WO2005123349A1 - 産業用ロボット - Google Patents
産業用ロボット Download PDFInfo
- Publication number
- WO2005123349A1 WO2005123349A1 PCT/JP2005/010590 JP2005010590W WO2005123349A1 WO 2005123349 A1 WO2005123349 A1 WO 2005123349A1 JP 2005010590 W JP2005010590 W JP 2005010590W WO 2005123349 A1 WO2005123349 A1 WO 2005123349A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- respect
- work
- robot
- base
- Prior art date
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/005—Arms having a curved shape
-
- 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
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
Definitions
- the present invention relates to an industrial robot having a vertical articulated structure.
- a conventional industrial robot having vertical articulated joints includes a base 101 for installation, a turning part 102 that turns with respect to the base 101, and a base 101 with respect to the base 101.
- a first arm 103 that pivots with the pivoting portion 102 and pivots with respect to the pivoting portion 102, pivots with the pivoting portion 102 with respect to the base 101, and pivots with respect to the first arm 103.
- a movable second arm 104 was provided, and a wrist 106 having three degrees of freedom including a wrist rotation shaft 105 was attached to the tip of the second arm 104 (for example, see Patent Document 1).
- Patent Document 1 JP-A-10-6271
- the first arm 103 often interferes with the work 107 and the like.
- the first arm 103 and the work 107 interfere at the interference point 108, so that the work area 109 in the work of the robot is in the work.
- the robot could not perform the work near the work bottom 110 because the robot could not reach the bottom 110.
- the work 107 is set at an appropriate position using a jig 116 or the like so as to avoid interference between the work 107 and the robot, and work is performed. I was
- an object of the present invention is to provide an industrial robot in which the first arm and the work or the jig have little interference.
- an industrial robot includes a base for installation, a turning part that turns with respect to the base, and a turning part that turns with the turning part with respect to the base.
- the first arm of the robot is curved in the direction of rotation with respect to the turning portion, so that the interference between the first arm of the robot and the workpiece or jig can be reduced.
- FIG. 1 is a side view of an industrial robot according to an embodiment of the present invention, in which a workpiece is broken.
- the base 3 is fixed on the upper surface of the mounting table 2 attached to the installation surface 1.
- the turning unit 4 mounted on the base 3 is attached to the base 3 so as to be able to turn around the turning axis 6 perpendicular to the installation surface by the power of a turning drive unit 5 including a motor and a speed reducer. ing.
- the turning section 4 is provided with a first arm turning axis 7 perpendicular to the turning axis 6 at a position offset from the turning axis 6 to the outside.
- a first arm 9 rotatable with respect to the turning unit 4 is attached to the turning unit 4 by a first arm driving unit 8 attached to the turning unit 4 on the first arm turning shaft 7. Let's do it.
- a second arm rotation shaft 10 parallel to the first arm rotation shaft 7 is provided.
- the second arm rotating shaft 10 has a second arm
- the arm 12 is rotatably attached to the first arm 9.
- the first arm 9 is curved in a direction to rotate with respect to the swiveling part 4 and in a direction opposite to an inner angle between the first arm 9 and the second arm 12, and a concave space 13 is formed on the inner angle side. It is formed in the shape which has. At this time, the center of gravity of the first arm 9 is offset with respect to a line connecting the first arm rotation axis 7 and the second arm rotation axis 10, and the first arm 9 and the second arm 12 are offset. It is located in the opposite direction to the inner corner.
- a tip of the second arm 12 has a wrist 15 having three degrees of freedom including a wrist rotation axis 14 perpendicular to the second arm rotation axis 10 and offset upward from the second arm rotation axis 10. Is installed.
- the wrist 15 has such a structure that a welding torch, a handling device and the like can be attached.
- the robot of the present configuration can reduce the interference with the work and the jig as compared with the conventional robot.
- the effect of the present invention is not limited to the work inside the box-shaped work, but reduces the interference between the first arm and obstacles within the operation range of the first arm. .
- the industrial robot of the present invention can reduce interference between the first arm of the robot and a workpiece or the like, and is useful for an industrial robot.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05748819A EP1759816A4 (en) | 2004-06-22 | 2005-06-09 | INDUSTRIAL ROBOT |
US10/566,869 US20060182601A1 (en) | 2004-06-22 | 2005-06-09 | Industrial robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-183280 | 2004-06-22 | ||
JP2004183280A JP2006007332A (ja) | 2004-06-22 | 2004-06-22 | 産業用ロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005123349A1 true WO2005123349A1 (ja) | 2005-12-29 |
Family
ID=35509520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/010590 WO2005123349A1 (ja) | 2004-06-22 | 2005-06-09 | 産業用ロボット |
Country Status (5)
Country | Link |
---|---|
US (1) | US20060182601A1 (ja) |
EP (1) | EP1759816A4 (ja) |
JP (1) | JP2006007332A (ja) |
CN (1) | CN1819902A (ja) |
WO (1) | WO2005123349A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140283642A1 (en) * | 2013-03-19 | 2014-09-25 | Kabushiki Kaisha Yaskawa Denki | Robot |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4857177B2 (ja) * | 2007-04-27 | 2012-01-18 | 本田技研工業株式会社 | 組立てシステム |
JP5834473B2 (ja) * | 2011-04-28 | 2015-12-24 | セイコーエプソン株式会社 | ロボット |
CN102658546B (zh) * | 2012-04-28 | 2014-09-10 | 刘朝龙 | 工业机器人 |
CN103028870A (zh) * | 2012-12-11 | 2013-04-10 | 南京熊猫电子股份有限公司 | 焊接机器人*** |
JP2016068204A (ja) | 2014-09-30 | 2016-05-09 | セイコーエプソン株式会社 | ロボット |
CN106625755A (zh) * | 2016-08-31 | 2017-05-10 | 常州高思科技有限公司 | 径向错位以增大机械臂臂体间活动范围的方法及其机械臂 |
CN106514077B (zh) * | 2016-11-28 | 2019-03-12 | 苏州五圣通机器人自动化有限公司 | 一种栅格板专用高精度机器人自动焊接装置及其工作方法 |
CN106736104B (zh) * | 2016-11-28 | 2019-08-02 | 苏州五圣通机器人自动化有限公司 | 一种智能化机器人自动焊接装置及其工作方法 |
DE102018107142A1 (de) * | 2018-03-26 | 2019-09-26 | M-Robot OHG | Manipulatoreinrichtung |
JP7388828B2 (ja) * | 2019-05-27 | 2023-11-29 | ファナック株式会社 | ロボット |
CN114829079A (zh) * | 2019-12-16 | 2022-07-29 | 株式会社安川电机 | 机器人以及双臂机器人 |
JP7286531B2 (ja) * | 2019-12-27 | 2023-06-05 | 川崎重工業株式会社 | 多軸ロボットおよびその制御方法 |
KR200495567Y1 (ko) * | 2020-11-19 | 2022-06-27 | 한양로보틱스 주식회사 | 사출성형기용 취출로봇장치 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01183392A (ja) * | 1988-01-14 | 1989-07-21 | Matsushita Electric Ind Co Ltd | 産業用ロボットの多関節型アーム |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59115177A (ja) * | 1982-12-20 | 1984-07-03 | 松下電器産業株式会社 | 多関節ロボツト |
US4685861A (en) * | 1984-10-30 | 1987-08-11 | Michael Madock | Continuous shaft-driven industrial robot |
JPS61152386A (ja) * | 1984-12-26 | 1986-07-11 | 株式会社日立製作所 | ロボツトア−ム |
JPH07314360A (ja) * | 1994-05-31 | 1995-12-05 | Ishikawajima Harima Heavy Ind Co Ltd | カメラ操作ロボット |
JP3298411B2 (ja) * | 1996-06-20 | 2002-07-02 | 松下電器産業株式会社 | ロボット及びロボットの制御方法 |
US6173632B1 (en) * | 1998-11-23 | 2001-01-16 | Semiconductor Technologies & Instruments, Inc. | Single station cutting apparatus for separating semiconductor packages |
-
2004
- 2004-06-22 JP JP2004183280A patent/JP2006007332A/ja not_active Withdrawn
-
2005
- 2005-06-09 WO PCT/JP2005/010590 patent/WO2005123349A1/ja not_active Application Discontinuation
- 2005-06-09 EP EP05748819A patent/EP1759816A4/en not_active Withdrawn
- 2005-06-09 US US10/566,869 patent/US20060182601A1/en not_active Abandoned
- 2005-06-09 CN CN200580000651.XA patent/CN1819902A/zh active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01183392A (ja) * | 1988-01-14 | 1989-07-21 | Matsushita Electric Ind Co Ltd | 産業用ロボットの多関節型アーム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140283642A1 (en) * | 2013-03-19 | 2014-09-25 | Kabushiki Kaisha Yaskawa Denki | Robot |
Also Published As
Publication number | Publication date |
---|---|
EP1759816A4 (en) | 2007-09-26 |
JP2006007332A (ja) | 2006-01-12 |
CN1819902A (zh) | 2006-08-16 |
EP1759816A1 (en) | 2007-03-07 |
US20060182601A1 (en) | 2006-08-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2005123349A1 (ja) | 産業用ロボット | |
JP3952955B2 (ja) | 多関節ロボット | |
JP5499647B2 (ja) | ロボット及びロボットシステム | |
JP4822061B2 (ja) | 双腕ロボット | |
JP6670455B2 (ja) | ロボット及びロボットシステム | |
US8231117B2 (en) | Robot system | |
JP2010058180A (ja) | 水平多関節型ロボット | |
JP2006341283A (ja) | アーク溶接用ポジショナ及びアーク溶接ロボットシステム | |
US20140196561A1 (en) | Robot | |
KR20130043678A (ko) | 천장 매닮 스칼라형 로봇 | |
JP2008272883A (ja) | 双腕型ロボットマニピュレータ | |
US20090003983A1 (en) | Articulated Robot | |
JP2007144559A (ja) | 多関節ロボット | |
JP2001054889A (ja) | 組立用垂直多関節型ロボット | |
JP2018069354A (ja) | リンク式多関節ロボット | |
JP2005169489A (ja) | 斜動多関節ロボットを補助ロボットとして使用する溶接システム | |
JPH03502306A (ja) | 工業用ロボット | |
JPH11216692A (ja) | 産業用ロボット | |
JP3298411B2 (ja) | ロボット及びロボットの制御方法 | |
JP5080357B2 (ja) | ロボット | |
JP3638676B2 (ja) | ベンディング用6軸垂直多関節型ロボット | |
JP2014054727A (ja) | ロボット | |
JP4682378B2 (ja) | ダブルアームおよびそれを備えたロボット | |
JP5348298B2 (ja) | ロボット | |
JPH0890463A (ja) | 水平多関節形ロボット |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200580000651.X Country of ref document: CN |
|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006182601 Country of ref document: US Ref document number: 10566869 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005748819 Country of ref document: EP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWP | Wipo information: published in national office |
Ref document number: 10566869 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWW | Wipo information: withdrawn in national office |
Ref document number: DE |
|
WWP | Wipo information: published in national office |
Ref document number: 2005748819 Country of ref document: EP |