (de) * 1988-03-11 1988-04-28 Bäder, Wilfried, 73776 Altbach Handhabungsgerät zum Greifen und Bewegen von Gegenständen
FR2648378B1 (fr) * 1989-06-19 1994-12-09 Rafer Jean Claude Dispositif de presentation d'outils sur des broches de machines-outils
JP2718841B2 (ja) * 1991-05-30 1998-02-25 株式会社神戸製鋼所 多関節形ロボット
US5423648A (en) * 1992-01-21 1995-06-13 Fanuc Robotics North America, Inc. Method and system for quickly and efficiently transferring a workpiece from a first station to a second station

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190071178A (ko) 2017-12-14 2019-06-24 주식회사 포스코 연마장치

Also Published As

Publication number Publication date
CA2137024C (en) 1998-09-22
ES2098897T3 (es) 1997-05-01
JPH07205064A (ja) 1995-08-08
CN1042606C (zh) 1999-03-24
KR0168697B1 (ko) 1999-02-01
ATE149903T1 (de) 1997-03-15
EP0658404A1 (en) 1995-06-21
CN1112473A (zh) 1995-11-29
ITTO930962A1 (it) 1995-06-17
DE69402036D1 (de) 1997-04-17
ITTO930962A0 (it) 1993-12-17
DE69402036T2 (de) 1997-06-19
CA2137024A1 (en) 1995-06-18
IT1272085B (it) 1997-06-11
EP0658404B1 (en) 1997-03-12

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