DE3773417D1 - Gelenk und vorderarm fuer roboterarm. - Google Patents

Gelenk und vorderarm fuer roboterarm.

Info

Publication number
DE3773417D1
DE3773417D1 DE8787302273T DE3773417T DE3773417D1 DE 3773417 D1 DE3773417 D1 DE 3773417D1 DE 8787302273 T DE8787302273 T DE 8787302273T DE 3773417 T DE3773417 T DE 3773417T DE 3773417 D1 DE3773417 D1 DE 3773417D1
Authority
DE
Germany
Prior art keywords
arm
joint
robot
robot arm
front arm
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 - Fee Related
Application number
DE8787302273T
Other languages
English (en)
Inventor
Robert C Monteith
Robert E Borgmann
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.)
Milacron Inc
Original Assignee
Milacron Inc
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 Milacron Inc filed Critical Milacron Inc
Application granted granted Critical
Publication of DE3773417D1 publication Critical patent/DE3773417D1/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • 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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/035—Aligning the laser beam
    • 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
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • 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
    • 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
    • B25J19/0037—Means for supplying energy to the end effector arranged within the different robot elements comprising a light beam pathway, e.g. laser
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/20—Light-tight connections for movable optical elements
    • G02B7/24—Pivoted connections

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • Mounting And Adjusting Of Optical Elements (AREA)
  • Laser Beam Processing (AREA)
DE8787302273T 1986-03-17 1987-03-17 Gelenk und vorderarm fuer roboterarm. Expired - Fee Related DE3773417D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/840,361 US4695701A (en) 1986-03-17 1986-03-17 Laser wrist

Publications (1)

Publication Number Publication Date
DE3773417D1 true DE3773417D1 (de) 1991-11-07

Family

ID=25282162

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8787302273T Expired - Fee Related DE3773417D1 (de) 1986-03-17 1987-03-17 Gelenk und vorderarm fuer roboterarm.

Country Status (4)

Country Link
US (1) US4695701A (de)
EP (1) EP0238307B1 (de)
JP (1) JPS6349390A (de)
DE (1) DE3773417D1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63164701U (de) * 1987-04-16 1988-10-27
JPH058574Y2 (de) * 1987-04-16 1993-03-03
JPH0763862B2 (ja) * 1987-09-16 1995-07-12 ファナック株式会社 レーザ加工用ビームベンダ
US4967053A (en) * 1989-05-02 1990-10-30 F.I.A. Futurologie Industrielle Automation Gmbh Laser system
US4972062A (en) * 1989-05-02 1990-11-20 F.I.A. Futurologie Industrielle Automation Gmbh Laser system
GR1000229B (el) * 1989-06-05 1992-04-17 Dimitrios Sougleris Αυτοματο προγραμματιζομενο μηχανημα ηλεκτροσυγκολησεως-φλογοκοπης 2 αξονων,τοποθετημενο επι κινητης βασεως (robot συγκολλησεως 2 αξονων).
US5053602A (en) * 1990-08-22 1991-10-01 Robomatix, Ltd. Laser beam delivery system
JPH04253589A (ja) * 1991-01-30 1992-09-09 Fanuc Ltd レーザロボットの手首の配管装置
JP2591371B2 (ja) * 1991-07-03 1997-03-19 三菱電機株式会社 レーザ加工装置
DE9214118U1 (de) * 1992-10-20 1994-02-24 Reis GmbH & Co. Maschinenfabrik, 63785 Obernburg Roboterhand für die 3-D-Bearbeitung von Werkstücken
JPH09282444A (ja) * 1996-04-16 1997-10-31 Matsushita Electric Ind Co Ltd 視覚認識装置
IT1320522B1 (it) * 2000-07-04 2003-12-10 Prima Ind Spa Testa di focalizzazione per una macchina laser.
US7230964B2 (en) * 2001-04-09 2007-06-12 Cymer, Inc. Lithography laser with beam delivery and beam pointing control
DE102004012346B4 (de) * 2004-03-11 2007-08-09 Dräger, Kai-Uwe Verfahren und Anordnung zum Bearbeiten von Steinen, insbesondere zur Vorbearbeitung von Rohlingen für Skulpturen
JP4840110B2 (ja) * 2006-03-09 2011-12-21 日産自動車株式会社 レーザ溶接装置およびレーザ溶接方法
JP2009006350A (ja) * 2007-06-27 2009-01-15 Sony Corp レーザ加工装置とその加工方法、デブリ回収機構とその回収方法、並びに表示パネルの製造方法
US8761927B2 (en) 2010-12-17 2014-06-24 Disney Enterprises, Inc. Externally actuated figure
EP3198695A4 (de) * 2014-09-26 2018-05-16 ABB Schweiz AG Durchführungseinheit, drehverbindung und roboter
CN113172596B (zh) * 2021-04-28 2022-07-01 中电建成都铁塔有限公司 一种位置和高度可调节的悬臂式焊接机器人
CN117047297B (zh) * 2023-10-13 2024-01-05 内蒙古北科交大机器人有限公司 一种激光打标机

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2528187B1 (fr) * 1982-06-08 1986-01-24 Commissariat Energie Atomique Dispositif pour la transmission d'un faisceau energetique
JPS5921491A (ja) * 1982-07-28 1984-02-03 Shin Meiwa Ind Co Ltd レ−ザ−加工ロボット
US4539462A (en) * 1983-01-24 1985-09-03 Westinghouse Electric Corp. Robotic laser beam delivery apparatus
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
DE3331660A1 (de) * 1983-09-02 1985-03-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Industrie-roboter mit laserstrahl-generator
US4545713A (en) * 1983-11-10 1985-10-08 At&T Bell Laboratories Waveguide robot system for laser beam
JPS60182789A (ja) * 1984-02-06 1985-09-18 スペクトラ・フイジックス・インコーポレイテッド Ｃｏ↓２レーザーのためのビーム発射装置
GB2164017B (en) * 1984-09-07 1987-09-03 Fairey Eng Manipulator with laser beam mirrors
US4650952A (en) * 1984-12-20 1987-03-17 Gmf Robotics Corporation Robot-laser system
US4661681A (en) * 1986-10-06 1987-04-28 Cincinnati Milacron Inc. Robotic marking machine

Also Published As

Publication number Publication date
US4695701A (en) 1987-09-22
EP0238307A3 (en) 1988-05-04
EP0238307B1 (de) 1991-10-02
EP0238307A2 (de) 1987-09-23
JPS6349390A (ja) 1988-03-02

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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