DE3445003A1 - Handhabungsroboter - Google Patents

Handhabungsroboter

Info

Publication number
DE3445003A1
DE3445003A1 DE19843445003 DE3445003A DE3445003A1 DE 3445003 A1 DE3445003 A1 DE 3445003A1 DE 19843445003 DE19843445003 DE 19843445003 DE 3445003 A DE3445003 A DE 3445003A DE 3445003 A1 DE3445003 A1 DE 3445003A1
Authority
DE
Germany
Prior art keywords
handling
rotation
base body
arm
auxiliary support
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.)
Granted
Application number
DE19843445003
Other languages
German (de)
English (en)
Other versions
DE3445003C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html
Inventor
Paolo Turin/Torino Cigna
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Publication of DE3445003A1 publication Critical patent/DE3445003A1/de
Application granted granted Critical
Publication of DE3445003C2 publication Critical patent/DE3445003C2/de
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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
    • 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
    • B25J9/02—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
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • 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)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
DE19843445003 1983-12-12 1984-12-10 Handhabungsroboter Granted DE3445003A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT8354029U IT8354029V0 (it) 1983-12-12 1983-12-12 Robot manipolatore particolarmente per il trasferimento di elementi di lamiera da una stazione di stampaggio alla stazione successiva di una linea di stampaggio

Publications (2)

Publication Number Publication Date
DE3445003A1 true DE3445003A1 (de) 1985-06-20
DE3445003C2 DE3445003C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-12-19

Family

ID=11286426

Family Applications (2)

Application Number Title Priority Date Filing Date
DE19843445003 Granted DE3445003A1 (de) 1983-12-12 1984-12-10 Handhabungsroboter
DE8436125U Expired DE8436125U1 (de) 1983-12-12 1984-12-10 Handhabungsroboter

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE8436125U Expired DE8436125U1 (de) 1983-12-12 1984-12-10 Handhabungsroboter

Country Status (6)

Country Link
US (1) US4661040A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (2) DE3445003A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
FR (1) FR2556274B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
GB (1) GB2151206A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
IT (1) IT8354029V0 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
SE (1) SE456231B (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3817117A1 (de) * 1988-05-19 1989-11-23 Kuka Schweissanlagen & Roboter Vorrichtung zum handhaben, insbesondere transportieren von werkstuecken zwischen zwei benachbarten bearbeitungsstationen
DE3817833A1 (de) * 1988-05-26 1989-12-07 Fraunhofer Ges Forschung Vorrichtung zum automatischen manipulieren von werkzeugen
CN110167718A (zh) * 2016-12-27 2019-08-23 Abb瑞士股份公司 用于冲压线的钟摆式处理系统

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD300935S (en) 1986-02-18 1989-05-02 Asea Aktiebolag Industrial robot
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
IT1237709B (it) * 1989-12-20 1993-06-15 Comau Spa Apparecchiatura e procedimento per il controllo del funzionamento di una linea di macchine operatrici, in particolare presse.
FR2661342A1 (fr) * 1990-04-27 1991-10-31 Lectra Systemes Sa Procede et dispositif de chargement et de dechargement d'un appareil de decoupe.
FR2671296B1 (fr) * 1991-01-07 1995-04-14 Franche Comte Alsace Etudes Te Robot perfectionne.
US5452981A (en) * 1991-03-06 1995-09-26 Leland D. Blatt Automatic tool changer
DE9200618U1 (de) * 1992-01-20 1992-04-23 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Mehrachsiger Roboter
WO1995006546A1 (fr) * 1993-09-01 1995-03-09 Kabushiki Kaisha Yaskawa Denki Robot articule
EP0693334B1 (de) * 1994-06-16 1999-11-10 Müller Weingarten AG Transportsystem
US6155768A (en) * 1998-01-30 2000-12-05 Kensington Laboratories, Inc. Multiple link robot arm system implemented with offset end effectors to provide extended reach and enhanced throughput
US6224124B1 (en) * 1998-10-02 2001-05-01 Amsted Industries Incorporated Parts transfer and control circuit system
DE50100018D1 (de) * 2001-07-20 2002-09-19 Hans Neunteufel Fahrzeug mit Vorrichtung zum Verstellen eines Oberwagens auf einem Unterwagen, insbesondere Bagger oder Lader, mit einer solchen Oberwagenverstellung
DE10352982B4 (de) * 2003-11-13 2007-06-21 Müller Weingarten AG Gelenkarmtransportvorrichtung
DE102004038036A1 (de) * 2004-08-05 2006-03-23 Schuler Automation Gmbh & Co.Kg Knickroboter
JP2006263895A (ja) * 2005-03-25 2006-10-05 Fanuc Ltd ロボットハンドリング装置
ES2268989B1 (es) * 2005-08-22 2008-12-16 Comasur 2000, S.L.L. Manipulador para chapas de hojalata tratadas.
US7309204B2 (en) 2005-12-20 2007-12-18 Schuler Automation Gmbh & Co. Kg Articulated arm robot
CN101578162B (zh) * 2006-12-19 2012-04-04 Abb研究有限公司 零件搬运装置、系统和方法
US20090289097A1 (en) * 2008-05-21 2009-11-26 Weng-Jin Wu Wafer Leveling-Bonding System Using Disposable Foils
ITLU20080017A1 (it) * 2008-10-14 2010-04-15 Tissue Service Converting S R L Macchina movimentatrice robotizzata per manufatti piegati o stesi
EP2886263A1 (en) * 2013-12-20 2015-06-24 Getting Robotika S.L. Robotised installation
CN110662633B (zh) * 2015-05-16 2023-02-17 Abb瑞士股份有限公司 机器人的旋转补充轴线
DE102016119009A1 (de) * 2016-10-06 2018-04-12 Weiss Gmbh Gelenkeinheit
CN107458108B (zh) * 2017-08-25 2023-04-18 浙江正润机械有限公司 摆动旋转机构和纸板移送纠偏机械手
JP7451889B2 (ja) * 2019-06-27 2024-03-19 セイコーエプソン株式会社 ロボット

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator
US4299533A (en) * 1978-06-06 1981-11-10 Shiroyama Kogyo Kabushiki Kaisha Jointed manipulator
EP0066014A1 (en) * 1981-06-03 1982-12-08 COMAU S.p.A. Manipulator with two opposing arms
DE8133871U1 (de) * 1981-11-20 1983-03-17 Maschinenfabrik Müller-Weingarten AG, 7987 Weingarten Handling-geraet fuer die handhabung von schweren einlege- bzw. gussteilen, insbesondere bei druckgiessmaschinen bekannter bauart.

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3010587A (en) * 1957-09-20 1961-11-28 Richard G Hollinger Workpiece transfer mechanism
GB1244940A (en) * 1969-03-31 1971-09-02 Aida Tekkosho Kk An article transfer apparatus
US4056198A (en) * 1976-03-29 1977-11-01 Danly Machine Corporation Transfer and turnover mechanism for use with power press or the like
JPS54159963A (en) * 1978-06-06 1979-12-18 Shiroyama Kogyo Kk Articulated arm type manipulator
FR2440270A1 (fr) * 1978-11-02 1980-05-30 Polymatic Sa Automate, notamment pour les chargements sur presses
US4433495A (en) * 1981-01-31 1984-02-28 Mitsuhiro Kishi Digger with supporting base pivotable on transversible member
FR2510023A1 (fr) * 1981-07-21 1983-01-28 Pharemme Robot de manipulation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4299533A (en) * 1978-06-06 1981-11-10 Shiroyama Kogyo Kabushiki Kaisha Jointed manipulator
DE2852821B1 (de) * 1978-12-07 1980-04-30 Walter Reis Maschinenbau, 8753 Obernburg Manipulator
EP0066014A1 (en) * 1981-06-03 1982-12-08 COMAU S.p.A. Manipulator with two opposing arms
DE8133871U1 (de) * 1981-11-20 1983-03-17 Maschinenfabrik Müller-Weingarten AG, 7987 Weingarten Handling-geraet fuer die handhabung von schweren einlege- bzw. gussteilen, insbesondere bei druckgiessmaschinen bekannter bauart.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
FR-Z.: Le Nouvel Automatisme, Mai 1979, S. 37-44 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3817117A1 (de) * 1988-05-19 1989-11-23 Kuka Schweissanlagen & Roboter Vorrichtung zum handhaben, insbesondere transportieren von werkstuecken zwischen zwei benachbarten bearbeitungsstationen
DE3817833A1 (de) * 1988-05-26 1989-12-07 Fraunhofer Ges Forschung Vorrichtung zum automatischen manipulieren von werkzeugen
CN110167718A (zh) * 2016-12-27 2019-08-23 Abb瑞士股份公司 用于冲压线的钟摆式处理系统

Also Published As

Publication number Publication date
GB8430200D0 (en) 1985-01-09
US4661040A (en) 1987-04-28
SE8406268D0 (sv) 1984-12-10
GB2151206A (en) 1985-07-17
DE8436125U1 (de) 1989-07-20
SE456231B (sv) 1988-09-19
DE3445003C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-12-19
FR2556274A1 (fr) 1985-06-14
FR2556274B1 (fr) 1989-12-01
SE8406268L (sv) 1985-06-13
IT8354029V0 (it) 1983-12-12

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
D2 Grant after examination
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee