DE2435156C2 - Programmgesteuerter Manipulator - Google Patents

Programmgesteuerter Manipulator

Info

Publication number
DE2435156C2
DE2435156C2 DE2435156A DE2435156A DE2435156C2 DE 2435156 C2 DE2435156 C2 DE 2435156C2 DE 2435156 A DE2435156 A DE 2435156A DE 2435156 A DE2435156 A DE 2435156A DE 2435156 C2 DE2435156 C2 DE 2435156C2
Authority
DE
Germany
Prior art keywords
falsework
hand
axis
gear head
gear
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.)
Expired
Application number
DE2435156A
Other languages
German (de)
English (en)
Other versions
DE2435156A1 (de
Inventor
Hans Ing.(Grad.) 8900 Augsburg Richter
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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 KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Priority to DE2435156A priority Critical patent/DE2435156C2/de
Priority to CH881575A priority patent/CH590114A5/xx
Priority to FR7521276A priority patent/FR2279521A1/fr
Priority to SE7507989A priority patent/SE430960B/xx
Priority to IT25472/75A priority patent/IT1039296B/it
Priority to US05/597,825 priority patent/US4030617A/en
Priority to NO752584A priority patent/NO752584L/no
Priority to JP8892875A priority patent/JPS5623760B2/ja
Priority to GB30578/75A priority patent/GB1511168A/en
Publication of DE2435156A1 publication Critical patent/DE2435156A1/de
Application granted granted Critical
Publication of DE2435156C2 publication Critical patent/DE2435156C2/de
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36471—Recording speed different from playback speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36477—Timing record position according to pulses coding wheel
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36495—Recording position and other parameters, current, tool diameter, voltage
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37357—Force, pressure, weight or deflection

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE2435156A 1974-07-22 1974-07-22 Programmgesteuerter Manipulator Expired DE2435156C2 (de)

Priority Applications (9)

Application Number Priority Date Filing Date Title
DE2435156A DE2435156C2 (de) 1974-07-22 1974-07-22 Programmgesteuerter Manipulator
CH881575A CH590114A5 (forum.php) 1974-07-22 1975-07-07
FR7521276A FR2279521A1 (fr) 1974-07-22 1975-07-07 Appareil automatique du type robot
SE7507989A SE430960B (sv) 1974-07-22 1975-07-11 Anordning for maskinell, genom varierbart program styrbar hantering av verktyg eller arbetsstycken
IT25472/75A IT1039296B (it) 1974-07-22 1975-07-16 Apparecchio automatico per muovere utensili e pezzi in modo meccanico e comandabile tramite programmi variabili
US05/597,825 US4030617A (en) 1974-07-22 1975-07-21 Robot device
NO752584A NO752584L (forum.php) 1974-07-22 1975-07-21
JP8892875A JPS5623760B2 (forum.php) 1974-07-22 1975-07-22
GB30578/75A GB1511168A (en) 1974-07-22 1975-07-22 Robot apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2435156A DE2435156C2 (de) 1974-07-22 1974-07-22 Programmgesteuerter Manipulator

Publications (2)

Publication Number Publication Date
DE2435156A1 DE2435156A1 (de) 1976-02-12
DE2435156C2 true DE2435156C2 (de) 1983-09-01

Family

ID=5921182

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2435156A Expired DE2435156C2 (de) 1974-07-22 1974-07-22 Programmgesteuerter Manipulator

Country Status (9)

Country Link
US (1) US4030617A (forum.php)
JP (1) JPS5623760B2 (forum.php)
CH (1) CH590114A5 (forum.php)
DE (1) DE2435156C2 (forum.php)
FR (1) FR2279521A1 (forum.php)
GB (1) GB1511168A (forum.php)
IT (1) IT1039296B (forum.php)
NO (1) NO752584L (forum.php)
SE (1) SE430960B (forum.php)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2622906B2 (de) * 1975-05-23 1981-04-16 Kobe Steel, Ltd., Kobe, Hyogo Verfahren und Einrichtung zur Steuerung eines Industrieautomaten
US4115684A (en) * 1976-06-17 1978-09-19 Unimation Portable, programmable manipulator apparatus
US4062455A (en) * 1976-11-22 1977-12-13 Flatau Carl R Remote manipulator
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
DE2725557A1 (de) * 1977-06-07 1978-12-21 Volkswagenwerk Ag Drehantrieb fuer einen bestandteil eines handhabungsgeraets
US4224501A (en) * 1978-02-27 1980-09-23 Unimation, Inc. Teaching arrangement for programmable manipulator
FR2435329A1 (fr) * 1978-07-10 1980-04-04 Ass Ouvriers Instr Precision Manipulateur, en particulier automate de peinture, susceptible d'apprentissage
US4252360A (en) * 1979-06-12 1981-02-24 Gallaher Jr John K Mechanical handling apparatus
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
JPS5685106A (en) * 1979-12-14 1981-07-11 Hitachi Ltd Robot teaching method
JPS6039518B2 (ja) * 1980-09-30 1985-09-06 ファナック株式会社 工業用ロボットの手首機構
JPS605432B2 (ja) * 1980-09-30 1985-02-12 ファナック株式会社 工業用ロボット
DE3048067C2 (de) * 1980-12-19 1984-08-09 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Getriebeanordnung für den Gelenkkopf eines Manipulators
JPS597593A (ja) * 1982-07-02 1984-01-14 三菱電機株式会社 ロボツトの関節装置
DE3228945A1 (de) * 1982-08-03 1984-02-16 GdA Gesellschaft für digitale Automation mbH, 8000 München Vorrichtung zum antrieb der beiden achsen des handgliedes eines industrieroboters
US4579016A (en) * 1983-03-01 1986-04-01 Westinghouse Electric Corp. Self-contained two-axis wrist module
CA1229636A (en) * 1983-04-14 1987-11-24 Richard S. Antoszewski Radial-theta manipulator apparatus
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
DE3428748C2 (de) * 1983-08-03 1987-02-19 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Getriebekopf für Manipulatoren
ATE27561T1 (de) * 1983-08-03 1987-06-15 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren.
SE455683B (sv) * 1983-10-31 1988-08-01 Asea Ab Automatrobot, serskilt for svetsning
JPS60141496A (ja) * 1983-12-27 1985-07-26 フアナツク株式会社 工業用ロボツトの手首機構
DE3480331D1 (en) * 1984-08-03 1989-12-07 Kuka Schweissanlagen & Roboter Driven-tool holder head for manipulators
DE3536747A1 (de) * 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Gelenkmechanismus
DE3445055A1 (de) * 1984-12-11 1986-06-12 Reis GmbH & Co, 8753 Obernburg Mehrachsiger, programmierbarer manipulator mit einem trainingsarm zum programmieren des manipulators
US6477913B1 (en) 1985-01-22 2002-11-12 Fanuc Robotics North America, Inc. Electric robot for use in a hazardous location
JPS61144993U (forum.php) * 1985-03-01 1986-09-06
US4659904A (en) * 1985-07-01 1987-04-21 High Steel Structures, Inc. Shut-down control device for welding carriage and method
DE3627745A1 (de) * 1985-08-20 1987-03-05 Tokico Ltd Industriewiedergaberoboter
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
FR2592607B1 (fr) * 1986-01-06 1988-04-08 Outiperret Sa Dispositif manipulateur multiplicateur d'efforts tridimensionnel.
GB8600920D0 (en) * 1986-01-15 1986-02-19 Witter R B Robot teaching
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US4744499A (en) * 1986-09-08 1988-05-17 Lecco, Inc. System for automated manufacture of pressure vessels
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
DE3720180C1 (de) * 1987-06-16 1988-06-30 Erowa Ag Wechselvorrichtung fuer eine Werkzeugmaschine
JP2511072B2 (ja) * 1987-10-23 1996-06-26 三菱重工業株式会社 ロボットにおける教示デ―タの記録・再生方法
US4807486A (en) * 1987-11-09 1989-02-28 Gmf Robotics Corporation Three-axes wrist mechanism
JPH0224075A (ja) * 1988-07-13 1990-01-26 Mitsubishi Electric Corp 産業用ロボット
JPH02190288A (ja) * 1989-01-20 1990-07-26 Kobe Steel Ltd 工業用ロボット等の手首機構
DE9001451U1 (de) * 1990-02-08 1991-06-06 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmierhilfe für einen mehrachsigen Manipulator
US6356807B1 (en) 1999-08-13 2002-03-12 Fanuc Robotics North America, Inc. Method of determining contact positions, calibration parameters, and reference frames for robot assemblies
EP1716984A1 (fr) * 2005-04-25 2006-11-02 Jean-Jacques Mougin Dispositif d'entraînement d'un objet suivant des mouvements de rotation combinés
DE102009015603B4 (de) * 2009-04-02 2012-02-23 Siemens Aktiengesellschaft Landanschluss für Schiffe mit einem Gelenkkran
CN102198658A (zh) * 2010-03-25 2011-09-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN118717295A (zh) 2013-03-15 2024-10-01 史赛克公司 手术机器人臂的端部执行器
CN103758932B (zh) * 2014-01-26 2016-05-25 浙江来福谐波传动股份有限公司 大减速比角向谐波减速装置
JP7009929B2 (ja) * 2017-11-02 2022-01-26 セイコーエプソン株式会社 ロボット
US11874683B1 (en) 2021-11-04 2024-01-16 United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration Hand controller
CN115307031B (zh) * 2022-10-10 2022-12-16 西南石油大学 一种管外自适应检测机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2933205A (en) * 1958-03-14 1960-04-19 Burroughs Corp Mechanical manipulator
US2942736A (en) * 1959-06-18 1960-06-28 United States Atomic Energy Commission Crane positioning apparatus
US3128887A (en) * 1960-02-25 1964-04-14 Mechanical manipulators for the displacement of
JPS5025234B1 (forum.php) * 1970-02-20 1975-08-21
JPS4921672Y1 (forum.php) * 1970-08-21 1974-06-10
JPS5425196B2 (forum.php) * 1972-03-16 1979-08-25
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
US3878652A (en) * 1973-06-25 1975-04-22 Robotics Inc Low cost programmable remote control machine tool manipulator having continuous path control

Also Published As

Publication number Publication date
JPS5623760B2 (forum.php) 1981-06-02
FR2279521A1 (fr) 1976-02-20
CH590114A5 (forum.php) 1977-07-29
JPS5135955A (forum.php) 1976-03-26
SE430960B (sv) 1983-12-27
FR2279521B3 (forum.php) 1979-04-27
GB1511168A (en) 1978-05-17
IT1039296B (it) 1979-12-10
US4030617A (en) 1977-06-21
NO752584L (forum.php) 1976-01-23
SE7507989L (sv) 1976-01-23
DE2435156A1 (de) 1976-02-12

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Legal Events

Date Code Title Description
OGA New person/name/address of the applicant
OGA New person/name/address of the applicant
8110 Request for examination paragraph 44
8127 New person/name/address of the applicant

Owner name: KUKA SCHWEISSANLAGEN + ROBOTER GMBH, 8900 AUGSBURG

8181 Inventor (new situation)

Free format text: RICHTER, HANS, ING.(GRAD.), 8900 AUGSBURG, DE

D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee