DE69941092D1 - Iner federvorrichtung, die eine zugkraft ausübt - Google Patents

Iner federvorrichtung, die eine zugkraft ausübt

Info

Publication number
DE69941092D1
DE69941092D1 DE69941092T DE69941092T DE69941092D1 DE 69941092 D1 DE69941092 D1 DE 69941092D1 DE 69941092 T DE69941092 T DE 69941092T DE 69941092 T DE69941092 T DE 69941092T DE 69941092 D1 DE69941092 D1 DE 69941092D1
Authority
DE
Germany
Prior art keywords
spring device
pulling force
inner spring
angle
spring
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
DE69941092T
Other languages
English (en)
Inventor
H Kan Hvittfeldt
Jan Larsson
Pierre Mikaelsson
Fredrik Persson
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 DE69941092D1 publication Critical patent/DE69941092D1/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Springs (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
DE69941092T 1998-11-11 1999-11-09 Iner federvorrichtung, die eine zugkraft ausübt Expired - Fee Related DE69941092D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9803881A SE513328C2 (sv) 1998-11-11 1998-11-11 Manipulator och förfarande vid framställning av en manipulator
PCT/SE1999/002027 WO2000027597A1 (en) 1998-11-11 1999-11-09 Manipulator and method for manufacturing the manipulator

Publications (1)

Publication Number Publication Date
DE69941092D1 true DE69941092D1 (de) 2009-08-20

Family

ID=20413274

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69941092T Expired - Fee Related DE69941092D1 (de) 1998-11-11 1999-11-09 Iner federvorrichtung, die eine zugkraft ausübt

Country Status (9)

Country Link
US (1) US6419211B1 (de)
EP (1) EP1137516B1 (de)
JP (1) JP2002529258A (de)
AT (1) ATE435726T1 (de)
AU (1) AU1591500A (de)
DE (1) DE69941092D1 (de)
ES (1) ES2330065T3 (de)
SE (1) SE513328C2 (de)
WO (1) WO2000027597A1 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0222905D0 (en) * 2002-10-02 2002-11-13 Arvinmeritor Light Vehicle Sys Spring device
JP4877533B2 (ja) * 2006-11-15 2012-02-15 村田機械株式会社 パラレルメカニズム
DE102007004166A1 (de) 2007-01-29 2008-08-14 Robert Bosch Gmbh Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum
DE102007004379A1 (de) * 2007-01-29 2008-07-31 Robert Bosch Gmbh Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum
GB0716796D0 (en) * 2007-08-29 2007-10-10 Renishaw Plc Pivot joint assembley
US8356721B1 (en) * 2007-09-19 2013-01-22 Jackson International, Inc. Spring retainer
JP4725748B2 (ja) * 2007-10-15 2011-07-13 村田機械株式会社 パラレルリンクのリンク機構
JP2009248288A (ja) * 2008-04-10 2009-10-29 Murata Mach Ltd パラレルメカニズム
DE102008019966A1 (de) 2008-04-21 2009-10-22 Elau Gmbh Deltaroboter mit eingehauster Zugfeder für die Kugelgelenke
DE102008025845B4 (de) * 2008-05-29 2013-07-11 Festo Ag & Co. Kg Antriebssystem
DE102008063869A1 (de) 2008-12-19 2010-07-01 Elau Gmbh Deltaroboter mit besonderer Anordnung der Kugelgelenke
DE102009006833A1 (de) * 2009-01-30 2010-08-05 Elau Gmbh Deltaroboter für erhöhte Anforderungen an Dynamik, Hygiene und Kollisionsfolgenschutz
JP6050116B2 (ja) * 2009-11-16 2016-12-21 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 機械システム
JP5559581B2 (ja) * 2010-03-23 2014-07-23 川崎重工業株式会社 ロボット
CN102452074A (zh) * 2010-10-27 2012-05-16 鸿富锦精密工业（深圳）有限公司 并联机器人
JP5408211B2 (ja) * 2011-09-06 2014-02-05 株式会社安川電機 パラレルリンクロボット、パラレルリンクロボットシステムおよびパラレルリンクロボットの制御方法
JP5516615B2 (ja) * 2012-02-03 2014-06-11 株式会社安川電機 パラレルリンクロボット
JP5674734B2 (ja) * 2012-08-31 2015-02-25 ファナック株式会社 ボールジョイントにより接続されたパラレルリンクロボット
JP5977136B2 (ja) 2012-10-03 2016-08-24 ヤマハ発動機株式会社 アーム部材およびこのアーム部材を備える産業用ロボット
CN103009399A (zh) * 2012-12-04 2013-04-03 天津大学 一种可为半杯式球铰接杆件提供张紧力的弹簧连接装置
CN104029218A (zh) * 2013-03-05 2014-09-10 深圳富泰宏精密工业有限公司 机械手臂
JP6374439B2 (ja) 2016-06-03 2018-08-15 ファナック株式会社 パラレルリンクロボットの関節部の異常検出装置及び異常検出方法
JP6846717B2 (ja) 2018-02-14 2021-03-24 ファナック株式会社 ロボットのジョイントの異常検出装置及び異常検出方法
US11473639B2 (en) * 2018-09-04 2022-10-18 Lee Spring Company Llc Coined drawbars for drawbar assemblies
KR102132097B1 (ko) * 2018-12-27 2020-07-09 (주)로픽 산업용 이송로봇
CN113500583B (zh) * 2021-07-06 2023-02-28 广州市新豪精密科技有限公司 一种三自由度并联机器人及其标定方法

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE26417E (en) * 1968-06-25 Shock absorbing linkage mechanism
US1583806A (en) * 1925-10-07 1926-05-11 Len B Snyder Tow rod for vehicles
US2774488A (en) * 1955-06-17 1956-12-18 Raymond C Goertz Remote-control manipulator
CH617559GA3 (de) 1977-12-29 1980-06-13
DE3210466A1 (de) * 1982-03-22 1983-09-29 Peter Dipl.-Kfm. Dr. 6230 Frankfurt Gschaider Verfahren und vorrichtung zur durchfuehrung von handhabungsprozessen
US4537557A (en) * 1982-04-23 1985-08-27 The Charles Stark Draper Laboratory, Inc. Remote center compliance gripper system
US4681303A (en) * 1983-03-07 1987-07-21 Grassano Vincent R Shock-absorbent connector
US4592697A (en) * 1983-04-26 1986-06-03 Kabushiki Kaisha Kobe Seiko Sho Gravity balancing device for rocking arm
CH672089A5 (de) 1985-12-16 1989-10-31 Sogeva Sa
US4756204A (en) * 1987-02-11 1988-07-12 Cincinnati Milacron Inc. Counterbalance assembly for rotatable robotic arm and the like
JP2589568B2 (ja) * 1989-04-20 1997-03-12 松下電器産業株式会社 多関節形産業用ロボット
US5333514A (en) 1992-04-24 1994-08-02 Toyoda Koki Kabushiki Kaisha Parallel robot
US5294162A (en) * 1992-11-23 1994-03-15 Gene Grimes Grabber apparatus
JPH07102510B2 (ja) * 1993-05-21 1995-11-08 工業技術院長 マイクロマニピュレータ
JP2677532B2 (ja) * 1995-07-05 1997-11-17 株式会社エイ・ティ・アール通信システム研究所 可動プレート支持装置
SE511804C2 (sv) * 1996-03-14 1999-11-29 Abb Ab Anordning för relativ förflyttning av två element
US5901993A (en) * 1998-01-15 1999-05-11 Lowery; Fannie L. Food handling tongs

Also Published As

Publication number Publication date
SE513328C2 (sv) 2000-08-28
ES2330065T3 (es) 2009-12-03
SE9803881L (sv) 2000-05-12
ATE435726T1 (de) 2009-07-15
US6419211B1 (en) 2002-07-16
AU1591500A (en) 2000-05-29
EP1137516A1 (de) 2001-10-04
SE9803881D0 (sv) 1998-11-11
EP1137516B1 (de) 2009-07-08
JP2002529258A (ja) 2002-09-10
WO2000027597A1 (en) 2000-05-18

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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