FR2354860A1 - Manipulateur - Google Patents

Manipulateur

Info

Publication number
FR2354860A1
FR2354860A1 FR7718321A FR7718321A FR2354860A1 FR 2354860 A1 FR2354860 A1 FR 2354860A1 FR 7718321 A FR7718321 A FR 7718321A FR 7718321 A FR7718321 A FR 7718321A FR 2354860 A1 FR2354860 A1 FR 2354860A1
Authority
FR
France
Prior art keywords
main shaft
shaft
gears
electric motor
housing
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.)
Granted
Application number
FR7718321A
Other languages
English (en)
Other versions
FR2354860B1 (fr
Inventor
Yoshio Hashimoto
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.)
Yachiyo Kogyo Kenkyusho KK
Original Assignee
Yachiyo Kogyo Kenkyusho KK
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 Yachiyo Kogyo Kenkyusho KK filed Critical Yachiyo Kogyo Kenkyusho KK
Publication of FR2354860A1 publication Critical patent/FR2354860A1/fr
Application granted granted Critical
Publication of FR2354860B1 publication Critical patent/FR2354860B1/fr
Granted 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
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • 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
    • B25J9/041—Cylindrical coordinate type
    • 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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Manipulateur à usage industrieL Il comprend un boîtier, un arbre principal rotatif dans le boîtier, un arbre auxiliaire concentrique à l'arbre principal, un bras fixé à l'extrémité supérieure dudit arbre auxiliaire sensiblement perpendiculairement à son axe, une main munie d'une paire de doigts pour serrer la pièce, montée à l'extrémité du bras, un arbre de commande rotatif dans l'arbre auxiliaire, un moteur électrique réversible fixé sur le boîtier, un engrenage à vis tangente monté rotatif sur l'arbre principal et recevant une force d'entraînement du moteur électrique par une vis sans fin en prise du moteur, un groupe d'engrenages pous déplacer l'arbre auxiliaire verticalement, un autre groupe engrenages pour faire tourner l'arbre de commande, un carter solidaire de l'arbre principal pour supporter les deux groupes d'engrenages, un engrenage intermittent qui toume avec l'engrenage à vis tangente et transmet sélectivement la force d'entraînement du moteur électrique aux deux groupes d'engrenages, des moyens pour amener l'arbre principal à suivre le mouvement de l'engrenage à vis tangente après une rotation déterminée de l'arbre principal, des moyens pour détecter la rotation de l'arbre principal et pour amener le moteur électrique à tourner en sens direct ou en sens inverse.
FR7718321A 1976-06-18 1977-06-15 Manipulateur Granted FR2354860A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP7205676A JPS52155765A (en) 1976-06-18 1976-06-18 Industrial robot

Publications (2)

Publication Number Publication Date
FR2354860A1 true FR2354860A1 (fr) 1978-01-13
FR2354860B1 FR2354860B1 (fr) 1981-12-31

Family

ID=13478334

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7718321A Granted FR2354860A1 (fr) 1976-06-18 1977-06-15 Manipulateur

Country Status (5)

Country Link
US (1) US4113115A (fr)
JP (1) JPS52155765A (fr)
DE (1) DE2727169C3 (fr)
FR (1) FR2354860A1 (fr)
GB (1) GB1535904A (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2789925A1 (fr) * 1999-02-24 2000-08-25 R G I Dispositif pour le transport d'objets

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4260324A (en) * 1979-04-11 1981-04-07 Emerson Electric Co. Cam-actuated swing turnover and transfer placing apparatus
US4411576A (en) * 1981-08-26 1983-10-25 William I. Smith Pick and place mechanism
JPS5859745A (ja) * 1981-10-03 1983-04-08 Mitsubishi Heavy Ind Ltd 搬送装置
JPS5898193U (ja) * 1981-12-25 1983-07-04 株式会社岡村製作所 工業用ロボツトア−ムの多点停止装置
US4481896A (en) * 1982-01-13 1984-11-13 Wembley Industries, Inc. Flexible material stacker
JPS58186581A (ja) * 1982-04-21 1983-10-31 ファナック株式会社 旋回装置
JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
FR2630595B1 (fr) * 1988-04-26 1990-08-24 Roudaut Philippe Pince electrique a maintien magnetique
US5280981A (en) * 1991-02-01 1994-01-25 Odetics, Inc. End effector with load-sensitive digit actuation mechanisms
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
WO1993013916A1 (fr) 1992-01-21 1993-07-22 Sri International Procede de systeme de telemanipulateur a telepresence
US6731988B1 (en) 1992-01-21 2004-05-04 Sri International System and method for remote endoscopic surgery
EP0699053B1 (fr) * 1993-05-14 1999-03-17 Sri International Appareil chirurgical
ATE301423T1 (de) * 1995-06-07 2005-08-15 Stanford Res Inst Int Chirurgischer manipulator für ein ferngesteuertes robotersystem
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5649956A (en) * 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US6057662A (en) * 1998-02-25 2000-05-02 Applied Materials, Inc. Single motor control for substrate handler in processing system
US6493608B1 (en) * 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
KR101026692B1 (ko) 2002-12-06 2011-04-07 인튜어티브 서지컬 인코포레이티드 긴 샤프트를 포함하는 장치
EP1743735B1 (fr) * 2005-07-12 2008-02-27 VIGEL S.p.A. Dispositif de blocage d'une pièce, pour porte-outils d'une machine outil
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
CN102950601A (zh) * 2011-08-31 2013-03-06 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN104400781B (zh) * 2014-11-18 2016-05-11 河海大学常州校区 送料机械手
CN104959973B (zh) * 2015-07-06 2017-01-18 江苏小铁人机床有限公司 一种多用途的六轴工业机器人
CN107572059A (zh) * 2017-09-13 2018-01-12 深圳怡华包装机械技术有限公司 封口机
DE102019100633B3 (de) 2019-01-11 2020-06-18 Kuka Systems Gmbh Greifwerkzeug und Verfahren
CN109775346B (zh) * 2019-01-21 2021-02-26 金锋馥（滁州）输送机械有限公司 一种物流用滑块式分拣输送机
CN112141674A (zh) * 2019-06-28 2020-12-29 吉达克精密金属科技（常熟）有限公司 一种齿轮传动机构
CN111071786A (zh) * 2020-03-06 2020-04-28 羽源洋(宁波)科技有限公司 一种智能高效物料搬运装备
CN112404722A (zh) * 2020-11-18 2021-02-26 广州李博士科技研究有限公司 一种自动激光焊接机
CN112407930A (zh) * 2020-12-01 2021-02-26 段福强 一种可进行多角度调向的工业生产用限位夹具
CN116587311B (zh) * 2023-05-17 2024-06-18 乐孜芯创半导体设备(上海)有限公司 一种连杆式单臂双手指真空机械手及真空腔室
CN117583634B (zh) * 2023-11-21 2024-05-14 无锡高卓流体设备有限公司 一种管道泵端部法兰钻孔装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2959301A (en) * 1957-10-07 1960-11-08 Willsea Jasper Transfer mechanism
US3217901A (en) * 1964-04-08 1965-11-16 Analytical Ind Inc Transfer mechanism
FR2141627A1 (fr) * 1971-06-16 1973-01-26 Somep

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1811832A (en) * 1926-08-23 1931-06-23 Hartford Empire Co Automatic transfer machine
US2224975A (en) * 1937-10-19 1940-12-17 Capstan Glass Co Vessel transferring mechanism
US2974811A (en) * 1957-09-20 1961-03-14 Gleason Works Work handling mechanism
NL253341A (fr) * 1959-07-02
US3212649A (en) * 1960-07-15 1965-10-19 American Mach & Foundry Machine for performing work
US3543947A (en) * 1968-07-30 1970-12-01 George C Devol Constant-aim work head
US3572519A (en) * 1969-04-03 1971-03-30 Aida Tekkosho Kk Article transfer apparatus adapted to automatically feed material to one of presses or other processing machines
JPS5852485B2 (ja) * 1973-06-15 1983-11-22 マンネスマン アクチエンゲゼルシヤフト 熱可塑性プラスチツク製の被覆を連続的に製造する方法
JPS5037627U (fr) * 1973-08-06 1975-04-19
US3935950A (en) * 1973-09-04 1976-02-03 Quality Steel Fabricators, Inc. Industrial robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2959301A (en) * 1957-10-07 1960-11-08 Willsea Jasper Transfer mechanism
US3217901A (en) * 1964-04-08 1965-11-16 Analytical Ind Inc Transfer mechanism
FR2141627A1 (fr) * 1971-06-16 1973-01-26 Somep

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2789925A1 (fr) * 1999-02-24 2000-08-25 R G I Dispositif pour le transport d'objets

Also Published As

Publication number Publication date
DE2727169A1 (de) 1977-12-22
US4113115A (en) 1978-09-12
JPS52155765A (en) 1977-12-24
DE2727169C3 (de) 1980-09-04
GB1535904A (en) 1978-12-13
DE2727169B2 (fr) 1979-11-15
FR2354860B1 (fr) 1981-12-31

Similar Documents

Publication Publication Date Title
FR2354860A1 (fr) Manipulateur
JP3916351B2 (ja) ロボットアーム
FR2369728A1 (fr) Moteur a courant continu sans balai
FR2379849A1 (fr) Procede et appareil a utiliser avec des machines pour la mesure de coordonnees
US5014542A (en) Automatic machine tool head designed to increase the number of machine operating axes
FR2363508A1 (fr) Systeme synchronise pour l'entrainement et la manipulation de cables pour machine a element tournant
FR2368751A1 (fr) Appareil de positionnement a controle par cames
FR2454356A1 (fr) Manipulateur pour machine de production
FR2639572A1 (fr) Robot multiaxes
FI60746B (fi) Vibrationsplatta
US2619842A (en) Variable-speed drive for machine tools
CN211804188U (zh) 一种用于五金部件加工的坯料切割装置
CN210788747U (zh) 一种五金制品折弯装置
FR2360015A1 (fr) Dispositif de transfert de couple pour vehicule a deux essieux moteurs et embrayage pour ce dispositif
FR2452345A1 (fr) Machine pour l'usinage de finition des flancs des dents de pieces dentees
FR2377869A1 (fr) Dispositif de transport pour appareil de changement d'outils
CN216803458U (zh) 一种用于夹持和搬运锅具的电动夹具
CN220992873U (zh) 一种通用机械齿轮盘钻孔装置
EP0061958B1 (fr) Dispositif pour le réglage précis du calage angulaire relatif des arbres entraînant des molettes de formage à froid
CN220029317U (zh) 调距式泛用型螺母旋拧装置
SU1562100A1 (ru) Устройство дл автоматической смены инструмента
FR2396217A1 (fr) Mecanisme d'entrainement lineaire par moteurs pas-a-pas
FR2392730A1 (fr) Appareil pour peindre des parties profilees de grande surface, plus particulierement pulverisateur automatique lateral
KR860007770A (ko) 정류자용 챔퍼링(chamfering)장치
ATE25189T1 (de) Elektrisch angetriebene zahnbuerste.

Legal Events

Date Code Title Description
ST Notification of lapse