KR950017118A - 산업용 로봇 - Google Patents
산업용 로봇 Download PDFInfo
- 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
Links
- 210000000707 wrist Anatomy 0.000 abstract 1
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
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1, 2도는 각각 본 발명에 따른 로봇의 우선 실시예의 측면도 및 평면도이다.
Claims (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.
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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190071178A (ko) | 2017-12-14 | 2019-06-24 | 주식회사 포스코 | 연마장치 |
Families Citing this family (17)
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)
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 |
-
1993
- 1993-12-17 IT ITTO930962A patent/IT1272085B/it active IP Right Grant
-
1994
- 1994-11-30 CA CA002137024A patent/CA2137024C/en not_active Expired - Fee Related
- 1994-12-01 EP EP94830559A patent/EP0658404B1/en not_active Expired - Lifetime
- 1994-12-01 ES ES94830559T patent/ES2098897T3/es not_active Expired - Lifetime
- 1994-12-01 AT AT94830559T patent/ATE149903T1/de not_active IP Right Cessation
- 1994-12-01 DE DE69402036T patent/DE69402036T2/de not_active Expired - Fee Related
- 1994-12-09 JP JP6331007A patent/JPH07205064A/ja active Pending
- 1994-12-16 KR KR1019940034555A patent/KR0168697B1/ko not_active IP Right Cessation
- 1994-12-17 CN CN94112791A patent/CN1042606C/zh not_active Expired - Fee Related
Cited By (1)
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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A201 | Request for examination | ||
E902 | Notification of reason for refusal | ||
E902 | Notification of reason for refusal | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant | ||
FPAY | Annual fee payment |
Payment date: 20030904 Year of fee payment: 6 |
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LAPS | Lapse due to unpaid annual fee |