ES2115104T3 - Robot industrial. - Google Patents
Robot industrial.Info
- Publication number
- ES2115104T3 ES2115104T3 ES94109943T ES94109943T ES2115104T3 ES 2115104 T3 ES2115104 T3 ES 2115104T3 ES 94109943 T ES94109943 T ES 94109943T ES 94109943 T ES94109943 T ES 94109943T ES 2115104 T3 ES2115104 T3 ES 2115104T3
- Authority
- ES
- Spain
- Prior art keywords
- robot arm
- axis
- robot
- joint member
- arm
- 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
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- 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
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Abstract
LA INVENCION SE REFIERE A UN ROBOT INDUSTRIAL HUECO ESPECIALMENTE ADECUADO PARA TRABAJOS DE ELABORACION TALES COMO SOLDADURAS POR PUNTOS O POR ARCO, HERMETIZACION, PINTURA, ENCOLADO, FRESADO POR LASER, ETC. EL ROBOT CONSTA DE UN BRAZO ROBOT INFERIOR TUBULAR (2), CUYO EXTREMO INFERIOR SE ENCUENTRA ACOJINADO DE FORMA PIVOTANTE EN UN SOPORTE ROBOT ALREDEDOR DE UN PRIMER EJE PREFERENTEMENTE HORIZONTAL Y ACOJINADO DE FORMA ROTATIVA ALREDEDOR DE UN SEGUNDO EJE (B) QUE COINCIDE CON EL EJE LONGITUDINAL DEL BRAZO (2). HAY UN BRAZO ROBOT SUPERIOR TUBULAR (5) CONECTADO DE FORMA ARTICULADA AL EXTREMO SUPERIOR DEL BRAZO ROBOT INFERIOR (2) A TRAVES DE UN MIEMBRO DE JUNTA ARTICULADA (6) A MODO DE MANGUITO TUBULAR CORTADO DE FORMA OBLICUA POR LOS DOS EXTREMOS. EL MIEMBRO DE JUNTA ARTICULADA (2) SE ENCUENTRA ACOJINADO EN EL BRAZO ROBOT INFERIOR (2) Y PUEDE ROTAR ALREDEDOR DE UN TERCER EJE (C) QUE INTERSECTA EL SEGUNDO EJE ANTEDICHO (B). EL BRAZO ROBOT SUPERIOR (5) SE ENCUENTRA ACOJINADO EN O SOBRE EL MIEMBRO DE JUNTA ARTICULADA ANTEDICHO (6) Y PUEDE ROTAR ALREDEDOR DE UN CUARTO EJE (D) QUE INTERSECTA AL TERCER EJE ANTEDICHO (C). EL EXTREMO SUPERIOR DEL BRAZO ROBOT INFERIOR (2) SE ENCUENTRA ASEGURADO A UNA RUEDA DENTADA CONICA (9) QUE SE ENGRANA A UNA SEGUNDA RUEDA DENTADA CONICA (10) QUE HAY ASEGURADA AL EXTREMO POSTERIOR DEL BRAZO ROBOT SUPERIOR (5).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9302288A SE513348C2 (sv) | 1993-07-02 | 1993-07-02 | Industrirobot |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2115104T3 true ES2115104T3 (es) | 1998-06-16 |
Family
ID=20390497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES94109943T Expired - Lifetime ES2115104T3 (es) | 1993-07-02 | 1994-06-28 | Robot industrial. |
Country Status (6)
Country | Link |
---|---|
US (1) | US5761965A (es) |
EP (1) | EP0631853B1 (es) |
JP (1) | JPH07148688A (es) |
DE (1) | DE69408497T2 (es) |
ES (1) | ES2115104T3 (es) |
SE (1) | SE513348C2 (es) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3734135B2 (ja) * | 1999-08-03 | 2006-01-11 | 株式会社不二越 | 産業用ロボットの手首装置 |
WO2001026556A1 (de) * | 1999-10-14 | 2001-04-19 | Karl Storz Gmbh & Co. | Drehgelenk, insbesondere für medizinische instrumente |
US6543307B2 (en) * | 2001-04-06 | 2003-04-08 | Metrica, Inc. | Robotic system |
EP1491299A1 (en) * | 2003-06-26 | 2004-12-29 | Abb Ab | Robot wrist comprising a plurality of parts arranged in series and driven by bevel gears |
DE602006011403D1 (de) * | 2005-08-25 | 2010-02-11 | Ingersoll Machine Tools Inc | Kompakte Faserauflegevorrichtung |
US7731123B2 (en) * | 2006-09-24 | 2010-06-08 | Lockheed Martin Corporation | Contra-bevel driven control surface |
JP5272588B2 (ja) * | 2008-09-01 | 2013-08-28 | セイコーエプソン株式会社 | 水平多関節型ロボット |
US20100200168A1 (en) * | 2009-02-06 | 2010-08-12 | Ingersoll Machine Tools, Inc. | Fiber delivery apparatus and system having a creel and fiber placement head sans fiber redirect |
US8954180B2 (en) | 2010-08-06 | 2015-02-10 | Ingersoll Machine Tools, Inc. | Manufacturing process and apparatus having an interchangeable machine tool head with integrated control |
US8534338B2 (en) | 2010-10-15 | 2013-09-17 | Ingersoll Machine Tools, Inc. | Fiber delivery apparatus and system having a creel and fiber placement head with polar axis of rotation |
IT1404528B1 (it) * | 2011-02-24 | 2013-11-22 | Comau Spa | Polso di robot articolato. |
IT1404527B1 (it) * | 2011-02-24 | 2013-11-22 | Comau Spa | Polso di robot articolato. |
US9636178B2 (en) * | 2011-12-07 | 2017-05-02 | Specialty Surgical Instrumentation, Inc. | System and method for an articulating shaft |
JP5617900B2 (ja) * | 2012-11-19 | 2014-11-05 | 株式会社安川電機 | ロボット |
DE102015116138B4 (de) | 2015-09-24 | 2017-06-08 | Hochschule Für Technik Und Wirtschaft Berlin | Drehgelenk sowie ein damit ausgestatteter, manuell betätigbarer Griff |
US10288458B2 (en) * | 2016-06-29 | 2019-05-14 | GM Global Technology Operations LLC | Systems and methods for sensor platform |
US10175658B2 (en) | 2016-06-29 | 2019-01-08 | GM Global Technology Operations LLC | Systems and methods for sensor platform |
CN106426125A (zh) * | 2016-09-27 | 2017-02-22 | 济南昊远智能科技有限公司 | 一种高速柔性冲压机器人 |
DE112019002283T5 (de) | 2018-05-03 | 2021-02-04 | Fanuc America Corporation | Robotergesteuerte vorrichtung für eine kompakte lackierkabine |
US20220381374A1 (en) * | 2020-01-20 | 2022-12-01 | Techreo LCC | Tubular structures |
CN111659937B (zh) * | 2020-06-22 | 2021-07-16 | 重庆科技学院 | 一种数控偏置万向铣头 |
DE102022129199A1 (de) | 2022-11-04 | 2024-05-08 | Schaeffler Technologies AG & Co. KG | Gelenkarm |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0108657B1 (en) * | 1982-09-25 | 1987-08-12 | Fujitsu Limited | A multi-articulated robot |
SE454659B (sv) * | 1983-09-01 | 1988-05-24 | Asea Ab | Robothandled |
FR2562459B1 (fr) * | 1984-02-07 | 1986-05-23 | Gabillet Maurice | Bras de manipulation modulaire |
DE3536747A1 (de) * | 1984-10-15 | 1986-04-24 | Tokico Ltd., Kawasaki, Kanagawa | Gelenkmechanismus |
US4703668A (en) * | 1985-09-25 | 1987-11-03 | Champion Spark Plug Company | Wrist mechanism for a robot arm |
IT1211195B (it) * | 1987-07-10 | 1989-10-12 | Bruno Bisiach | Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento |
SE466994B (sv) * | 1988-04-13 | 1992-05-11 | Asea Brown Boveri | Robothandled |
US4911033A (en) * | 1989-01-03 | 1990-03-27 | Ross-Hime Designs, Incorporated | Robotic manipulator |
DE4108262A1 (de) * | 1991-03-14 | 1992-09-17 | Friedhelm Wirxel | Schraegsegmentegelenk- manipulator bzw. -handhabungsgeraet |
-
1993
- 1993-07-02 SE SE9302288A patent/SE513348C2/sv not_active IP Right Cessation
-
1994
- 1994-06-21 US US08/262,978 patent/US5761965A/en not_active Expired - Fee Related
- 1994-06-28 ES ES94109943T patent/ES2115104T3/es not_active Expired - Lifetime
- 1994-06-28 EP EP94109943A patent/EP0631853B1/en not_active Expired - Lifetime
- 1994-06-28 DE DE69408497T patent/DE69408497T2/de not_active Expired - Fee Related
- 1994-07-01 JP JP6150865A patent/JPH07148688A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
SE9302288L (sv) | 1995-01-03 |
DE69408497D1 (de) | 1998-03-19 |
EP0631853B1 (en) | 1998-02-11 |
DE69408497T2 (de) | 1998-09-24 |
US5761965A (en) | 1998-06-09 |
JPH07148688A (ja) | 1995-06-13 |
EP0631853A1 (en) | 1995-01-04 |
SE513348C2 (sv) | 2000-08-28 |
SE9302288D0 (sv) | 1993-07-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FC2A | Grant refused |
Effective date: 19960730 |
|
FC2A | Grant refused |
Effective date: 19960730 |
|
FG2A | Definitive protection |
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