IT1258263B - PORTAL CONSTRUCTION TYPE MANIPULATOR - Google Patents

PORTAL CONSTRUCTION TYPE MANIPULATOR

Info

Publication number
IT1258263B
IT1258263B ITMI920813A ITMI920813A IT1258263B IT 1258263 B IT1258263 B IT 1258263B IT MI920813 A ITMI920813 A IT MI920813A IT MI920813 A ITMI920813 A IT MI920813A IT 1258263 B IT1258263 B IT 1258263B
Authority
IT
Italy
Prior art keywords
linear drive
extending
force
gripping
type manipulator
Prior art date
Application number
ITMI920813A
Other languages
Italian (it)
Inventor
Bernhard Moosmann
Original Assignee
Mannesmann Ag
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 Mannesmann Ag filed Critical Mannesmann Ag
Publication of ITMI920813A0 publication Critical patent/ITMI920813A0/en
Publication of ITMI920813A1 publication Critical patent/ITMI920813A1/en
Application granted granted Critical
Publication of IT1258263B publication Critical patent/IT1258263B/en

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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/012—Portals
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/58—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • B23Q1/626—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • 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
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type

Landscapes

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

Abstract

Nel caso di un manipolatore del tipo costruttivo a portale con azionamenti lineari (1; 2; 4; 5), estendentisi, nel sistema cartesiano di coordinate, in direzioni x e y, su una slitta di presa (3) della forza dell'azionamento lineare, spostabile in direzione y, è fissato l'azionamento lineare (1; 2) estendentesi in direzione x, o viceversa, e su un azionamento lineare, è previsto un utensile, il quale è azionabile in direzione z ed è appostabile e allontanabile o rispettivamente girevole relativamente ad una superficie di lavorazione (7). Per raggiungere una maggiore frequenza dei tempi di cadenza degli utensili con ridotto peso di spostamento e una buona accessibilità alla superficie di lavorazione (7), viene proposto che su rispettivamente una slitta azionata di presa (3) della forza di un azionamento lineare (1; 2), il quale è spostabile in direzione x, è fissato rispettivamente un azionamento lineare (4; 5) estendentesi in direzione y, con il suo corpo di azionamento (8) sul lato inferiore di un azionamento lineare x e che su questo azionamento lineare (4; 5), estendentesi in direzione y, o rispettivamente sulla sua slitta di presa (11) della forza è disposto almeno un portautensili (6) estendentesi in direzione z.In the case of a portal-type manipulator with linear drives (1; 2; 4; 5), extending, in the Cartesian coordinate system, in x and y directions, on a gripping slide (3) of the force of the linear drive, movable in the y direction, the linear drive (1; 2) is fixed, extending in the x direction, or vice versa, and on a linear drive, a tool is provided, which can be operated in the z direction and can be affixed and removed or rotated respectively relative to a working surface (7). In order to achieve a higher frequency of the cadence times of the tools with reduced displacement weight and good accessibility to the machining surface (7), it is proposed that respectively on a driven slide gripping (3) the force of a linear drive (1; 2), which can be moved in the x direction, respectively a linear drive (4; 5) extending in the y direction is fixed, with its drive body (8) on the lower side of a linear drive xe and on this linear drive ( 4; 5), extending in the y direction, or respectively on its force gripping slide (11), there is at least one tool holder (6) extending in the z direction.

ITMI920813A 1991-04-09 1992-04-03 PORTAL CONSTRUCTION TYPE MANIPULATOR IT1258263B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4111889A DE4111889C2 (en) 1991-04-09 1991-04-09 Handling device

Publications (3)

Publication Number Publication Date
ITMI920813A0 ITMI920813A0 (en) 1992-04-03
ITMI920813A1 ITMI920813A1 (en) 1993-10-03
IT1258263B true IT1258263B (en) 1996-02-22

Family

ID=6429393

Family Applications (1)

Application Number Title Priority Date Filing Date
ITMI920813A IT1258263B (en) 1991-04-09 1992-04-03 PORTAL CONSTRUCTION TYPE MANIPULATOR

Country Status (4)

Country Link
DE (1) DE4111889C2 (en)
FR (1) FR2675070A1 (en)
GB (1) GB2257413B (en)
IT (1) IT1258263B (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2715336B1 (en) * 1994-01-24 1996-04-12 Helis Sa Large capacity machine tool with mobile structure.
US5992488A (en) * 1995-08-04 1999-11-30 Bortolini Engineering Flanging and trimming machine of panels
DE19614641B4 (en) * 1996-04-13 2004-03-25 Wurst, Karl-Heinz, Dr.-Ing. Device for machining and assembling workpieces
DE19721632C2 (en) * 1997-05-23 2003-02-13 Bernhard Moosmann Method for controlling a fluidic drive
GB2325915B (en) * 1997-06-02 1999-04-21 Julian Fuchs Gantry robot type sewing machine
DE19945584A1 (en) * 1999-09-23 2001-03-29 Siat Gmbh Technologiepark Multi-dimensional drive for work machines
SE523035C2 (en) 2000-04-13 2004-03-23 Saab Ab Tools for fixing hull details
ITMI20081251A1 (en) * 2008-07-10 2010-01-10 Ficep Spa Apparatus for making variable diameter holes in sheet metal
DE102013225116A1 (en) * 2013-12-06 2015-07-16 Robert Bosch Gmbh handling unit
CN106695827B (en) * 2017-01-11 2023-08-01 成都元拓自动控制技术有限公司 Multifunctional four-axis mechanical arm

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4229136A (en) * 1979-03-19 1980-10-21 International Business Machines Corporation Programmable air pressure counterbalance system for a manipulator
IT1144708B (en) * 1981-05-15 1986-10-29 Dea Spa INDUSTRIAL PRODUCTION SYSTEM SERVED BY A PLURALITY OF OPERATING ARMS AND CONTROLLED BY A CALCULATOR SYSTEM
JPS58196984A (en) * 1982-05-12 1983-11-16 松下電器産業株式会社 Industrial robot
EP0105549A1 (en) * 1982-09-14 1984-04-18 Fokker B.V. System for machining or treating workpieces clamped into subframes
ATE28424T1 (en) * 1983-10-28 1987-08-15 Hohenzollern Huettenverwalt HANDLING DEVICE.
DE3339227A1 (en) * 1983-10-28 1985-05-09 Knorr-Bremse GmbH, 8000 München Handling appliance unit
DE3445849A1 (en) * 1984-12-15 1986-06-19 Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen Industrial robot
US4694733A (en) * 1985-11-08 1987-09-22 Greenco Corporation Cable shield for a rodless cylinder
US4781517A (en) * 1986-02-03 1988-11-01 Clay-Mill Technical Systems, Inc. Robotic automobile assembly
US4936052A (en) * 1986-04-05 1990-06-26 Nagase Iron Works Co., Ltd. Machine and method of grinding molding die
DE3629367A1 (en) * 1986-08-29 1988-03-03 Rixen Wolfgang Mechanical management device, in particular a manipulator
FR2630675B1 (en) * 1988-05-02 1994-09-09 Aerospatiale SYSTEM FOR PERFORMING OPERATIONS ON LARGE OBJECTS, IN PARTICULAR FOR PAINTING AN AIRCRAFT
DE4002075A1 (en) * 1990-01-25 1991-08-08 Antriebs Steuerungstech Ges HANDLING DEVICE AND METHOD FOR HANDLING WORKPIECES

Also Published As

Publication number Publication date
DE4111889C2 (en) 1995-05-11
GB2257413B (en) 1995-01-18
ITMI920813A1 (en) 1993-10-03
FR2675070B1 (en) 1994-11-25
FR2675070A1 (en) 1992-10-16
DE4111889A1 (en) 1992-10-15
GB2257413A (en) 1993-01-13
GB9207713D0 (en) 1992-05-27
ITMI920813A0 (en) 1992-04-03

Similar Documents

Publication Publication Date Title
IT1258263B (en) PORTAL CONSTRUCTION TYPE MANIPULATOR
IT1231219B (en) MOBILE MACHINE FOR WORKING THE TRACK WITH A DEVICE TO CONTROL THE WORK POSITION OF ITS WORKING GROUPS AND, RESPECTIVELY, WORK TOOLS
SE8205499D0 (en) ROBOT MANIPULATOR DEVICE
CA2376801A1 (en) Device for positioning a tool within a predetermined working area
MY111919A (en) Transport by suction type die.
DE59910938D1 (en) Linear feed drive device for machining tools
ATE57122T1 (en) CLAMPING DEVICE FOR WORKPIECES.
SE7708394L (en) TOOL MACHINE, PREFERABLY STOP OR NIBLING MACHINE
CN111331630A (en) Pneumatic control type distance-adjustable telescopic mechanism for mechanical arm
DE69400245D1 (en) High-speed manufacturing unit for machining operations with an adaptable tool magazine
ATE265289T1 (en) MACHINE TOOL WITH GRIPPER AND/OR TOOL MAGAZINE SYSTEM
ATE163876T1 (en) QUICK COUPLING DEVICE FOR A TOOL HEAD OF A MANIPULATOR
IT1186455B (en) FLUID-OPERATED REGULATOR DEVICE FOR WORK EQUIPMENT AND SERVOMECHANISMS
IT1174162B (en) HYDRAULIC DRIVE DEVICE FOR THE EXACT POSITIONING OF WORKPIECES COMPARED TO THE HEADS OF TOOLS OF A MACHINE TOOL WITH MULTIPLE WORK STATIONS
JPS5796791A (en) Industrial robot working work having symmetrical shape
DE60300342D1 (en) Machine for processing fragile, sheet-like material
SE8302859L (en) MAGAZINE FOR MATERIALS AND OR TOOLS FOR ROBOT OR SIMILAR APPLICATIONS
ES2118175T3 (en) FOLDING MACHINE.
SE502921C2 (en) Device for linear control of a power unit and a pressure fluid cylinder of the slot cylinder type
ES253981U (en) A device for gripping parts in machining (Machine-translation by Google Translate, not legally binding)
SU1184643A1 (en) Multiposition clamp
SE8702348D0 (en) SHORT DAY MINING EQUIPMENT
ES8608601A1 (en) Pneumatic action accessory holder specifically for sewing machines.
SE8800628D0 (en) DEVICE FOR CONNECTING A TOOL TO A HOLDER UNIT
IT1254857B (en) OPERATING MACHINE, PARTICULARLY FOR FINISHING WORKPIECE SURFACES

Legal Events

Date Code Title Description
0001 Granted
TA Fee payment date (situation as of event date), data collected since 19931001

Effective date: 19960329