DE2624378A1 - Vorrichtung zur bahnensteuerung von werkzeugen - Google Patents

Vorrichtung zur bahnensteuerung von werkzeugen

Info

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Withdrawn
Application number
DE19762624378
Other languages
German (de)
English (en)
Inventor
Olav Gerhard Lund
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.)
Akers Mek Verksted AS
Original Assignee
Akers Mek Verksted AS
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 Akers Mek Verksted AS filed Critical Akers Mek Verksted AS
Publication of DE2624378A1 publication Critical patent/DE2624378A1/de
Withdrawn legal-status Critical Current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
    • 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—Program-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—Program-controlled manipulators
    • B25J9/0081—Program-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—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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—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
    • 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
    • B25J9/1035—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)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
DE19762624378 1975-06-03 1976-05-31 Vorrichtung zur bahnensteuerung von werkzeugen Withdrawn DE2624378A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO751952A NO751952L (enExample) 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 (enExample)
DK (1) DK241276A (enExample)
FI (1) FI761569A7 (enExample)
GB (1) GB1511609A (enExample)
NO (1) NO751952L (enExample)
SE (1) SE7606240L (enExample)

Cited By (18)

* Cited by examiner, † Cited by third party
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
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
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)

* Cited by examiner, † Cited by third party
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
DE3312404A1 (de) * 1983-04-06 1984-10-18 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
US5015821A (en) * 1988-02-15 1991-05-14 Amada Company, Limited Computer controlled 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
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
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
US10337561B2 (en) * 2016-12-15 2019-07-02 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot

Cited By (25)

* Cited by examiner, † Cited by third party
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
FI761569A7 (enExample) 1976-12-04
GB1511609A (en) 1978-05-24
SE7606240L (sv) 1976-12-04
DK241276A (da) 1976-12-04
NO751952L (enExample) 1976-12-06

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Legal Events

Date Code Title Description
8139 Disposal/non-payment of the annual fee