GB1246280A - Apparatus for manipulating articles - Google Patents
Apparatus for manipulating articlesInfo
- Publication number
- GB1246280A GB1246280A GB60558/68A GB6055868A GB1246280A GB 1246280 A GB1246280 A GB 1246280A GB 60558/68 A GB60558/68 A GB 60558/68A GB 6055868 A GB6055868 A GB 6055868A GB 1246280 A GB1246280 A GB 1246280A
- Authority
- GB
- United Kingdom
- Prior art keywords
- piston
- gripper
- manipulator
- arm
- modes
- 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
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/188—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by special applications and not provided for in the relevant subclasses, (e.g. making dies, filament winding)
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- 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
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- 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
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]
Abstract
1,246,280. Manipulators. INTERNATIONAL BUSINESS MACHINES CORP. 20 Dec., 1968 [2 Jan., 1968], No. 60558/68. Heading B8H. [Also in Divisions F1, G3 and G4] In an hydraulically operated manipulator the rotary connection between a gripper member 45 and the manipulator arm and the sliding connections between the X, Y, Z members 38, 40, 42 of the arm are, in operation locked and clamped with the exception of one selected connection, whereby on actuating a common endless drive cable 69 only the released member is driven. In addition to the four modes of movement, O, X, Y, Z, above, the manipulator is capable of grip, sweep (rotation through 90 degrees about a vertical axis) and search (vibratory partsmatching such as inserting a pin in a hole) modes. The sequence of the modes and the displacement in the O, X, Y, Z modes is contained in binary code on a perforated tape, the information being fed from a tape reader to an hydraulic serial-to-parallel converter for subsequent control of a piston adder driving the cable 69, described in Specification 1,219,679. The manipulator is controlled manually from a control panel, Figs. 6-9 (not shown), connected by a tape punch to produce the required programme. Mechanical construction.-Each sliding connection between the arm members consists of guide rollers, Figs. 21, 22 (not shown) and includes a cylinder (e.g. 387, 389) and a toothed piston which is hydraulically driven into engagement with a toothed rack (e.g. 385, 388) on the associated arm member and which is disengaged by a spring when the pressure is released. The endless drive cable 69 is secured to the piston adder by a clamp 368 and passes around pulleys 369, 373-379. The rack 391 for the rotary connection between the gripper and the arm is attached to the cable 69 and is supported by guides 393, 394 adjacent the locking piston and cylinder 392. Rotation of the pulley 375 by the cable 69 causes rotation of the gripper through bevel gears Fig. 24 (not shown). The column 370, in which the Z arm member slides, is secured between upper and lower horizontal discs which are mounted for rotation about a vertical axis in a housing containing the control apparatus, Fig. 2 (not shown), and which are rotatable by a double-acting ram, Fig. 18 (not shown). Gripper.-The gripper 45, Fig. 23, comprises jaws 406 mounted on links 414 and adapted to be closed when a wedge cam 409 is driven to the left by a piston 408 in a housing 424. The gripper is mounted on the arm member 38 by a hollow shaft 412 inserted in a cavity in the housing 424 and provided with a spring loaded detent piston 413 permitting removal of the gripper if the piston 408 is not pressurized. The shaft 412 provides a fluid connection to the piston 408 and is connected to a flexible pipe 420 secured to a piston 436 in a cylinder 425. In the search mode of operation, the gripper is vibrated longitudinally of the arm member 38 by oscillations of pistons 429, 430, the pistons 429, 430, 436 being connected to an hydraulic oscillator Fig. 25 (not shown) (see Division F1). Conveyers.-The manipulator in the preferred embodiment is programmed to transfer bolts 47, Fig. 2, from a hopper 48 into apertures 49 in workpieces 50 on a conveyer 51 which is advanced successively in synchronism with the operations of the manipulator.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US69494168A | 1968-01-02 | 1968-01-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
GB1246280A true GB1246280A (en) | 1971-09-15 |
Family
ID=24790887
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
GB60558/68A Expired GB1246280A (en) | 1968-01-02 | 1968-12-20 | Apparatus for manipulating articles |
Country Status (2)
Country | Link |
---|---|
US (1) | US3575301A (en) |
GB (1) | GB1246280A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5027269A (en) * | 1973-07-13 | 1975-03-20 | ||
JPS5076478U (en) * | 1973-11-15 | 1975-07-03 | ||
JPS5160367A (en) * | 1974-11-22 | 1976-05-26 | Hitachi Ltd | HANSOSOCHI |
JPS5540396B1 (en) * | 1970-02-23 | 1980-10-17 | ||
EP0022372B1 (en) * | 1979-07-10 | 1986-01-22 | Fanuc Ltd. | A numerical control system having a machine tool and a robot |
GB2221772A (en) * | 1988-06-20 | 1990-02-14 | Nissan Motor | Manipulator teaching apparatus |
Families Citing this family (61)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3827579A (en) * | 1968-03-25 | 1974-08-06 | Gen Electric | Irradiated fuel processing system |
US3770140A (en) * | 1969-09-25 | 1973-11-06 | American Ass Cybernetics | Sensor responsive cybernetics machine |
US3731821A (en) * | 1970-09-15 | 1973-05-08 | B Wallis | Article transfer device |
US3658190A (en) * | 1970-09-25 | 1972-04-25 | Norton Co | Automatic workpiece loader and unloader |
US3731822A (en) * | 1970-12-24 | 1973-05-08 | Hartman M W Manuf Co Inc | Foundry mold jacket and weight shifter |
GB1379399A (en) * | 1971-02-12 | 1975-01-02 | Electrolux Ab | Unit for moving an article and apparatus having a plurality of such units |
US3851769A (en) * | 1971-04-09 | 1974-12-03 | Seiko Instr & Electronics | Industrial robot |
US3762015A (en) * | 1972-01-17 | 1973-10-02 | Automated Equip Corp | Die bonder apparatus |
DE2213249C2 (en) * | 1972-03-18 | 1974-04-25 | Aeg-Elotherm Gmbh, 5630 Remscheidhasten | Ejection device on a pusher furnace for heating workpieces, e.g. blocks, to thermoforming temperature |
CA1004444A (en) * | 1972-05-08 | 1977-02-01 | Unimation | Programmed manipulator arrangement for assembling randomly oriented parts |
US3870164A (en) * | 1972-07-12 | 1975-03-11 | Harold A Haase | Work transfer device |
JPS5546458Y2 (en) * | 1973-04-11 | 1980-10-30 | ||
US4046262A (en) * | 1974-01-24 | 1977-09-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Anthropomorphic master/slave manipulator system |
CH596945A5 (en) * | 1975-12-09 | 1978-03-31 | Studer Ag Fritz | |
US4132318A (en) * | 1976-12-30 | 1979-01-02 | International Business Machines Corporation | Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system |
FR2398347A1 (en) * | 1977-07-19 | 1979-02-16 | Crouzet Sa | ROBOT DEVELOPMENTS |
DE2757629A1 (en) * | 1977-12-23 | 1979-07-05 | Schuler Gmbh L | UNLOADING DEVICE FOR A PRESS |
DE2800381A1 (en) * | 1978-01-05 | 1979-07-12 | Schuler Gmbh L | LOADING DEVICE FOR A PRESS |
US4674948A (en) * | 1985-07-17 | 1987-06-23 | Industrial Technology Institute | High weight capacity robot to pick and place palleted materials in a confined space with specific rotational control |
US4676713A (en) * | 1985-12-06 | 1987-06-30 | Voelpel Charles E | Material handling machine |
GB2210350A (en) * | 1987-09-25 | 1989-06-07 | Kemble Instr Company Limited | Machine drive system |
FR2621271A1 (en) * | 1987-10-02 | 1989-04-07 | Eude Bernard | DEVICE FOR MOVING A MOBILE, AND PARTICULARLY A HANDLING GRIPPER IN A VERTICAL PLANE |
US5105069A (en) * | 1989-04-07 | 1992-04-14 | International Business Machines Corporation | Self-service transaction apparatus and method |
US5125789A (en) * | 1990-01-02 | 1992-06-30 | Peerless Automation | Molded parts removal and transfer robot |
US5184601A (en) * | 1991-08-05 | 1993-02-09 | Putman John M | Endoscope stabilizer |
CA2078295C (en) * | 1991-08-05 | 1995-11-21 | John Michael Putman | Endoscope stabilizer |
US5597146A (en) * | 1991-08-05 | 1997-01-28 | Putman; J. Michael | Rail-mounted stabilizer for surgical instrument |
US5441042A (en) * | 1991-08-05 | 1995-08-15 | Putman; John M. | Endoscope instrument holder |
US5428713A (en) * | 1991-11-25 | 1995-06-27 | Kabushiki Kaisha Toshiba | Compound module type manipulator apparatus |
DE9115369U1 (en) * | 1991-12-11 | 1992-03-26 | Weinert, Werner, Prof. Dr.-Ing., 6101 Modautal, De | |
US5465036A (en) * | 1992-12-11 | 1995-11-07 | Canon Kabushiki Kaisha | Control apparatus of robot |
JP2000296485A (en) * | 1999-04-15 | 2000-10-24 | Minolta Co Ltd | Micromanipulator |
US6777903B1 (en) * | 2002-09-09 | 2004-08-17 | Storage Technology Corporation | Wedge type parallel jaw gripper for automated data storage library |
CN100582641C (en) * | 2005-04-30 | 2010-01-20 | 江从铨 | Online automatic flushing device and method for gas turbine generator condenser |
US20070180678A1 (en) * | 2005-11-10 | 2007-08-09 | Hugo Salamanca | Robot system and method for bolt removal from SAG and/or ball mills in ore concentration processes |
US20070299556A1 (en) * | 2005-11-10 | 2007-12-27 | Hugo Salamanca | Robot system and method for scrap bundling in metal smelting and refining processes |
US20090121061A1 (en) * | 2005-11-10 | 2009-05-14 | Hugo Salamanca | Robot system and method for unblocking the primary crusher |
US20070144894A1 (en) * | 2005-11-10 | 2007-06-28 | Hugo Salamanca | Robot system and method for cathode stripping in electrometallurgical and industrial processes |
US8418830B2 (en) * | 2005-11-10 | 2013-04-16 | Mi Robotic Solutions (Mirs) | Robot system and method for removing sticks and/or foreign elements from conveyor belts |
US20070267043A1 (en) * | 2005-11-10 | 2007-11-22 | Hugo Salamanca | Robot system and method for washing and unclogging procedures of machines under maintenance |
US20100057254A1 (en) * | 2006-11-13 | 2010-03-04 | Salamanca Hugo P | Methods for using robotics in mining and post-mining processing |
US20090177324A1 (en) * | 2005-11-10 | 2009-07-09 | Hugo Salamanca | Robot system and method for maxibags sampling in ore concentration processes |
US20070152616A1 (en) * | 2005-11-10 | 2007-07-05 | Hugo Salamanca | Robot system and method for cathode selection and handling procedures after the harvest |
US20070185610A1 (en) * | 2005-11-10 | 2007-08-09 | Hugo Salamanca | Robot system and method for the application of dislodging material and pin positioning in casting wheels |
US7746018B2 (en) * | 2005-11-10 | 2010-06-29 | MI Robotic Solutions | Robot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes |
US20090101179A1 (en) * | 2005-11-10 | 2009-04-23 | Hugo Salamanca | Robot system and method for molybdenum roasting furnaces cleaning procedures |
US20090099688A1 (en) * | 2005-11-10 | 2009-04-16 | Hugo Salamanca | Integral robot system and method for the dislodging process and/or anode handling from casting wheels |
US8220354B2 (en) | 2006-06-28 | 2012-07-17 | Genmark Automation, Inc. | Belt-driven robot having extended Z-axis motion |
US8701519B2 (en) * | 2006-06-28 | 2014-04-22 | Genmark Automation, Inc. | Robot with belt-drive system |
US8897916B2 (en) * | 2007-03-01 | 2014-11-25 | Tokyo Institute Of Technology | Maneuvering system having inner force sense presenting function |
JP5327687B2 (en) * | 2007-03-01 | 2013-10-30 | 国立大学法人東京工業大学 | Maneuvering system with haptic function |
AU2008200839B2 (en) * | 2007-04-10 | 2013-08-15 | Erowa Ag | Handling manipulator assembly |
US8099184B2 (en) * | 2009-04-13 | 2012-01-17 | Rimrock Automation, Inc. | Load compensation for robotic applications |
GB201208215D0 (en) * | 2012-05-10 | 2012-06-20 | Ttp Labtech Ltd | Storage apparatus |
US9132873B1 (en) | 2013-03-14 | 2015-09-15 | Kuka Systems Corporation North America | Flexible conveyance system |
CA2901633C (en) * | 2013-03-14 | 2020-12-01 | Kuka Systems Corporation North America | Flexible conveyance system |
CN104932271B (en) * | 2015-06-08 | 2017-07-28 | 浙江工业大学 | A kind of neutral net full-order sliding mode control method of mechanical arm servo-drive system |
CN105045101B (en) * | 2015-06-08 | 2018-06-12 | 浙江工业大学 | A kind of mechanical arm servo-drive system full-order sliding mode control method based on extended state observer |
WO2019069259A1 (en) | 2017-10-04 | 2019-04-11 | Johnson & Johnson Surgical Vision, Inc. | Systems for measuring fluid flow in a venturi based system |
US11071816B2 (en) | 2017-10-04 | 2021-07-27 | Johnson & Johnson Surgical Vision, Inc. | System, apparatus and method for monitoring anterior chamber intraoperative intraocular pressure |
CN114533275B (en) * | 2022-02-22 | 2024-02-23 | 上海微创医疗机器人(集团)股份有限公司 | Terminal articulated arm, mechanical arm and medical trolley |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2073721A (en) * | 1930-01-18 | 1937-03-16 | Edwin M Wheelock | Automobile storage device |
US2876650A (en) * | 1955-01-13 | 1959-03-10 | Sundstrand Machine Tool Co | Apparatus for automatically relatively positioning workholders, tools and the like |
USRE25889E (en) * | 1957-10-07 | 1965-10-26 | Transfer mechanism | |
US3043448A (en) * | 1958-09-19 | 1962-07-10 | Gen Mills Inc | Vehicle-mounted manipulator |
US3212649A (en) * | 1960-07-15 | 1965-10-19 | American Mach & Foundry | Machine for performing work |
US3084967A (en) * | 1960-08-08 | 1963-04-09 | Ernest F Harrett | Method and apparatus for removing fruit from trees |
NL277196A (en) * | 1961-04-14 | |||
US3322206A (en) * | 1964-10-09 | 1967-05-30 | Ohio Brass Co | Earth borer |
US3372817A (en) * | 1966-02-10 | 1968-03-12 | Homer E. Conklin | Boat moving and storage apparatus |
US3406836A (en) * | 1966-09-09 | 1968-10-22 | Simplex Corp | Transfer device |
US3455476A (en) * | 1967-03-10 | 1969-07-15 | Wortham Machinery Co | Attachment for lift truck |
-
1968
- 1968-01-02 US US694941A patent/US3575301A/en not_active Expired - Lifetime
- 1968-12-20 GB GB60558/68A patent/GB1246280A/en not_active Expired
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5540396B1 (en) * | 1970-02-23 | 1980-10-17 | ||
JPS5027269A (en) * | 1973-07-13 | 1975-03-20 | ||
JPS5548955B2 (en) * | 1973-07-13 | 1980-12-09 | ||
JPS5076478U (en) * | 1973-11-15 | 1975-07-03 | ||
JPS5623032Y2 (en) * | 1973-11-15 | 1981-05-29 | ||
JPS5160367A (en) * | 1974-11-22 | 1976-05-26 | Hitachi Ltd | HANSOSOCHI |
JPS553113B2 (en) * | 1974-11-22 | 1980-01-23 | ||
EP0022372B1 (en) * | 1979-07-10 | 1986-01-22 | Fanuc Ltd. | A numerical control system having a machine tool and a robot |
GB2221772A (en) * | 1988-06-20 | 1990-02-14 | Nissan Motor | Manipulator teaching apparatus |
US5025393A (en) * | 1988-06-20 | 1991-06-18 | Nissan Motor Co., Ltd. | Teaching apparatus |
GB2221772B (en) * | 1988-06-20 | 1992-05-20 | Nissan Motor | Teaching apparatus |
Also Published As
Publication number | Publication date |
---|---|
US3575301A (en) | 1971-04-20 |
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