FR2450673A1 - AUTOMATIC MACHINE FOR HANDLING WORKPIECES AND / OR TOOLS - Google Patents

AUTOMATIC MACHINE FOR HANDLING WORKPIECES AND / OR TOOLS

Info

Publication number
FR2450673A1
FR2450673A1 FR8004840A FR8004840A FR2450673A1 FR 2450673 A1 FR2450673 A1 FR 2450673A1 FR 8004840 A FR8004840 A FR 8004840A FR 8004840 A FR8004840 A FR 8004840A FR 2450673 A1 FR2450673 A1 FR 2450673A1
Authority
FR
France
Prior art keywords
axis
tools
automatic machine
around
forearm
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.)
Withdrawn
Application number
FR8004840A
Other languages
French (fr)
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.)
Jungheinrich AG
Original Assignee
Jungheinrich Unternehmensverwaltung KG
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 Jungheinrich Unternehmensverwaltung KG filed Critical Jungheinrich Unternehmensverwaltung KG
Publication of FR2450673A1 publication Critical patent/FR2450673A1/en
Withdrawn legal-status Critical Current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
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • 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
    • 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
    • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base

Landscapes

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

Abstract

MACHINE AUTOMATIQUE POUR LA MANIPULATION DE PIECES ETOU D'OUTILS, COMPRENANT UN DISPOSITIF DE PREHENSION, UNE TOURELLE SUR LAQUELLE PEUT BASCULER, AUTOUR D'UN AXE HORIZONTAL, UN BRAS, A L'EXTREMITE DUQUEL EST ARTICULE, DE FACON A POUVOIR BASCULER AUTOUR D'UN AXE PARALLELE AUDIT PREMIER AXE, UN AVANT-BRAS, SUR LEQUEL LE DISPOSITIF DE PREHENSION EST MONTE DE FACON A POUVOIR TOURNER AUTOUR DE SON AXE, ET ETRE ORIENTE. LA TOURELLE 3 COMPREND UNE PLAQUE DE BASE 4 MOBILE PAR RAPPORT A UN SOCLE 1 ET UN ELEMENT PORTEUR 5 S'ETENDANT VERS LE HAUT, ET SUR LEQUEL DES LEVIERS 6, 11, FAISANT OFFICE RESPECTIVEMENT DE BRAS ET D'AVANT-BRAS, SONT MONTES EN PORTE A FAUX EN TANT QUE SOUS-ENSEMBLES SEPARES, LE MONTAGE ETANT TEL QUE LE LEVIER 11 PUISSE BASCULER DE 360. L'INVENTION EST APPLICABLE NOTAMMENT AUX MACHINES D'USINAGE.AUTOMATIC MACHINE FOR THE HANDLING OF PARTS AND OR TOOLS, INCLUDING A GRIPPING DEVICE, A TURRET ON WHICH CAN TILT, AROUND A HORIZONTAL AXIS, AN ARM, AT THE END OF WHICH IS ARTICULATED, SO AS TO TIP AROUND A 'A PARALLEL AXIS AUDIT FIRST AXIS, A FOREARM, ON WHICH THE PREHENSION DEVICE IS MOUNTED SO AS TO BE ABLE TO ROTATE AROUND ITS AXIS, AND BE ORIENT. THE TURRET 3 INCLUDES A BASE PLATE 4 MOBILE WITH RESPECT TO A BASE 1 AND A BEARING ELEMENT 5 EXTENDING UPWARDS, AND ON WHICH LEVERS 6, 11, ACTING RESPECTIVELY AS THE ARM AND FOREARM, ARE MOUNTED OVERALL AS SEPARATE SUB-ASSEMBLIES, THE MOUNTING BEING SUCH THAT LEVER 11 CAN TILT BY 360. THE INVENTION IS APPLICABLE IN PARTICULAR TO MACHINING MACHINES.

FR8004840A 1979-03-05 1980-03-04 AUTOMATIC MACHINE FOR HANDLING WORKPIECES AND / OR TOOLS Withdrawn FR2450673A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19792908523 DE2908523A1 (en) 1979-03-05 1979-03-05 AUTOMATIC WORK TOOL

Publications (1)

Publication Number Publication Date
FR2450673A1 true FR2450673A1 (en) 1980-10-03

Family

ID=6064529

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8004840A Withdrawn FR2450673A1 (en) 1979-03-05 1980-03-04 AUTOMATIC MACHINE FOR HANDLING WORKPIECES AND / OR TOOLS

Country Status (5)

Country Link
DE (1) DE2908523A1 (en)
FR (1) FR2450673A1 (en)
GB (1) GB2045720A (en)
NO (1) NO800619L (en)
SE (1) SE8001330L (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0054763A1 (en) * 1980-12-19 1982-06-30 KUKA Schweissanlagen GmbH Drive means for an articulated head affixed at the extremity of a manipulator arm
FR2510023A1 (en) * 1981-07-21 1983-01-28 Pharemme HANDLING ROBOT
FR2536690A1 (en) * 1982-11-27 1984-06-01 Jungheinrich Kg AUTOMATIC HANDLING DEVICE FOR INDUSTRIAL WORKS
FR2539663A1 (en) * 1983-01-26 1984-07-27 Mitsubishi Electric Corp AUTOMATIC MANIPULATOR DEVICE OF IMPROVED TYPE FOR ARC WELDING
FR2539662A1 (en) * 1983-01-24 1984-07-27 Mitsubishi Electric Corp AUTOMATIC ARTICULATED HANDLING DEVICE, IN PARTICULAR FOR ARC WELDING
FR2551378A1 (en) * 1983-09-02 1985-03-08 Jungheinrich Kg Industrial robot with laser beam as tool in head
EP0143853A1 (en) * 1983-04-30 1985-06-12 Fanuc Ltd. Articulated arm type of industrial robot
EP0193149A1 (en) * 1985-02-25 1986-09-03 Doryokuro Kakunenryo Kaihatsu Jigyodan Joint mechanism for manipulators
EP0194217A1 (en) * 1985-03-05 1986-09-10 S.A. DES ETABLISSEMENTS STAUBLI (France) Industrial robots of the spherical type
EP0435285A1 (en) * 1989-12-28 1991-07-03 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
EP0671245A1 (en) * 1994-03-09 1995-09-13 Sony Corporation Articulated robot

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4392776A (en) * 1981-05-15 1983-07-12 Westinghouse Electric Corp. Robotic manipulator structure
US4398863A (en) * 1981-05-15 1983-08-16 Westinghouse Electric Corp. Pick and place robot
US4547119A (en) * 1981-10-23 1985-10-15 United States Robots, Inc. Robotic manipulator arm
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
US4552505A (en) * 1982-11-19 1985-11-12 American Robot Corporation Industrial robot having direct coaxial motor drive
DE8214938U1 (en) * 1982-05-22 1983-07-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Rod end for industrial robots
JPS5973285A (en) * 1982-10-19 1984-04-25 フアナツク株式会社 Articulated arm type industrial robot
DE3375107D1 (en) * 1982-10-29 1988-02-11 Toshiba Kk Control system of multi-joint arm robot apparatus
JPS5981071A (en) * 1982-10-29 1984-05-10 株式会社東芝 Controller for multi-joint arm
US4671732A (en) * 1982-11-19 1987-06-09 American Cimflex Corporation Industrial robot
US4553313A (en) * 1982-12-23 1985-11-19 Borg-Warner Corporation System to automatically change tool blocks used on turning machines
JPS59175987A (en) * 1983-03-26 1984-10-05 株式会社東芝 Multi-joint robot device
DE3448409C2 (en) * 1984-12-28 1993-01-28 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De Modular driving unit for industrial robot
DE4001885A1 (en) * 1990-01-23 1991-07-25 Kuka Schweissanlagen & Roboter MULTI-AXIS INDUSTRIAL ROBOT
DE102013206791A1 (en) * 2013-04-16 2014-10-16 Kuka Roboter Gmbh Industrial robot with a arranged on a arm arm drive assembly
RU2017106187A (en) * 2014-09-30 2018-08-27 Сейко Эпсон Корпорейшн ROBOT AND ROBOTIC SYSTEM

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE800032C (en) * 1949-04-03 1950-08-11 Josef Mohn Pillar crane
FR1396523A (en) * 1964-03-12 1965-04-23 Soc Optique Mec Haute Prec Gripper, and remote manipulator equipped with this gripper
DE2402829A1 (en) * 1973-01-25 1974-08-01 Tokyo Shibaura Electric Co INDUSTRIAL MANIPULATOR
DE2717870A1 (en) * 1977-04-22 1978-10-26 Volkswagenwerk Ag Industrial robot with arm having four degrees of freedom - uses harmonic drive transmission to control movement of joints

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE800032C (en) * 1949-04-03 1950-08-11 Josef Mohn Pillar crane
FR1396523A (en) * 1964-03-12 1965-04-23 Soc Optique Mec Haute Prec Gripper, and remote manipulator equipped with this gripper
DE2402829A1 (en) * 1973-01-25 1974-08-01 Tokyo Shibaura Electric Co INDUSTRIAL MANIPULATOR
DE2717870A1 (en) * 1977-04-22 1978-10-26 Volkswagenwerk Ag Industrial robot with arm having four degrees of freedom - uses harmonic drive transmission to control movement of joints

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0054763A1 (en) * 1980-12-19 1982-06-30 KUKA Schweissanlagen GmbH Drive means for an articulated head affixed at the extremity of a manipulator arm
FR2510023A1 (en) * 1981-07-21 1983-01-28 Pharemme HANDLING ROBOT
EP0105069A1 (en) * 1981-07-21 1984-04-11 Société PHAREMME Manipulating robot
FR2536690A1 (en) * 1982-11-27 1984-06-01 Jungheinrich Kg AUTOMATIC HANDLING DEVICE FOR INDUSTRIAL WORKS
FR2539662A1 (en) * 1983-01-24 1984-07-27 Mitsubishi Electric Corp AUTOMATIC ARTICULATED HANDLING DEVICE, IN PARTICULAR FOR ARC WELDING
FR2539663A1 (en) * 1983-01-26 1984-07-27 Mitsubishi Electric Corp AUTOMATIC MANIPULATOR DEVICE OF IMPROVED TYPE FOR ARC WELDING
EP0143853A4 (en) * 1983-04-30 1987-03-16 Fanuc Ltd Articulated arm type of industrial robot.
EP0143853A1 (en) * 1983-04-30 1985-06-12 Fanuc Ltd. Articulated arm type of industrial robot
FR2551378A1 (en) * 1983-09-02 1985-03-08 Jungheinrich Kg Industrial robot with laser beam as tool in head
EP0193149A1 (en) * 1985-02-25 1986-09-03 Doryokuro Kakunenryo Kaihatsu Jigyodan Joint mechanism for manipulators
US4717303A (en) * 1985-02-25 1988-01-05 Kabushiki Kaisha Meidensha Joint mechanism for manipulators
FR2578472A1 (en) * 1985-03-05 1986-09-12 Staubli Sa Ets IMPROVEMENTS TO INDUSTRIAL ROBOTS OF THE TYPE A SPHERICAL STRUCTURE
EP0194217A1 (en) * 1985-03-05 1986-09-10 S.A. DES ETABLISSEMENTS STAUBLI (France) Industrial robots of the spherical type
EP0435285A1 (en) * 1989-12-28 1991-07-03 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
US5357824A (en) * 1989-12-28 1994-10-25 Kawasaki Jukogyo Kabushiki Kaisha Industrial robot
EP0671245A1 (en) * 1994-03-09 1995-09-13 Sony Corporation Articulated robot
US5634377A (en) * 1994-03-09 1997-06-03 Sony Corporation Articulated robot

Also Published As

Publication number Publication date
GB2045720A (en) 1980-11-05
SE8001330L (en) 1980-09-06
NO800619L (en) 1980-09-08
DE2908523A1 (en) 1981-01-29

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Legal Events

Date Code Title Description
ST Notification of lapse