ES2184074T3 - Dispositivo para el movimiento relativo de dos elementos. - Google Patents

Dispositivo para el movimiento relativo de dos elementos.

Info

Publication number
ES2184074T3
ES2184074T3 ES97914704T ES97914704T ES2184074T3 ES 2184074 T3 ES2184074 T3 ES 2184074T3 ES 97914704 T ES97914704 T ES 97914704T ES 97914704 T ES97914704 T ES 97914704T ES 2184074 T3 ES2184074 T3 ES 2184074T3
Authority
ES
Spain
Prior art keywords
arrangement
elements
link
links
relative movement
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
ES97914704T
Other languages
English (en)
Inventor
Torgny Brogaardh
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 ES2184074T3 publication Critical patent/ES2184074T3/es
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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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

Abstract

UN DISPOSITIVO PARA MOVIMIENTO RELATIVO DE DOS ELEMENTOS (1,2) COMPRENDE DOS DISPOSICIONES DE ENLACES (5,6) ACOPLADAS EN SERIE MEDIANTE UNA DISPOSICION DE CONEXION (4). UNA PRIMERA DISPOSICION DE ENLACES (5) COMPRENDE AL MENOS TRES ENLACES (9, 14) QUE SON SUSTANCIALMENTE IGUALES EN LONGITUD Y PARALELOS, ESTANDO DICHOS ENLACES POSICIONADOS EN UNA RELACION SUSTANCIALMENTE TRIANGULAR VISTA A LO LARGO DE LA DIRECCION LONGITUDINAL DE LOS ENLACES, ENTRE LA DISPOSICION DE CONEXION (4) Y EL ELEMENTO (2). LA SEGUNDA DISPOSICION (6) COMPRENDE AL MENOS UN PARALELOGRAMO QUE ACTUA ENTRE LA DISPOSICION DE CONEXION (4) Y EL ELEMENTO (1). LA PRIMERA Y LA SEGUNDA DISPOSICION DE APLICACION DE FUERZA (17, 18) ESTAN CONCEBIDAS PARA HACER QUE LA PRIMERA DISPOSICION DE ENLACES 85) PIVOTE. UNA TERCERA DISPOSICION DE APLICACION DE FUERZA (33) ESTA CONCEBIDA PARA HACER QUE LA SEGUNDA DISPOSICION DE ENLACES (6) PIVOTE.
ES97914704T 1996-03-14 1997-03-14 Dispositivo para el movimiento relativo de dos elementos. Expired - Lifetime ES2184074T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9600999A SE508890C2 (sv) 1996-03-14 1996-03-14 Manipulator

Publications (1)

Publication Number Publication Date
ES2184074T3 true ES2184074T3 (es) 2003-04-01

Family

ID=20401806

Family Applications (1)

Application Number Title Priority Date Filing Date
ES97914704T Expired - Lifetime ES2184074T3 (es) 1996-03-14 1997-03-14 Dispositivo para el movimiento relativo de dos elementos.

Country Status (11)

Country Link
US (1) US6301988B1 (es)
EP (1) EP0894038B1 (es)
JP (2) JP2000506451A (es)
KR (1) KR100484985B1 (es)
AT (1) ATE222161T1 (es)
AU (1) AU2185097A (es)
CA (1) CA2248627A1 (es)
DE (1) DE69714715T2 (es)
ES (1) ES2184074T3 (es)
SE (1) SE508890C2 (es)
WO (1) WO1997033726A1 (es)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
US6336374B1 (en) * 1997-01-14 2002-01-08 Asea Brown Boveri A.B. Device for relative displacement of two elements
CN1072094C (zh) * 1997-01-14 2001-10-03 瑞典通用电器勃朗勃威力公司 用以使两个构件相对移位的装置
SE513334C2 (sv) 1997-09-12 2000-08-28 Abb Ab Anordning för relativ förflyttning av två element
JP3926501B2 (ja) * 1998-11-13 2007-06-06 ナブテスコ株式会社 ロボットアーム及びその駆動装置
JP2000150617A (ja) * 1998-11-17 2000-05-30 Tokyo Electron Ltd 搬送装置
DE19962247A1 (de) * 1999-12-22 2001-09-20 Agie Sa Bewegungsübertragungsvorrichtung
US6675479B1 (en) 2000-02-29 2004-01-13 The Gillette Company Shaving razor and blade unit with improved guard
SE517356C2 (sv) * 2000-09-11 2002-05-28 Abb Ab Manipulator innefattande minst tre armar för förflyttning av en kropp i rymden
CN1155458C (zh) * 2001-12-31 2004-06-30 天津大学 仅含转动副的二自由度平动并联机器人机构
ES2322036T3 (es) * 2002-01-16 2009-06-16 Abb Ab Robot industrial.
SE524747C2 (sv) 2002-02-06 2004-09-28 Abb Ab Industrirobot innehållande en parallellkinematisk manipulator för förflyttning av ett föremål i rymden
EP1560681A1 (en) * 2002-11-06 2005-08-10 McGILL UNIVERSITY Four-degree-of-freedom parallel manipulator for producing schönflies motions
US20050220580A1 (en) * 2004-03-15 2005-10-06 Thomas Arnold Dual mode stacking system and method of use
EP1800645A1 (de) * 2005-12-21 2007-06-27 Körber AG Verpackung für medizinische Produkte und dergleichen
FR2901596B1 (fr) * 2006-05-24 2010-10-22 Agence Spatiale Europeenne Mecanisme spherique parallele a deux degres de liberte
DE102006039860B3 (de) * 2006-08-25 2008-03-27 Zf Friedrichshafen Ag Betätigungsvorrichtung für Kraftfahrzeuggetriebe
CN101977737A (zh) * 2008-01-18 2011-02-16 法特罗尼克基金会 两自由度并行操纵器
IL196421A0 (en) * 2009-01-11 2009-09-22 Effrayim Drori Movable assembly and application to movable devices
RU2453747C2 (ru) * 2009-02-27 2012-06-20 Владимир Алексеевич Преображенский Механизм короткой передачи хода поршневого звена
NL2010312C2 (en) 2013-02-15 2014-08-18 Oldin Beheer B V Load handling robot with three single degree of freedom actuators.
CN105563459B (zh) * 2014-10-15 2017-09-05 上海工程技术大学 用于微创手术的解耦两转动串联机构
WO2019138025A1 (en) 2018-01-15 2019-07-18 Cognibotics Ab An industrial robot arm

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH617559GA3 (es) * 1977-12-29 1980-06-13
CH637869A5 (de) * 1979-06-19 1983-08-31 Microbo Ag Handhabungseinrichtung, insbesondere fuer industrieroboter.
CH672089A5 (es) * 1985-12-16 1989-10-31 Sogeva Sa
SU1549746A1 (ru) 1987-07-27 1990-03-15 Куйбышевский политехнический институт им.В.В.Куйбышева Промышленный робот
SU1505775A1 (ru) 1987-12-31 1989-09-07 Могилевский Машиностроительный Институт Манипул тор
JPH0623437Y2 (ja) * 1988-10-13 1994-06-22 日産自動車株式会社 工業用ロボットの作業アーム
SU1691092A1 (ru) 1989-10-24 1991-11-15 Одесское специальное конструкторское бюро прецизионных станков Обрабатывающее устройство
GB9107207D0 (en) * 1991-04-05 1991-05-22 Tycho Technology Ltd Mechanical manipulator
US5156062A (en) 1991-07-01 1992-10-20 Rockwell International Corporation Anti-rotation positioning mechanism
US5386741A (en) * 1993-06-07 1995-02-07 Rennex; Brian G. Robotic snake
JP3640087B2 (ja) * 1994-11-29 2005-04-20 豊田工機株式会社 工作機械
SE508890C2 (sv) * 1996-03-14 1998-11-16 Asea Brown Boveri Manipulator
DE19611130A1 (de) * 1996-03-21 1997-09-25 Vdw Verein Deutscher Werkzeugm Vorrichtung zur Erzeugung einer definierten Positionierung und Orientierung mindestens einer Plattform

Also Published As

Publication number Publication date
SE508890C2 (sv) 1998-11-16
EP0894038A1 (en) 1999-02-03
SE9600999D0 (sv) 1996-03-14
CA2248627A1 (en) 1997-09-18
ATE222161T1 (de) 2002-08-15
DE69714715T2 (de) 2003-04-24
AU2185097A (en) 1997-10-01
SE9600999L (sv) 1997-09-15
KR100484985B1 (ko) 2005-06-16
EP0894038B1 (en) 2002-08-14
KR19990087796A (ko) 1999-12-27
DE69714715D1 (de) 2002-09-19
JP2008200846A (ja) 2008-09-04
US6301988B1 (en) 2001-10-16
WO1997033726A1 (en) 1997-09-18
JP2000506451A (ja) 2000-05-30

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