ITTO930961A1 - Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse - Google Patents

Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse

Info

Publication number
ITTO930961A1
ITTO930961A1 IT93TO000961A ITTO930961A ITTO930961A1 IT TO930961 A1 ITTO930961 A1 IT TO930961A1 IT 93TO000961 A IT93TO000961 A IT 93TO000961A IT TO930961 A ITTO930961 A IT TO930961A IT TO930961 A1 ITTO930961 A1 IT TO930961A1
Authority
IT
Italy
Prior art keywords
industrial robot
presses
press
line
another
Prior art date
Application number
IT93TO000961A
Other languages
English (en)
Inventor
Enrico Mauletti
Original Assignee
Comau Spa
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 Comau Spa filed Critical Comau Spa
Publication of ITTO930961A0 publication Critical patent/ITTO930961A0/it
Priority to ITTO930961A priority Critical patent/IT1272084B/it
Priority to CA002137023A priority patent/CA2137023C/en
Priority to EP94830558A priority patent/EP0658403B1/en
Priority to DE69405966T priority patent/DE69405966T2/de
Priority to ES94830558T priority patent/ES2108962T3/es
Priority to AT94830558T priority patent/ATE158743T1/de
Priority to JP6331004A priority patent/JP2652355B2/ja
Priority to RU94044522/02A priority patent/RU2091207C1/ru
Priority to KR1019940034554A priority patent/KR0168696B1/ko
Priority to CN94120056A priority patent/CN1070092C/zh
Priority to US08/358,368 priority patent/US5522275A/en
Publication of ITTO930961A1 publication Critical patent/ITTO930961A1/it
Application granted granted Critical
Publication of IT1272084B publication Critical patent/IT1272084B/it

Links

Classifications

    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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
    • Y10T74/20317—Robotic arm including electric 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
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

Un robot industriale, particolarmente utilizzabile come robot interpresse, comprende una coppia di bracci (9, 10) girevoli intorno a due assi (I, II) fra loro paralleli e distanziati e sui quali sono articolati due avambracci (13, 14). Le estremità opposte degli avambracci (13, 14) sono mutuamente articolate intorno ad un asse comune (15), ed uno di tali avambracci (14) sopporta un polso (17) in modo girevole intorno ad un terzo asse (III) parallelo ai suddetti primo e secondo asse (I, II).(Figura 1).
ITTO930961A 1993-12-17 1993-12-17 Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse IT1272084B (it)

Priority Applications (11)

Application Number Priority Date Filing Date Title
ITTO930961A IT1272084B (it) 1993-12-17 1993-12-17 Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse
CA002137023A CA2137023C (en) 1993-12-17 1994-11-30 Industrial robot, particularly for moving pieces from one press to the other in a line of presses
EP94830558A EP0658403B1 (en) 1993-12-17 1994-12-01 Industrial robot, particularly for moving pieces from one press to the other in a line of presses
DE69405966T DE69405966T2 (de) 1993-12-17 1994-12-01 Industrieroboter, insbesondere zum Transport von Teilen zwischen Pressen in einer Pressenstrasse
ES94830558T ES2108962T3 (es) 1993-12-17 1994-12-01 Robot industrial, en particular para la transferencia de piezas de una prensa a otra en una linea de prensas.
AT94830558T ATE158743T1 (de) 1993-12-17 1994-12-01 Industrieroboter, insbesondere zum transport von teilen zwischen pressen in einer pressenstrasse
JP6331004A JP2652355B2 (ja) 1993-12-17 1994-12-09 工業用ロボツト
RU94044522/02A RU2091207C1 (ru) 1993-12-17 1994-12-16 Промышленный робот для перемещения обрабатываемых заготовок с одного пресса на другой на линии прессования
KR1019940034554A KR0168696B1 (ko) 1993-12-17 1994-12-16 프레쓰라인의 프레쓰들사이에서 가공물전달을 위한 산업용로봇
CN94120056A CN1070092C (zh) 1993-12-17 1994-12-17 适于将成列压床之一上的工件移至另一台用的工业机械手
US08/358,368 US5522275A (en) 1993-12-17 1994-12-19 Industrial robot, particularly for moving pieces from one press to the other in a line of presses

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO930961A IT1272084B (it) 1993-12-17 1993-12-17 Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse

Publications (3)

Publication Number Publication Date
ITTO930961A0 ITTO930961A0 (it) 1993-12-17
ITTO930961A1 true ITTO930961A1 (it) 1995-06-17
IT1272084B IT1272084B (it) 1997-06-11

Family

ID=11411943

Family Applications (1)

Application Number Title Priority Date Filing Date
ITTO930961A IT1272084B (it) 1993-12-17 1993-12-17 Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse

Country Status (11)

Country Link
US (1) US5522275A (it)
EP (1) EP0658403B1 (it)
JP (1) JP2652355B2 (it)
KR (1) KR0168696B1 (it)
CN (1) CN1070092C (it)
AT (1) ATE158743T1 (it)
CA (1) CA2137023C (it)
DE (1) DE69405966T2 (it)
ES (1) ES2108962T3 (it)
IT (1) IT1272084B (it)
RU (1) RU2091207C1 (it)

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EP1161317B1 (de) 1999-03-17 2003-01-15 Müller Weingarten AG Transportsystem
DE10064930A1 (de) * 2000-02-10 2001-08-16 Mueller Weingarten Maschf Horizontales Transportsystem
FR2810573B1 (fr) * 2000-06-21 2002-10-11 Commissariat Energie Atomique Bras de commande a deux branches en parallele
DE10064154B4 (de) 2000-12-22 2004-06-03 Schuler Pressen Gmbh & Co. Kg Mehrstufenpresse"
DE10108321A1 (de) * 2001-02-21 2002-08-29 A & F Automation & Foerdertech Handhabungsvorrichtung insbesondere in einer Verpackungsmaschine
ITTO20010575A1 (it) * 2001-06-15 2002-12-15 Comau Spa Linea di unita' operatrici per l'esecuzione di lavorazioni di macchina provvista di dispositivi traslatori modulari per il trasferimento dei
US6841006B2 (en) * 2001-08-23 2005-01-11 Applied Materials, Inc. Atmospheric substrate processing apparatus for depositing multiple layers on a substrate
DE10157328A1 (de) * 2001-11-23 2003-06-12 Schuler Pressen Gmbh & Co Vorrichtung zum Transport von Werkstücken innerhalb einer Mehrstufenpresse
US20030180135A1 (en) * 2002-03-25 2003-09-25 Sawdon Edwin G. Adjustable end arm effector
DE102004038036A1 (de) * 2004-08-05 2006-03-23 Schuler Automation Gmbh & Co.Kg Knickroboter
US7309204B2 (en) 2005-12-20 2007-12-18 Schuler Automation Gmbh & Co. Kg Articulated arm robot
JP4631881B2 (ja) * 2007-07-30 2011-02-16 トヨタ自動車株式会社 ワーク搬送装置
US7967549B2 (en) * 2008-05-15 2011-06-28 The Boeing Company Robotic system including foldable robotic arm
BR112012015640B1 (pt) * 2009-12-21 2020-09-29 Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik Elemento manipulador
CN102125960B (zh) * 2010-12-30 2012-08-15 无锡市新峰管业股份有限公司 管件成形机的上下料机械手
JP6040057B2 (ja) * 2013-03-01 2016-12-07 コマツＮｔｃ株式会社 二次元移動閉リンク構造
DE102013220798A1 (de) * 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
USD763937S1 (en) * 2014-05-26 2016-08-16 Abb Technology Ltd Industrial robot with a stand
CN104139395A (zh) * 2014-06-30 2014-11-12 东莞市顺如电子科技有限公司 一种检测机器人
CN104259335A (zh) * 2014-08-18 2015-01-07 昆山鑫腾顺自动化设备有限公司 一种四轴冲压取料机的操作工艺
CN104785655A (zh) * 2014-12-03 2015-07-22 佛山市艾乐博机器人科技有限公司 一种用于冲压工序的上下料机械手及装置
CN104440905B (zh) * 2014-12-29 2016-01-13 扬州捷迈锻压机械有限公司 一种工件传放机械手
CN104669277B (zh) * 2015-03-11 2016-05-11 宿州学院 一种双臂型写字机器人及其控制方法
CN104827464A (zh) * 2015-04-14 2015-08-12 马鞍山鼎泰稀土新材料股份有限公司 一种四自由度高速搬运机器人水平驱动机构
US10788264B2 (en) 2016-04-12 2020-09-29 Vanrx Pharmasystems, Inc. Method and apparatus for loading a lyophilization system
CN106180449B (zh) * 2016-07-06 2018-04-03 燕山大学 混联构型冲压上下料机械手
FR3086570B1 (fr) * 2018-10-01 2021-01-15 Univ Le Havre Normandie Systeme robotise, comprenant un bras articule
CN112357551A (zh) * 2020-10-13 2021-02-12 山东科技大学 一种蔬菜盆栽苗搬运机器人
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Also Published As

Publication number Publication date
ATE158743T1 (de) 1997-10-15
IT1272084B (it) 1997-06-11
CN1070092C (zh) 2001-08-29
EP0658403A1 (en) 1995-06-21
DE69405966D1 (de) 1997-11-06
KR0168696B1 (ko) 1999-02-01
US5522275A (en) 1996-06-04
JPH07205063A (ja) 1995-08-08
DE69405966T2 (de) 1998-03-05
EP0658403B1 (en) 1997-10-01
RU94044522A (ru) 1996-10-20
CN1117411A (zh) 1996-02-28
ES2108962T3 (es) 1998-01-01
JP2652355B2 (ja) 1997-09-10
CA2137023A1 (en) 1995-06-18
RU2091207C1 (ru) 1997-09-27
ITTO930961A0 (it) 1993-12-17
CA2137023C (en) 1998-04-07
KR950017111A (ko) 1995-07-20

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Legal Events

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

Effective date: 19971203