DE69934880D1 - Vorrichtung zur relativen bewegung von zwei teilen - Google Patents

Vorrichtung zur relativen bewegung von zwei teilen

Info

Publication number
DE69934880D1
DE69934880D1 DE69934880T DE69934880T DE69934880D1 DE 69934880 D1 DE69934880 D1 DE 69934880D1 DE 69934880 T DE69934880 T DE 69934880T DE 69934880 T DE69934880 T DE 69934880T DE 69934880 D1 DE69934880 D1 DE 69934880D1
Authority
DE
Germany
Prior art keywords
parts
relative movement
movement
relative
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
DE69934880T
Other languages
English (en)
Other versions
DE69934880T2 (de
Inventor
Rdh Torgny Brog
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.)
ABB AB
Original Assignee
ABB 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 ABB AB filed Critical ABB AB
Application granted granted Critical
Publication of DE69934880D1 publication Critical patent/DE69934880D1/de
Publication of DE69934880T2 publication Critical patent/DE69934880T2/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • 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
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • 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
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
DE69934880T 1998-04-29 1999-04-29 Vorrichtung zur relativen bewegung von zwei teilen Expired - Lifetime DE69934880T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE9801518 1998-04-29
SE9801518A SE512931C2 (sv) 1998-04-29 1998-04-29 Anordning för relativ förflyttning av två element
PCT/SE1999/000705 WO1999058301A1 (en) 1998-04-29 1999-04-29 A device for relative movement of two elements

Publications (2)

Publication Number Publication Date
DE69934880D1 true DE69934880D1 (de) 2007-03-08
DE69934880T2 DE69934880T2 (de) 2007-05-31

Family

ID=20411146

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69934880T Expired - Lifetime DE69934880T2 (de) 1998-04-29 1999-04-29 Vorrichtung zur relativen bewegung von zwei teilen

Country Status (8)

Country Link
US (1) US6412363B1 (de)
EP (1) EP1075360B1 (de)
JP (1) JP4070956B2 (de)
KR (1) KR20010024978A (de)
CA (1) CA2329990A1 (de)
DE (1) DE69934880T2 (de)
SE (1) SE512931C2 (de)
WO (1) WO1999058301A1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7337691B2 (en) * 1999-08-05 2008-03-04 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
SE517356C2 (sv) * 2000-09-11 2002-05-28 Abb Ab Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
SE0100134D0 (sv) 2001-01-15 2001-01-15 Abb Ab Industrirobot
JP4628602B2 (ja) * 2001-04-05 2011-02-09 ナブテスコ株式会社 ロボットアーム
EP1492649B1 (de) 2002-01-16 2009-03-04 Abb Ab Industrieroboter
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
WO2004041486A1 (en) * 2002-11-06 2004-05-21 Mcgill University Four-degree-of-freedom parallel manipulator for producing schönflies motions
KR101083734B1 (ko) * 2004-02-17 2011-11-16 한국항공우주산업 주식회사 항공기 구조물 변형 테스트 장치
KR100839361B1 (ko) * 2006-10-23 2008-06-19 삼성중공업 주식회사 파이프 자동 정렬 장치의 병렬로봇 설계 방법
US20120073738A1 (en) 2010-09-29 2012-03-29 The Boeing Company Method and apparatus for laying up barrel-shaped composite structures
JP2012192499A (ja) * 2011-03-17 2012-10-11 Canon Electronics Inc パラレルリンクロボット
JP5602676B2 (ja) * 2011-05-20 2014-10-08 Ｃｋｄ株式会社 可動体支持装置
US9630326B2 (en) * 2011-11-08 2017-04-25 Ross-Hime Designs, Inc. Robotic manipulator with spherical joints
JP5889767B2 (ja) * 2012-10-16 2016-03-22 Ckd株式会社 工具保持装置
US9048779B2 (en) 2013-04-19 2015-06-02 Randall Lee Szarzynski Multi-dimensional positioning of an object
US10737379B2 (en) * 2013-05-23 2020-08-11 Abb Schweiz Ag Compact parallel kinematics robot
KR101627766B1 (ko) * 2014-02-04 2016-06-07 전남대학교산학협력단 케이블 기반 병렬형 로봇을 위한 케이블 연결 위치 변경장치
DE102015003239A1 (de) * 2015-03-10 2016-09-15 Beumer Gmbh & Co. Kg Vorrichtung zum Be- oder Entladen einen Transportbehälters
CN106695766B (zh) * 2017-03-01 2023-04-28 东莞松山湖机器人产业发展有限公司 一种基于抓取并联机构的六自由度并联装置
EP3611420A1 (de) * 2018-08-16 2020-02-19 Ondal Medical Systems GmbH Vorrichtung zum tragen eines monitors

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH617559GA3 (de) * 1977-12-29 1980-06-13
JPS5656396A (en) * 1979-10-12 1981-05-18 Hiroshi Makino Robot for assembly
JPS5856789A (ja) * 1981-09-25 1983-04-04 松下電器産業株式会社 ハンドリング装置
CH672089A5 (de) 1985-12-16 1989-10-31 Sogeva Sa
SU1472252A1 (ru) * 1987-08-20 1989-04-15 Азербайджанский политехнический институт им.Ч.Ильдрыма Манипул тор
SU1691092A1 (ru) * 1989-10-24 1991-11-15 Одесское специальное конструкторское бюро прецизионных станков Обрабатывающее устройство
US5156062A (en) * 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
FR2688437B1 (fr) * 1992-03-11 1994-06-10 Centre Nat Rech Scient Manipulateur spatial parallele a six degres de liberte.

Also Published As

Publication number Publication date
JP4070956B2 (ja) 2008-04-02
DE69934880T2 (de) 2007-05-31
KR20010024978A (ko) 2001-03-26
SE9801518D0 (sv) 1998-04-29
WO1999058301A1 (en) 1999-11-18
CA2329990A1 (en) 1999-11-18
SE9801518L (sv) 1999-10-30
EP1075360A1 (de) 2001-02-14
SE512931C2 (sv) 2000-06-05
JP2002514519A (ja) 2002-05-21
EP1075360B1 (de) 2007-01-17
US6412363B1 (en) 2002-07-02

Similar Documents

Publication Publication Date Title
DE69934880D1 (de) Vorrichtung zur relativen bewegung von zwei teilen
DE69830606D1 (de) Vorrichtung zur traktion der halswirbelsäule
DE60010233D1 (de) Aus zwei zusammenwirkenden teilen zusammengesetzte vorrichtung zur befestigung von zwei paneelen oder ähnlichen
DE59909825D1 (de) Vorrichtung zur visualisierung von molekülen
DE69940014D1 (de) Vorrichtung zur verhinderung von autodiebstahl
DE69902467D1 (de) Vorrichtung zum zerstäuben von proben
DE69935437D1 (de) Visuelle vorrichtung
DE69932279D1 (de) Vorrichtung zur anodischen Oxidation von Gegenständen
DE69926686D1 (de) Vorrichtung zur Verabreichung von hochkonzentrierten NO Pulsen
DE69911725D1 (de) Gerät zur Ermittlung des Schmutzgrades von bedrucktem Material
DE69832114D1 (de) Vorrichtung zur Verriegelung der Lenkung
DE60038478D1 (de) Vorrichtung zur Injektion von Kontrastmitteln
DE69928505D1 (de) Vorrichtung zur verbesserung der verteilung von gas
DE69807647D1 (de) Vorrichtung zur verabreichung von zwei flüssigkeiten
DE69620992D1 (de) Vorrichtung zur Abgabe von wenigstens zwei Komponenten
DE69923813D1 (de) Vorrichtung zum Halten der physikalischen Position von Personen
DE69921528D1 (de) Gerät zur Detektion von Vorsatzlöchern
DE69833850D1 (de) Einrichtung zur relativbewegung von zwei elementen
DE19839710B4 (de) Vorrichtung zum verspannenden Verbinden von zwei in Abstand befindlichen Bauteilen
DE69932219D1 (de) Abgeschlossene Vorrichtung
DE69723878D1 (de) Vorrichtung zur positionsbestmmung
DE69606972D1 (de) Vorrichtung zur Abgabe von wenigstens zwei Komponenten
DE50010148D1 (de) Vorrichtung zur Erhöhung der Dämpfung
DE69920504D1 (de) Vorrichtung zur bildaufzeichnung von gewebe
DE69925827D1 (de) Vorrichtung zur verfolgung von nicht-geostationären satelliten

Legal Events

Date Code Title Description
8364 No opposition during term of opposition