DE69026068T2 - Handhabungsgerät, vorgesehen für das Zusammenwirken mit einem Industrieroboter - Google Patents

Handhabungsgerät, vorgesehen für das Zusammenwirken mit einem Industrieroboter

Info

Publication number
DE69026068T2
DE69026068T2 DE69026068T DE69026068T DE69026068T2 DE 69026068 T2 DE69026068 T2 DE 69026068T2 DE 69026068 T DE69026068 T DE 69026068T DE 69026068 T DE69026068 T DE 69026068T DE 69026068 T2 DE69026068 T2 DE 69026068T2
Authority
DE
Germany
Prior art keywords
fixture
motor
robot
holder
work piece
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
DE69026068T
Other languages
English (en)
Other versions
DE69026068D1 (de
Inventor
John I E Johansson
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.)
MOTOMAN ROBOTICS AB
Original Assignee
MOTOMAN ROBOTICS AB
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 MOTOMAN ROBOTICS AB filed Critical MOTOMAN ROBOTICS AB
Application granted granted Critical
Publication of DE69026068D1 publication Critical patent/DE69026068D1/de
Publication of DE69026068T2 publication Critical patent/DE69026068T2/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
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/048—Multiple gripper units

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Feeding Of Workpieces (AREA)
  • Spray Control Apparatus (AREA)
DE69026068T 1990-02-12 1990-12-15 Handhabungsgerät, vorgesehen für das Zusammenwirken mit einem Industrieroboter Expired - Lifetime DE69026068T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP90200308 1990-02-12

Publications (2)

Publication Number Publication Date
DE69026068D1 DE69026068D1 (de) 1996-04-25
DE69026068T2 true DE69026068T2 (de) 1996-08-29

Family

ID=8204934

Family Applications (2)

Application Number Title Priority Date Filing Date
DE69026068T Expired - Lifetime DE69026068T2 (de) 1990-02-12 1990-12-15 Handhabungsgerät, vorgesehen für das Zusammenwirken mit einem Industrieroboter
DE199090203359T Pending DE442160T1 (de) 1990-02-12 1990-12-15 Handhabungsgeraet, vorgesehen fuer das zusammenwirken mit einem industrieroboter.

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE199090203359T Pending DE442160T1 (de) 1990-02-12 1990-12-15 Handhabungsgeraet, vorgesehen fuer das zusammenwirken mit einem industrieroboter.

Country Status (10)

Country Link
US (1) US5074741A (de)
EP (1) EP0442160B1 (de)
JP (1) JP2620991B2 (de)
KR (1) KR960013719B1 (de)
AT (1) ATE135614T1 (de)
CA (1) CA2012117C (de)
DE (2) DE69026068T2 (de)
ES (1) ES2085324T3 (de)
FI (1) FI901442A (de)
NO (1) NO173594C (de)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04275888A (ja) * 1991-02-28 1992-10-01 Toyoda Mach Works Ltd ロボットの原点割出し装置
IT1272049B (it) * 1993-11-10 1997-06-11 Comau Spa Dispositivo e metodo per scambiare di posizione due tavole di lavoro, particolarmente tavole porta-pezzi per l'assemblaggio di gruppi comprendenti elementi di lamiera stampata.
DE29601808U1 (de) * 1996-02-04 1996-04-11 Winkler Siegbert Vorrichtung zum Bearbeiten von Stangenmaterial, Profilen u.dgl.
JP3533879B2 (ja) * 1996-07-15 2004-05-31 セイコーエプソン株式会社 部材の受け渡し装置および集積回路デバイスの検査装置
USRE38622E1 (en) 1996-07-15 2004-10-12 Seiko Epson Corporation Parts handling method
CN1093458C (zh) * 1996-09-12 2002-10-30 朱天赉 机器人控制装置共用法
US5791032A (en) * 1997-05-15 1998-08-11 Eastman Kodak Company Robotic turret tool
US6044310A (en) * 1997-10-21 2000-03-28 Douglass; Thomas E. System for automatic alignment of a workpiece
US6264418B1 (en) 1998-03-30 2001-07-24 Motoman, Inc. Workpiece positioner
US6281474B1 (en) 1999-08-17 2001-08-28 Motoman, Inc. X-beam positioner
EP1251994B1 (de) * 2000-02-01 2008-08-06 Emmegi S.A. Luxembourg, Lugano Branch Bearbeitungssystem
JP3586623B2 (ja) * 2000-06-23 2004-11-10 ファナック株式会社 ワーク交換装置及びワーク取扱いシステム
US8146901B2 (en) * 2006-08-15 2012-04-03 Genesis Systems Group, Llc Modular robotic workpiece holder and method for using same
JP3514732B2 (ja) * 2001-01-17 2004-03-31 川崎重工業株式会社 回転駆動装置
FI112848B (fi) * 2002-07-12 2004-01-30 Finn Power Oy Valmistussolu sekä siirto- ja käsittelylaitteisto työkappaleita varten
FR2850046A1 (fr) * 2003-01-22 2004-07-23 Sauvageau Commercy Soudure Installation de soudage robotise a deux moteurs et systeme d'indexage/desindexage
FR2850049B1 (fr) * 2003-01-22 2005-02-25 Sauvageau Commercy Soudure Dispositif d'indexage/desindexage et machine de soudage robotise equipee de ce dispositif
US20060037969A1 (en) * 2004-08-23 2006-02-23 Craig Jennings Robotic beverage server
US20060043111A1 (en) * 2004-08-23 2006-03-02 Craig Jennings Robotic beverage server
US7577498B2 (en) * 2005-08-23 2009-08-18 Motoman, Inc. Apparatus and methods for a robotic beverage server
CN103317288A (zh) * 2013-07-10 2013-09-25 广西大学 可控可翻转式工程机械拉杆装夹具
CN104259728A (zh) * 2014-09-13 2015-01-07 上海晓奥享荣汽车工业装备有限公司 客车侧围用变位焊装台
CN104942618B (zh) * 2015-06-10 2017-04-19 肖宁 一种变位机
KR102059632B1 (ko) * 2015-08-31 2019-12-26 가부시키가이샤 키렉스 워크 위치 결정장치
CN105293398A (zh) * 2015-11-26 2016-02-03 苏州源硕精密模具有限公司 一种基于丝杆传动的翻转装置
CN105458583A (zh) * 2015-12-16 2016-04-06 芜湖普威技研有限公司 汽车仪表盘横梁焊接夹具
JP6737726B2 (ja) * 2017-03-02 2020-08-12 オークマ株式会社 工作機械
CN107030442A (zh) * 2017-06-05 2017-08-11 无锡市南方电器制造有限公司 重载式l型液压升降焊接变位机
CN109227292B (zh) * 2018-10-17 2020-10-16 宁波市江北欣盛数控机械有限公司 一种十字工件磨床及控制方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB134061A (de) * 1919-01-13 1900-01-01
DE1096722B (de) * 1957-06-18 1961-01-05 Masch U Appbau M Heitze Kom G Werkstueckrevolver
US3799006A (en) * 1972-03-20 1974-03-26 Robertshaw Controls Co Method and apparatus for welding bellows constructions and the like
SE437627B (sv) * 1984-04-16 1985-03-11 Torsteknik Ab Manipulator for samverkan med en industrirobot
JPH072317B2 (ja) * 1984-10-19 1995-01-18 ソニー株式会社 産業用ロボツトのツール選択装置
DE3701504A1 (de) * 1986-01-27 1987-07-30 Ingbuero Gregr Zweispindel-drehautomat
DE3802491A1 (de) * 1988-01-28 1989-08-03 Monforts Gmbh & Co A Doppelspindel-drehmaschine

Also Published As

Publication number Publication date
NO901873L (no) 1991-08-13
US5074741A (en) 1991-12-24
ES2085324T3 (es) 1996-06-01
NO173594B (no) 1993-09-27
JP2620991B2 (ja) 1997-06-18
KR910021292A (ko) 1991-12-20
NO901873D0 (no) 1990-04-26
EP0442160A3 (en) 1992-12-09
ATE135614T1 (de) 1996-04-15
CA2012117A1 (en) 1991-08-12
EP0442160B1 (de) 1996-03-20
DE69026068D1 (de) 1996-04-25
FI901442A (fi) 1991-08-13
EP0442160A2 (de) 1991-08-21
DE442160T1 (de) 1992-09-24
NO173594C (no) 1994-01-05
JPH07100725A (ja) 1995-04-18
CA2012117C (en) 2001-05-01
KR960013719B1 (en) 1996-10-10
FI901442A0 (fi) 1990-03-22

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Legal Events

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8364 No opposition during term of opposition