DE3814809A1 - Einrichtung zum positionieren von robotern mit drehgelenken - Google Patents

Einrichtung zum positionieren von robotern mit drehgelenken

Info

Publication number
DE3814809A1
DE3814809A1 DE19883814809 DE3814809A DE3814809A1 DE 3814809 A1 DE3814809 A1 DE 3814809A1 DE 19883814809 DE19883814809 DE 19883814809 DE 3814809 A DE3814809 A DE 3814809A DE 3814809 A1 DE3814809 A1 DE 3814809A1
Authority
DE
Germany
Prior art keywords
servomotor
swivel joint
end pieces
cage
drum
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
DE19883814809
Other languages
German (de)
English (en)
Other versions
DE3814809C2 (enExample
Inventor
Karl Ernst Dipl Ing Platt
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.)
Bodenseewerk Geratetechnik GmbH
Original Assignee
Bodenseewerk Geratetechnik GmbH
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 Bodenseewerk Geratetechnik GmbH filed Critical Bodenseewerk Geratetechnik GmbH
Priority to DE19883814809 priority Critical patent/DE3814809A1/de
Publication of DE3814809A1 publication Critical patent/DE3814809A1/de
Application granted granted Critical
Publication of DE3814809C2 publication Critical patent/DE3814809C2/de
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/39—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33
    • 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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/20—Structural association with auxiliary dynamo-electric machines, e.g. with electric starter motors or exciters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42089—Quick but coarse loop and slow but fine loop, dexterity

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
DE19883814809 1988-05-02 1988-05-02 Einrichtung zum positionieren von robotern mit drehgelenken Granted DE3814809A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19883814809 DE3814809A1 (de) 1988-05-02 1988-05-02 Einrichtung zum positionieren von robotern mit drehgelenken

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19883814809 DE3814809A1 (de) 1988-05-02 1988-05-02 Einrichtung zum positionieren von robotern mit drehgelenken

Publications (2)

Publication Number Publication Date
DE3814809A1 true DE3814809A1 (de) 1989-11-16
DE3814809C2 DE3814809C2 (enExample) 1991-12-05

Family

ID=6353363

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19883814809 Granted DE3814809A1 (de) 1988-05-02 1988-05-02 Einrichtung zum positionieren von robotern mit drehgelenken

Country Status (1)

Country Link
DE (1) DE3814809A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0625651A1 (de) * 1993-05-19 1994-11-23 DEWITTA-SPEZIALMASCHINENFABRIK WITTENSTEIN GmbH & CO. KG Verfahren zur Betriebsüberwachung des dynamischen Belastungs- und/oder Verschleisszustandes eines Getriebes und Einrichtung zu seiner Durchführung

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3039400C2 (de) * 1980-10-18 1984-10-04 Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch Verfahren zum Steuern von Handhabungssystemen und Handhabungssystem zur Durchführung dieses Verfahrens
DE3614122A1 (de) * 1986-04-25 1987-11-05 Forsch Steuerungstechnik Der W Verfahren und vorrichtung zur positionskorrektur von industrieroboterarmen

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3039400C2 (de) * 1980-10-18 1984-10-04 Ludwig Dr.-Ing. 7500 Karlsruhe Pietzsch Verfahren zum Steuern von Handhabungssystemen und Handhabungssystem zur Durchführung dieses Verfahrens
DE3614122A1 (de) * 1986-04-25 1987-11-05 Forsch Steuerungstechnik Der W Verfahren und vorrichtung zur positionskorrektur von industrieroboterarmen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0625651A1 (de) * 1993-05-19 1994-11-23 DEWITTA-SPEZIALMASCHINENFABRIK WITTENSTEIN GmbH & CO. KG Verfahren zur Betriebsüberwachung des dynamischen Belastungs- und/oder Verschleisszustandes eines Getriebes und Einrichtung zu seiner Durchführung

Also Published As

Publication number Publication date
DE3814809C2 (enExample) 1991-12-05

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Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
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