JPH01166087U - - Google Patents

Info

Publication number
JPH01166087U
JPH01166087U JP1988062896U JP6289688U JPH01166087U JP H01166087 U JPH01166087 U JP H01166087U JP 1988062896 U JP1988062896 U JP 1988062896U JP 6289688 U JP6289688 U JP 6289688U JP H01166087 U JPH01166087 U JP H01166087U
Authority
JP
Japan
Prior art keywords
vibration damping
assembly robot
damping device
precision assembly
fixed
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.)
Pending
Application number
JP1988062896U
Other languages
English (en)
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 filed Critical
Priority to JP1988062896U priority Critical patent/JPH01166087U/ja
Priority to US07/351,762 priority patent/US5102289A/en
Publication of JPH01166087U publication Critical patent/JPH01166087U/ja
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/104—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted
    • F16F7/108—Vibration-dampers; Shock-absorbers using inertia effect the inertia member being resiliently mounted on plastics springs
    • 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
    • B25J19/0091—Shock absorbers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Vibration Prevention Devices (AREA)
  • Manipulator (AREA)

Description

【図面の簡単な説明】
第１図は、振動減衰装置を有する精密組立ロボ
ツトの外観図であり、第２図、第３図、第４図は
、実施例で使用した振動減衰装置の断面図である
。また、第５図は接線方向の加速度の測定方法を
示した図であり、第６図、第７図は接線方向の加
速度の実測値である。このうち、第６図は振動減
衰装置が無い場合、第７図は振動減衰装置がある
場合である。 １１……水平多関節型精密組立ロボツト、１２
……ロボツトの第２軸、１３……振動減衰装置、
２１……ゴム製パイプ、２２……金属製おもり、
２３……取り付け用アングル、２４……止めネジ
、２５……軸、２６……Ｏリング、２７……取り
付け具、２８……カバー。

Claims (1)

    【実用新案登録請求の範囲】
  1. 旋回アームを有する精密組立ロボツトにおいて
    、一端がアーム側に固定され、他端が自由でかつ
    おもりが固定されている柱状弾性体によるダンパ
    効果を利用した振動減衰装置が旋回アームに設置
    されていることを特徴とした精密組立ロボツト。
JP1988062896U 1988-05-13 1988-05-13 Pending JPH01166087U (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP1988062896U JPH01166087U (ja) 1988-05-13 1988-05-13
US07/351,762 US5102289A (en) 1988-05-13 1989-05-15 Damper device for precision assembling robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1988062896U JPH01166087U (ja) 1988-05-13 1988-05-13

Publications (1)

Publication Number Publication Date
JPH01166087U true JPH01166087U (ja) 1989-11-21

Family

ID=13213467

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1988062896U Pending JPH01166087U (ja) 1988-05-13 1988-05-13

Country Status (2)

Country Link
US (1) US5102289A (ja)
JP (1) JPH01166087U (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011183525A (ja) * 2010-03-10 2011-09-22 Denso Wave Inc ロボットの制振装置
JP2018140464A (ja) * 2017-02-28 2018-09-13 トヨタ自動車株式会社 搬送用ロボットアーム

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5331264A (en) * 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
JPH07328965A (ja) * 1994-06-03 1995-12-19 Toyota Motor Corp 制振制御方法および固有振動周期測定方法および制振制御装置
US6366830B2 (en) * 1995-07-10 2002-04-02 Newport Corporation Self-teaching robot arm position method to compensate for support structure component alignment offset
ES2143344B1 (es) * 1996-06-06 2001-01-16 Ct Tecnologico Robotiker Amortiguador de vibraciones para herramienta de robot.
US5811951A (en) * 1996-10-14 1998-09-22 Regents Of The University Of California High precision redundant robotic manipulator
US6296093B1 (en) * 1998-11-09 2001-10-02 Lord Corportion Vibration-damped machine and control method therefor
DE19905506C1 (de) * 1999-02-10 2000-07-20 Siemens Ag Einrichtung zum Dämpfen von Schwingungen in einem Positionierarm
US6758113B2 (en) * 2001-07-10 2004-07-06 Asm Assembly Automation Limited High speed pick and place apparatus
US6761085B1 (en) * 2002-02-06 2004-07-13 Novellus Systems Incorporated Method and apparatus for damping vibrations in a semiconductor wafer handling arm
GB2388064B (en) * 2002-05-01 2005-06-08 Kfh Design Ltd Precise positioning of an object
US7039498B2 (en) * 2003-07-23 2006-05-02 Newport Corporation Robot end effector position error correction using auto-teach methodology
US8267652B2 (en) * 2004-08-30 2012-09-18 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
US8090482B2 (en) * 2007-10-25 2012-01-03 Lord Corporation Distributed active vibration control systems and rotary wing aircraft with suppressed vibrations
US7722322B2 (en) * 2004-08-30 2010-05-25 Lord Corporation Computer system and program product for controlling vibrations
US8162606B2 (en) 2004-08-30 2012-04-24 Lord Corporation Helicopter hub mounted vibration control and circular force generation systems for canceling vibrations
EP1786670B1 (en) 2004-08-30 2013-12-25 Lord Corporation Helicopter vibration control system
JP5101901B2 (ja) * 2007-02-07 2012-12-19 本田技研工業株式会社 ヘミング加工方法及びヘミング加工装置
TWD153552S (zh) * 2012-02-17 2013-05-11 諾菲勒斯系統公司 用於半導體晶圓操作之末端受動器之質量阻尼
WO2017180607A1 (en) * 2016-04-11 2017-10-19 Persimmon Technologies, Corp. Robotic manipulator with supplementary damping
TWI728762B (zh) 2020-03-27 2021-05-21 財團法人工業技術研究院 減低機械手臂振動之方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE744876C (de) * 1935-09-28 1944-02-22 Getefo Ges Fuer Tech Fortschri Anordnung zur nachgiebigen und schwingungsdaempfenden Lagerung von Instrumenten
US3314503A (en) * 1965-08-31 1967-04-18 Vernon H Neubert Vibration damper
JPS53131658A (en) * 1977-04-21 1978-11-16 Toshiba Corp Robot
JPS53136259A (en) * 1977-04-30 1978-11-28 Toshiba Corp Robot
JPS53136260A (en) * 1977-04-30 1978-11-28 Toshiba Corp Robot
JPS53136261A (en) * 1977-04-30 1978-11-28 Toshiba Corp Robot
US4494634A (en) * 1981-12-30 1985-01-22 Nhk Spring Co., Ltd. Impact damper
JPS6147138U (ja) * 1984-08-31 1986-03-29 東洋ゴム工業株式会社 振動吸収装置
JPH0315870Y2 (ja) * 1985-10-18 1991-04-05
US4852848A (en) * 1987-05-01 1989-08-01 Kucera Richard J Pipe vibration reducer
JPS63293344A (ja) * 1987-05-26 1988-11-30 Mitsubishi Electric Corp 粘性ダンパ−

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011183525A (ja) * 2010-03-10 2011-09-22 Denso Wave Inc ロボットの制振装置
JP2018140464A (ja) * 2017-02-28 2018-09-13 トヨタ自動車株式会社 搬送用ロボットアーム

Also Published As

Publication number Publication date
US5102289A (en) 1992-04-07

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