Source: https://patents.google.com/patent/US8413538B2/en
Timestamp: 2020-01-21 04:01:18
Document Index: 448052365

Matched Legal Cases: ['Application No. 2005', 'Application No. 200680035659', 'Application No. 09007695', 'Application No. 09007695', 'Application No. 09007695', 'Application No. 09007695', 'Application No. 2007', 'Application No. 2011', 'Application No. 10']

US8413538B2 - Articulated manipulator - Google Patents
Articulated manipulator Download PDF
US8413538B2
US8413538B2 US13/115,992 US201113115992A US8413538B2 US 8413538 B2 US8413538 B2 US 8413538B2 US 201113115992 A US201113115992 A US 201113115992A US 8413538 B2 US8413538 B2 US 8413538B2
US13/115,992
US20110219906A1 (en
Manabu Okahisa
2005-09-27 Priority to JP2005-279133 priority Critical
2005-09-27 Priority to JP2005279133 priority
2006-09-14 Priority to PCT/JP2006/318284 priority patent/WO2007037131A1/en
2008-03-27 Priority to US8828308A priority
2011-05-26 Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
2011-05-26 Priority to US13/115,992 priority patent/US8413538B2/en
2011-09-15 Publication of US20110219906A1 publication Critical patent/US20110219906A1/en
2013-04-09 Publication of US8413538B2 publication Critical patent/US8413538B2/en
239000003638 reducing agent Substances 0 claims description 49
An articulated manipulator includes a base body, a first arm body, a second arm body having a second arm center axis, and a third arm body. A first joint part connects the base body and a first end portion of the first arm body rotatably around a first rotation axis. A second joint part connects a second end portion of the first arm body and a third end portion of the second arm body rotatably around a second rotation axis. A third joint part connects a fourth end portion of the second arm body and a fifth end portion of the third arm body rotatably around the third rotation axis. When the first, second and third arm bodies are all erected with respect to a installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.
The present application is a continuation application of the U.S. patent application Ser. No. 12/088,283 filed Mar. 27, 2008, which in turn is a national stage application of International Application No. PCT/JP2006/318284, filed Sep. 14, 2006, which claims priority to Japanese Patent Application No. 2005-279133, filed Sep. 27, 2005. The contents of these applications are incorporated herein by reference in their entirety.
The present invention relates to an articulated manipulator.
An oblique joint of a conventional erectable manipulator can be folded up, and the manipulator can be disposed even in a narrow space. In order to realize a hollow oblique joint, a hollow harmonic drive reduction gear mechanism is provided (see JP-A-2004-148449). Further, in order to drive the oblique joint, the power of a rotary axis of a motor to the speed-reduction mechanism is transmitted by a spur gear in a case where the rotation axis is parallel to the rotation axis of a joint, and is transmitted by a bevel gear in the case of inclination (see JP-A-2003-025269).
FIG. 4 is a view showing a manipulator of Patent Document 1. In FIG. 4, 20 is an articulated manipulator, C1 is a first arm body, C2 is a second arm body, C3 is a third arm body, C4 is a fourth arm body, C5 is a fifth arm body, and C6 is a sixth arm body. The arm bodies are connected together so as to be rotatable around the rotation axes tilted at 45 degrees. In the articulated manipulator 20, the position and posture of a hand apparatus that are provided at the sixth arm body C6 (not shown) can be changed by rotating the arm bodies C1 to C6, respectively. Further, the first arm body C1 and the second arm body C2, the second arm body C2 and the third arm body C3, the third arm body C3 and the fourth arm body C4, and the fifth arm body C5 and the sixth arm body C6 are bent at 90 degrees with respect to each other. From this posture, if the second arm body C2 is operated with respect to the third arm body C3, and the fourth arm body C4 is operated with respect to the third arm body C3, the position of the sixth arm body C6 can be kept away from the first arm body C1 in the lateral direction Y, and can be made small in the height direction Z. This enables the sixth arm body C6 to be moved in the lateral direction Y in a state where the posture of the sixth arm body C6 is maintained, and the distance in the longitudinal direction Z between the sixth arm body C6 and a base 21 is short. As such, the oblique joint of the conventional manipulator can be folded up, and the manipulator can be disposed even in a narrow space. Further, FIG. 5 is a view showing a joint mechanism of a robot according to Patent Document 2. In FIG. 5, the rotation of a motor 12 drives an oblique joint 6 via bevel gears 40 and 42. As such, the oblique joint of the conventional manipulator drives joints via a gear device.
According to one aspect of the present invention, an articulated manipulator includes a base body, a first arm body, a first joint part, a second arm body, a second joint part, a third arm body, and a third joint part. The base body is to be mounted on an installation surface where the articulated manipulator is installed. The first arm body has a first end portion, a second end portion opposite to the first end portion, and a first rotation axis that is a center axis of the first end portion. The first joint part connects the base body and the first end portion of the first arm body rotatably around the first rotation axis. The second arm body has a third end portion, a fourth end portion opposite to the third end portion, and a second arm center axis. The second joint part connects the second end portion of the first arm body and the third end portion of the second arm body rotatably around a second rotation axis that is substantially perpendicular to the first rotation axis. The second end portion of the first arm body is connected to one side of the second joint part. The third end portion of the second arm body is connected to another side of the second joint part opposite to the one side. The third arm body has a fifth end portion, a sixth end portion opposite to the fifth end portion, and a third rotation axis. The third joint part connects the fourth end portion of the second arm body and the fifth end portion of the third arm body rotatably around the third rotation axis that is substantially perpendicular to the second rotation axis and that is aligned with the second arm center axis. When the first, second and third arm bodies are all erected with respect to the installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.
FIG. 2 is a perspective view showing the operation of the manipulator according to an embodiment of the invention;
FIG. 3 is a perspective view showing the operation of the manipulator according to an embodiment of the invention;
FIG. 1 is a sectional side view of a manipulator apparatus showing a first embodiment of the invention. In FIG. 1, C1 is a first arm body, C2 is a second arm body, C3 is a third arm body, C4 is a fourth arm body, C5 is a fifth arm body, and C6 is a sixth arm body. C7 is a seventh arm body. C0 is a base body that supports the first arm body C1, and is a portion that fixes a manipulator apparatus to an installation surface that is not shown. The respective arm bodies rotate relatively by joint parts as will be described later. FIG. 1 shows an erected state in which the base body C0 is installed on a floor surface, and the longitudinal direction of each of the above arm bodies is directed to top and bottom directions. Further, a panel (not shown) that relays linear bodies from servo motors or end effectors to be described later is installed on the base body C0. Moreover, controllers and their linear bodies of the manipulator apparatus that is not shown similarly are connected via the panel by cables (not shown), and the operation of the servo motors or the end effectors in the manipulator apparatus is controlled. The manipulator apparatus and controllers that are connected in this way are constituted as a robot system.
The first arm C1 rotates about a joint axis J1, the second arm C2 rotates about a joint axis J2, the third arm C3 rotates about a joint axis J3, the fourth arm C4 rotates about a joint axis J4, the fifth arm C5 rotates about a joint axis J5, the sixth arm C6 rotates about a joint axis J6, and the seventh arm C7 rotates about a joint axis J7. In addition, the seventh arm C7 is also a member that connects end effectors to be described later.
Also, the joint axis J2 is orthogonal to the joint axis J1, the joint axis J3 is orthogonal to the joint axis J2, the joint axis J4 is orthogonal to the joint axis J3, the joint axis J5 is orthogonal to the joint axis J4, the joint axis J6 is orthogonal to the joint axis J5, and the joint axis J7 is orthogonal to the joint axis J6. According to the present axis configuration, since a motion orthogonal to an axis that supports a motion axis is obtained, efficient teaching that is close to the same teaching manipulation method as a conventional general six-axis industrial robot is allowed.
Further, in this embodiment, the centers of rotation of the joint axis J1, the joint axis J3, the joint axis J5, and the joint axis J7 are configured so as to be on the same line when the manipulator is erected. According to the present axis configuration, minimum dimensions are taken in order to install the manipulator in a narrow space. That is, the projected area from a top view of the manipulator is minimized. However, it is also possible to give offset dimensions to the centers of rotation of the joint axis J1, the joint axis J3, the joint axis J5, and the joint axis J7.
The joint axis J1 is driven by a reducer 102 that reduces the rotation speed of a servo motor 101, and the centers of rotation of the servo motor 101 and the reducer 102 coincide with the rotation axis of the joint axis J1. Further, a hollow hole 103 is formed in the centers of rotation of the servo motor 101 and the reducer 102, and a linear body 104 is disposed so as to pass through the hollow hole 103.
The joint axis J2 is driven by a reducer 12 that reduces the rotation speed of a servo motor 14, and the centers of rotation of the servo motor 14 and the reducer 12 coincide with the rotation axis of the joint axis J2. Further, a hollow hole 15 is formed in the centers of rotation of the servo motor 14 and the reducer 12, and a linear body 10 is disposed so as to pass through the hollow hole 15.
The joint axis J3 is driven by a reducer 302 that reduces the rotation speed of a servo motor 301, and the centers of rotation of the servo motor 301 and the reducer 302 coincide with the rotation axis of the joint axis J3. Further, a hollow hole 303 is formed in the centers of rotation of the servo motor 301 and the reducer 302, and a linear body 304 is disposed so as to pass through the hollow hole 303.
The joint axis J4 is driven by a reducer 402 that reduces the rotation speed of a servo motor 401, and the centers of rotation of the servo motor 401 and the reducer 402 coincide with the rotation axis of the joint axis J4. Further, a hollow hole 403 is formed in the centers of rotation of the servo motor 401 and the reducer 402, and a linear body 404 is disposed so as to pass through the hollow hole 403.
The joint axis J5 is driven by a reducer 502 that reduces the rotation speed of a servo motor 501, and the centers of rotation of the servo motor 501 and the reducer 502 coincide with the rotation axis of the joint axis J5. Further, a hollow hole 503 is formed in the centers of rotation of the servo motor 501 and the reducer 502, and a linear body 504 is disposed so as to pass through the hollow hole 503.
The joint axis J6 is driven by a reducer 602 that reduces the rotation speed of a servo motor 601, and the centers of rotation of the servo motor 601 and the reducer 602 coincide with the rotation axis of the joint axis J6. Further, a hollow hole 603 is formed in the centers of rotation of the servo motor 601 and the reducer 602, and a linear body 604 is disposed so as to pass through the hollow hole 603.
The joint axis J7 is driven by a reducer 702 that reduces the rotation speed of a servo motor 701, and the centers of rotation of the servo motor 701 and the reducer 702 coincide with the rotation axis of the joint axis J7. Further, a hollow hole 703 is formed in the centers of rotation of the servo motor 701 and the reducer 702, and a linear body 704 is disposed so as to pass through the hollow hole 703.
Each of the linear bodies includes signal lines, such as a power line and an encoder, of each of the servo motors. Particularly, the linear body 704 is a linear body composed of a power line, a signal line, a tube mainly involving fluid, such as air, for an end effector.
As described above, in this manipulator apparatus, the servo motor 101 and the reducer 102 that drive the axis J1 are installed in the base body C0, and one end of the first arm body C1 is connected to and rotated by an output shaft of the reducer 102. The servo motor 14 and the reducer 12 are installed at the other end of the first arm body, and one end of the second arm body C2 is connected to and rotated by an output shaft of the reducer 12. The servo motor 301 and the reducer 302 are installed at the other end of the second arm body C2, and one end of the third arm body C3 is connected to and rotated by an output shaft of the reducer 302. The servo motor 401 and the reducer 402 are installed at the other end of the third arm body C3, and one end of the fourth arm body C4 is connected to and rotated by an output shaft of the reducer 402. The servo motor 501 and the reducer 502 are installed at the other end of the fourth arm body C4, and one end of the fifth arm body C5 is connected to and rotated by an output shaft of the reducer 502. The servo motor 601 and the reducer 602 are installed at the other end of the fifth arm body C5, and one end of the sixth arm body C6 is connected to and rotated by an output shaft of the reducer 602. The servo motor 701 and the reducer 702 are installed at the other end of the sixth arm body C6, and the seventh arm body C7 to which an end effector (not shown) is to be connected is connected to an output shaft of the reducer 702. The end effector is a means that allows this manipulator apparatus to perform work, for example, a handling hand, a welding torch for Tig welding or arc welding, a gun for spot welding, a coating gun that ejects a fluid coating material, or the like.
A servo motor and a reducer that drive a joint axis are formed integrally so that the rotation axes thereof may become the same, and constitute a flat-type actuator. Of course, although it is not necessary to integrally form these, the fact that the servo motor and the reducer are formed integrally and made flat axially contributes to miniaturization of this articulated manipulator. In this actuator, a harmonic drive gear is used for the reducer. The schematic structure of the reducer and the servo motor is known, and the description thereof is omitted. A structure in which the reducer and the servo motor are integrated is known, and the description thereof is omitted similarly. The actuators that drive the axis J1 to the axis J7 are different from each other in the capacity of motors, but are almost the same in configuration.
Particularly, an arrangement of the actuators that constitute the axes J2, J4, and J6 will be explained. Like FIG. 1, these actuators are installed such that each of the axes J1, J3, and J5 passes through almost the middle of the length of each actuator in the direction of the rotation axis thereof. This will be explained with reference to FIG. 6. FIG. 6 is a detailed view showing portions of the axes J1 and J2 in FIG. 1 in an enlarged manner. That is, for example, the actuator is installed such that the axis J1 passes through almost the half position of the length of the actuator composed of the servo motor 14 and the reducer 12 in the axis J2. Thereby, both ends of the hollow hole 15 will be installed in positions almost equal to each other with respect to the axis J1. In the axis J2, the linear body 10 is bent by clamps 802 a and 802 b so as to draw a circular arc at both ends of the hollow hole 15. Further, in order to obtain this configuration, the arm bodies C1, C3, and C5 have a substantially hollow shape, and the lower end surfaces of the arm bodies are connected to the output shafts of the reducers of the axes (J1, J3, and J5) directly below (directly before) the arm bodies like FIG. 1, the internal spaces of the arm bodies meander so as to be separated from the axes directly below the arm bodies, and receive the bent portions of the linear bodies, and the upper portions of the arm bodies hold the actuators so as to be perpendicular to the axes directly below the arm bodies, and the protruding distances of the actuators and linear bodies of the axes J2, J4, and J6 with respect to the axes directly below the arm bodies are almost the same. On the other hand, although the arm bodies C2, C4, and C6 has almost the same shape as the arm bodies C1, C3, and C5, the arm bodies C2, C4, and C6 are connected in an inverted state. For example, the arm body C2 is connected by the axis J2 in a state of being inverted vertically with respect to the arm body C1. In FIG. 6, reference numeral 13 denotes a J2-axis motor unit.
Accordingly, when the linear bodies 10, 404, and 604 that have passed through the hollow holes of the actuators of the axes J2, J4, and J6 are discharged and bent from both ends of the hollow holes 15, 403, and 603, they protrude at almost the same distance from the axes J1, J3, and J5 at both ends of each hollow hole. Then, the dimension A, dimension B, and dimension C of FIG. 1 showing the outside dimensions in the axes J2, J4, and J6 of the arms formed so as to cover these linear bodies are maintained at almost the same dimension about the axes J1, J3, and J5, respectively. As a result, it is possible to reduce the radius of rotation during rotation to be determined by the dimension A, dimension B, and dimension C when the axes J1, J3, and J5 are rotated, respectively. Further, for example, when the axis J1 is rotated at the time of a pause (at the time of being erected) of an arm like FIG. 1, the minimum radius of rotation determined by the dimension A can be made small. Further, the area to an installation surface at this time also becomes small. Thereby, it is needless to say that the possibility of interference with an apparatus installed around the articulated manipulator is reduced.
Further, in the invention, all the articulations do not have gear mechanisms like Patent Document 2 between a servo motor and a reducer. Thus, even if the motor rotates at high speed, a quiet operation is allowed. Further, since all the axes adopt the flat actuators, the arm widths A, B, and C in the direction of X shown in FIG. 1 can be shortened. It is thus possible to install the manipulation in a narrow space. Further, since it is possible to make the motor of each joint have an outside dimension near the external diameter of a reducer. Thus, it is possible to significantly increase the diameter of a motor magnet and a core. Thus, it is possible to obtain a large-output motor, and it is possible to increase the driving load, speed, and accelerator of an actuator.
A linear body disposed in a hollow hole of each joint is connected by each connector before being in a hollow hole of the adjacent shaft. For example, in the axis J2, both ends of the linear body 10 are respectively connected to the linear body 104 that has passed through the axis J1 and to the linear body 304 that has passed through the axis J3 by connectors 11 a and 11 b. For this reason, in order to let a large-sized connector pass therethrough, the number of cables that can be disposed in a hollow portion is prevented from being constrained. Of course, in a case where there are few application cables, it is not necessary to perform relay by a connector, and the relay may be performed by an arbitrary joint part. This is because the cables of the axis J2 to the axis J7 passes through the axis J1, and the therefore, the axis J1 has many cables for driving the actuators, but an axis closer to the tip have a higher ratio occupied by the application cables.
Since required cables are disposed in an actuator hollow portion as described above, there is a case of being determined by a required hollow diameter rather than the capacity of a reducer or a motor. In cases other than such a case, it is possible to constitute at least the axes J1 to J3 with harmonic drive gear devices of the same capacity by adopting a light-weight material for an arm, or providing a motion angle limitation. Therefore, it is possible to obtain a manipulator having a small arm profile, and capable of being mounted on a narrow space. In FIGS. 6, 901 and 902 denotes covers connected to the first arm body C1 and the second arm body C2. The third arm body C3 to the sixth arm body C6 have almost the same structure as the covers. Each of the covers is a portion attached to each arm body so as to cover a bent portion of the above linear body. As described above, since one end (lower end) of each arm body is connected to the reducer of the actuator of the shaft directly thereunder, and an actuator for rotating the shaft directly above the arm body is installed at the other end (upper end) of the arm body, each arm body is generally a rigid body. Thus, although each arm body is fabricated of stainless steel, an aluminum alloy, cast iron, or the like, a side portion of the arm body that covers the linear body does not contribute to the strength of the arm body largely. Accordingly, by forming a portion that covers the bent portion of the linear body in the shape of a cover that is a member separate from the arm body, and making the cover of a resin light-weight material, the weight of the arm body is made light, and the power load to the actuator is alleviated. Further, if this cover configuration is adopted, maintenance also improves.
Further, as described above, for example, in the actuators (FIG. 1) of the axes J1 to J3, it is undoubted that the power of an actuator that drive a shaft closer to the axis J1 is required much. However, it is needless to say that the same actuator is desirably used for the respective axes from the viewpoint of management at the time of manufacture of the actuator, or maintenance. Therefore, in the invention, for example, the actuators of the axis J1 and the axis J2, the axis J3 and the axis J4, and the axis J5, the axis J6, and axis J7 have almost the shape, and almost the same capacity. Accordingly, the spacing between the axis J4 and the axis J6 is made wider than the spacing between the axis J2 and the axis J4. Further, by adopting such a configuration, the length of an arm body closer to a tip (end effector side) of the articulated manipulator can be made shorter, and the tip can enter a narrow space.
The articulated manipulator of the invention configured as described above is used for an industrial robot. For example, handing, sealing, painting, or arc welding in a narrow workspace can be performed by connecting various hand apparatuses, i.e., end effectors to a free end of the articulated manipulator, and disposing hand apparatuses in target positions to operate the hand apparatuses.
Further, a so-called double-armed manipulator can be configured by preparing two articulated manipulators of the invention and making their base body C0 common to each other. In this case, the two manipulators may be controlled by one controller so as not to interfere with each other. Further, it is also conceivable that the double-armed manipulator is configured like both arms and body of a human by installing the two manipulators in the common base body C0 similarly to human arms, and accommodating and integrating a controller that controls the manipulators, in the common base body C0. By adopting such configurations in the above work, such as handling, sealing, painting, or arc welding, cooperation work using right and left arms like human arms can be performed.
Further, in the articulated manipulators of the invention, as shown in FIG. 3, the first arm body C1 and the second arm body C2, the second arm body C2 and the third arm body C3, the third arm body C3 and the fourth arm body C4, and the fifth arm body C5 and the sixth arm body C6 are bent at 90 degrees with respect to each other, and if the second arm body C2 is operated in the direction of an obtuse angle with respect to the third arm body C3 from this posture, the position of the sixth arm body C6 can be kept away from the first arm body C1 in the lateral direction Y, and can be made small in the height direction Z. This enables the sixth arm body C6 to be moved in the lateral direction Y in a state where the posture of the sixth arm body C6 is maintained, and the distance in the longitudinal direction Z between the sixth arm body C6 and the base 21 is short.
Further, in a case where the articulated manipulator of the invention is used for handling of a workpiece between processing machines, as shown in FIG. 2, the manipulator can be disposed in a dead space between a processing machine 1 and a processing machine 2. Since the front face of a processing machine is secured as a space 3 by which a worker passes in a case where the manipulator is not operated, a new space is not required in installing the manipulator. This posture is an installation state equivalent to a case where an obstruction exists between the angles formed by the joint axis J5 of the fifth arm body C5, and the joint axis J3 of the third arm body C3, in the posture shown in FIG. 3.
a base body to be mounted on an installation surface where the articulated manipulator is installed;
a first arm body having a first end portion, a second end portion opposite to the first end portion, and a first rotation axis that is parallel to a longitudinal axis of the first arm body;
a first joint part connecting the base body and the first end portion of the first arm body rotatably around the first rotation axis;
a second arm body having a third end portion, a fourth end portion opposite to the third end portion, and a second arm center axis;
a second joint part connecting the second end portion of the first arm body and the third end portion of the second arm body rotatably around a second rotation axis that is substantially perpendicular to the first rotation axis, the second end portion of the first arm body being connected to one side of the second joint part, the third end portion of the second arm body being connected to another side of the second joint part opposite to the one side;
a third arm body having a fifth end portion, a sixth end portion opposite to the fifth end portion, and a third rotation axis; and
a third joint part connecting the fourth end portion of the second arm body and the fifth end portion of the third arm body rotatably around the third rotation axis that is substantially perpendicular to the second rotation axis and that is aligned with the second arm center axis,
wherein when the first, second and third arm bodies are all erected with respect to the installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.
2. The articulated manipulator according to claim 1, wherein the first, second and third joint parts comprise actuators, respectively, to rotate the first, second and third arm bodies, each of the actuators comprising:
a reducer connected to the servo motor such that a rotation axis of the servo motor and a rotation axis of the reducer are on a common rotation axis.
3. The articulated manipulator according to claim 2, wherein the actuators are so constructed that the servo motor and the reducer are integrally formed.
4. The articulated manipulator according to claim 2, wherein a through hole is formed around the common rotation axis in each of the actuators.
5. The articulated manipulator according to claim 4, wherein a line body is inserted into the through hole and is disposed so as to sequentially pass through the first, second and third arm bodies and the first, second and third joint parts.
6. The articulated manipulator according to claim 5, wherein the line body comprises a power line and a signal line for the servo motor.
7. The articulated manipulator according to claim 5, wherein the line body comprises a power line, a signal line, and a fluid tube of an end effector connected at a tip of the plurality of arm bodies.
8. The articulated manipulator according to claim 5, wherein the line body comprises
a plurality of linear body parts, and
connectors to connect the plurality of linear body parts.
9. The articulated manipulator according to claim 5, wherein the plurality of linear body parts are connected via the connectors in a vicinity of the through hole.
10. The articulated manipulator according to claim 5,
wherein, in the through hole of the actuator in the second joint part, the line body is inserted into the through hole to pass through the through hole and is bent at both ends of the through hole, and
wherein the line body is fixed by clamp members such that protruding distances of the bent portions from the through hole are substantially same.
11. The articulated manipulator according to claim 10, wherein each of the first, second and third arm bodies is configured such that its lower portion is connected to each of the actuators that drives an adjacent rotation axis of the adjacent joint parts, its internal space meanders so as to be away from the adjacent rotation axis and receives the bent portions, and its upper portion holds an actuator that drives a next rotation axis of the adjacent joint parts.
12. The articulated manipulator according to claim 10,
wherein each of the plurality of arm bodies is constructed so as to be divided into a rigid-body portion that receives the joint part, and a cover portion that receives the bent portions, and
wherein the cover portion is formed of a resin material that is lighter than material of the rigid-body portion.
13. The articulated manipulator according to claim 1,
wherein the second joint part including a through hole provided along the second rotation axis, and
said articulated manipulator further comprises:
a line body extending through the through hole of the second joint part from an inside of the first arm body to an inside of the second arm body, the line body comprising:
a first linear body part provided inside the first arm body to extend along the first rotation axis;
a second linear body part extending through the through hole of the second joint part;
a third body part connecting the first linear body part to the second linear body part and bent to protrude at a first distance from the first rotation axis;
a fourth linear body part provided inside the second arm body to extend along the second arm center axis; and
a fifth body part connecting the second linear body part to the fourth linear body part and bent to protrude at a second distance from the first rotation axis, the second distance being substantially same as the first distance.
US13/115,992 2005-09-27 2011-05-26 Articulated manipulator Active US8413538B2 (en)
JP2005-279133 2005-09-27
JP2005279133 2005-09-27
PCT/JP2006/318284 WO2007037131A1 (en) 2005-09-27 2006-09-14 Multi-joint manipulator
US8828308A true 2008-03-27 2008-03-27
US13/115,992 US8413538B2 (en) 2005-09-27 2011-05-26 Articulated manipulator
US12088283 Continuation
PCT/JP2006/318284 Continuation WO2007037131A1 (en) 2005-09-27 2006-09-14 Multi-joint manipulator
US8828308A Continuation 2008-03-27 2008-03-27
US20110219906A1 US20110219906A1 (en) 2011-09-15
US8413538B2 true US8413538B2 (en) 2013-04-09
ID=37899561
US12/088,283 Active 2027-12-26 US7971504B2 (en) 2005-09-27 2006-09-14 Articulated manipulator
US13/115,992 Active US8413538B2 (en) 2005-09-27 2011-05-26 Articulated manipulator
US (2) US7971504B2 (en)
EP (2) EP1930129A4 (en)
JP (2) JP5004020B2 (en)
KR (1) KR101323918B1 (en)
CN (1) CN101272886B (en)
TW (1) TW200732110A (en)
WO (1) WO2007037131A1 (en)
US8006586B2 (en) 2007-03-12 2011-08-30 Comau S.P.A. Articulated robot wrist
JP5090871B2 (en) * 2007-11-27 2012-12-05 株式会社安川電機 Robot equipment
EP2275234A4 (en) * 2008-04-07 2012-03-07 Yaskawa Denki Seisakusho Kk Multi-joint robot and system
US8855818B2 (en) * 2008-09-30 2014-10-07 Kawasaki Jukogyo Kabushiki Kaisha Monitoring apparatus for robot
EP2355958B1 (en) * 2008-10-06 2013-06-19 Kinova Portable robotic arm
US8677854B2 (en) 2009-04-15 2014-03-25 ABB Researched Ltd. Apparatus for a robot arm
EP2461948B1 (en) 2009-08-04 2013-10-09 Majatronic GmbH Parallel robot
JP5552329B2 (en) * 2010-02-10 2014-07-16 株式会社ダイヘン Welding robot
DE112011103204T5 (en) 2010-09-23 2013-08-14 Smac, Inc. Cost-effective multi-reel linear actuator
JP5344315B2 (en) * 2010-11-04 2013-11-20 株式会社安川電機 Robot wrist structure and robot
CN102528806A (en) * 2010-12-20 2012-07-04 财团法人精密机械研究发展中心 Server capable of being serially connected with other servers and switching structure of server
JP5299444B2 (en) * 2011-02-04 2013-09-25 株式会社安川電機 Robot
IT1404529B1 (en) * 2011-02-24 2013-11-22 Comau Spa articulated robot wrist.
JP5890623B2 (en) 2011-06-28 2016-03-22 株式会社安川電機 Liquid processing system and liquid processing method
EP2728363A4 (en) 2011-06-28 2015-03-18 Yaskawa Denki Seisakusho Kk Robot hand and robot
KR101309652B1 (en) * 2011-08-10 2013-09-17 주식회사 로보스타 Industrial direct teaching robot mounted hollow actuator and 1-axis torque sensor at each axis
ITMI20111920A1 (en) * 2011-10-24 2013-04-25 Milano Politecnico Architecture of articulated robots for medical use.
CN103158158A (en) * 2011-12-09 2013-06-19 鸿富锦精密工业（深圳）有限公司 Robot arm member
CN103192376A (en) * 2012-01-06 2013-07-10 沈阳新松机器人自动化股份有限公司 Routing structure of mechanical hand with side column
JP6039187B2 (en) 2012-02-03 2016-12-07 キヤノン株式会社 Assembly apparatus, gripping hand, and article assembling method
JP2013212560A (en) * 2012-04-02 2013-10-17 Seiko Epson Corp Robot system and robot
US9748823B2 (en) 2012-06-25 2017-08-29 Systems Machine Automation Components Corporation Linear actuator with moving central coil and permanent side magnets
DE102013206875A1 (en) * 2013-04-16 2014-10-16 Dürr Ecoclean GmbH Plant for the treatment of workpieces
CN104339365B (en) * 2013-07-26 2017-04-12 株式会社安川电机 Robot and manufacturing method of same
JP6337432B2 (en) * 2013-09-10 2018-06-06 セイコーエプソン株式会社 Joint drive device and robot
US20170072513A1 (en) * 2014-02-24 2017-03-16 Howon Co., Ltd. Hybrid welder
CN104057441B (en) * 2014-04-29 2016-08-24 中国科学院等离子体物理研究所 A kind of multi-joint mechanical arm for complex environment
JP6326945B2 (en) * 2014-05-07 2018-05-23 セイコーエプソン株式会社 robot
JP2016068200A (en) 2014-09-30 2016-05-09 セイコーエプソン株式会社 robot
JP2016068203A (en) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 robot
CN104647396B (en) * 2015-02-11 2016-07-20 清华大学深圳研究生院 Can be used for the modular space joint of mechanical arm of quick reconfiguration and mechanical arm
CN104802156A (en) * 2015-05-15 2015-07-29 广东中聪机器人科技有限公司 Dual-arm robot
US10429211B2 (en) 2015-07-10 2019-10-01 Systems, Machines, Automation Components Corporation Apparatus and methods for linear actuator with piston assembly having an integrated controller and encoder
WO2017053881A1 (en) 2015-09-24 2017-03-30 Systems, Machines, Automation Components Corporation Magnetically-latched actuator
CN105215986B (en) * 2015-11-11 2017-04-26 深圳市松崎机器人自动化设备有限公司 Multi-axis manipulator
CN105563477A (en) * 2016-01-29 2016-05-11 坚毅机械工程(高要)有限公司 Rotary adapter and mechanical hand with same
TWI616288B (en) * 2016-12-27 2018-03-01 台達電子工業股份有限公司 Tool driving module and robot manipulator employing the same
TWI599458B (en) * 2017-01-26 2017-09-21 均豪精密工業股份有限公司 Mechanical arm device and extending mechanism
JP2018187749A (en) * 2017-05-11 2018-11-29 セイコーエプソン株式会社 robot
CN107225597A (en) * 2017-07-24 2017-10-03 中国电子科技集团公司第二十研究所 A kind of two-freedom modularized joint component based on hollow motor integrating
WO2019023393A1 (en) * 2017-07-27 2019-01-31 Intuitive Surgical Operations, Inc. Medical device with ergonomic features
CN107378938A (en) * 2017-08-18 2017-11-24 王磊 A kind of mini drive and its mechanical arm and running-in machine
WO2019053040A1 (en) * 2017-09-13 2019-03-21 Kassow Robots Aps Joint for a robot and a robot comprising a joint
DE2228598A1 (en) 1972-06-12 1974-01-03 Jens Dr Rer Nat Geerk anthropomorphic manipulator
EP0136719A2 (en) 1983-10-05 1985-04-10 Hitachi, Ltd. Manipulator
JPS61244475A (en) 1985-04-22 1986-10-30 Toshiba Corp Industrial robot
JPS62277285A (en) 1986-05-21 1987-12-02 Fanuc Ltd Horizontal joint type robot
JPS6317790A (en) 1986-07-04 1988-01-25 Matsumotogumi Kk Deformed block gripper
JPH01127939A (en) 1987-11-13 1989-05-19 Tokyu Constr Co Ltd Scanning robot for surveying surface of building
JPH02298482A (en) 1989-05-10 1990-12-10 Hitachi Ltd Vertical articulated robot
US5201239A (en) 1990-10-16 1993-04-13 Honda Giken Kogyo Kabushiki Kaisha Industrial robot with wrist actuator mechanism
JPH0679685A (en) 1992-09-01 1994-03-22 Mitsubishi Heavy Ind Ltd Operation monitoring device
US5303333A (en) 1991-04-02 1994-04-12 Siemens Aktiengesellschaft Method for controlling the acceleration and velocity of at least one controllable axis of a machine tool or robot
JPH06143186A (en) 1992-10-28 1994-05-24 Fanuc Ltd Joint structure of robot employing hollow reduction gear
DE4244379A1 (en) 1992-12-29 1994-06-30 Niko Luftfahrt Robotic Gmbh Robot arm with several kinematic arm units
DE19509050A1 (en) 1995-03-14 1996-09-19 Hesse Gmbh Industrial assembly or handling etc. robot
JPH10166292A (en) 1997-12-26 1998-06-23 Fanuc Ltd Wrist structure for vertically articulated robot
JPH10225881A (en) 1997-02-14 1998-08-25 Natl Aerospace Lab Offset rotation joint, and articulated robot having same offset rotary joint
JPH10329079A (en) 1997-04-23 1998-12-15 Como Spa Robot wrist structure
WO1999001261A1 (en) 1997-07-01 1999-01-14 Engineering Services Inc. Reconfigurable modular joint and robots produced therefrom
JPH11129183A (en) 1997-10-30 1999-05-18 Nachi Fujikoshi Corp Wrist mechanism for industrial robot
JP2000141253A (en) 1998-11-04 2000-05-23 Hitachi Zosen Corp Robot for working
US6125715A (en) 1996-06-12 2000-10-03 Abb Ab Device in a robot arm
JP2001113488A (en) 1999-10-15 2001-04-24 Mitsubishi Electric Corp Industrial robot
US6250174B1 (en) 1996-12-17 2001-06-26 Fanuc Ltd. Robot construction
WO2001051259A2 (en) 2000-01-11 2001-07-19 Hai Hong Zhu Modular robot manipulator apparatus
US20020148320A1 (en) 2001-04-11 2002-10-17 Aitec Corporation Arms of scalar robot
US20030010148A1 (en) 2001-07-12 2003-01-16 National Aerospace Laboratory Of Japan Offset rotary joint unit equipped with rotation correction mechanism
JP2003025270A (en) 2001-07-23 2003-01-29 Nachi Fujikoshi Corp Treatment device for wiring/piping for industrial robot
KR20040002416A (en) 2001-05-01 2004-01-07 코닌클리케 필립스 일렉트로닉스 엔.브이. Radio communication arrangements
JP2004148449A (en) 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd Articulated manipulator
US20040138779A1 (en) 2001-02-19 2004-07-15 Kaoru Shibata Setting method and setting apparatus for operation path for articulated robot
US20040149064A1 (en) 2003-01-17 2004-08-05 Toyota Jidosha Kabushiki Kaisha Articulated robot
JP2005014108A (en) 2003-06-23 2005-01-20 Honda Motor Co Ltd Interference avoiding method of multi-articulated robot
JP2005014103A (en) 2003-06-23 2005-01-20 Nachi Fujikoshi Corp Industrial robot
JP2005046966A (en) 2003-07-30 2005-02-24 Toyota Motor Corp Production system
JP2005177904A (en) 2003-12-17 2005-07-07 Canon Inc Manipulator and system using the same
US6922610B2 (en) 2002-05-02 2005-07-26 National Aerospace Laboratory Of Japan Robot having offset rotary joints
KR20050081499A (en) 2004-02-13 2005-08-19 엘지전자 주식회사 Usb mp3 player using usb external storage
JPS6317790U (en) * 1986-07-22 1988-02-05
JP3609435B2 (en) * 1991-11-25 2005-01-12 株式会社東芝 Manipulator device
JPH0671586A (en) * 1992-08-25 1994-03-15 Mitsubishi Heavy Ind Ltd Overheat preventing device for ac servomotor
JP2540695B2 (en) * 1992-08-26 1996-10-09 三菱重工業株式会社 Manipure - data
JPH0683453A (en) * 1992-09-03 1994-03-25 Mitsubishi Heavy Ind Ltd Load compensation control method for robot
JPH06110545A (en) * 1992-09-25 1994-04-22 Mitsubishi Heavy Ind Ltd Programming method for teaching data
JP3080791B2 (en) * 1992-09-28 2000-08-28 三菱重工業株式会社 Direct teaching aid of a manipulator
JP4142304B2 (en) 2001-10-22 2008-09-03 株式会社安川電機 Arc welding robot
CN1317109C (en) 2002-12-26 2007-05-23 哈尔滨工业大学 Multiple joint human-imitating robot arm
JP4134858B2 (en) * 2003-09-09 2008-08-20 トヨタ自動車株式会社 Articulated robot movement system
2006-09-14 EP EP06797996A patent/EP1930129A4/en not_active Withdrawn
2006-09-14 JP JP2007537576A patent/JP5004020B2/en active Active
2006-09-14 CN CN 200680035659 patent/CN101272886B/en active IP Right Grant
2006-09-14 US US12/088,283 patent/US7971504B2/en active Active
2006-09-14 WO PCT/JP2006/318284 patent/WO2007037131A1/en active Application Filing
2006-09-14 EP EP09007695A patent/EP2113343A3/en not_active Withdrawn
2006-09-14 KR KR1020087007992A patent/KR101323918B1/en active IP Right Grant
2006-09-22 TW TW095135196A patent/TW200732110A/en unknown
2011-05-26 US US13/115,992 patent/US8413538B2/en active Active
2011-12-26 JP JP2011283819A patent/JP5560260B2/en active Active
JPH0769266B2 (en) 1987-11-13 1995-07-26 東急建設株式会社 Building surface exploration scanning robot
JP2002307365A (en) 2001-04-11 2002-10-23 Aitec:Kk Arm of scalar robot
JP2003025269A (en) 2001-07-12 2003-01-29 Koonan Engineering Kk Offset rotational joint unit with rotation correction mechanism
Bischoff et al., The KUKA-DLR Lightweight Robot arm-a new reference platform for robotics research and manufacturing, Proceeding of Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), Jun. 7, 2010.
Bischoff et al., The KUKA-DLR Lightweight Robot arm—a new reference platform for robotics research and manufacturing, Proceeding of Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), Jun. 7, 2010.
Chinese Office Action for corresponding CN Application No. 200680035659.4, Jun. 21, 2010.
European Office Action for corresponding EP Application No. 09007695.1, Sep. 3, 2010.
European Serch Report for corresponding EP Application No. 09007695.1, Aug. 28, 2009.
European Serch Report for corresponding EP Application No. 09007695.1, Dec. 16, 2009.
European Serch Report for corresponding EP Application No. 09007695.1, Oct. 20, 2008.
Japanese Office Action for corresponding JP Application No. 2007-537576, Nov. 4, 2011.
Japanese Office Action for corresponding JP Application No. 2011-283819, Jan. 22, 2013.
Korean Office Action for corresponding KR Application No. 10-2008-7007992, Jan. 24, 2013.
Robo industrial da show de design e tecnologia, INOVACAO tecnologica, Aug. 19, 2005, URL: http://www.inovacaotecnologica.com/br/noticias/noticia.php?artigo=010180050819.
Zinn et al., Playing it safe, IEEE Robotics and Automation Magazine, Jun. 2004, vol. 11, Issue 2, pp. 12-21.
JPWO2007037131A1 (en) 2009-04-02
EP1930129A1 (en) 2008-06-11
KR20080048055A (en) 2008-05-30
JP2012056082A (en) 2012-03-22
EP2113343A2 (en) 2009-11-04
EP2113343A3 (en) 2010-01-13
CN101272886A (en) 2008-09-24
JP5004020B2 (en) 2012-08-22
US7971504B2 (en) 2011-07-05
TW200732110A (en) 2007-09-01
KR101323918B1 (en) 2013-10-31
JP5560260B2 (en) 2014-07-23
US20110219906A1 (en) 2011-09-15
EP1930129A4 (en) 2008-11-19
WO2007037131A1 (en) 2007-04-05
CN101272886B (en) 2012-10-24
US20090114052A1 (en) 2009-05-07
CN103476551B (en) 2016-08-10 Tow-armed robot
US7281447B2 (en) 2007-10-16 Articulated mechanism comprising a cable reduction gear for use in a robot arm
EP1863734A4 (en) 2009-08-19 Parallel robot