FR2619043A1 - Grinding machine carrier with a pneumatic thrust cylinder for robot - Google Patents
Grinding machine carrier with a pneumatic thrust cylinder for robot Download PDFInfo
- Publication number
- FR2619043A1 FR2619043A1 FR8711123A FR8711123A FR2619043A1 FR 2619043 A1 FR2619043 A1 FR 2619043A1 FR 8711123 A FR8711123 A FR 8711123A FR 8711123 A FR8711123 A FR 8711123A FR 2619043 A1 FR2619043 A1 FR 2619043A1
- Authority
- FR
- France
- Prior art keywords
- grinder
- base
- robot
- wrist
- grinding machine
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
- B23Q9/0064—Portable machines cooperating with guide means not supported by the workpiece during working
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/04—Arrangements preventing overload of tools, e.g. restricting load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
- B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- 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
- 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
- B25J19/0091—Shock absorbers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
PORTE-MEULEUSE A VERIN PNEUMATIQUE POUR ROBOT
DESCRIPTION
La présente invention concerne un porte-meuleuse à vérin pneumatique pour robot.PNEUMATIC CYLINDER GRINDER HOLDER FOR ROBOT
DESCRIPTION
The present invention relates to a pneumatic cylinder grinder holder for a robot.
Le meulage de grandes surfaces rechargées sur des roues de turbine, notamment de turbines Francis est jusqu'à présent réaLisé manueLlement. Une telle opération est pénible pour
L'opérateur et nécessite une durée de travail importante. La présente invention a précisément pour objet un porte-meuleuse permettant d'adapter une neuleuse sur un robot de manière à réaliser automatiquement Le meulage d'une pièce de dimensions importantes telle qu'une roue de turbine.The grinding of large surfaces reloaded on turbine wheels, in particular Francis turbines, has so far been carried out manually. Such an operation is painful for
The operator and requires significant working time. The present invention specifically relates to a grinder holder for adapting a neuleuse on a robot so as to automatically perform the grinding of a workpiece of large dimensions such as a turbine wheel.
Il est nécessaire que La meuLe suive le profil de la pièce sur laquelle elle doit exercer une pression d'appui constante, qui est fonction de La nuance de La matière à meuler et des caractéristiques de la meule. D'autre part, les opérations de meulage sont génératrices de vibrations importantes qui pourraient etre préjudiciables au bon fonctionnement du robot si elles lui étaient transmises. IL est donc nécessaire d'éliminer ces vibrations. The grinding wheel must follow the profile of the part on which it must exert a constant pressing pressure, which is a function of the nuance of the material to be ground and the characteristics of the grinding wheel. On the other hand, the grinding operations generate significant vibrations which could be detrimental to the proper functioning of the robot if they were transmitted to it. It is therefore necessary to eliminate these vibrations.
La présente invention a précisément pour objet un porte-meuleuse qui permet d'atteindre les objectifs énumérés cidessus. The present invention specifically relates to a grinder holder which achieves the objectives listed above.
De manière plus précise, L'invention concerne un portemeuLeuse pour un robot comportant un bras articulé apte à manipuler un outil par L'intermédiaire d'un poignet terminant te bras articule, ce porte-meuleuse comprenant une embase de fixation montée sur Le poignet du robot, une meuleuse montée pivotante sur Ladite embase de fixation, un vérin pneumatique monté pivotant à L'une de ses extrémités sur Ladite embase de fixation et relie à ladite meuleuse par son autre extrémité. More specifically, the invention relates to a holder for a robot comprising an articulated arm capable of handling a tool by means of a wrist ending the articulated arm, this grinder holder comprising a fixing base mounted on the wrist of the robot, a grinder pivotally mounted on said fixing base, a pneumatic cylinder pivotally mounted at one of its ends on said fixing base and connects to said grinder by its other end.
Crache à ces caractéristiques, le porte-meuleuse de
L'invention permet de maintenir La pression de La meuleuse sur la pièce à meuler à une valeur préétablie, éventuellement programmée et gérée par le robot.Spits on these characteristics, the grinder holder of
The invention makes it possible to maintain the pressure of the grinder on the workpiece to a predetermined value, possibly programmed and managed by the robot.
De préférence, le porte-meuleuse comporte en outre une seconde embase, espacée de l'embase de fixation par une plaque ou une série d'éLéments en caoutchouc ayant pour fonction d'amortir les vibrations transmises par la meuleuse aux bras du robot, la meuleuse étant alors articulée sur cette seconde embase. Preferably, the grinder holder further comprises a second base, spaced from the fixing base by a plate or a series of rubber elements having the function of damping the vibrations transmitted by the grinder to the arms of the robot, the grinder then being articulated on this second base.
Grace à cette caractéristique préférentielle,
L'invention permet d'éviter la transmission au poignet du robot des vibrations engendrées par la meuleuse.Thanks to this preferential characteristic,
The invention makes it possible to avoid transmission to the robot's wrist of the vibrations generated by the grinder.
D'autres caractéristiques et avantages de La présente invention apparaftront à la lecture de la description qui suit d'exemples de réalisation donnés à titre illustratif et nullement limitatif, en référence aux dessins annexes sur lesquels
- la figure 1 est une vue d'un premier mode de réalisation de l'invention,
- la figure 2 est une vue d'un second mode de réalisation de l'invention,
- la figure 3 est une vue d'un troisième mode de réalisation de l'invention,
- la figure 4 illustre un mode de réalisation de
L'invention comportant un retour d'effort,
- la figure 5 est une vue schématique d'un robot portant un porte-meuleuse selon L'invention.Other characteristics and advantages of the present invention will appear on reading the following description of embodiments given by way of illustration and in no way limitative, with reference to the accompanying drawings in which
FIG. 1 is a view of a first embodiment of the invention,
FIG. 2 is a view of a second embodiment of the invention,
FIG. 3 is a view of a third embodiment of the invention,
- Figure 4 illustrates an embodiment of
The invention comprising a force feedback,
- Figure 5 is a schematic view of a robot carrying a grinder holder according to the invention.
On a représenté sur la figure 5 une vue d'ensemble schématique d'un robot 100 de type classique, comportant un porte-meuleuse P à l'extrémité de son bras 102. Ce robot possède six degrés de liberté, à savoir trois axes de rotation 104, 106, 108 sur son bras 102 et trois axes de rotation (non référencés au poignet 110, les rotations du poignet étant réalisées par une articulation rotonde 112. FIG. 5 shows a schematic overview of a robot 100 of the conventional type, comprising a grinder holder P at the end of its arm 102. This robot has six degrees of freedom, namely three axes of rotation 104, 106, 108 on its arm 102 and three axes of rotation (not referenced to the wrist 110, the rotations of the wrist being carried out by a rotunda joint 112.
Le poignet 110 permet la fixation de L'embase de fixation 2 du porte-meuleuse P (voir figures 1 à 4). The wrist 110 allows the fixing of the fixing base 2 of the grinder holder P (see FIGS. 1 to 4).
Le porte-meuleuse representéesur la figure 1 comporte une embase de fixation 2 destinée à être fixée à l'extrémité du poignet d'un robot articulé de type classique et qui ne sera par conséquent pas décrit en détail. Une deuxième embase désignée par la référence 4 est montée parallèlement à L'embase de fixation 2 par L'intermédiaire d'une série de blocs de caoutchouc 5 encore appelés "silentblocs" et ayant pour fonction d'amortir les vibrations transmises par la meule. La mise en oeuvre de matériel plus puissant peut amener à remplacer Lesssilentblocspar une plaque de caoutchouc de 15 nm d'épaisseur environ. L'embase de fixation de la meuleuse 4 comporte une potence 6 montée perpendiculairement à sa surface, par exemple par soudage. The grinder holder shown in FIG. 1 comprises a fixing base 2 intended to be fixed to the end of the wrist of an articulated robot of conventional type and which will therefore not be described in detail. A second base designated by the reference 4 is mounted parallel to the fixing base 2 by means of a series of rubber blocks 5 also called "silentblocs" and having the function of damping the vibrations transmitted by the grinding wheel. The use of more powerful equipment can lead to replacing Lesssilentblocs by a rubber plate about 15 nm thick. The attachment base of the grinder 4 comprises a bracket 6 mounted perpendicular to its surface, for example by welding.
D'autre part, une chape 8 permet l'articuLation d'une meuleuse 10 comportant un axe 12 supportant une neule rotative 14. La meuleuse 10 comporte un raccord 16 permettant de l'alimenter en un fluide d'entrafnement tel qu'un gaz comprimé (air ou huile) au moyen d'un flexible 19. Un vérin pneumatique à double effet 18 est fixé à L'une de ses extrémités à La partie terminale de la potence 6 et à son autre extrémité sensiblement à la partie médiane de L'axe 12 par l'intermédiaire d'une bague de supportage. Le vérin 18 est alimenté en huile sous pression par des conduits 18a et 18b. Il permet de déplacer l'axe XX du porte-meuleuse autour de L'axe de pivotement de la chape 8 comme indiqué par la flèche 20.Ainsi, le vérin pneumatique permet de faire varier la pression de la meule 14 sur une pièce à meuler
(non représentée) telle que par exemple une roue de turbine.On the other hand, a yoke 8 allows the articulation of a grinder 10 comprising an axis 12 supporting a rotary neule 14. The grinder 10 comprises a connector 16 making it possible to supply it with a entrainment fluid such as a gas compressed (air or oil) by means of a hose 19. A double-acting pneumatic cylinder 18 is fixed at one of its ends to the end part of the bracket 6 and at its other end substantially to the middle part of L axis 12 by means of a support ring. The jack 18 is supplied with pressurized oil through conduits 18a and 18b. It allows the axis XX of the grinder holder to be moved around the pivot axis of the yoke 8 as indicated by the arrow 20. Thus, the pneumatic cylinder makes it possible to vary the pressure of the grinding wheel 14 on a workpiece
(not shown) such as for example a turbine wheel.
On a représenté sur la figure 2 un second mode de réalisation de la présente invention. Le porte-meuleuse comporte de manière similaire au mode de réalisation de la figure 1 une embase 2 de fixation au poignet du robot, une embase 4 de fixation de la meuleuse espacée de l'embase 2 par une série de pièces de caoutchouc d'amortissement des vibrations 5. Un bras 22 est monté sur l'embase de fixation 4. Une plaque de base 24 est montée pivotante à l'extrémité du bras ou potence 22. La plaque de base 24 est solidaire de la meuleuse qui comporte, de manière identique à la figure 1, un axe 12, une meule tournante 14 et un raccord 16 pour un fluide d'entrainement. FIG. 2 shows a second embodiment of the present invention. The grinder holder comprises, similarly to the embodiment of FIG. 1, a base 2 for fixing to the wrist of the robot, a base 4 for fixing the grinder spaced from the base 2 by a series of pieces of damping rubber. vibrations 5. An arm 22 is mounted on the fixing base 4. A base plate 24 is pivotally mounted at the end of the arm or bracket 22. The base plate 24 is integral with the grinder which comprises, so identical to FIG. 1, an axis 12, a rotating grinding wheel 14 and a connector 16 for a drive fluid.
Un vérin pneumatique à double effet 26 est monté pivotant à l'une de ses extrémités sur L'embase de fixation de la meuleuse 4 et à son autre extrémité sur la plaque de base 24. Le vérin pneumatique à double effet 26 permet de faire pivoter ta plaque de base 24 autour de son articulation, comme schématisé par les flèches 28, ce qui fait pivoter la meuleuse 10 comme indiqué par la flèche 20 et permet de régler sa pression d'application sur la pièce à meuler. A double-acting pneumatic cylinder 26 is pivotally mounted at one of its ends on the attachment base of the grinder 4 and at its other end on the base plate 24. The double-acting pneumatic cylinder 26 makes it possible to pivot your base plate 24 around its articulation, as shown diagrammatically by the arrows 28, which makes the grinder 10 pivot as indicated by the arrow 20 and makes it possible to adjust its application pressure on the workpiece.
On a représenté sur la figure 3 un troisième mode de réalisation d'un porte-meuleuse conforme à L'invention. Un carter 30 est monté sur l'embase 4 de fixation de la meuleuse. Une rotule 32 est montée pivotante sur le carter 30 par l'intermédiaire d'une articulation sphérique. Une tige 34 solidaire de la rotule 32 est fixée à son extrémité située du coté de l'embase 4 aux tiges de pistons de 8 vérins pneumatiques à double effet montés en opposition dont deux seulement, les vérins 36 et 38, ont été représentés. A son autre extrémité, la tige 34 est solidaire de la meuleuse 10 d'axe XX. On comprend que, de manière similaire au mode de réalisationn précédemment décrit, l'action des vérins pneumatiques permet de faire pivoter la meuleuse 10 selon la flèche 20 autour de son axe d'articulation constitué par La rotule 32. FIG. 3 shows a third embodiment of a grinder holder according to the invention. A casing 30 is mounted on the base 4 for fixing the grinder. A ball joint 32 is pivotally mounted on the casing 30 by means of a spherical joint. A rod 34 integral with the ball joint 32 is fixed at its end situated on the side of the base 4 to the piston rods of 8 double-acting pneumatic cylinders mounted in opposition, only two of which, the cylinders 36 and 38, have been shown. At its other end, the rod 34 is integral with the grinder 10 of axis XX. It is understood that, in a similar manner to the embodiment described above, the action of the pneumatic cylinders makes it possible to rotate the grinder 10 according to the arrow 20 around its axis of articulation constituted by the ball joint 32.
Dans les modes de réalisation qui viennent d'être décrits, la pression de la meule sur la pièce est assurée par
L'action d'un ou plusieurs vérins pneumatiques à double effet alimenté (s? par des détendeurs dont la pression de sortie aura été préréglée en fonction des paramètres de meulage. La mise en service ou hors service de ces détendeurs pourra entre gérée par le logiciel du robot, leur commande pouvant etre intégrée dans le programme.In the embodiments which have just been described, the pressure of the grinding wheel on the part is ensured by
The action of one or more double-acting pneumatic cylinders powered by regulators whose outlet pressure has been preset according to the grinding parameters. The commissioning or deactivation of these regulators can be managed by the robot software, their control can be integrated into the program.
Les Hsilentblocs" 5 assurent un très bon amortissement des vibrations tout en conservant une relative souplesse à l'ensemble. Des essais ont permis de constater leur efficacité. The Hsilentblocs "5 provide very good vibration damping while retaining relative flexibility to the assembly. Tests have shown their effectiveness.
On a représenté sur La figure 4 un mode de réalisation d'un porte-meuleuse comportant un retour d'effort. En d'autres termes, l'effort exercé sur La meule 14 est mesuré par des capteurs Cl à C4. Les signaux S1, SZ, S3, 54 correspondants sont retransmis par L'intermédiaire d'un convertisseur 122 à l'armoire 120 de commande du robot. Cette armoire 120 contient un microprocesseur qui commande à La fois le robot lui-meme et l'asservissement du ou des vérins du porte-meuleuse qui peut en comporter jusqu'à huit, comme par exemple dans le mode de réalisation de la figure 3. On mesure avantageusement les réactions R1, R2, R3, R4 de la pièce à usiner sur la meule 14 par la mesure de la quantité d'huile dans chacune des deux chambres du ou des vérins à double effet. On peut également mesurer le déplacement du piston de ce vérin ou de ces vérins. L'armoire de commande 120 permet de piloter les moyens 126 de motorisation des axes du robot et du porte-meuteuse. FIG. 4 shows an embodiment of a grinder holder comprising a force feedback. In other words, the force exerted on the grinding wheel 14 is measured by sensors C1 to C4. The corresponding signals S1, SZ, S3, 54 are retransmitted by means of a converter 122 to the cabinet 120 for controlling the robot. This cabinet 120 contains a microprocessor which controls both the robot itself and the servo-control of the cylinder (s) of the grinder holder which can include up to eight of them, as for example in the embodiment of FIG. 3. The reactions R1, R2, R3, R4 of the part to be machined on the grinding wheel 14 are advantageously measured by measuring the quantity of oil in each of the two chambers of the double-acting cylinder (s). We can also measure the displacement of the piston of this cylinder or these cylinders. The control cabinet 120 makes it possible to control the means 126 for motorizing the axes of the robot and the wiper.
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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FR8711123A FR2619043B1 (en) | 1987-08-05 | 1987-08-05 | PNEUMATIC CYLINDER GRINDER HOLDER FOR ROBOT |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8711123A FR2619043B1 (en) | 1987-08-05 | 1987-08-05 | PNEUMATIC CYLINDER GRINDER HOLDER FOR ROBOT |
Publications (2)
Publication Number | Publication Date |
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FR2619043A1 true FR2619043A1 (en) | 1989-02-10 |
FR2619043B1 FR2619043B1 (en) | 1994-08-05 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8711123A Expired - Fee Related FR2619043B1 (en) | 1987-08-05 | 1987-08-05 | PNEUMATIC CYLINDER GRINDER HOLDER FOR ROBOT |
Country Status (1)
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FR (1) | FR2619043B1 (en) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0422722A1 (en) * | 1989-10-13 | 1991-04-17 | Hoogovens Groep B.V. | Trace grinding apparatus |
WO1991014537A1 (en) * | 1990-03-27 | 1991-10-03 | Universal Robotics Corporation | Tool support |
WO1994002267A1 (en) * | 1992-07-17 | 1994-02-03 | Ariel Industries Plc | Compensated balance mounting for fastener applicator |
FR2694227A1 (en) * | 1992-07-28 | 1994-02-04 | Peugeot | Spindle holder tool holder for fitting to arm of robot - includes mobile support fixed to spindle and connected to fixed support integral with knuckle joint of robot,this connection being by flexible bushing parallel to axis of knuckle joint |
FR2713973A1 (en) * | 1993-12-17 | 1995-06-23 | Dobos Jozsef | Ingot mould interior cleaner |
EP0683017A1 (en) * | 1994-05-16 | 1995-11-22 | Director-General of Agency of Industrial Science and Technology | Robot hand for forging working |
WO2008046619A1 (en) * | 2006-10-19 | 2008-04-24 | Abb Ag | System and method for automatically processing and/or machining workpieces |
CN101863035A (en) * | 2010-07-02 | 2010-10-20 | 华中科技大学 | Flexible waist for robot |
DE102016104412B3 (en) * | 2016-03-10 | 2017-08-17 | Areva Gmbh | Manipulator and manipulator unit |
CN109531392A (en) * | 2019-02-06 | 2019-03-29 | 滁州职业技术学院 | A kind of plate burnishing device that stability is good |
EP3530406A1 (en) * | 2018-02-23 | 2019-08-28 | Temple Allen Holdings LLC | Surface treatment apparatus and method with selective loading |
CN110900604A (en) * | 2019-12-02 | 2020-03-24 | 浙江大学 | Dynamic model design method based on double-mechanical-arm cooperation polishing system |
CN111251152A (en) * | 2020-03-16 | 2020-06-09 | 赵可心 | Welding wire processing system and processing method |
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CN105150072A (en) * | 2015-08-04 | 2015-12-16 | 西宁科进工业设计有限公司 | Polishing machine |
CN105563309B (en) * | 2015-11-11 | 2019-04-12 | 华中科技大学 | It is a kind of actively to comply with end effector and its control method for adjustable pitch propeller robot grinding |
CN112192419B (en) * | 2020-08-28 | 2021-10-15 | 南京昱晟机器人科技有限公司 | Sheet metal polishing robot convenient to operate for machining |
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JPS59142062A (en) * | 1983-02-02 | 1984-08-15 | Kobe Steel Ltd | Correcting apparatus for abrasion amount of grinder grinding stone |
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JPS60108265A (en) * | 1983-11-18 | 1985-06-13 | Mitsubishi Electric Corp | Robot hand |
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1987
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JPS60108265A (en) * | 1983-11-18 | 1985-06-13 | Mitsubishi Electric Corp | Robot hand |
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Title |
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PATENT ABSTRACTS OF JAPAN, vol. 8, no. 270 (M-344)[1707], 11 décembre 1984; & JP-A-59 142 062 (KOBE SEIKOSHO K.K.) 15-08-1984 * |
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Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0422722A1 (en) * | 1989-10-13 | 1991-04-17 | Hoogovens Groep B.V. | Trace grinding apparatus |
WO1991014537A1 (en) * | 1990-03-27 | 1991-10-03 | Universal Robotics Corporation | Tool support |
WO1994002267A1 (en) * | 1992-07-17 | 1994-02-03 | Ariel Industries Plc | Compensated balance mounting for fastener applicator |
US6062458A (en) * | 1992-07-17 | 2000-05-16 | Ariel Industries Plc | Compensated balance mounting for fastener applicator |
ES2083906A2 (en) * | 1992-07-28 | 1996-04-16 | Peugeot | Spindle holder tool holder for fitting to arm of robot - includes mobile support fixed to spindle and connected to fixed support integral with knuckle joint of robot,this connection being by flexible bushing parallel to axis of knuckle joint |
FR2694227A1 (en) * | 1992-07-28 | 1994-02-04 | Peugeot | Spindle holder tool holder for fitting to arm of robot - includes mobile support fixed to spindle and connected to fixed support integral with knuckle joint of robot,this connection being by flexible bushing parallel to axis of knuckle joint |
FR2713973A1 (en) * | 1993-12-17 | 1995-06-23 | Dobos Jozsef | Ingot mould interior cleaner |
US5577902A (en) * | 1994-05-16 | 1996-11-26 | Director-General Of Agency Of Industrial Science And Technology | Robot hand for forging working |
EP0683017A1 (en) * | 1994-05-16 | 1995-11-22 | Director-General of Agency of Industrial Science and Technology | Robot hand for forging working |
WO2008046619A1 (en) * | 2006-10-19 | 2008-04-24 | Abb Ag | System and method for automatically processing and/or machining workpieces |
CN101863035A (en) * | 2010-07-02 | 2010-10-20 | 华中科技大学 | Flexible waist for robot |
DE102016104412B3 (en) * | 2016-03-10 | 2017-08-17 | Areva Gmbh | Manipulator and manipulator unit |
EP3530406A1 (en) * | 2018-02-23 | 2019-08-28 | Temple Allen Holdings LLC | Surface treatment apparatus and method with selective loading |
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CN110900604A (en) * | 2019-12-02 | 2020-03-24 | 浙江大学 | Dynamic model design method based on double-mechanical-arm cooperation polishing system |
CN110900604B (en) * | 2019-12-02 | 2021-01-05 | 浙江大学 | Dynamic model design method based on double-mechanical-arm cooperation polishing system |
CN111251152A (en) * | 2020-03-16 | 2020-06-09 | 赵可心 | Welding wire processing system and processing method |
CN111251152B (en) * | 2020-03-16 | 2021-03-23 | 兴化市环宇焊材有限公司 | Welding wire processing system and processing method |
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