WO2022215197A1 - ツール駆動装置およびロボット - Google Patents
ツール駆動装置およびロボット Download PDFInfo
- Publication number
- WO2022215197A1 WO2022215197A1 PCT/JP2021/014777 JP2021014777W WO2022215197A1 WO 2022215197 A1 WO2022215197 A1 WO 2022215197A1 JP 2021014777 W JP2021014777 W JP 2021014777W WO 2022215197 A1 WO2022215197 A1 WO 2022215197A1
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- flange
- motor
- tool
- mounting portion
- axis
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- 210000000707 wrist Anatomy 0.000 claims abstract description 47
- 230000005484 gravity Effects 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 7
- 239000013307 optical fiber Substances 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000001577 neostriatum Anatomy 0.000 description 1
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
Definitions
- the present disclosure relates to tool driving devices and robots.
- the control filament is attached to the tip of the third wrist element.
- a robot is known in which wires are connected to an attached tool (see, for example, Patent Document 1).
- the tool is fixed to the third wrist element by a plate-shaped bracket that is brought into close contact with the tip surface of the third wrist element. routed through the direction to the tool.
- the movable part for moving the tool is arranged on the side opposite to the third wrist element with the bracket interposed therebetween, it is difficult to cover the control filament extending through the bracket with a cover.
- the striatum is exposed.
- the tool is a laser processing tool or the like, spatters and the like scattered by the laser processing will adhere to the control filaments, resulting in a decrease in the durability of the control filaments. Therefore, it is desired to wire so as not to expose the control filament that has passed through the hollow hole of the third wrist element.
- One aspect of the present disclosure includes a motor, a movable part that is driven by the motor to move a tool, and a bracket that attaches the motor and the movable part to a flange at the wrist tip of a robot, the bracket being attached to the flange.
- a plate-shaped first mounting portion to be mounted, and a plate-shaped second mounting portion to mount the motor and the movable portion, wherein the movable portion sandwiches the first mounting portion in a plate thickness direction with the flange. is disposed on the opposite side and on the side opposite to the motor across the second mounting portion in the plate thickness direction, and a filamentary body wired through the hollow hole of the flange is provided in the first mounting portion. and a tool drive device in which a filamentary body passage leading to the motor is provided without being exposed on the movable part side.
- FIG. 1 is a side view of a robot according to an embodiment of the present disclosure
- FIG. FIG. 2 is a partially broken side view showing a tool driving device according to one embodiment of the present invention provided in the robot of FIG. 1
- FIG. 3 is a plan view showing the tool driving device of FIG. 2
- 3 is a plan view showing an example of a posture in which an arm and a link of the tool driving device of FIG. 2 are driven
- FIG. 3 is a partially broken side view showing a modification of the tool driving device of FIG. 2
- FIG. 6 is a plan view showing the tool driving device of FIG. 5;
- a tool driving device 1 and a robot 100 according to an embodiment of the present disclosure will be described below with reference to the drawings.
- a robot 100 according to this embodiment includes a robot main body 110 and a tool driving device 1 according to this embodiment installed on the robot main body 110 .
- the robot main body 110 is, for example, a 6-axis articulated robot, and as shown in FIG. and a revolving barrel 112 supported on the .
- the robot body 110 includes a first arm 113 rotatably supported with respect to the revolving barrel 112 around a horizontal second axis B, and a first arm 113 around a third axis C parallel to the second axis B. and a second arm 114 rotatably supported with respect to.
- the revolving barrel 112 is provided with a hole extending in a direction along the first axis A. As shown in FIG.
- a triaxial wrist unit (wrist) 120 is attached to the tip of the second arm 114 .
- the wrist unit 120 includes a first wrist element 121 rotatably supported by the second arm 114 about a fourth axis D extending along a plane perpendicular to the third axis C, and a wrist element 121 perpendicular to the fourth axis D. and a second wrist element 122 rotatably supported with respect to the first wrist element 121 about a fifth axis E to which the second wrist element 122 extends.
- the wrist unit 120 is rotatably supported with respect to the second wrist element 122 about a sixth axis F that is perpendicular to the fifth axis E and intersects the fourth axis D and the fifth axis E at one point.
- a third wrist element 123 is provided.
- a hollow hole extending along the fourth axis D is provided in the second arm 114 and the first wrist element 121 .
- the first wrist element 121 is provided with a cylindrical hollow portion 121a provided with a hollow hole, and an extension portion 121b extending parallel to the fourth axis D from the tip of the hollow portion 121a.
- the second wrist element 122 is rotatably attached to the tip of the extension 121b around the fifth axis E.
- the second wrist element 122 and the third wrist element 123 have a hollow bore 130 extending along the sixth axis F.
- Third wrist element 123 includes an annular flange 124 with a plurality of threaded holes 125 circumferentially spaced around hollow bore 130, as shown in FIG.
- the tool drive device 1 is a device that supports the tool 200 and moves it with respect to the third wrist element 123 .
- the tool driving device 1 moves the tool 200 in two-dimensional directions along a plane including the fifth axis E and the sixth axis F. As shown in FIG.
- the tool drive device 1 includes two motors 2 and 3, a drive mechanism (movable part) 4 driven by the driving force of each motor 2 and 3, and motors 2 and 3. and a bracket 5 for attaching the driving mechanism 4 to the flange 124, and a motor cover (cover) 6 for covering the motors 2 and 3.
- the bracket 5 is formed in a substantially L shape in which a flat plate-like first mounting portion 7 and a flat plate-like second mounting portion 8 are arranged orthogonally.
- the first mounting portion 7 has a flange mounting surface (first surface) 7a that is brought into close contact with the flange 124.
- the flange mounting surface 7a has a straight line along the flange mounting surface 7a from a position corresponding to the hollow hole 130 provided in the flange 124 to be brought into close contact with the motor mounting surface (second surface) 8a of the second mounting portion 8.
- An extending groove (striate passageway) 9 is provided.
- the groove 9 does not pass through the first mounting portion 7 in the plate thickness direction, and has groove width and depth dimensions capable of accommodating the filamentous body 140 passing through the hollow hole 130 of the flange 124 .
- the first mounting portion 7 is provided with a plurality of through holes 10 through which bolts 150 fastened to the screw holes 125 of the flange 124 pass, at positions that do not overlap the grooves 9 .
- the bolt 150 passing through the through hole 10 to the screw hole 125 of the flange 124, the hollow hole 130 of the flange 124 is aligned with the end of the groove 9, and the flange 124 is brought into close contact with the flange mounting surface 7a. can be fixed.
- the second mounting portion 8 is a portion where the motors 2 and 3 and the drive mechanism 4 are mounted. 11 and a speed reducer mounting surface 8b. A plurality of screw holes for fastening bolts for mounting the motors 2 and 3 are provided on the motor mounting surface 8a.
- the motor cover 6 is formed in a box-like shape that covers the entire two motors 2 and 3 attached to the motor mounting surface 8a. is fixed to The second mounting portion 8 is provided with through holes 12 at two motor mounting positions, through which the shafts 2a of the motors 2 and 3 pass through in the plate thickness direction.
- a plurality of screw holes for fastening bolts for mounting the speed reducer 11 are provided on the speed reducer mounting surface 8b.
- the drive mechanism 4 as shown in FIG. 2, includes two speed reducers 11 attached to the speed reducer mounting surface 8b and two arms 13 and 14 fixed to the output shaft of each speed reducer 11. .
- the drive mechanism 4 also includes a tool mounting portion 15 for mounting the tool 200 and two links 16 and 17 connecting the tool mounting portion 15 and the two arms 13 and 14 .
- the shafts 2a of the two motors 2 and 3 attached to the motor attachment surface 8a are inserted through the through holes 12 of the second attachment portion 8 and inserted into the corresponding reduction gears 11, whereby the motors 2 and 3 is input to the speed reducer 11 .
- Each reducer 11 decelerates the rotation of the shaft 2a of each motor 2,3 and transmits it to the arms 13,14.
- the two arms 13 and 14 are rotationally driven around the parallel axes X of the two reduction gears 11, respectively.
- the two arms 13, 14 and the two links 16, 17 are rotatably connected about an axis Y parallel to the axis X, as shown in FIGS. Further, the links 16 and 17 are connected to each other so as to be rotatable around the axis Z of the tool mounting portion 15 parallel to the axis Y. As shown in FIG.
- Tool 200 is, for example, a laser machining tool, as shown in FIG.
- the laser processing tool 200 includes a tool body 210 , a nozzle 220 arranged at the distal end of the tool body 210 , and a connector 230 for connecting an optical fiber 240 to the proximal end of the tool body 210 .
- the laser processing tool 200 is attached to the tool attachment portion 15 with the axis of the nozzle 220 arranged in a direction orthogonal to a plane including the fifth axis E and the sixth axis F.
- the position of the tool mounting portion 15 is moved by the operation of the drive mechanism 4
- the position of the nozzle 220 of the laser processing tool 200 is moved in the direction orthogonal to the axis of the nozzle 220, and the laser processing position is two-dimensionally changed. can be changed.
- the flange mounting surface 7a of the first mounting portion 7 of the bracket 5 is brought into close contact with the tip surface of the flange 124 of the robot body 110, and the bolt 150 penetrated through the through hole 10 of the first mounting portion 7 is attached to the flange. It is attached to the robot main body 110 by fastening it to the screw hole 125 of 124 .
- a filamentous body 140 for control penetrated from the rear of the second arm 114 through the hollow holes of the second arm 114 and the first wrist element 121 is connected to the second wrist element 122 and the first wrist element 121. It passes through the hollow hole 130 of the third wrist element 123 and is pulled out from the distal end surface of the flange 124 . Since the flange mounting surface 7a of the first mounting portion 7 is provided with a groove (filamentary body passage) 9, the filamentary body 140 drawn forward from the tip surface of the flange 124 passes through the groove 9 to the first 2 is pulled out from the motor mounting surface 8a of the mounting portion 8 and connected to the motors 2 and 3. As shown in FIG.
- the groove 9 does not pass through the first mounting portion 7 in the plate thickness direction, and when viewed from the side of the laser processing tool 200 mounted on the tool mounting portion 15, the filamentous body 140 extends from the first mounting portion 7. Always kept hidden on the back side. Moreover, since the portion of the filamentary body 140 that is pulled out from the motor mounting surface 8a of the second mounting portion 8 and connected to the motors 2 and 3 is covered by the motor cover 6, it is more reliably protected. Therefore, even if spatter or the like scatters due to laser processing, the scattered spatter or the like does not adhere to the filamentous body 140, and there is an advantage that deterioration of the durability of the filamentous body 140 can be prevented.
- the tip surface of the flange 124 can be brought into close contact with the flange mounting surface 7a around the groove 9, whereby the tool drive device can be operated. 1 can be firmly fixed to the robot body 110 .
- the optical fiber 240 connected to the laser processing tool 200 passes through the hollow hole of the first wrist element 121, and then passes through the wrist unit 120 without passing through the hollow holes 130 of the second wrist element 122 and the third wrist element 123. is connected to the connection portion 230 of the laser processing tool 200 from the outside of the laser processing tool 200 .
- bending of the optical fiber 240 can be prevented.
- the tool driving device 1 attached to the distal end of the wrist unit 120 of the robot body 110 reduces the load applied to the wrist unit 120 of the robot 100 .
- the tool driving device 1 according to this embodiment has the following configuration.
- the tool drive device 1 includes motors 2 and 3, a movable part 4 driven by the motors 2 and 3 to move the tool 200, and a flange 124 at the tip of the wrist unit 120 of the robot 100.
- the bracket 5 includes a plate-like first mounting portion 7 attached to the flange 124 and a plate-like second mounting portion 8 for mounting the motors 2 and 3 and the movable portion 4, and the movable The portion 4 is arranged on the opposite side of the flange 124 across the first mounting portion 7 in the plate thickness direction and on the opposite side of the motors 2 and 3 across the second mounting portion 8 in the plate thickness direction. , are arranged on the opposite side of the motors 2 and 3 across the central axis of the flange 124 .
- the two motors 2 and 3 are fixed to the motor mounting surface 8a of the second mounting portion 8 of the L-shaped bracket 5.
- Two reduction gears 11 that respectively reduce the rotation of the two motors 2 and 3 are also fixed to the reduction gear mounting surface 8 b of the second mounting portion 8 of the L-shaped bracket 5 .
- the motors 2 and 3 and the speed reducer 11 are arranged on one side of a plane including the fifth axis E and the sixth axis F. As shown in FIG. In addition, the two arms 13, 14 and the two links 16, 17 that are rotationally driven by the two speed reducers 11 are positioned relatively close to the plane containing the fifth axis E and the sixth axis F. rotated in the direction along
- the tool body 210 of the laser processing tool 200 attached to the tool attachment portion 15 is arranged on the opposite side of the motors 2 and 3 and the speed reducer 11 across a plane including the fifth axis E and the sixth axis F. ing.
- the motors 2, 3 and speed reducer 11, the arms 13, 14 and links 16, 17, and the tool body 210 have relatively large weights.
- the total center-of-gravity position of the arms 13, 14 and the links 16, 17 is arranged relatively close to the plane containing the fifth axis E and the sixth axis F. Further, since the motors 2 and 3 and the speed reducer 11 and the tool body 210 are arranged on opposite sides of the plane including the fifth axis E and the sixth axis F, the motors 2 and 3 and the speed reducer 11 and the tool body 210 can also be positioned relatively close to a plane containing the fifth axis E and the sixth axis F.
- the weight distribution around the sixth axis F is balanced, so that the load applied to the third wrist element 123 can be reduced when the third wrist element 123 rotationally driven around the sixth axis F is accelerated or decelerated. can.
- the two arms 13, 14 and the two links 16, 17 driven by relatively large acceleration/deceleration are arranged near the plane containing the fifth axis E and the sixth axis F, The reaction force acting on the first wrist element 121, the second wrist element 122 and the third wrist element 123 can be kept low.
- the tool driving device 1 is illustrated as a two-axis device in which the two arms 13 and 14 are driven by the two motors 2 and 3. However, it is not limited to this. Any of the devices described above may be employed. Moreover, although the tool driving device 1 that rotationally drives the arms 13 and 14 by the motors 2 and 3 is illustrated, a tool driving device that linearly moves the tool 200 may be employed.
- the groove 9 provided in the flange mounting surface 7a was exemplified as the filament passage, but instead of this, as shown in FIGS.
- a hole-shaped passage (through hole) 20 extending along the first mounting portion 7 may be employed, which opens at two locations, one corresponding to the hollow hole 130 of 124 and the motor mounting surface 8a.
- the laser processing tool 200 is exemplified as a tool, any other tool may be mounted instead of this.
- the vertical 6-axis articulated robot is illustrated as the robot main body 110, it is not limited to this, and any other type of robot may be adopted.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
本実施形態に係るロボット100は、ロボット本体110と、ロボット本体110に設置された本実施形態に係るツール駆動装置1とを備えている。
第2手首要素122は、延長部121bの先端に、第5軸線E回りに回転可能に取り付けられている。第2手首要素122および第3手首要素123は、第6軸線Fに沿って延びる中空孔130を備えている。第3手首要素123は、図2に示されるように、中空孔130の周囲に周方向に間隔をあけて形成された複数のネジ孔125を備える円環状のフランジ124を備えている。
ブラケット5は、平板状の第1取付部7と、平板状の第2取付部8とを直交配置した略L字状に形成されている。
第2取付部8には、2つのモータ取付位置に、モータ2,3のシャフト2aを板厚方向に貫通させる貫通孔12が設けられている。減速機取付面8bには、減速機11を取り付けるためのボルトを締結するネジ孔が複数設けられている。
ツール駆動装置1は、ブラケット5の第1取付部7のフランジ取付面7aをロボット本体110のフランジ124の先端面に密着させ、第1取付部7の貫通孔10に貫通させたボルト150をフランジ124のネジ孔125に締結することにより、ロボット本体110に取り付けられる。
この課題を解決するために、本実施形態に係るツール駆動装置1は、以下の構成を備える。
また、2つの減速機11によって回転駆動させられる2つのアーム13,14および2つのリンク16,17は、第5軸線Eと第6軸線Fとを含む平面に比較的近い位置において、当該平面に沿う方向に回転させられる。
モータ2,3および減速機11と、アーム13,14およびリンク16,17と、ツール本体210とは、比較的大きな重量を有している。
また、モータ2,3によってアーム13,14を回転駆動するツール駆動装置1を例示したが、ツール200を直線移動させるツール駆動装置を採用してもよい。
また、ロボット本体110として垂直6軸多関節型ロボットを例示したが、これに限定されるものではなく、他の任意の形式のロボットを採用してもよい。
2,3 モータ
4 駆動機構(可動部)
5 ブラケット
6 モータカバー(カバー)
7 第1取付部
7a フランジ取付面(第1面)
8 第2取付部
8a モータ取付面(第2面)
9 溝(線条体通路)
20 通路(貫通孔、線条体通路)
100 ロボット
120 手首ユニット(手首)
124 フランジ
130 中空孔
140 線条体
200 レーザ加工ツール(ツール)
Claims (6)
- モータと、
該モータによって駆動されツールを移動させる可動部と、
ロボットの手首先端のフランジに前記モータおよび前記可動部を取り付けるブラケットとを備え、
該ブラケットが、前記フランジに取り付けられる板状の第1取付部と、前記モータおよび前記可動部を取り付ける板状の第2取付部とを備え、
前記可動部が、前記第1取付部を板厚方向に挟んで前記フランジとは反対側かつ前記第2取付部を板厚方向に挟んで前記モータとは反対側に配置され、
前記第1取付部に、前記フランジの中空孔を貫通して配線されてきた線条体を、前記可動部側に露出させることなく前記モータに導く線条体通路が設けられているツール駆動装置。 - 前記第1取付部の前記フランジが密着させられる第1面と、前記第2取付部の前記モータが固定される第2面とが隣接して配置され、
前記線条体通路が、前記第1面に密着させられる前記フランジの前記中空孔に対応する位置から前記第2面まで前記第1面に沿って形成された溝である請求項1に記載のツール駆動装置。 - 前記第1取付部の前記フランジが密着させられる第1面と、前記第2取付部の前記モータが固定される第2面とが隣接して配置され、
前記線条体通路が、前記第1面に密着させられる前記フランジの前記中空孔に対応する位置および前記第2面に開口し、前記第1取付部の内部を貫通する貫通孔である請求項1に記載のツール駆動装置。 - 前記モータを覆うカバーを備え、
前記線条体通路が、前記カバーによって覆われた位置の前記第2面に開口している請求項2または請求項3に記載のツール駆動装置。 - 前記可動部が、前記ツールの重心を前記フランジの中心軸を挟んで前記モータとは反対側に配置する位置に前記ツールを支持する請求項1から請求項4のいずれかに記載のツール駆動装置。
- 請求項1から請求項5のいずれかに記載のツール駆動装置を備えるロボット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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CN202180096622.7A CN117136121A (zh) | 2021-04-07 | 2021-04-07 | 工具驱动装置以及机器人 |
DE112021006989.6T DE112021006989T5 (de) | 2021-04-07 | 2021-04-07 | Werkzeugantriebsvorrichtung und roboter |
JP2023512576A JP7522302B2 (ja) | 2021-04-07 | 2021-04-07 | ツール駆動装置およびロボット |
US18/548,264 US20240227172A9 (en) | 2021-04-07 | 2021-04-07 | Tool drive device and robot |
PCT/JP2021/014777 WO2022215197A1 (ja) | 2021-04-07 | 2021-04-07 | ツール駆動装置およびロボット |
Applications Claiming Priority (1)
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PCT/JP2021/014777 WO2022215197A1 (ja) | 2021-04-07 | 2021-04-07 | ツール駆動装置およびロボット |
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WO2022215197A1 true WO2022215197A1 (ja) | 2022-10-13 |
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PCT/JP2021/014777 WO2022215197A1 (ja) | 2021-04-07 | 2021-04-07 | ツール駆動装置およびロボット |
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US (1) | US20240227172A9 (ja) |
JP (1) | JP7522302B2 (ja) |
CN (1) | CN117136121A (ja) |
DE (1) | DE112021006989T5 (ja) |
WO (1) | WO2022215197A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58164656U (ja) * | 1982-04-28 | 1983-11-02 | 株式会社日本製鋼所 | エア−ブラスト作業用ロボツト等の手首保護装置 |
JPH068182A (ja) * | 1992-03-06 | 1994-01-18 | Komatsu Ltd | 多関節ロボット |
JP2002035913A (ja) * | 2000-07-21 | 2002-02-05 | Yamaguchi Technology Licensing Organization Ltd | 金型スプレーロボット |
JP2018192607A (ja) * | 2017-05-22 | 2018-12-06 | ファナック株式会社 | 産業用ロボット |
JP6572270B2 (ja) * | 2017-09-08 | 2019-09-04 | ファナック株式会社 | 中空の手首要素を備えるロボット |
JP2020116681A (ja) * | 2019-01-24 | 2020-08-06 | ファナック株式会社 | 取付ブラケット |
-
2021
- 2021-04-07 JP JP2023512576A patent/JP7522302B2/ja active Active
- 2021-04-07 CN CN202180096622.7A patent/CN117136121A/zh active Pending
- 2021-04-07 US US18/548,264 patent/US20240227172A9/en active Pending
- 2021-04-07 WO PCT/JP2021/014777 patent/WO2022215197A1/ja active Application Filing
- 2021-04-07 DE DE112021006989.6T patent/DE112021006989T5/de active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58164656U (ja) * | 1982-04-28 | 1983-11-02 | 株式会社日本製鋼所 | エア−ブラスト作業用ロボツト等の手首保護装置 |
JPH068182A (ja) * | 1992-03-06 | 1994-01-18 | Komatsu Ltd | 多関節ロボット |
JP2002035913A (ja) * | 2000-07-21 | 2002-02-05 | Yamaguchi Technology Licensing Organization Ltd | 金型スプレーロボット |
JP2018192607A (ja) * | 2017-05-22 | 2018-12-06 | ファナック株式会社 | 産業用ロボット |
JP6572270B2 (ja) * | 2017-09-08 | 2019-09-04 | ファナック株式会社 | 中空の手首要素を備えるロボット |
JP2020116681A (ja) * | 2019-01-24 | 2020-08-06 | ファナック株式会社 | 取付ブラケット |
Also Published As
Publication number | Publication date |
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US20240227172A9 (en) | 2024-07-11 |
JPWO2022215197A1 (ja) | 2022-10-13 |
US20240131693A1 (en) | 2024-04-25 |
CN117136121A (zh) | 2023-11-28 |
JP7522302B2 (ja) | 2024-07-24 |
DE112021006989T5 (de) | 2024-01-11 |
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