DE3932013A1 - Zweiarmiger industrieroboter - Google Patents

Zweiarmiger industrieroboter

Info

Publication number
DE3932013A1
DE3932013A1 DE3932013A DE3932013A DE3932013A1 DE 3932013 A1 DE3932013 A1 DE 3932013A1 DE 3932013 A DE3932013 A DE 3932013A DE 3932013 A DE3932013 A DE 3932013A DE 3932013 A1 DE3932013 A1 DE 3932013A1
Authority
DE
Germany
Prior art keywords
arms
industrial robot
arm
armed
robot according
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Withdrawn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
DE3932013A
Other languages
German (de)
English (en)
Inventor
Rainer Dr Ing Palm
Heinz Dr Ing Thom
Peter Dipl Ing Zier
Regine Prillwitz
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.)
BERLIN OBERBEKLEIDUNG
Original Assignee
BERLIN OBERBEKLEIDUNG
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 BERLIN OBERBEKLEIDUNG filed Critical BERLIN OBERBEKLEIDUNG
Publication of DE3932013A1 publication Critical patent/DE3932013A1/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Withdrawn legal-status Critical Current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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of 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
    • B25J9/02—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
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40307—Two, dual arm robot, arm used synchronously, or each separately, asynchronously
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
DE3932013A 1988-11-23 1989-09-26 Zweiarmiger industrieroboter Withdrawn DE3932013A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DD88322061A DD277230A1 (de) 1988-11-23 1988-11-23 Zweiarmiger industrieroboter

Publications (1)

Publication Number Publication Date
DE3932013A1 true DE3932013A1 (de) 1990-05-31

Family

ID=5604150

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3932013A Withdrawn DE3932013A1 (de) 1988-11-23 1989-09-26 Zweiarmiger industrieroboter

Country Status (3)

Country Link
CS (1) CS659189A2 (cs)
DD (1) DD277230A1 (cs)
DE (1) DE3932013A1 (cs)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9410444U1 (de) * 1994-06-29 1994-08-25 Weckenmann Anlagentechnik GmbH, 72358 Dormettingen Einrichtung zur Herstellung von Betonfertigteilen
US5456561A (en) 1989-03-07 1995-10-10 Ade Corporation Robot prealigner
WO2010091722A1 (en) * 2009-02-11 2010-08-19 Abb Research Ltd Dual arm robot
CN101482739B (zh) * 2008-01-11 2011-07-27 鸿富锦精密工业（深圳）有限公司 位置校正装置
DE102010029745A1 (de) * 2010-06-07 2011-12-08 Kuka Laboratories Gmbh Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren
CN103817631A (zh) * 2014-01-11 2014-05-28 苏州蓝王机床工具科技有限公司 一种扳手
WO2020253172A1 (zh) * 2019-06-18 2020-12-24 哈尔滨工业大学 一种腿-臂-桨复合式水下机器人
CN113910234A (zh) * 2021-10-27 2022-01-11 因格(苏州)智能技术有限公司 双机械手控制方法与存储介质
WO2023037550A1 (ja) * 2021-09-13 2023-03-16 東京ロボティクス株式会社 ロボット、ロボットシステム、制御方法及びプログラム
IT202200011408A1 (it) * 2022-05-30 2023-11-30 Italgantry S R L Unita' di supporto e movimentazione di un oggetto

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5456561A (en) 1989-03-07 1995-10-10 Ade Corporation Robot prealigner
DE9410444U1 (de) * 1994-06-29 1994-08-25 Weckenmann Anlagentechnik GmbH, 72358 Dormettingen Einrichtung zur Herstellung von Betonfertigteilen
CN101482739B (zh) * 2008-01-11 2011-07-27 鸿富锦精密工业（深圳）有限公司 位置校正装置
WO2010091722A1 (en) * 2009-02-11 2010-08-19 Abb Research Ltd Dual arm robot
DE102010029745A1 (de) * 2010-06-07 2011-12-08 Kuka Laboratories Gmbh Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren
CN103817631B (zh) * 2014-01-11 2016-03-30 苏州蓝王机床工具科技有限公司 一种扳手
CN103817631A (zh) * 2014-01-11 2014-05-28 苏州蓝王机床工具科技有限公司 一种扳手
WO2020253172A1 (zh) * 2019-06-18 2020-12-24 哈尔滨工业大学 一种腿-臂-桨复合式水下机器人
WO2023037550A1 (ja) * 2021-09-13 2023-03-16 東京ロボティクス株式会社 ロボット、ロボットシステム、制御方法及びプログラム
CN113910234A (zh) * 2021-10-27 2022-01-11 因格(苏州)智能技术有限公司 双机械手控制方法与存储介质
CN113910234B (zh) * 2021-10-27 2022-10-14 因格(苏州)智能技术有限公司 双机械手控制方法与存储介质
US12128565B2 (en) 2021-10-27 2024-10-29 Suzhou Engoal Intelligent Technologies Co., Ltd Dual-mainpulator control method and storage medium
IT202200011408A1 (it) * 2022-05-30 2023-11-30 Italgantry S R L Unita' di supporto e movimentazione di un oggetto

Also Published As

Publication number Publication date
DD277230A1 (de) 1990-03-28
CS659189A2 (en) 1991-10-15

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Legal Events

Date Code Title Description
8141 Disposal/no request for examination