TW376356B - Carrying robot - Google Patents

Carrying robot

Info

Publication number
TW376356B
TW376356B TW087101468A TW87101468A TW376356B TW 376356 B TW376356 B TW 376356B TW 087101468 A TW087101468 A TW 087101468A TW 87101468 A TW87101468 A TW 87101468A TW 376356 B TW376356 B TW 376356B
Authority
TW
Taiwan
Prior art keywords
link mechanisms
driving
robot
side links
parallel link
Prior art date
Application number
TW087101468A
Other languages
Chinese (zh)
Inventor
Hisashi Asada
Original Assignee
Komatsu Mfg Co Ltd
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 Komatsu Mfg Co Ltd filed Critical Komatsu Mfg Co Ltd
Application granted granted Critical
Publication of TW376356B publication Critical patent/TW376356B/en

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
    • B25J9/02—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
    • B25J9/046—Revolute coordinate type
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0021—All motors in base

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

To miniaturize a driving motor for rotating a whole carrying robot. A robot has the first and second parallel link mechanisms 22a, 22b, 12a, 23b formed with driving side links 31a, 31b, 36a, 36b and driven side links 32a, 32b, 37a, 37b in parallel and at least one pair of robot link mechanisms B1, B2 provided with carrying boards 24a, 24b on the second parallel link mechanisms at the end. The driven side links 32a, 32b of the first parallel link mechanisms 22a, 22b for the robot link mechanisms are connected to a rotating arm 30 with one end fixed to a driving shaft 25a and the driving side links 31a, 31b of the first parallel link mechanisms are fixed to the driving shafts 25a, 25b. The driving shafts are coaxially arranged, to which driving motors are respectively connected.
TW087101468A 1997-03-18 1998-02-05 Carrying robot TW376356B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9064405A JPH10249757A (en) 1997-03-18 1997-03-18 Carrying robot

Publications (1)

Publication Number Publication Date
TW376356B true TW376356B (en) 1999-12-11

Family

ID=13257381

Family Applications (1)

Application Number Title Priority Date Filing Date
TW087101468A TW376356B (en) 1997-03-18 1998-02-05 Carrying robot

Country Status (4)

Country Link
JP (1) JPH10249757A (en)
KR (1) KR19980080413A (en)
TW (1) TW376356B (en)
WO (1) WO1998041366A1 (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW471084B (en) * 1999-12-22 2002-01-01 Jel Kk Transfer arm
JP2002200583A (en) * 2000-06-15 2002-07-16 Jel:Kk Transfer arm
WO2002063322A1 (en) 2001-02-08 2002-08-15 Seiko Epson Corporation Member exchanger, method of controlling member exchanger, ic inspection method, ic handler, and ic inspector
JP4628602B2 (en) * 2001-04-05 2011-02-09 ナブテスコ株式会社 Robot arm
JP4995295B2 (en) * 2001-04-05 2012-08-08 ナブテスコ株式会社 Robot arm
JP4757404B2 (en) * 2001-06-04 2011-08-24 株式会社ジェーイーエル Transfer arm
JP4732716B2 (en) 2004-06-29 2011-07-27 株式会社アルバック Conveying apparatus, control method therefor, and vacuum processing apparatus
JP4543249B2 (en) * 2004-07-28 2010-09-15 アテル株式会社 Transfer arm
JP4490341B2 (en) * 2005-07-05 2010-06-23 株式会社ダイヘン Link device and transfer robot
US8573919B2 (en) 2005-07-11 2013-11-05 Brooks Automation, Inc. Substrate transport apparatus
JP4876898B2 (en) * 2006-12-22 2012-02-15 シンフォニアテクノロジー株式会社 Linear conveying apparatus for articles and belt body tension adjusting method in the apparatus
JPWO2009034795A1 (en) * 2007-09-10 2010-12-24 株式会社アルバック Substrate transfer robot, vacuum processing equipment
US8408109B2 (en) 2007-10-22 2013-04-02 Formax, Inc. Food article feed apparatus for a food article slicing machine
JP5463367B2 (en) * 2009-12-28 2014-04-09 株式会社アルバック Driving device and conveying device
JP5463174B2 (en) * 2010-03-12 2014-04-09 株式会社アルバック Joint device and substrate transfer device
EP2716380B1 (en) * 2011-05-23 2016-02-10 Murata Machinery, Ltd. Plate material processing system
US9186799B2 (en) 2011-07-13 2015-11-17 Brooks Automation, Inc. Compact direct drive spindle
JP2013049113A (en) * 2011-08-31 2013-03-14 Yaskawa Electric Corp Robot arm structure, and robot
JP5871550B2 (en) * 2011-10-07 2016-03-01 株式会社アルバック Transfer robot and vacuum device
JP6874560B2 (en) * 2017-06-21 2021-05-19 日本精工株式会社 Arm mechanism
JP7238365B2 (en) * 2018-11-29 2023-03-14 Ｕｂｅマシナリー株式会社 spray device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0825151B2 (en) * 1988-09-16 1996-03-13 東京応化工業株式会社 Handling unit
JP3113729B2 (en) * 1992-04-13 2000-12-04 日本真空技術株式会社 Parallel link robot with coaxial drive

Also Published As

Publication number Publication date
KR19980080413A (en) 1998-11-25
JPH10249757A (en) 1998-09-22
WO1998041366A1 (en) 1998-09-24

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