KR950017111A - 프레스 라인의 프레스들 사이에서 물품을 운반하기 위한 산업용 로봇 - Google Patents

프레스 라인의 프레스들 사이에서 물품을 운반하기 위한 산업용 로봇 Download PDF

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Publication number
KR950017111A
KR950017111A KR1019940034554A KR19940034554A KR950017111A KR 950017111 A KR950017111 A KR 950017111A KR 1019940034554 A KR1019940034554 A KR 1019940034554A KR 19940034554 A KR19940034554 A KR 19940034554A KR 950017111 A KR950017111 A KR 950017111A
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KR
South Korea
Prior art keywords
axis
parallel
industrial robot
axes
arms
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KR1019940034554A
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English (en)
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KR0168696B1 (ko
Inventor
마울레티 엔리코
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로베르토 테스토레
코마우 쏘시에떼 퍼 아찌오니
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Publication of KR950017111A publication Critical patent/KR950017111A/ko
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Publication of KR0168696B1 publication Critical patent/KR0168696B1/ko

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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

Abstract

인터프레스 로봇으로 사용되는 산업용 로봇에 있어서, 이 로봇은 서로 평행하게 이격된 두축들(Ⅰ, Ⅱ) 주위에서 회전이 가능한 한쌍의 아암들(9, 10)을 포함하며, 그위에 두개의 전방아암(13, 14)이 연결되어 있다. 전방아암들(13, 14)의 반대 단부들은 공동축(15) 주위에 서로 연결되어 있으며, 이 전방 아암들(14)중 하나는 제1 및 제2축(Ⅰ, Ⅱ)에 평행한 제3축(Ⅲ) 주위에 리스트(17)를 회전가능하도록 지지하고 있다.(제1도 참조).

Description

프레스 라인의 프레스들 사이에서 물품을 운반하기 위한 산업용 로봇
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 로봇의 우선 실시예의 도식적인 사시도이다.
제2도는 제1도의 로봇의 평면도이다.

Claims (5)

  1. 프레스톤 라인에서 하나의 프레스(2)로부터 다른 프레스(3)로 가공물들을 이동시키기 위한 산업용 로봇에 있어서, 하나의 저부(1), 서로 평행하게 이격된 제1 및 제2축들 주위에 각각 저부(1) 위에서 회전이 가능하도록 설치된 한쌍의 아암들(9, 10), 두 아암들(9, 10)을 회전시키기 위한 두대의 모터 및 감속기어 장치들(5, 7;6, 8), 단부들중 하나가 제1 및 제2축들(Ⅰ,Ⅱ)에 평행한 두축들(11, 12) 주위의 아암들(9, 10)에 각각 연결되며 제1 및 제2축들(Ⅰ, Ⅱ)에 평행한 공동축(15) 주의에 반대단부들이 서로 연결되어 있는 두개의 전방아암들(13, 14), 제1 및 제2축들(Ⅰ, Ⅱ)에 평행한 제3축(Ⅲ) 주위에 전방아암들(14)중 하나위에 회전가능하도록 설치된 제1몸체(18)를 가진 하나의 리스트(17), 제3축(Ⅲ)주위에 제1몸체(18)를 회전시키기 위해 제공되는 또하나의 감속기어장치(19) 및 제3축(Ⅲ)에 평행한 방향을 따라 제1몸체(18)에 대해 이동이 가능한 제2몸체(20)를 포함하는 것을 특징으로 하는 산업용 로봇.
  2. 제1항에 있어서, 리스트(17)의 제2몸체(20)가 제3축(Ⅲ)에 직각인 제4연결축(14)을 가진 평행사변형 연결장치에 의해 제1몸체(18)에 연결되는 것을 특징으로 하는 산업용 로봇.
  3. 제2항에 있어서, 평행사변형 연결장치가 제3축(Ⅲ)에 평행한 면에 배치된 상부아암(21) 및 하부아암(21)을 포함하며 또한 평행면에 평행하게 이격되어 단일 프레임에서 상부아암(21)과 통합되어 있는 또하나의 아암(21)을 포함하는 것을 특징으로 하는 산업용 로봇.
  4. 제2항에 있어서, 리스토(17)의 제2몸체(20)가 제4축(Ⅳ)에 직각인 제5축(Ⅴ)주위에 플랜지(22)를 회전가능하도록 지지하는 것을 특징으로 하는 산업용 로봇.
  5. 앞의 항들중 하나에 있어서, 적어도 하나의 아암(9, 10) 또는 전방아암(13, 14)이 길이조절이 가능한 구조를 갖고 있는 것을 특징으로 하는 산업용 로봇.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019940034554A 1993-12-17 1994-12-16 프레쓰라인의 프레쓰들사이에서 가공물전달을 위한 산업용로봇 KR0168696B1 (ko)

Applications Claiming Priority (3)

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
ITTO93A000961 1993-12-17
ITT093A000961 1993-12-17

Publications (2)

Publication Number Publication Date
KR950017111A true KR950017111A (ko) 1995-07-20
KR0168696B1 KR0168696B1 (ko) 1999-02-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (11)

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

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Also Published As

Publication number Publication date
JP2652355B2 (ja) 1997-09-10
KR0168696B1 (ko) 1999-02-01
ITTO930961A0 (it) 1993-12-17
DE69405966D1 (de) 1997-11-06
JPH07205063A (ja) 1995-08-08
EP0658403A1 (en) 1995-06-21
ATE158743T1 (de) 1997-10-15
DE69405966T2 (de) 1998-03-05
CN1070092C (zh) 2001-08-29
IT1272084B (it) 1997-06-11
US5522275A (en) 1996-06-04
ITTO930961A1 (it) 1995-06-17
CA2137023A1 (en) 1995-06-18
RU94044522A (ru) 1996-10-20
CN1117411A (zh) 1996-02-28
EP0658403B1 (en) 1997-10-01
RU2091207C1 (ru) 1997-09-27
ES2108962T3 (es) 1998-01-01
CA2137023C (en) 1998-04-07

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