HRP20151314T1 - Uravnoteženi pneumatski manipulator - Google Patents
Uravnoteženi pneumatski manipulator Download PDFInfo
- Publication number
- HRP20151314T1 HRP20151314T1 HRP20151314T HRP20151314T HRP20151314T1 HR P20151314 T1 HRP20151314 T1 HR P20151314T1 HR P20151314 T HRP20151314 T HR P20151314T HR P20151314 T HRP20151314 T HR P20151314T HR P20151314 T1 HRP20151314 T1 HR P20151314T1
- Authority
- HR
- Croatia
- Prior art keywords
- guiding
- arm
- manipulator according
- manipulator
- extends
- Prior art date
Links
- 230000010355 oscillation Effects 0.000 claims 2
- 238000005096 rolling process Methods 0.000 claims 2
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- 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
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/22—Fluid motor
-
- 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
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Adhesives Or Adhesive Processes (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
Claims (7)
1. Uravnoteženi pneumatski manipulator, koji sadrži:
- noseći uređaj (11) koji sadrži sklop (13) koji može rotirati oko okomite osi (z);
- artikulirani paralelogramski mehanizam (21) koji sadrži rotacijski krak (24) obrtno postavljen na sklopu (13) radi izvođenja rotacijskog kretanja oko vodoravne osi osciliranja (x);
- najmanje jedan pneumatski linearni aktuator (22), koji djeluje između rotacijskog sklopa (13) i artikuliranog paralelogramskog mehanizma (21) radi dovođenja kraka (24) u rotacijsko kretanje oko osi osciliranja (x);
naznačen time što manipulator dalje sadrži:
- klizač (23) povezan sa aktuatorom (22) i klizno postavljen na rotacijskom sklopu (13) pomoću prvog pravolinijskog sredstva (30) za vođenje koje se pruža u prvom predmetnom pravcu (c);
- drugo pravolinijsko sredstvo (31) za vođenje koje je izvedeno kao integralno sa klizačem (23) i koje se pruža u drugom pravcu koji je ortogonalan u odnosu na prvi pravac;
- vezni element (32, 33) postavljen na rotacijskom kraku (24) gdje element (32, 33) djeluje sa drugim sredstvom (31) za vođenje.
2. Manipulator prema Zahtjevu 1, naznačen time, što vezni element (32, 33) sadrži sredstvo (33) za kotrljanje koje je rotacijski postavljeno na osi (35) integralnoj sa rotacijskim krakom (24) i koje se kotrlja duž drugog pravolinijskog sredstva (31) za vođenje klizača (23).
3. Manipulator prema Zahtjevu 1 ili 2, naznačen time, što drugo sredstvo (31) za vođenje sadrži najmanje jedan žlijeb (31a, 31b).
4. Manipulator prema Zahtjevu 3, naznačen time, što drugo sredstvo za vođenje sadrži par paralelnih žljebova (31a, 31b) izvedenih na rastojanju jedan od drugog u pravcu koji je ortogonalan u odnosu na drugi pravac.
5. Manipulator prema Zahtjevima 2 i 4, naznačen time, što sredstvo za kotrljanje sadrži cilindrični valjak (33) koji se kotrlja kroz oba žlijeba (31a, 31b).
6. Manipulator prema bilo kojem od prethodnih Zahtjeva, naznačen time, što se prvo sredstvo za vođenje produžava u okomitom pravcu, dok se drugo sredstvo za vođenje produžava u vodoravnom pravcu.
7. Manipulator prema bilo kojem od prethodnih Zahtjeva, naznačen time, što klizač (23) sadrži najmanje jedan kruti element oblika slova L sa dužim krakom vezanim za prvo sredstvo (30) za vođenje i kraćim krakom koji je ortogonalan na duži krak a koji omogućuje drugo sredstvo (31) za vođenje.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT000425A ITTO20120425A1 (it) | 2012-05-11 | 2012-05-11 | Manipolatore pneumatico bilanciato |
| EP13730351.7A EP2750839B1 (en) | 2012-05-11 | 2013-05-10 | A balanced pneumatic manipulator |
| PCT/IB2013/053791 WO2013168130A1 (en) | 2012-05-11 | 2013-05-10 | A balanced pneumatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| HRP20151314T1 true HRP20151314T1 (hr) | 2016-03-25 |
Family
ID=46210358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| HRP20151314T HRP20151314T1 (hr) | 2012-05-11 | 2015-12-02 | Uravnoteženi pneumatski manipulator |
Country Status (21)
| Country | Link |
|---|---|
| US (1) | US9457481B2 (hr) |
| EP (1) | EP2750839B1 (hr) |
| JP (1) | JP6302461B2 (hr) |
| CN (1) | CN103826808B (hr) |
| BR (1) | BR112014005281B1 (hr) |
| CA (1) | CA2846570C (hr) |
| DK (1) | DK2750839T3 (hr) |
| ES (1) | ES2555474T3 (hr) |
| HK (1) | HK1198473A1 (hr) |
| HR (1) | HRP20151314T1 (hr) |
| HU (1) | HUE027143T2 (hr) |
| IT (1) | ITTO20120425A1 (hr) |
| MX (1) | MX341776B (hr) |
| PL (1) | PL2750839T3 (hr) |
| PT (1) | PT2750839E (hr) |
| RS (1) | RS54481B1 (hr) |
| RU (1) | RU2625356C2 (hr) |
| SG (1) | SG11201400302VA (hr) |
| SI (1) | SI2750839T1 (hr) |
| SM (1) | SMT201500313B (hr) |
| WO (1) | WO2013168130A1 (hr) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2004201371B2 (en) * | 2003-05-07 | 2006-07-27 | Grant Million Investments Limited | A cleaning fluid heating reservoir and motor assembly for a range hood |
| CN106335047A (zh) * | 2016-10-31 | 2017-01-18 | 苏州立源信智能科技有限公司 | 一种耐摇晃的桁架机器人 |
| WO2019186406A1 (en) * | 2018-03-27 | 2019-10-03 | Idea Machine Development Design & Production Ltd. | Gripping and mobilizing system |
| CN108356656B (zh) * | 2018-03-29 | 2023-08-25 | 广东博科数控机械有限公司 | 一种气动机械臂及采用该机械臂的自吸尘打磨抛光终端装置 |
| CN109760102A (zh) * | 2019-03-22 | 2019-05-17 | 重庆金山医疗机器人有限公司 | 一种机械手升降回转连接结构 |
| CN112758688A (zh) * | 2021-01-26 | 2021-05-07 | 江苏盟星智能科技有限公司 | 一种avi产品自动上料机构 |
| IT202100008468A1 (it) * | 2021-04-06 | 2022-10-06 | Scaglia Indeva Spa | Manipolatore pneumatico bilanciato |
Family Cites Families (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE379665B (hr) * | 1974-10-14 | 1975-10-20 | Hiab Foco Ab | |
| JPS5918192B2 (ja) * | 1981-03-07 | 1984-04-25 | 元田電子工業株式会社 | 荷重取扱ロボツト |
| JPS5915797B2 (ja) * | 1981-03-27 | 1984-04-11 | 元田電子工業株式会社 | 荷重取扱ロボツト等に於けるア−ム機構の支持装置 |
| FR2512410A1 (fr) * | 1981-09-04 | 1983-03-11 | Kroczynski Patrice | Systeme de robots a pattes |
| JPS59142083A (ja) * | 1983-02-01 | 1984-08-15 | ダイキン工業株式会社 | リンクロボツト |
| US4659278A (en) * | 1984-02-27 | 1987-04-21 | Stahl Aufzuge & Co. KG | Manipulator based on the pantograph principle |
| JPS60259391A (ja) * | 1984-06-05 | 1985-12-21 | 株式会社岡村製作所 | 産業用ロボツトのア−ム支持装置 |
| SU1202863A1 (ru) * | 1984-07-16 | 1986-01-07 | Всесоюзный заочный машиностроительный институт | Уравновешенный манипул тор |
| US4662813A (en) * | 1985-05-24 | 1987-05-05 | Hartman John F | Mechanism for rotating a robot arm on an axis |
| US4899644A (en) * | 1986-04-18 | 1990-02-13 | Thermwood Corporation | Fluid cylinder assembly for robot actuators |
| SU1648888A1 (ru) * | 1986-06-04 | 1991-05-15 | Могилевский Проектно-Конструкторский Технологический Институт Специальной Технологической Оснастки, Автоматизации И Механизации | Способ замены грузозахватных приспособлений самоуравновешивающегос манипул тора |
| JPH0418787Y2 (hr) * | 1986-06-25 | 1992-04-27 | ||
| JPH05337846A (ja) * | 1991-08-15 | 1993-12-21 | Takachiho Koeki Kk | 締めつけ工具用補助アーム及び締めつけ装置 |
| US5456130A (en) * | 1992-02-24 | 1995-10-10 | Integrated Systems, Inc. | Load balancing arm |
| JP2799952B2 (ja) * | 1994-04-19 | 1998-09-21 | 日東工器株式会社 | マニピュレータの安全操作システム |
| SE515119C2 (sv) * | 1995-03-30 | 2001-06-11 | Abb Ab | Industrirobot |
| JPH11262889A (ja) * | 1998-03-17 | 1999-09-28 | Mitsubishi Heavy Ind Ltd | 産業用多関節ロボット |
| SE516878C2 (sv) * | 1999-12-09 | 2002-03-19 | Abb Ab | Industrirobot med en skruvfjäderuppbyggd balanseringsanordning med en teleskopisk enhet, samt förfarande för och användning av roboten |
| JP3614383B2 (ja) * | 2001-07-30 | 2005-01-26 | 川崎重工業株式会社 | ロボット |
| JP3830481B2 (ja) * | 2003-10-03 | 2006-10-04 | ファナック株式会社 | 産業用ロボット |
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| CN101291783B (zh) * | 2005-10-21 | 2011-12-28 | Abb公司 | 工业机器人的臂部件、工业机器人及机器人系统 |
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| US8784404B2 (en) * | 2009-06-29 | 2014-07-22 | Carefusion 2200, Inc. | Flexible wrist-type element and methods of manufacture and use thereof |
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-
2012
- 2012-05-11 IT IT000425A patent/ITTO20120425A1/it unknown
-
2013
- 2013-05-10 DK DK13730351.7T patent/DK2750839T3/en active
- 2013-05-10 MX MX2014002548A patent/MX341776B/es active IP Right Grant
- 2013-05-10 RU RU2014112365A patent/RU2625356C2/ru active
- 2013-05-10 CA CA2846570A patent/CA2846570C/en active Active
- 2013-05-10 RS RS20150801A patent/RS54481B1/en unknown
- 2013-05-10 CN CN201380003077.8A patent/CN103826808B/zh active Active
- 2013-05-10 BR BR112014005281-6A patent/BR112014005281B1/pt active IP Right Grant
- 2013-05-10 PL PL13730351T patent/PL2750839T3/pl unknown
- 2013-05-10 HU HUE13730351A patent/HUE027143T2/en unknown
- 2013-05-10 EP EP13730351.7A patent/EP2750839B1/en active Active
- 2013-05-10 US US14/350,964 patent/US9457481B2/en active Active
- 2013-05-10 SI SI201330105T patent/SI2750839T1/sl unknown
- 2013-05-10 JP JP2015510932A patent/JP6302461B2/ja active Active
- 2013-05-10 SG SG11201400302VA patent/SG11201400302VA/en unknown
- 2013-05-10 WO PCT/IB2013/053791 patent/WO2013168130A1/en active Application Filing
- 2013-05-10 PT PT137303517T patent/PT2750839E/pt unknown
- 2013-05-10 ES ES13730351.7T patent/ES2555474T3/es active Active
-
2014
- 2014-11-27 HK HK14111971.4A patent/HK1198473A1/zh unknown
-
2015
- 2015-12-02 HR HRP20151314T patent/HRP20151314T1/hr unknown
- 2015-12-10 SM SM201500313T patent/SMT201500313B/it unknown
Also Published As
| Publication number | Publication date |
|---|---|
| HUE027143T2 (en) | 2016-08-29 |
| BR112014005281B1 (pt) | 2021-11-16 |
| JP2015515933A (ja) | 2015-06-04 |
| PL2750839T3 (pl) | 2016-05-31 |
| CA2846570C (en) | 2020-08-18 |
| WO2013168130A1 (en) | 2013-11-14 |
| RU2625356C2 (ru) | 2017-07-13 |
| HK1198473A1 (zh) | 2015-05-08 |
| CN103826808B (zh) | 2016-01-13 |
| ES2555474T3 (es) | 2016-01-04 |
| JP6302461B2 (ja) | 2018-03-28 |
| PT2750839E (pt) | 2015-12-30 |
| SMT201500313B (it) | 2016-01-08 |
| ITTO20120425A1 (it) | 2013-11-12 |
| CN103826808A (zh) | 2014-05-28 |
| MX341776B (es) | 2016-09-02 |
| DK2750839T3 (en) | 2015-12-14 |
| US20140251057A1 (en) | 2014-09-11 |
| BR112014005281A2 (pt) | 2017-03-28 |
| MX2014002548A (es) | 2014-04-30 |
| RS54481B1 (en) | 2016-06-30 |
| EP2750839B1 (en) | 2015-09-09 |
| SI2750839T1 (sl) | 2016-03-31 |
| CA2846570A1 (en) | 2013-11-14 |
| RU2014112365A (ru) | 2015-10-10 |
| US9457481B2 (en) | 2016-10-04 |
| EP2750839A1 (en) | 2014-07-09 |
| SG11201400302VA (en) | 2014-08-28 |
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