DE2624378A1 - Vorrichtung zur bahnensteuerung von werkzeugen - Google Patents
Vorrichtung zur bahnensteuerung von werkzeugenInfo
- Publication number
- DE2624378A1 DE2624378A1 DE19762624378 DE2624378A DE2624378A1 DE 2624378 A1 DE2624378 A1 DE 2624378A1 DE 19762624378 DE19762624378 DE 19762624378 DE 2624378 A DE2624378 A DE 2624378A DE 2624378 A1 DE2624378 A1 DE 2624378A1
- Authority
- DE
- Germany
- Prior art keywords
- arms
- base part
- manipulator
- arm
- mentioned
- 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.)
- Withdrawn
Links
- 238000003466 welding Methods 0.000 claims description 49
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 5
- 238000004873 anchoring Methods 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 27
- 238000012545 processing Methods 0.000 description 13
- 210000000707 wrist Anatomy 0.000 description 13
- 238000000034 method Methods 0.000 description 12
- 238000005538 encapsulation Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 210000000323 shoulder joint Anatomy 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000004035 construction material Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 210000004243 sweat Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- 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
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- 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
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/02—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
-
- 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
-
- 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
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO751952A NO751952L (enrdf_load_stackoverflow) | 1975-06-03 | 1975-06-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE2624378A1 true DE2624378A1 (de) | 1977-02-24 |
Family
ID=19882306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE19762624378 Withdrawn DE2624378A1 (de) | 1975-06-03 | 1976-05-31 | Vorrichtung zur bahnensteuerung von werkzeugen |
Country Status (6)
| Country | Link |
|---|---|
| DE (1) | DE2624378A1 (enrdf_load_stackoverflow) |
| DK (1) | DK241276A (enrdf_load_stackoverflow) |
| FI (1) | FI761569A7 (enrdf_load_stackoverflow) |
| GB (1) | GB1511609A (enrdf_load_stackoverflow) |
| NO (1) | NO751952L (enrdf_load_stackoverflow) |
| SE (1) | SE7606240L (enrdf_load_stackoverflow) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2725557A1 (de) * | 1977-06-07 | 1978-12-21 | Volkswagenwerk Ag | Drehantrieb fuer einen bestandteil eines handhabungsgeraets |
| DE3034244A1 (de) * | 1979-09-14 | 1981-04-02 | Tokico Ltd., Kawasaki, Kanagawa | Lernfaehiger roboter |
| DE3039094A1 (de) * | 1979-10-19 | 1981-04-30 | Tokico Ltd., Kawasaki, Kanagawa | Roboter |
| DE3135608C1 (de) * | 1981-09-09 | 1983-03-31 | Walter 8753 Obernburg Reis | Programmgesteuerter Manipulator |
| DE3211688A1 (de) * | 1982-03-30 | 1983-10-20 | Binder, Karl-Franz, 8077 Reichertshofen | Roboter fuer fertigungs- und/oder montagezwecke |
| DE3324739A1 (de) * | 1982-10-28 | 1984-05-10 | Kabushiki Kaisha Kobe Seiko Sho, Kobe, Hyogo | Steuersystem fuer automaten mit direktanleitung und nachvollzug |
| FR2539663A1 (fr) * | 1983-01-26 | 1984-07-27 | Mitsubishi Electric Corp | Dispositif manipulateur automatique d'un type perfectionne, pour le soudage a l'arc |
| FR2539662A1 (fr) * | 1983-01-24 | 1984-07-27 | Mitsubishi Electric Corp | Dispositif manipulateur automatique articule, notamment pour soudage a l'arc |
| EP0081299A3 (en) * | 1981-11-11 | 1985-01-09 | Norman Brian Pigott | Modular robot arm |
| DE3342684A1 (de) * | 1983-11-15 | 1985-06-05 | Hitachi Zosen Corp., Osaka | Automatische schweissmaschine |
| EP0108511A3 (en) * | 1982-11-04 | 1985-12-18 | EMI Limited | Improvements in or relating to robot control systems |
| EP0701884A1 (de) * | 1994-09-13 | 1996-03-20 | Roman Eissfeller | Industrieroboter |
| EP0554711B2 (de) † | 1992-02-01 | 2000-07-19 | Firma Carl Zeiss | Motorisches Stativ |
| DE102007014023A1 (de) * | 2007-03-23 | 2008-09-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Roboter-Manipulatorarm-Gelenkantrieb |
| DE102007028758A1 (de) * | 2007-06-22 | 2008-12-24 | Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) | Roboter-Manipulator-Gelenkantrieb |
| CN104772556A (zh) * | 2015-04-30 | 2015-07-15 | 唐山开元特种焊接设备有限公司 | 90度弯管内壁堆焊焊枪 |
| DE102015211496A1 (de) * | 2015-06-22 | 2016-12-22 | Deckel Maho Pfronten Gmbh | Werkzeugmaschine zur spanenden Bearbeitung eines Werkstücks |
| CN110962101A (zh) * | 2018-09-29 | 2020-04-07 | 西门子（中国）有限公司 | 工业机器人搬运装置、系统、方法和机器可读介质 |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0014768B1 (de) * | 1979-02-15 | 1981-09-30 | INDUSTRIE-WERKE KARLSRUHE AUGSBURG Aktiengesellschaft Zweigniederlassung Keller & Knappich | Vorrichtung zum Handhaben eines an einem Ausleger schwenk- und drehbar angeordneten Werkzeuges |
| JPS5912436B2 (ja) | 1980-08-05 | 1984-03-23 | ファナック株式会社 | 工業用ロボットの安全機構 |
| AT368425B (de) * | 1980-08-07 | 1982-10-11 | Kroes Helmut | Geraet zum automatischen positionieren von einrichtungen wie loet-, bearbeitungs-, pruef-, zeicheneinrichtungen od.dgl. auf einer im wesentlichen ebenenen arbeitsflaeche |
| AT381056B (de) * | 1981-08-25 | 1986-08-25 | Igm Ind Geraete Maschf Gmbh | Schweissautomat |
| GB2126559A (en) * | 1982-09-07 | 1984-03-28 | Itt | Manipulator apparatus |
| DE8310067U1 (de) * | 1983-04-06 | 1985-06-05 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenk |
| CA1251242A (en) * | 1984-06-19 | 1989-03-14 | Roger L. Swensrud | Improved wrist and post for welding robots |
| GB2215870B (en) * | 1988-02-15 | 1992-12-16 | Amada Co Ltd | Welding robot |
| IT1293381B1 (it) * | 1997-06-23 | 1999-03-01 | Antonio Codatto | Dispositivo per la rilevazione della posizione angolare di un organo rotativo in un sistema di posizionamento angolare a controllo |
| CN101733743B (zh) * | 2010-01-02 | 2011-07-06 | 华南理工大学 | 一种拉线式串行机械手 |
| CN104552254A (zh) * | 2014-12-23 | 2015-04-29 | 广西大学 | 一种多自由度摇臂式焊接机器人 |
| CN104626140A (zh) * | 2014-12-23 | 2015-05-20 | 广西大学 | 利用六自由度旋转移动式连杆机构进行焊接施工的方法 |
| US10337561B2 (en) * | 2016-12-15 | 2019-07-02 | Boston Dynamics, Inc. | Transmission with integrated overload protection for a legged robot |
-
1975
- 1975-06-03 NO NO751952A patent/NO751952L/no unknown
-
1976
- 1976-05-31 DE DE19762624378 patent/DE2624378A1/de not_active Withdrawn
- 1976-06-02 GB GB22777/76A patent/GB1511609A/en not_active Expired
- 1976-06-02 DK DK241276A patent/DK241276A/da not_active Application Discontinuation
- 1976-06-02 SE SE7606240A patent/SE7606240L/xx not_active Application Discontinuation
- 1976-06-03 FI FI761569A patent/FI761569A7/fi not_active Application Discontinuation
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2725557A1 (de) * | 1977-06-07 | 1978-12-21 | Volkswagenwerk Ag | Drehantrieb fuer einen bestandteil eines handhabungsgeraets |
| DE3034244A1 (de) * | 1979-09-14 | 1981-04-02 | Tokico Ltd., Kawasaki, Kanagawa | Lernfaehiger roboter |
| DE3039094A1 (de) * | 1979-10-19 | 1981-04-30 | Tokico Ltd., Kawasaki, Kanagawa | Roboter |
| EP0077906A3 (de) * | 1981-09-09 | 1983-12-14 | Walter Reis | Programmgesteuerter Manipulator |
| DE3135608C1 (de) * | 1981-09-09 | 1983-03-31 | Walter 8753 Obernburg Reis | Programmgesteuerter Manipulator |
| EP0081299A3 (en) * | 1981-11-11 | 1985-01-09 | Norman Brian Pigott | Modular robot arm |
| DE3211688A1 (de) * | 1982-03-30 | 1983-10-20 | Binder, Karl-Franz, 8077 Reichertshofen | Roboter fuer fertigungs- und/oder montagezwecke |
| DE3324739A1 (de) * | 1982-10-28 | 1984-05-10 | Kabushiki Kaisha Kobe Seiko Sho, Kobe, Hyogo | Steuersystem fuer automaten mit direktanleitung und nachvollzug |
| EP0108511A3 (en) * | 1982-11-04 | 1985-12-18 | EMI Limited | Improvements in or relating to robot control systems |
| FR2539662A1 (fr) * | 1983-01-24 | 1984-07-27 | Mitsubishi Electric Corp | Dispositif manipulateur automatique articule, notamment pour soudage a l'arc |
| FR2539663A1 (fr) * | 1983-01-26 | 1984-07-27 | Mitsubishi Electric Corp | Dispositif manipulateur automatique d'un type perfectionne, pour le soudage a l'arc |
| DE3342684A1 (de) * | 1983-11-15 | 1985-06-05 | Hitachi Zosen Corp., Osaka | Automatische schweissmaschine |
| EP0554711B2 (de) † | 1992-02-01 | 2000-07-19 | Firma Carl Zeiss | Motorisches Stativ |
| EP0701884A1 (de) * | 1994-09-13 | 1996-03-20 | Roman Eissfeller | Industrieroboter |
| DE102007014023A1 (de) * | 2007-03-23 | 2008-09-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Roboter-Manipulatorarm-Gelenkantrieb |
| DE102007028758A1 (de) * | 2007-06-22 | 2008-12-24 | Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) | Roboter-Manipulator-Gelenkantrieb |
| DE102007028758B4 (de) * | 2007-06-22 | 2009-04-02 | Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) | Roboter-Manipulator-Gelenkantrieb |
| CN104772556A (zh) * | 2015-04-30 | 2015-07-15 | 唐山开元特种焊接设备有限公司 | 90度弯管内壁堆焊焊枪 |
| DE102015211496A1 (de) * | 2015-06-22 | 2016-12-22 | Deckel Maho Pfronten Gmbh | Werkzeugmaschine zur spanenden Bearbeitung eines Werkstücks |
| WO2016207223A3 (de) * | 2015-06-22 | 2017-03-16 | Deckel Maho Pfronten Gmbh | Werkzeugmaschine zur spanenden bearbeitung eines werkstücks |
| US10807205B2 (en) | 2015-06-22 | 2020-10-20 | Deckel Maho Pfronten Gmbh | Machine tool for machining a workpiece |
| CN110962101A (zh) * | 2018-09-29 | 2020-04-07 | 西门子（中国）有限公司 | 工业机器人搬运装置、系统、方法和机器可读介质 |
| EP3646994A1 (en) * | 2018-09-29 | 2020-05-06 | Siemens Ltd. China | Device, system, method, and machine-readable medium for conveying an industrial robot |
| CN110962101B (zh) * | 2018-09-29 | 2021-09-14 | 西门子（中国）有限公司 | 工业机器人搬运装置、系统、方法和机器可读介质 |
| US11207776B2 (en) | 2018-09-29 | 2021-12-28 | Siemens Ltd., China | Device, system, method, and machine-readable medium for conveying an industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| SE7606240L (sv) | 1976-12-04 |
| NO751952L (enrdf_load_stackoverflow) | 1976-12-06 |
| FI761569A7 (enrdf_load_stackoverflow) | 1976-12-04 |
| GB1511609A (en) | 1978-05-24 |
| DK241276A (da) | 1976-12-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 8139 | Disposal/non-payment of the annual fee |