DE3683371D1 - Vorrichtung zur begrenzung des taetigkeitsbereichs eines industriellen roboters. - Google Patents

Vorrichtung zur begrenzung des taetigkeitsbereichs eines industriellen roboters.

Info

Publication number
DE3683371D1
DE3683371D1 DE8686904404T DE3683371T DE3683371D1 DE 3683371 D1 DE3683371 D1 DE 3683371D1 DE 8686904404 T DE8686904404 T DE 8686904404T DE 3683371 T DE3683371 T DE 3683371T DE 3683371 D1 DE3683371 D1 DE 3683371D1
Authority
DE
Germany
Prior art keywords
activity
limiting
area
industrial robot
robot
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 - Lifetime
Application number
DE8686904404T
Other languages
English (en)
Inventor
Nobutoshi Torii
Ryo Nihei
Hitoshi Mizuno
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE3683371D1 publication Critical patent/DE3683371D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • 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
    • B25J17/0241—One-dimensional 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
    • B25J19/0091—Shock absorbers
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20582—Levers
    • Y10T74/2063—Stops

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE8686904404T 1985-07-29 1986-07-25 Vorrichtung zur begrenzung des taetigkeitsbereichs eines industriellen roboters. Expired - Lifetime DE3683371D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP60167029A JPS6228194A (ja) 1985-07-29 1985-07-29 工業用ロボツトの動作範囲規制装置
PCT/JP1986/000392 WO1987000790A1 (en) 1985-07-29 1986-07-25 Apparatus for limiting the operation range of an industrial robot

Publications (1)

Publication Number Publication Date
DE3683371D1 true DE3683371D1 (de) 1992-02-20

Family

ID=15842068

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8686904404T Expired - Lifetime DE3683371D1 (de) 1985-07-29 1986-07-25 Vorrichtung zur begrenzung des taetigkeitsbereichs eines industriellen roboters.

Country Status (6)

Country Link
US (1) US4828094A (de)
EP (1) EP0241556B1 (de)
JP (1) JPS6228194A (de)
KR (1) KR900002287B1 (de)
DE (1) DE3683371D1 (de)
WO (1) WO1987000790A1 (de)

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07121513B2 (ja) * 1986-10-17 1995-12-25 フアナツク株式会社 産業用ロボツトの旋回胴旋回域設定装置
JPS6452680U (de) * 1987-09-26 1989-03-31
SE469878B (sv) * 1991-02-11 1993-10-04 Asea Brown Boveri Justerbar stoppanordning för industrirobot
DE9200618U1 (de) * 1992-01-20 1992-04-23 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Mehrachsiger Roboter
JP2545738B2 (ja) * 1994-02-28 1996-10-23 工業技術院長 鍛造作業用ロボットハンド
EP0852172B1 (de) * 1995-09-18 2002-04-03 Kabushiki Kaisha Yaskawa Denki Anschlag für industrieroboter
KR200145221Y1 (ko) * 1996-07-30 1999-06-15 윤종용 로봇 회전관절 스토퍼
SE524740C2 (sv) * 2002-07-11 2004-09-21 Abb Ab Anordning och förfarande för rörelsebegränsning hos en industrirobot
KR100749134B1 (ko) 2003-03-11 2007-08-14 현대중공업 주식회사 산업용 로봇의 이동형 스토퍼 설치 방법
JP4215021B2 (ja) 2005-03-31 2009-01-28 ブラザー工業株式会社 端末装置、端末装置を備えたネットワークシステム、並びに端末装置、ホスト装置、ネットワークシステムの制御プログラム。
JP2007118114A (ja) * 2005-10-26 2007-05-17 Fanuc Ltd ロボット用停止装置
US20090242352A1 (en) * 2008-03-25 2009-10-01 Innovative Office Products, Inc. Rotation stop system
JP5176784B2 (ja) * 2008-08-29 2013-04-03 株式会社デンソーウェーブ ロボットのアーム可動範囲変更制御装置
CN101774179B (zh) * 2009-01-10 2012-09-19 鸿富锦精密工业（深圳）有限公司 机器人连接轴
US8757345B2 (en) * 2009-04-29 2014-06-24 Novellus Systems, Inc. Magnetic rotational hardstop for robot
JP5406644B2 (ja) * 2009-09-14 2014-02-05 ナブテスコ株式会社 旋回装置
EP2559525B1 (de) * 2010-04-16 2014-08-06 Toyota Jidosha Kabushiki Kaisha Rotationsbegrenzungsvorrichtung, robotergelenk und gehhilfevorrichtung
CN103085082B (zh) * 2011-11-04 2015-10-14 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN103192382B (zh) * 2012-01-06 2015-06-03 沈阳新松机器人自动化股份有限公司 基于磁力的行程限位机构
CN103197726A (zh) * 2012-01-06 2013-07-10 沈阳新松机器人自动化股份有限公司 基于微动开关的行程限位机构
DE102012210298A1 (de) * 2012-06-19 2013-12-19 Zf Friedrichshafen Ag Verbindungsvorrichtung für zwei Wellen mit einem Anschlagsdämpfer
JP5650696B2 (ja) 2012-09-04 2015-01-07 ファナック株式会社 スリットが形成された弾性変形体を有する機械式ストッパ装置、及び該機械式ストッパ装置を備えた多関節ロボット
US20150190924A1 (en) * 2014-01-03 2015-07-09 Tech Rim Standards, LLC Link-lock power work device, components thereof, and methods of making and using the same
JP2015163414A (ja) * 2014-02-28 2015-09-10 ファナック株式会社 ２つの部材の相対回転運動を規制する固定装置を備えるロボット、及び固定装置
EP2955405B1 (de) * 2014-06-10 2017-02-01 Aktiebolaget SKF Wälzlager mit Mitteln zum winkeligen Einstellen des Innenrings gegenüber dem Außenring
DE102014220166B4 (de) * 2014-10-06 2017-11-02 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Verfahren zur Optimierung des Betriebs einer Handhabungseinheit, insbesondere einer Linear- oder Schwenkeinheit, und Anordnung hierfür
US10053341B2 (en) * 2015-10-22 2018-08-21 D & R Crane, Inc. Device for controlling crane stop angle
JP6725541B2 (ja) * 2016-01-30 2020-07-22 ライフロボティクス株式会社 ロボットアーム機構
JP2019069479A (ja) * 2016-02-29 2019-05-09 ライフロボティクス株式会社 ロボットアーム機構及びストッパ機構
US9925663B2 (en) * 2016-07-07 2018-03-27 Universal City Studios Llc Movable hardstop for a robotic component
CN105947662B (zh) * 2016-07-10 2017-12-29 柴永朋 一种多用途自检式码垛机
DE102017203741A1 (de) * 2017-03-07 2018-09-13 Kuka Deutschland Gmbh Roboterarm mit einer mechanischen Anschlagsvorrichtung
JP6916135B2 (ja) * 2018-03-22 2021-08-11 ファナック株式会社 ロボット
FR3093021B1 (fr) 2019-02-22 2023-10-20 Hms2030 Robot terrestre à haute mobilité & à haute performance, grâce à ses bras actifs à compliance contrôlée
CN113573855B (zh) * 2019-03-15 2024-04-05 欧姆龙株式会社 用于机器人臂的多级止动装置
CN111821625A (zh) * 2020-07-30 2020-10-27 嘉兴学院 一种具有灭火机械臂可自由伸缩的巡检机器人
US20240066722A1 (en) * 2021-03-30 2024-02-29 Sony Interactive Entertainment Inc. Joint mechanism and multi-joint deviced
US12088177B2 (en) 2022-01-19 2024-09-10 Viettel Group Direct-drive motor damper

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1170157A (en) * 1911-04-07 1916-02-01 Huebner Bleistein Patents Company Adjustment indicator and controller.
SE355516B (de) * 1970-12-28 1973-04-30 Kaufeldt Ingenjors Ab R
DE2350296A1 (de) * 1972-10-18 1974-05-02 Electrolux Ab Verbindungselement an einem roboter
US3954188A (en) * 1973-12-26 1976-05-04 Prab Conveyors, Inc. Universal transfer device
US4295555A (en) * 1974-05-10 1981-10-20 Kamm Lawrence J Limit switch assembly manufacturing machine
US4191301A (en) * 1978-06-19 1980-03-04 Auto Crane Company Rotation limiter
JPS5525040A (en) * 1978-08-08 1980-02-22 Asahi Chem Ind Co Ltd Microfilm camera
JPS57144681A (en) * 1981-02-25 1982-09-07 Osaka Transformer Co Ltd Industrial robot
JPS59132793A (ja) * 1983-01-20 1984-07-30 Meidensha Electric Mfg Co Ltd インバ−タ装置の制御方式
JPS59132793U (ja) * 1983-02-24 1984-09-05 トヨタ自動車株式会社 ロボツト適用検討定規
JPS6044281A (ja) * 1983-08-22 1985-03-09 株式会社ダイフク 流体圧制御ロボット
JPH0652273A (ja) * 1992-07-27 1994-02-25 Nec Corp セグメント管理方式

Also Published As

Publication number Publication date
EP0241556A4 (de) 1988-07-04
WO1987000790A1 (en) 1987-02-12
KR900002287B1 (ko) 1990-04-10
EP0241556A1 (de) 1987-10-21
EP0241556B1 (de) 1992-01-08
JPS6228194A (ja) 1987-02-06
US4828094A (en) 1989-05-09
KR870700472A (ko) 1987-12-29

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee