ES2049543T3 - Robot industrial de varios ejes. - Google Patents
Robot industrial de varios ejes.Info
- Publication number
- ES2049543T3 ES2049543T3 ES91901770T ES91901770T ES2049543T3 ES 2049543 T3 ES2049543 T3 ES 2049543T3 ES 91901770 T ES91901770 T ES 91901770T ES 91901770 T ES91901770 T ES 91901770T ES 2049543 T3 ES2049543 T3 ES 2049543T3
- Authority
- ES
- Spain
- Prior art keywords
- boom
- robot
- rock
- engines
- bearings
- 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
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
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- 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
- B25J9/046—Revolute coordinate type
- B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
Abstract
SE PRESENTA UN ROBOR INDUSTRIAL DE EJES MULTIPLES QUE CONSISTE EN UNA ESTRUCTURA DE BANCADA (2), UNA PALANCA OSCILANTE (3) QUE PUEDE GIRAR Y OSCILAR, UNA PLUMA (6) SALIENTE OSCILANTE Y UNA MANO DE ROBOT (8) DE MIEMBROS MULTIPLES QUE PUEDE GIRAR Y OSCILAR Y CUYOS MIEMBROS ESTAN GUIADOS POR MOTORES (10, 11, 12) DISPUESTOS EN LA PLUMA SALIENTE (6). LA PLUMA SALIENTE (6) ESTA MONTADA (27) EN UN LADO DE LA PALANCA OSCILANTE CON BRAZO (4) CON AL MENOS DOS MOTORES (10, 11, 12) QUE SE ENCUENTRAN DISPUESTOS EN LOS LADOS DE LA PLUMA SALIENTE EN LA DIRECCION DE EJES OSCILANTES (7). EN LA EJECUCION CON UN TERCER MOTOR, LOS MOTORES (10, 11, 12) ESTAN DISPUESTOS CON SUS EJES (13) EN UN TRIANGULO DE LADOS CORTOS QUE SON LA BASE DE LOS COJINETES (27) DE LA PLUMA SALIENTE (6). ALTERNATIVAMENTE, LOS MOTORES SE ENCUENTRAN DISPUESTOS CON SU LADO DE GUIA (15) ENFRENTADOS A LA MANO DEL ROBOT (8) Y LOCALIZADOS CERCA UNO DE OTRO Y A UNA DISTANCIA DETRAS DEL COJINETE (27) EN EL EXTREMO DE LA PLUMA SALIENTE (6) O, EN LA POSICION DE ROTACION, CON SU CARA GUIA (15) LEJANA DE LA MANO DEL ROBOT (8) AL MISMO NIVEL DE LOS COJINETES (27)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4001885A DE4001885A1 (de) | 1990-01-23 | 1990-01-23 | Mehrachsiger industrieroboter |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2049543T3 true ES2049543T3 (es) | 1994-04-16 |
Family
ID=6398597
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES91901770T Expired - Lifetime ES2049543T3 (es) | 1990-01-23 | 1990-12-20 | Robot industrial de varios ejes. |
Country Status (6)
Country | Link |
---|---|
US (1) | US5305652A (es) |
EP (1) | EP0511977B1 (es) |
JP (1) | JP2747544B2 (es) |
DE (2) | DE4001885A1 (es) |
ES (1) | ES2049543T3 (es) |
WO (1) | WO1991011299A1 (es) |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE9200618U1 (de) * | 1992-01-20 | 1992-04-23 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Mehrachsiger Roboter |
JP2642319B2 (ja) * | 1993-12-27 | 1997-08-20 | 高等技術研究院研究組合 | 産業用ロボット |
JPH08249008A (ja) * | 1995-03-09 | 1996-09-27 | Toyota Motor Corp | 等価回路参照型制御装置と制御方法 |
SE515119C2 (sv) * | 1995-03-30 | 2001-06-11 | Abb Ab | Industrirobot |
DE29506008U1 (de) * | 1995-04-07 | 1996-08-14 | Kuka Schweißanlagen + Roboter GmbH, 86165 Augsburg | Industrieroboter mit Massenausgleich |
CH691798A5 (fr) * | 1996-06-19 | 2001-10-31 | Hct Shaping Systems Sa | Centre de découpage destiné à produire des tranches à partir de pièces à trancher. |
DE19817606A1 (de) * | 1998-04-17 | 1999-10-21 | Kuka Roboter Gmbh | Vorrichtung zum Antrieb einer Roboterhand |
US6253458B1 (en) * | 1998-12-08 | 2001-07-03 | Faro Technologies, Inc. | Adjustable counterbalance mechanism for a coordinate measurement machine |
DE19919662A1 (de) * | 1999-04-29 | 2000-11-02 | Volkswagen Ag | Industrieroboter |
WO2004014244A2 (en) | 2002-08-13 | 2004-02-19 | Microbotics Corporation | Microsurgical robot system |
DE20306257U1 (de) * | 2003-04-17 | 2004-08-19 | Kuka Schweissanlagen Gmbh | Bearbeitungsvorrichtung |
US7771151B2 (en) * | 2005-05-16 | 2010-08-10 | Muratec Automation Co., Ltd. | Interface between conveyor and semiconductor process tool load port |
US8219245B2 (en) * | 2006-05-15 | 2012-07-10 | Kuka Roboter Gmbh | Articulated arm robot |
ATE458594T1 (de) * | 2006-09-27 | 2010-03-15 | Abb Ab | Industrieroboter mit druckluftzufuhr in gewichtsausgleichsvorrichtung |
JPWO2009069389A1 (ja) * | 2007-11-26 | 2011-04-07 | 株式会社安川電機 | 垂直多関節形ロボット |
CN102059695A (zh) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业(深圳)有限公司 | 机器人的臂部件及其制造方法以及具有该臂部件的机器人 |
CN102275158A (zh) * | 2010-06-10 | 2011-12-14 | 鸿富锦精密工业(深圳)有限公司 | 机器人 |
JP5221724B2 (ja) * | 2011-09-07 | 2013-06-26 | ファナック株式会社 | ワーク設置誤差補正部を有する多軸工作機械用数値制御装置 |
DE102013206791A1 (de) * | 2013-04-16 | 2014-10-16 | Kuka Roboter Gmbh | Industrieroboter mit einer an einem Armausleger angeordneten Antriebsanordnung |
US9670021B2 (en) | 2014-08-28 | 2017-06-06 | The Procter & Gamble Company | Mandrel |
US9969587B2 (en) | 2014-08-28 | 2018-05-15 | The Procter & Gamble Company | Web material unwind apparatus |
US9926160B2 (en) | 2014-08-28 | 2018-03-27 | The Procter & Gamble Company | Robotic unwind stand |
US9919887B2 (en) | 2014-08-28 | 2018-03-20 | The Procter & Gamble Company | Web material unwind stand |
DE102014019562A1 (de) * | 2014-12-23 | 2016-07-07 | Global Beam Technologies Ag | Schwenkbarer Teilchenstrahlgenerator |
WO2016103297A1 (ja) * | 2014-12-25 | 2016-06-30 | 川崎重工業株式会社 | アーム型のロボットの障害物自動回避方法及び制御装置 |
DE102016003966A1 (de) | 2016-04-01 | 2017-10-05 | Dürr Systems Ag | Beschichtungsroboter |
JP2018187749A (ja) * | 2017-05-11 | 2018-11-29 | セイコーエプソン株式会社 | ロボット |
EP3418228B1 (en) * | 2017-06-20 | 2020-03-04 | Fameccanica.Data S.p.A. | A method for automatically replacing reels in an unwinding assembly and relative unwinding assembly |
US10875176B2 (en) | 2018-04-04 | 2020-12-29 | Kuka Systems North America Llc | Process control using deep learning training model |
JP6875348B2 (ja) * | 2018-10-17 | 2021-05-26 | ファナック株式会社 | ロボットおよび第1アーム部材 |
DE102019215943A1 (de) | 2019-10-16 | 2021-04-22 | Tesa Se | Verfahren zum automatisierten Entfernen einer Lackier-Schutzfolie von mindestens einem Teil einer Karosserie |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
DE2908523A1 (de) * | 1979-03-05 | 1981-01-29 | Jungheinrich Unternehmensverw | Automatisches arbeitsgeraet |
JPS605432B2 (ja) * | 1980-09-30 | 1985-02-12 | ファナック株式会社 | 工業用ロボット |
DE3050870C2 (es) * | 1980-12-19 | 1988-06-16 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De | |
US4552505A (en) * | 1982-11-19 | 1985-11-12 | American Robot Corporation | Industrial robot having direct coaxial motor drive |
US4645409A (en) * | 1982-02-05 | 1987-02-24 | American Cimflex Corporation | Outer arm assembly for industrial robot |
US4636138A (en) * | 1982-02-05 | 1987-01-13 | American Robot Corporation | Industrial robot |
CS990182A1 (en) * | 1982-05-07 | 1985-06-13 | Jurij B Derevjanko | Prumyslovy robot |
US4671732A (en) * | 1982-11-19 | 1987-06-09 | American Cimflex Corporation | Industrial robot |
DE3301022A1 (de) * | 1983-01-14 | 1984-07-26 | Bayerische Motoren Werke AG, 8000 München | Manipulator |
DE3448409C2 (en) * | 1984-12-28 | 1993-01-28 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De | Modular driving unit for industrial robot |
DE3506146A1 (de) * | 1985-02-22 | 1986-08-28 | Noell GmbH, 8700 Würzburg | Manipulator |
DE8521054U1 (de) * | 1985-07-20 | 1987-02-26 | Messer Griesheim Gmbh, 6000 Frankfurt | Einrichtung zum Fertigen und Bearbeiten, insbesondere zum Schweißen von Werkstücken im Wechseltakt |
DE8525812U1 (de) * | 1985-09-10 | 1987-02-19 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Gelenkroboter |
JPS62277292A (ja) * | 1986-05-26 | 1987-12-02 | ファナック株式会社 | 垂直多関節形ロボツト |
US4828451A (en) * | 1986-08-07 | 1989-05-09 | Daikin Industries, Ltd. | Industrial robot |
SE460268B (sv) * | 1986-08-25 | 1989-09-25 | Asea Ab | Industrirobot |
JPS6374581A (ja) * | 1986-09-17 | 1988-04-05 | トキコ株式会社 | 電動ロボツト |
JPH01210280A (ja) * | 1988-02-19 | 1989-08-23 | Tokico Ltd | 工業用ロボット |
-
1990
- 1990-01-23 DE DE4001885A patent/DE4001885A1/de not_active Withdrawn
- 1990-12-20 JP JP3502212A patent/JP2747544B2/ja not_active Expired - Fee Related
- 1990-12-20 EP EP91901770A patent/EP0511977B1/de not_active Expired - Lifetime
- 1990-12-20 ES ES91901770T patent/ES2049543T3/es not_active Expired - Lifetime
- 1990-12-20 US US07/915,804 patent/US5305652A/en not_active Expired - Fee Related
- 1990-12-20 DE DE91901770T patent/DE59004840D1/de not_active Expired - Lifetime
- 1990-12-20 WO PCT/EP1990/002268 patent/WO1991011299A1/de active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
JP2747544B2 (ja) | 1998-05-06 |
WO1991011299A1 (de) | 1991-08-08 |
DE4001885A1 (de) | 1991-07-25 |
EP0511977A1 (de) | 1992-11-11 |
EP0511977B1 (de) | 1994-03-02 |
US5305652A (en) | 1994-04-26 |
DE59004840D1 (de) | 1994-04-07 |
JPH05504101A (ja) | 1993-07-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
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