DE69119784D1 - Antriebseinrichtung für industrieroboterarm - Google Patents

Antriebseinrichtung für industrieroboterarm

Info

Publication number: DE69119784D1
Authority: DE; Germany
Prior art keywords: driving device; robot arm; industrial robot; industrial; arm
Prior art date: 1991-10-17
Legal status (The legal status 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 status listed.): Expired - Fee Related

Application number

DE69119784T

Other languages

English (en)

Other versions

DE69119784T2 (de

Inventor

Shuichi Tohnai

Toshiaki Iwanaga

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Yaskawa Electric Corp

Original Assignee

Yaskawa Electric Corp

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.)

1991-10-17

Filing date

1991-10-17

Publication date

1996-06-27

1991-10-17 Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp

1996-06-27 Publication of DE69119784D1 publication Critical patent/DE69119784D1/de

1997-01-23 Application granted granted Critical

1997-01-23 Publication of DE69119784T2 publication Critical patent/DE69119784T2/de

2011-10-18 Anticipated expiration legal-status Critical

Status Expired - Fee Related legal-status Critical Current

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
- B25J9/106—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
- B25J9/046—Revolute coordinate type
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element

Landscapes

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

DE69119784T 1991-10-17 1991-10-17 Antriebseinrichtung für industrieroboterarm Expired - Fee Related DE69119784T2 (de)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
PCT/JP1991/001419 WO1993007996A1 (fr)	1991-10-17	1991-10-17	Dispositif de commande de bras destine a un robot industriel

Publications (2)

Publication Number	Publication Date
DE69119784D1 true DE69119784D1 (de)	1996-06-27
DE69119784T2 DE69119784T2 (de)	1997-01-23

Family

ID=14014673

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
DE69119784T Expired - Fee Related DE69119784T2 (de)	1991-10-17	1991-10-17	Antriebseinrichtung für industrieroboterarm

Country Status (4)

Country	Link
US (1)	US5265489A (de)
EP (1)	EP0563382B1 (de)
DE (1)	DE69119784T2 (de)
WO (1)	WO1993007996A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
DE9405289U1 (de) *	1994-03-29	1994-05-26	Waggonbau Ammendorf Gmbh, 06132 Halle	Vorrichtung zur Schneidbrennerführung, insbesondere zum Plasmaschneiden von Kreisausschnitten in gewölbte Bauteile
US6003400A (en) *	1998-05-16	1999-12-21	Jason W. Rauchfuss	Robotic wrist mechanism
NL1037425C2 (nl) *	2009-10-29	2011-05-02	Albert Meer	Robot.
CN103737583A (zh) *	2013-12-17	2014-04-23	广西大学	具有对称的机构式机械手
CN106144373B (zh) *	2016-06-24	2018-11-06	广西大学	一种单驱动前叉装置
CN108908324A (zh) *	2018-08-14	2018-11-30	浩科机器人（苏州）有限公司	一种紧凑型皮带传动式小型四轴机器人
CN108908325A (zh) *	2018-08-14	2018-11-30	浩科机器人（苏州）有限公司	一种立式倒装紧凑型小型四轴机器人
WO2021235399A1 (ja) *	2020-05-22	2021-11-25	ファナック株式会社	複数の減速機を備えた回転軸構造及びその製造方法
DE112021003286T5 (de) *	2020-06-17	2023-05-04	Fanuc Corporation	Robotervorrichtung
US12358165B2 (en) *	2022-05-16	2025-07-15	Avar Robotics, Inc.	Robotic joint with an automatic transmission

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
CH637869A5 (de) *	1979-06-19	1983-08-31	Microbo Ag	Handhabungseinrichtung, insbesondere fuer industrieroboter.
EP0078522B1 (de) *	1981-10-30	1988-05-04	Hitachi, Ltd.	Industrieroboter
JPS59110578A (ja) *	1982-12-15	1984-06-26	松下電器産業株式会社	組立用ロボツト
JPS59146790A (ja) *	1983-02-07	1984-08-22	株式会社日立製作所	ア−ム装置
JPS59182090A (ja) *	1983-03-31	1984-10-16	株式会社日立製作所	ロボツトア−ム駆動機構
JPS6284984A (ja) *	1985-10-09	1987-04-18	三菱電機株式会社	産業用ロボツト装置
US4728252A (en) *	1986-08-22	1988-03-01	Lam Research Corporation	Wafer transport mechanism
JPS6411777A (en) *	1987-07-07	1989-01-17	Mitsubishi Electric Corp	Multi-joint robot
JPH03239483A (ja) *	1990-02-15	1991-10-25	Fanuc Ltd	産業用ロボットの駆動機構

1991
- 1991-10-17 EP EP91917841A patent/EP0563382B1/de not_active Expired - Lifetime
- 1991-10-17 WO PCT/JP1991/001419 patent/WO1993007996A1/ja not_active Ceased
- 1991-10-17 US US07/867,104 patent/US5265489A/en not_active Expired - Fee Related
- 1991-10-17 DE DE69119784T patent/DE69119784T2/de not_active Expired - Fee Related

Also Published As

Publication number	Publication date
US5265489A (en)	1993-11-30
WO1993007996A1 (fr)	1993-04-29
EP0563382A1 (de)	1993-10-06
EP0563382B1 (de)	1996-05-22
EP0563382A4 (de)	1994-03-30
DE69119784T2 (de)	1997-01-23

Publication	Publication Date	Title
DE69303796D1 (de)	1996-08-29	Kabelführungseinrichtung für industrieroboterarm
KR860005682A (ko)	1986-08-11	산업용로보트에 사용되는 로보트팔 구동장치
DE69200994D1 (de)	1995-02-09	Werkzeugbefestigungsgerät für Industrieroboter.
DE69303795D1 (de)	1996-08-29	Ausgleicheinrichtung für roboterarme
DE69125163D1 (de)	1997-04-17	Kupplungsapparat für Roboterarm
DE69024706D1 (de)	1996-02-22	Steuervorrichtung für einen ebene Flächen bearbeitenden Roboter
DE69207982D1 (de)	1996-03-14	Industrieroboter
AT387743B (de)	1989-03-10	Automatische werkzeugwechselvorrichtung fuer industrieroboter
ATE176963T1 (de)	1999-03-15	Greifer für scheibenförmige gegenstände
DE69622572D1 (de)	2002-08-29	Lehrvorrichtung für roboter
DE69513909D1 (de)	2000-01-20	Steuervorrichtung für industrieroboter
DE69415226D1 (de)	1999-01-28	Robotorsystem für Schneidevorrichtung
DE69032064D1 (de)	1998-04-02	Industrieroboter
DE69104917D1 (de)	1994-12-08	Greiferwechselvorrichtung für Roboter.
DE69203296D1 (de)	1995-08-10	Gelenkmechanismus für industrieroboter.
DE59402251D1 (de)	1997-04-30	Werkzeugwechseleinrichtung für manipulatoren
DE69512525D1 (de)	1999-11-04	Antriebseinheit für einen industrieroboter
DE69620425D1 (de)	2002-05-08	Anschlag für industrieroboter
DE69119784D1 (de)	1996-06-27	Antriebseinrichtung für industrieroboterarm
DE69228282D1 (de)	1999-03-11	Gelenkmechanismus für Industrieroboter
KR890702090A (ko)	1989-12-22	산업용 로보트 제어장치
AT399835B (de)	1995-07-25	Greifeinheit für handhabungsroboter
DE69412620D1 (de)	1998-09-24	Greifvorrichtung für flaschen
DE69408118D1 (de)	1998-02-26	Roboter-vorrichtung
DE69015740D1 (de)	1995-02-16	Industrierobotervorrichtung.

Legal Events

Date	Code	Title
1997-06-26	8364	No opposition during term of opposition
2003-12-11	8320	Willingness to grant licences declared (paragraph 23)
2009-08-20	8339	Ceased/non-payment of the annual fee