CN118922280A - 具有内部线路套管的机械手，特别是用于承载施涂设备 - Google Patents

具有内部线路套管的机械手，特别是用于承载施涂设备 Download PDF

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Publication number
CN118922280A
CN118922280A CN202380017062.0A CN202380017062A CN118922280A CN 118922280 A CN118922280 A CN 118922280A CN 202380017062 A CN202380017062 A CN 202380017062A CN 118922280 A CN118922280 A CN 118922280A
Authority
CN
China
Prior art keywords
joint structure
manipulator
robot
drive
axis
Prior art date
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.)
Pending
Application number
CN202380017062.0A
Other languages
English (en)
Chinese (zh)
Inventor
S·施魏格勒尔
T·克莱因汉斯
A·赫斯
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.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
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.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Publication of CN118922280A publication Critical patent/CN118922280A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/002—Machines or plants for applying coating liquids or other fluent materials by inkjet
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • 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
    • B25J19/0054—Cooling means
    • 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
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202380017062.0A 2022-01-12 2023-01-10 具有内部线路套管的机械手，特别是用于承载施涂设备 Pending CN118922280A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102022100608.5 2022-01-12
DE102022100608.5A DE102022100608A1 (de) 2022-01-12 2022-01-12 Roboterhand, insbesondere zum Tragen einer Applikationsvorrichtung
PCT/EP2023/050393 WO2023135111A1 (de) 2022-01-12 2023-01-10 Roboterhand mit interner leitungsführung, insbesondere zum tragen einer applikationsvorrichtung

Publications (1)

Publication Number Publication Date
CN118922280A true CN118922280A (zh) 2024-11-08

Family

ID=84982368

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202380017062.0A Pending CN118922280A (zh) 2022-01-12 2023-01-10 具有内部线路套管的机械手，特别是用于承载施涂设备

Country Status (9)

Country Link
US (1) US20250042041A1 (enExample)
EP (1) EP4463295B1 (enExample)
JP (1) JP2025502265A (enExample)
KR (1) KR20240134317A (enExample)
CN (1) CN118922280A (enExample)
DE (1) DE102022100608A1 (enExample)
ES (1) ES3059457T3 (enExample)
MX (1) MX2024008449A (enExample)
WO (1) WO2023135111A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD1107083S1 (en) * 2021-09-27 2025-12-23 Cloudminds Robotics Co., Ltd. Actuator
USD1107086S1 (en) * 2021-09-27 2025-12-23 Cloudminds Robotics Co., Ltd. Actuator
USD1107084S1 (en) * 2021-09-27 2025-12-23 Cloudminds Robotics Co., Ltd. Actuator
US20260021720A1 (en) * 2024-07-18 2026-01-22 Ioan Sasu Domestic recharge station and adaptors for efficient electric vehicles

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10033224C1 (de) * 2000-07-07 2001-12-20 Kuka Roboter Gmbh Roboter
DE10139088A1 (de) 2001-08-16 2003-02-27 Duerr Systems Gmbh Manipulatormaschine mit einer zu dem Arbeitsgerät geführten Leitungsanordnung
JP3952955B2 (ja) 2003-01-17 2007-08-01 トヨタ自動車株式会社 多関節ロボット
DE102004043014A1 (de) 2004-09-06 2006-03-23 Dürr Systems GmbH Roboterhandachse für einen Lackierrobotor und zugehöriges Betriebsverfahren
DE102008059505A1 (de) 2008-11-28 2010-06-02 Dürr Systems GmbH Schutzabdeckung zum Verschmutzungsschutz eines Roboters
EP2419244B1 (en) * 2009-04-15 2013-03-06 ABB Research Ltd. An apparatus for a robot arm
WO2011003451A1 (en) * 2009-07-09 2011-01-13 Abb Research Ltd A robot arm system and a robot arm
DE102010019612A1 (de) 2010-05-06 2011-11-10 Dürr Systems GmbH Beschichtungseinrichtung, insbesondere mit einem Applikationsgerät, und zugehöriges Beschichtungsverfahren, das einen zertropfenden Beschichtungsmittelstrahl ausgibt
DE102013002412A1 (de) 2013-02-11 2014-08-14 Dürr Systems GmbH Applikationsverfahren und Applikationsanlage
DE102013222454A1 (de) 2013-11-05 2015-05-07 Kuka Roboter Gmbh Elektrischer Antrieb und Industrieroboter mit wenigstens einem solchen elektrischen Antrieb
JP7261244B2 (ja) * 2018-05-03 2023-04-19 ファナック アメリカ コーポレイション ロボットを用いた静電塗装装置
JP7121546B2 (ja) 2018-05-31 2022-08-18 川崎重工業株式会社 ロボットアーム及びそれを備えるロボット
JP7294856B2 (ja) * 2019-04-08 2023-06-20 川崎重工業株式会社 ロボット装置

Also Published As

Publication number Publication date
DE102022100608A1 (de) 2023-07-13
JP2025502265A (ja) 2025-01-24
EP4463295B1 (de) 2025-12-17
US20250042041A1 (en) 2025-02-06
WO2023135111A1 (de) 2023-07-20
MX2024008449A (es) 2024-07-19
ES3059457T3 (en) 2026-03-20
KR20240134317A (ko) 2024-09-09
EP4463295A1 (de) 2024-11-20

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