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    VERTICAL ARTICULATED ROBOT
    1.
    发明公开
    VERTICAL ARTICULATED ROBOT 审中-公开

    公开(公告)号：EP4446064A1

    公开(公告)日：2024-10-16

    申请号：EP24167144.5

    申请日：2024-03-28

    申请人： Nachi-Fujikoshi Corp.

    发明人： IDA, Shinya ,  IIDA, Hiroki

    IPC分类号： B25J9/04

    摘要： To provide a vertical articulated robot that can move an arm in a space-saving manner, has versatility, and is cost-effective. A vertical articulated robot 100 has a base 108 installed on a mounting surface 109, a first axis 110 supported parallel to the mounting surface 109 by the base 108, a pivot frame 112 rotatable by the first axis, a second axis 114 supported orthogonal to the first axis by the pivot frame, a lower arm 116 rotatable by the second axis, a third axis 118 supported parallel to the second axis by an end of the lower arm opposite to the second axis, a connecting arm 130 rotatable by the third axis, a fourth axis 134 supported orthogonal to the second axis and third axis by the connecting arm, and an upper arm 120 including a holding arm 132 rotatable by the fourth axis, and the first axis enables the second axis, the lower arm, the third axis, and the upper arm to make a substantially vertical circular motion relative to the mounting surface.

    KNICKARMROBOTER
    5.
    发明公开
    KNICKARMROBOTER 审中-实审

    公开(公告)号：EP4357084A3

    公开(公告)日：2024-06-05

    申请号：EP24162350.3

    申请日：2017-07-27

    申请人： Broetje-Automation GmbH

    发明人： Logemann, Torsten

    IPC分类号： B25J9/04 ,  B25J9/10 ,  B25J9/12

    CPC分类号： B25J9/047 ,  B25J9/106 ,  B25J9/123

    摘要： Die Erfindung betrifft einen Knickarmroboter mit einer seriellen Kinematik (2) zur Positionierung eines Endeffektors (3), wobei die Kinematik (2) mindestens eine Teilkinematik (6, 7) mit einem Robotergelenk (6.1), mit einem dem Robotergelenk (6.1) vorgelagerten Roboterglied (6.2) und einem dem Robotergelenk (6.1) nachgelagerten Roboterglied (6.3) aufweist. Es wird vorgeschlagen, dass die mindestens eine Teilkinematik (6, 7) zur Verstellung der Roboterglieder (6.2, 6.3) zueinander einen Linearantrieb (6.4) mit einem entlang einer Linearachse (6.5) verstellbaren Antriebselement (6.6) und eine Koppel (6.7) mit zwei entlang der Koppelerstreckung voneinander beabstandeten Koppelgelenken (6.8, 6.9) aufweist, dass der Linearantrieb (6.4) an einem ersten Roboterglied (6.10) der Teilkinematik (6) angeordnet ist und dass die Koppel (6.7) einerseits an dem Antriebselement (6.6) des Linearantriebs (6.4) und andererseits an dem zweiten Roboterglied (6.11) der Teilkinematik (6), beabstandet von der geometrischen Achse (6.1a) des Robotergelenks (6.1) der Teilkinematik (6), angelenkt ist.

    COLLABORATIVE ROBOT HAVING COLLISION DETECTION FUNCTION AND COLLISION DETECTION METHOD OF COOPERATIVE ROBOT
    8.
    发明公开
    COLLABORATIVE ROBOT HAVING COLLISION DETECTION FUNCTION AND COLLISION DETECTION METHOD OF COOPERATIVE ROBOT 审中-实审

    公开(公告)号：EP4349540A1

    公开(公告)日：2024-04-10

    申请号：EP22811616.6

    申请日：2022-05-24

    申请人： Neuromeka Co., Ltd.

    发明人： PARK, Jong Hoon ,  HEO, Young Jin

    IPC分类号： B25J9/16 ,  B25J9/04 ,  B25J19/06 ,  B25J9/00 ,  B25J5/02

    摘要： The present invention provides a collaborative robot having a collision detection function, comprising: a main body robot having a plurality of articulated arms; an additional shaft extending to have a predetermined length; an additional shaft robot that is installed to move linearly on the additional shaft and allows the main body robot to move along the additional shaft; and a processor unit that transmits and receives signals to and from the main body robot and the additional shaft robot, wherein the processor unit comprises: a receiving unit that obtains a data signal from the main body robot and the additional shaft robot; an external force calculation unit that calculates an external force value using the obtained data signal as a variable; a collision determination unit that compares the calculated external force value with a predetermined collision detection boundary value so as to determine whether a collision has occurred; and a control unit that generates different control commands for the main body robot and the auxiliary shaft robot depending on whether a collision has occurred.