MX347736B - Robot industrial de ejes múltiples con herramienta integrada. - Google Patents

Robot industrial de ejes múltiples con herramienta integrada.

Info

Publication number
MX347736B
MX347736B MX2014013408A MX2014013408A MX347736B MX 347736 B MX347736 B MX 347736B MX 2014013408 A MX2014013408 A MX 2014013408A MX 2014013408 A MX2014013408 A MX 2014013408A MX 347736 B MX347736 B MX 347736B
Authority
MX
Mexico
Prior art keywords
robot
tool
pipes
cables
flange
Prior art date
Application number
MX2014013408A
Other languages
English (en)
Other versions
MX2014013408A (es
Inventor
Ferrero Fulvio
Mauletti Enrico
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 MX2014013408A publication Critical patent/MX2014013408A/es
Publication of MX347736B publication Critical patent/MX347736B/es

Links

Classifications

    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/10—Spot welding; Stitch welding
    • B23K11/11—Spot welding
    • B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/314—Spot welding guns, e.g. mounted on robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/36—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • 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
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist
    • 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
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/42—Welding
    • 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
    • Y10T74/20311—Robotic arm including power cable or connector

Landscapes

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

Abstract

Se proporciona un robot industrial que comprende una cadena de elementos del robot (12, 13, 14, 16, 18), articuladas mutuamente entre ellas mismas y que finalizan en una muñeca del robot (20) que transporta una herramienta (100). A través del robot, la cadena de elementos y a través de la muñeca del robot (20) se define un conducto interno continuo, en el cual uno o más cables y/o tubos para el suministro de energía y/o el suministro de fluido a la herramienta (100) son recibidos. Los cables y tubos continúan sin interrupción en un conducto (F1) a través del reborde del robot hasta las conexiones respectivas de la herramienta, por lo que los cables y tubos están distribuidos completamente dentro del robot y dentro de la herramienta, sin necesidad de proporcionar cables y tubos separados de la herramienta conectada a los cables y los tubos del robot en el reborde del robot. En el caso de que la herramienta sea una cabeza de soldadura por puntos eléctrica se distribuye con un transformador eléctrico que tiene sus polos de salida (118, 119) distribuidos respectivamente sobre una pared frontal del cuerpo del transformador y sobre una pared de extremo del cuerpo del transformador, para conexión en los brazos de sujeción de electrodo (103, 104) de la cabeza. De esta manera, el tamaño de la cabeza en la dirección longitudinal la cual avanza desde el reborde del robot hacia los electrodos resultan que es más compacta. La estructura de la cabeza de soldadura está cubierta completamente por una caja 105 (que tiene una abertura trasera) para conexión a la muñeca del robot y una abertura frontal desde la cual los brazos que sujetan los electrodos (103, 104) de la cabeza de soldadura sobresalen.
MX2014013408A 2012-05-15 2013-05-09 Robot industrial de ejes múltiples con herramienta integrada. MX347736B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP12168065.6A EP2664422B1 (en) 2012-05-15 2012-05-15 Multi-axis industrial robot with integrated tool
PCT/IB2013/053759 WO2013171638A1 (en) 2012-05-15 2013-05-09 Multi-axis industrial robot with integrated tool

Publications (2)

Publication Number Publication Date
MX2014013408A MX2014013408A (es) 2015-01-19
MX347736B true MX347736B (es) 2017-05-11

Family

ID=48670027

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2014013408A MX347736B (es) 2012-05-15 2013-05-09 Robot industrial de ejes múltiples con herramienta integrada.

Country Status (12)

Country Link
US (1) US20150108099A1 (es)
EP (1) EP2664422B1 (es)
CN (1) CN104487210B (es)
BR (1) BR112014027225B1 (es)
CA (1) CA2871826C (es)
ES (1) ES2546071T3 (es)
MX (1) MX347736B (es)
PL (1) PL2664422T3 (es)
PT (1) PT2664422E (es)
RS (1) RS54290B1 (es)
RU (1) RU2603938C2 (es)
WO (1) WO2013171638A1 (es)

Families Citing this family (11)

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JP2014100749A (ja) * 2012-11-19 2014-06-05 Yaskawa Electric Corp ロボット
US10391635B2 (en) * 2014-08-14 2019-08-27 Kuka Deutschland Gmbh Positioning a robot
JP5898743B1 (ja) * 2014-09-25 2016-04-06 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
JP2016068202A (ja) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット
DE102016003966A1 (de) * 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
EP3305431B1 (en) 2016-10-10 2023-09-27 Comau S.p.A. Hemming apparatus and hemming method
EP3366409B1 (en) * 2017-02-23 2019-08-07 Comau S.p.A. Articulated robot carrying an electric resistance welding head with electrodes located on the same side ; corresponding method of resistance electric welding on a component to be welded
JP2019098407A (ja) * 2017-11-28 2019-06-24 ファナック株式会社 ロボット
GB2576221B8 (en) 2018-10-25 2023-11-29 Automata Tech Limited A drive train
US11396058B2 (en) * 2019-06-14 2022-07-26 Joran Olsson Electric connector engaging a welder to a spot welding tool
EP3800014A1 (de) * 2019-10-01 2021-04-07 SMW-AUTOBLOK Spannsysteme GmbH Roboter zum greifen und/oder halten von gegenständen

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JPS6397375A (ja) * 1986-10-09 1988-04-28 Kawasaki Heavy Ind Ltd スポット溶接用ロボット
JP2502008Y2 (ja) * 1991-01-24 1996-06-19 小原株式会社 ロボット用溶接ガンの冷却水配管
US5705783A (en) * 1995-07-05 1998-01-06 Ford Motor Company Copper core weld gun
IT1292275B1 (it) * 1997-04-23 1999-01-29 Comau Spa Polso di robot industriale, e robot comprendente tale polso.
JP3512679B2 (ja) * 1999-05-28 2004-03-31 株式会社不二越 産業用ロボットの手首装置
US6455800B1 (en) * 2001-01-04 2002-09-24 Festo Corporation Servo-pneumatic modular weld gun
JP2002283275A (ja) * 2001-03-21 2002-10-03 Fanuc Ltd ロボットの手首構造
US20040045940A1 (en) * 2002-09-05 2004-03-11 Angel Jeffrey R. Pinch weld gun with curvilinear shunt
JP3739756B2 (ja) * 2003-03-31 2006-01-25 ファナック株式会社 配線・配管処理装置
SE527313C2 (sv) * 2003-06-13 2006-02-07 Abb Ab Armeringshölje som omsluter och fixerar internt kablage i radiell led vid en industrirobot
ITTO20030517A1 (it) * 2003-07-04 2005-01-05 Comau Spa Pinza per saldatura
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JP3987845B2 (ja) * 2004-08-13 2007-10-10 ファナック株式会社 産業用ロボットの線条体処理構造
JP5004020B2 (ja) * 2005-09-27 2012-08-22 株式会社安川電機 多関節マニピュレータおよびロボットシステム
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Also Published As

Publication number Publication date
EP2664422A1 (en) 2013-11-20
CN104487210B (zh) 2017-03-01
CA2871826C (en) 2017-03-28
US20150108099A1 (en) 2015-04-23
EP2664422B1 (en) 2015-07-22
WO2013171638A1 (en) 2013-11-21
BR112014027225A2 (pt) 2017-06-27
BR112014027225B1 (pt) 2021-08-31
CA2871826A1 (en) 2013-11-21
ES2546071T3 (es) 2015-09-18
PT2664422E (pt) 2015-10-07
CN104487210A (zh) 2015-04-01
PL2664422T3 (pl) 2015-11-30
RS54290B1 (en) 2016-02-29
RU2014144846A (ru) 2016-07-10
RU2603938C2 (ru) 2016-12-10
MX2014013408A (es) 2015-01-19

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