GB1511609A - Robot - Google Patents

Robot

Info

Publication number
GB1511609A
GB1511609A GB22777/76A GB2277776A GB1511609A GB 1511609 A GB1511609 A GB 1511609A GB 22777/76 A GB22777/76 A GB 22777/76A GB 2277776 A GB2277776 A GB 2277776A GB 1511609 A GB1511609 A GB 1511609A
Authority
GB
United Kingdom
Prior art keywords
arm
joint
computer
pivoting
joints
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
Application number
GB22777/76A
Other languages
English (en)
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.)
Akers Mek Verksted AS
Original Assignee
Akers Mek Verksted AS
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 Akers Mek Verksted AS filed Critical Akers Mek Verksted AS
Publication of GB1511609A publication Critical patent/GB1511609A/en
Expired 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • 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
    • B25J9/1025—Harmonic drives
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
GB22777/76A 1975-06-03 1976-06-02 Robot Expired GB1511609A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO751952A NO751952L (enrdf_load_stackoverflow) 1975-06-03 1975-06-03

Publications (1)

Publication Number Publication Date
GB1511609A true GB1511609A (en) 1978-05-24

Family

ID=19882306

Family Applications (1)

Application Number Title Priority Date Filing Date
GB22777/76A Expired GB1511609A (en) 1975-06-03 1976-06-02 Robot

Country Status (6)

Country Link
DE (1) DE2624378A1 (enrdf_load_stackoverflow)
DK (1) DK241276A (enrdf_load_stackoverflow)
FI (1) FI761569A7 (enrdf_load_stackoverflow)
GB (1) GB1511609A (enrdf_load_stackoverflow)
NO (1) NO751952L (enrdf_load_stackoverflow)
SE (1) SE7606240L (enrdf_load_stackoverflow)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0014768A1 (de) * 1979-02-15 1980-09-03 INDUSTRIE-WERKE KARLSRUHE AUGSBURG Aktiengesellschaft Zweigniederlassung Keller & Knappich Vorrichtung zum Handhaben eines an einem Ausleger schwenk- und drehbar angeordneten Werkzeuges
DE3130798A1 (de) * 1980-08-07 1982-04-15 Wilhelm 1235 Wien Krös "geraet zum automatischen positionieren von einrichtungen, wie loet-, bearbeitungs-, pruef-, zeicheneinrichtungen od.dgl. auf einer im wesentlichen ebenen arbeitsflaechen"
EP0045513A3 (en) * 1980-08-05 1982-04-21 Fanuc Ltd An industrial robot with a safeguard mechanism
EP0073185A1 (de) * 1981-08-25 1983-03-02 IGM - Industriegeräte- und Maschinenfabriks-gesellschaft mbH Schweissautomat
US4385358A (en) 1979-10-19 1983-05-24 Tokico Ltd. Robot
GB2126559A (en) * 1982-09-07 1984-03-28 Itt Manipulator apparatus
US4538047A (en) * 1983-11-15 1985-08-27 Hitachi Zosen Corporation Method of controlling robotic automatic welding apparatus
EP0165762A1 (en) * 1984-06-19 1985-12-27 Unimation Inc. Improved wrist and post for robots performing welding
US4589816A (en) * 1983-04-06 1986-05-20 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint
GB2215870A (en) * 1988-02-15 1989-09-27 Amada Co Ltd Welding robot
US5743705A (en) * 1994-09-13 1998-04-28 Eissfeller; Roman Industrial robot
WO1998058775A1 (en) * 1997-06-23 1998-12-30 Antonio Codatto A device for detecting the angular position of a rotary member in a numerically-controlled angular positioning system, particularly a member of a manipulator robot, and a robot incorporating the device
WO2011079631A1 (zh) * 2010-01-02 2011-07-07 华南理工大学 一种拉线式串行机械手
CN104552254A (zh) * 2014-12-23 2015-04-29 广西大学 一种多自由度摇臂式焊接机器人
CN104626140A (zh) * 2014-12-23 2015-05-20 广西大学 利用六自由度旋转移动式连杆机构进行焊接施工的方法
WO2018112097A1 (en) * 2016-12-15 2018-06-21 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2725557A1 (de) * 1977-06-07 1978-12-21 Volkswagenwerk Ag Drehantrieb fuer einen bestandteil eines handhabungsgeraets
US4420812A (en) * 1979-09-14 1983-12-13 Tokico, Ltd. Teaching- playback robot
DE3135608C1 (de) * 1981-09-09 1983-03-31 Walter 8753 Obernburg Reis Programmgesteuerter Manipulator
ATE25827T1 (de) * 1981-11-11 1987-03-15 Robotic Syst Ltd Aus modulen aufgebauter roboterarm.
DE3211688C2 (de) * 1982-03-30 1986-10-09 Binder, Karl-Franz, 8077 Reichertshofen Industrie-Roboter für Fertigungs- und/oder Montagezwecke
US4608651A (en) * 1982-10-28 1986-08-26 Kabushiki Kaisha Kobe Seiko Sho Control system for direct teaching/playback type robots
EP0108511A3 (en) * 1982-11-04 1985-12-18 EMI Limited Improvements in or relating to robot control systems
JPS59134690A (ja) * 1983-01-24 1984-08-02 三菱電機株式会社 多関節型ア−ク溶接ロボツト
JPS59142089A (ja) * 1983-01-26 1984-08-15 三菱電機株式会社 ア−ク溶接ロボツト
DE4202922A1 (de) † 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ
DE102007014023A1 (de) * 2007-03-23 2008-09-25 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter-Manipulatorarm-Gelenkantrieb
DE102007028758B4 (de) * 2007-06-22 2009-04-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Roboter-Manipulator-Gelenkantrieb
CN104772556B (zh) * 2015-04-30 2017-03-01 唐山开元特种焊接设备有限公司 90度弯管内壁堆焊焊枪
DE102015211496A1 (de) 2015-06-22 2016-12-22 Deckel Maho Pfronten Gmbh Werkzeugmaschine zur spanenden Bearbeitung eines Werkstücks
CN110962101B (zh) * 2018-09-29 2021-09-14 西门子（中国）有限公司 工业机器人搬运装置、系统、方法和机器可读介质

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0014768A1 (de) * 1979-02-15 1980-09-03 INDUSTRIE-WERKE KARLSRUHE AUGSBURG Aktiengesellschaft Zweigniederlassung Keller & Knappich Vorrichtung zum Handhaben eines an einem Ausleger schwenk- und drehbar angeordneten Werkzeuges
US4385358A (en) 1979-10-19 1983-05-24 Tokico Ltd. Robot
EP0045513A3 (en) * 1980-08-05 1982-04-21 Fanuc Ltd An industrial robot with a safeguard mechanism
US4406576A (en) 1980-08-05 1983-09-27 Fujitsu Fanuc Limited Industrial robot with a safeguard mechanism
DE3130798A1 (de) * 1980-08-07 1982-04-15 Wilhelm 1235 Wien Krös "geraet zum automatischen positionieren von einrichtungen, wie loet-, bearbeitungs-, pruef-, zeicheneinrichtungen od.dgl. auf einer im wesentlichen ebenen arbeitsflaechen"
EP0073185A1 (de) * 1981-08-25 1983-03-02 IGM - Industriegeräte- und Maschinenfabriks-gesellschaft mbH Schweissautomat
GB2126559A (en) * 1982-09-07 1984-03-28 Itt Manipulator apparatus
US4589816A (en) * 1983-04-06 1986-05-20 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint
US4538047A (en) * 1983-11-15 1985-08-27 Hitachi Zosen Corporation Method of controlling robotic automatic welding apparatus
EP0165762A1 (en) * 1984-06-19 1985-12-27 Unimation Inc. Improved wrist and post for robots performing welding
GB2254171B (en) * 1988-02-15 1992-12-23 Amada Co Ltd Welding robot
US5015821A (en) * 1988-02-15 1991-05-14 Amada Company, Limited Computer controlled welding robot
GB2254171A (en) * 1988-02-15 1992-09-30 Amada Co Ltd Welding robot
GB2254172A (en) * 1988-02-15 1992-09-30 Amada Co Ltd Welding robot
GB2254172B (en) * 1988-02-15 1992-12-16 Amada Co Ltd Welding robot
GB2215870B (en) * 1988-02-15 1992-12-16 Amada Co Ltd Welding robot
GB2215870A (en) * 1988-02-15 1989-09-27 Amada Co Ltd Welding robot
AT398050B (de) * 1988-02-15 1994-08-25 Amada Co Ltd Schweissroboter
US5743705A (en) * 1994-09-13 1998-04-28 Eissfeller; Roman Industrial robot
WO1998058775A1 (en) * 1997-06-23 1998-12-30 Antonio Codatto A device for detecting the angular position of a rotary member in a numerically-controlled angular positioning system, particularly a member of a manipulator robot, and a robot incorporating the device
WO2011079631A1 (zh) * 2010-01-02 2011-07-07 华南理工大学 一种拉线式串行机械手
CN104552254A (zh) * 2014-12-23 2015-04-29 广西大学 一种多自由度摇臂式焊接机器人
CN104626140A (zh) * 2014-12-23 2015-05-20 广西大学 利用六自由度旋转移动式连杆机构进行焊接施工的方法
WO2018112097A1 (en) * 2016-12-15 2018-06-21 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
US10337561B2 (en) 2016-12-15 2019-07-02 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
CN110072676A (zh) * 2016-12-15 2019-07-30 波士顿动力公司 具有用于有腿机器人的整合过载保护的传动装置
US20190271361A1 (en) * 2016-12-15 2019-09-05 Boston Dynamics, Inc. Transmission with Integrated Overload Protection for a Legged Robot
US10655684B2 (en) 2016-12-15 2020-05-19 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
JP2020514080A (ja) * 2016-12-15 2020-05-21 ボストン ダイナミクス，インコーポレイテッド 脚付きロボット用の一体化された過負荷保護を有する伝動装置
JP2021094694A (ja) * 2016-12-15 2021-06-24 ボストン ダイナミクス，インコーポレイテッド 脚付きロボット用の一体化された過負荷保護を有する伝動装置
EP4052860A1 (en) * 2016-12-15 2022-09-07 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
US11460076B2 (en) 2016-12-15 2022-10-04 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
US11920649B2 (en) 2016-12-15 2024-03-05 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
US12320400B2 (en) 2016-12-15 2025-06-03 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot

Also Published As

Publication number Publication date
FI761569A7 (enrdf_load_stackoverflow) 1976-12-04
DK241276A (da) 1976-12-04
SE7606240L (sv) 1976-12-04
DE2624378A1 (de) 1977-02-24
NO751952L (enrdf_load_stackoverflow) 1976-12-06

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Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
PCNP Patent ceased through non-payment of renewal fee