NO148987B - Boeyelig arm, saerlig en robotarm. - Google Patents
Boeyelig arm, saerlig en robotarm. Download PDFInfo
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- NO148987B NO148987B NO800750A NO800750A NO148987B NO 148987 B NO148987 B NO 148987B NO 800750 A NO800750 A NO 800750A NO 800750 A NO800750 A NO 800750A NO 148987 B NO148987 B NO 148987B
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- arm
- flexible arm
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- 241000605059 Bacteroidetes Species 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- 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
-
- 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
-
- 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
- Y10T74/20396—Hand operated
- Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
- Y10T74/20456—Specific cable or sheath structure
Description
Teknikkens stand
Foreliggende oppfinnelse angår en bøyelig arm, særlig en robotarm for oppbæring og/eller manipulering av arbeidsredskaper eller lignende, hvilken arm omfatter flere i serie og til anlegg mot hverandre anordnede elementer, hvorved kraftgenererende og/eller kraftoverførende påvirkningsorganer er anordnet for å virke mellom respektiv på elementene, eller en gruppe av elementer.
Oppfinnelsens bakgrunn
Industriroboter er kjent i en mengde forskjellige utførelser og utgjøres vanligvis av en maskin som uten manuell overvåkning eller styring kan endre stillingen på
en gjenstand eller et verktøy ved rommet til en mengde alternative punkter. Industrirobotens vesentligste del er dens robotarm med tilhørende bevegelsesgenererende organer, styresystemer og programverk, hvilke begge sistnevnte for eksempel kan utgjøres av en minidatamaskin. Avanserte roboter har en robotarm med opptil seks frihetsgrader, hvor-med menes bevegelsesmuligheter i seks forskjellige plan,
for eksempel bevegelse fremover, bakover, oppover, nedover, dreining til venstre og dreining til høyre. Da oppfinnel-
sen angår en forbedring av robotarmen, skal i det følgende styresystemer og programverk ikke behandles nærmere, hvilke 'forøvrig utgjøres av kjente elementer.
Konvensjonelle robotarmer er oppbygd av flere elementer og ledd som foruten arbeidsredskapet og lasten også må bære utstyret for de enkelte elementenes bevegelses- og kraftgenerering. Dette utstyr består vanligvis av pneumatisk 'eller hydraulisk påvirkbare sylindre, elektrisk motor, osv., hvilket medfører at elementene og leddene må dimensjoneres relativt kraftige, for å kunne bære dette utstyret. Roboten får derved en plasskrevende form og relativt store ytre dimensjoner, hvilke reduserer robotarmens bøybarhet. De fleste 1 forekommende robotarmenes bevegelsesmønster og rekkeevne er dessuten temmelig begrenset, og til tross for alle frihetsgrader omfatter den i det vesentlige bare et plansirkulært arbeidsfelt. En annen begrensning på konvensjonelle robot-.armer er den at armen ikke kan føres inn i krumme eller vinklede rom og heller ikke kan utføre manipuleringer på den bort fra roboten vendende siden av en gjenstand. En annen ulempe er at fremstillingskostnadene er meget store. Robotarmer med større bøybarhet er utviklet, der
i
den relative bevegelsen mellom hvert element oppnås via en leddaksel eller et kuleledd. Disse er konstruksjonsdetaljer som krever stor presisjon ved fremstillingen og har også høye vedlikeholdskrav. De har begrenset bevegelighet og deres
^evne til å ta opp belastninger er helt og holdent avhengig
av leddlegemets dimensjonering. Kule- eller aksialledd er videre glidelager og utsatt for relativt stor slitasje,
dersom man ikke kan garantere kontinuerlig smøring. De er dessuten følsomme for smusspartikler som kan komme inn mellom .lagerflåtene. Av denne grunn må elementene innkapsles nøy-aktig, noe som nedsetter deres tilgjengelighet, vedlikehold og særlig en effektiv smøring. På grunn av de høye kravene for presisjon er fremstillingskostnadene meget høye.
En forutsetning for å oppnå den ønskede bøyeligheten jUten å gi avkall på armens evne til å bære last, er at påvirkningsorganene, dvs. de vaiere som holder de enkelte elementene sammen, er forspent så mye at det oppnås en meget kraftig flatekontakt mellom elementene. Med hensyn til den ønskede bøyeligheten har de til anlegg mot hverandre beliggende elementene hittil blitt utformet som kule- eller aksialledd. Disse leddlegemene har en krumningsradius som
er lik halve leddlegemets høyde, hvorved det oppstår det problem at elementene ikke har noen entydig bestemt stilling for en viss inntatt linemengde. En robotarm ifølge denne utførelse har derfor bare god stabilitet i armens krumningsplan, mens den har dårlig stivhet i et plan vinkelrett mot krumningsplanet.
Et annet problem med linemanøvrerte robotarmer er at disse i visse tilfelle også har dårlig tersjonsmotstand,
noe som bestemmes av leddlegemenes form, (dvs. type av kontakt-sone. mellom elementene), som hindrer at elementene dreies vinkelrett mot deres rullningsplan.
Hensikten med oppfinnelsen og viktigste kjennetegn
Hensikten med foreliggende oppfinnelse er å frem skaffe en robotarm med meget stor rekkevidde og maksimalt bevegelsesmønster, med hvilket menes at den praktisk talt når alle punkter innenfor et sfærisk arbeidsfelt. En annen hensikt er å få frem en robotarm som kan krummes, slik at den kan nå et og samme punkt via et stort antall krumnings-kombinasjoner og får derved meget stor tilgjengelighet, noe som innebærer at den til og med kan gå forbi en hindring av forskjellige slag eller krumme seg omkring en gjenstand.
Ved hjelp av oppfinnelsen fåes videre en arm med meget god stivhet i elementenes krumningsplan og høy torsjonsmotstand, samt lavere fremstillingskostnader sammenlignet med konvensjonelle industriroboter. Dette oppnås ifølge oppfinnelsen ved at hvert element oppviser i det minste en konveks krummet kontaktflate, anordnet for å utføre en rullende bevegelse på en kontaktflate på et hosliggende element, når elementene påvirkes av nevnte påvirkningsorgan, idet radien på krumningen på nevnte krummede flater er langt større enn elementets halve høyde.
Beskrivelsen av tegningene
Oppfinnelsen skal i det følgende forklares nærmere under henvisning til tegningen, der
figur 1 viser i perspektiv skjematisk en grunnut-førelse av armen ifølge oppfinnelsen,
figur 2 viser armen ifølge figur 1 i en bøyd stilling,
figur 3 viser et skjematisk sideriss av en robotarm ifølge oppfinnelsen, satt sammen av to elementgrupper og derved bøyelig i to forskjellige plan eller retninger,
figur 4 viser i et riss forfra en komplett industri-robot forsynt med en bøyelig arm ifølge figur 3,
figur 5 illustrerer i perspektiv robotarmens tilgjengelighet bak hjørner osv.,
figur 6 viser i større målestokk et sideriss av en del av en arm og geometrien av de inngående elementene,
figur 7 viser et lamellformet element i perspektiv ifølge en modifisert utførelsesform,
figur 8 er et snitt efter linjen VIII-VIII i figur 7, figur 9 viser i sideriss og delvis i snitt en utførel-
sesvariant som også kan utføre rotasjonsbevegelser
figurene 10 og 11 viser snitt gjennom to utførelses-former, der elementene er påvirkbare på elektromagnetisk måte, og
figurene 12, 13 og 14 viser ytterligere varianter med hydraulisk eller pneumatisk påvirkning av elementene.
Beskrivelse av utførelseseksempel
Den bøyelige armen 10 ifølge oppfinnelsen, i det nedenstående kalt robotarmen, består i prinsipp, slik som vist i den i figur 1 og 2 viste utførelsesformen, av et antall i serie anordnede elementer 11, som alle er utformet som en sirkulær skive med hvelvede kontaktflater. Avhengig av i hvilken omfatning armen skal kunne utføre bøyebevegelser ier hvert element 11 forsynt med et antall nær ytterkanten plasserte hull 12, for eksempel fire hull, som er plassert i lik avstand fra hverandre og fra elementenes sentrum, beregnet for like mange påvirkningsorganer 14. En gjennomgående åpning 13 er anordnet i elementets midtpunkt. Elementene er 'anordnet oppå hverandre med styrehullene 12 beliggende rett overfor hverandre. I det øverste elementet er styrehullene 12 forsenket, hvilke forsenkninger tjener for opptagelse av ved påvirkningsorganenes ytre ender anbragte endeavslutriinger 15. Påvirkningsorganene 14 utgjøres av liner, vaiere eller lignende med god strekkstyrkeegenskaper. Ved å trekke i en eller flere av de utenfor det siste elementet utstikkende vaierne 14 kan robotarmen bøyes i alle retninger. Ønskes en ' bøyebevegelse mellom to påvirkningsorganer 14, slik som vist i figur 2, utsettes begge disse for en trekkraft, hvorved man ved valg av trekkraftens størrelse kan forskyve bøyebevegelsen mer eller mindre til det ene eller andre organet 14. Derved kan også armen 10 bringes til å utføre en roterende bevegelse omkring sin lengdeakse.
Gjennom de sentrale åpningene 13 i elementene passerer en bøyelig overføringsanordning 16, beregnet til å overføre strekk-, trykk- og/eller rotasjonskrefter til ved armens frie ende anbragte verktøy 23 (fig. 4) eller lignende.
Som det framgår av figur 3 kan elementene sammen-fattes gruppevis, der hver gruppe manøvreres med for denne
gruppen spesielle påvirkningsorganer 14. Armen ifølge figur
3 omfatter to grupper, en nedre gruppe A og en øvre gruppe B. Gruppens A elementer 11a manøvreres ved hjelp av påvirkningsorganene 14a, mens gruppens B elementer 11b manøvreres ved hjelp av påvirkningsorganene 14b. For å oppnå den i figur 3 viste dobbeltkrummingen på armen i ett og samme plan påvirkes to diametralt rett overfor hverandre beliggende påvirkningsorganer 14a og 14b, slik som vist med piler. Armens to grupper A og B kan også utføre bøyninger i forskjellige plan ved hensiktsmessig påvirkning av organene 14a og 14b. Armen kan naturligvis forsynes med flere enn to elementgrupper, slik at den til og med kan krummes i 360° eller mer, om det er nød-vendig, i flere forskjellige plan eller retninger.
I figur 4 vises en praktisk bruk av armen ifølge foregående utførelseseksempel. Den av to elementgrupper 11a og 11b sammensatte bøyelige armen 10 er med sin ene ende tilkoplet et maskinaggregat 17, som inneholder fire servomotorer 18, som driver hver sin linetrommel19 for påvirkningsorganene 14a og 14b. Motorene 18 er reversible og styrt slik at hvert påvirkningsorgan - line - 14a, 14b kan utsettes for en individuell regulerbar kraft under oppviklingen på eller avviklingen fra linetrommelen 19. Dessuten er det anordnet fjærende forspenningsorganer 31 (figur 5) for linene 14.
Den bøyelige overføringsanordningen 16 er ved armens nedre ende koplet til en servomotor 20 via en utvekslingsan-ordning 21 og en overbelastningskopling 22. Ved armens 10 frie ende er det til den sentrale overføringsanordningen 16 tilkoplet et arbeidsredskap 23 som i det viste utførelses-)eksempel utgjøres av en sprøytepistol, som mates av en slange 24 fra en sprøytelakkeringsanordning 25.
Det er også tenkelig for visse tilfeller å transportere arbeidsmediet til arbeidsredskapet 2 3 gjennom elementenes sentrale åpning parallelt med overføringsanordningen 16.
De enkelte elementene 11 omgis av et beskyttende, fleksibelt hylster 26.
Robotarmens bøyelighet, rekkeevne og tilgjengelighet illustreres i figur 5, som viser at armen kan krummes på en slik måte at den også kan utføre arbeidet bak hindringer
eller på annen måte vanskelig tilgjengelige steder.
Ved utførelsesformen ifølge figur 7 og 8 består
hvert element av to segmentformede legemer 9,8, mellom hvilke det er anordnet en distanseskive 6. Segmentene 8,9 har en enkeltkrummet kontaktflate 5 og en plan grunnflate 7, med hvilken segmentene ligger an mot hver sin side av distanse-skiven 6. Segmentene 8,9 kan enten være festet til dis-tanseskiven 6 eller også danne et stykke av denne. Segmentene 9 på den ene siden av elementet 11 er dreid 90° i forhold til segmentene 8 på den andre siden, hvilket innebærer at hvertannet segment kan utføre en bøyebevegelse parallelt med et plan og hvertannet segment en motsvarende bøyebevegelse parallelt med et plan vinkelrett mot det førstnevnte. For å oppnå stabile stillinger uavhengig av i hvilken bøyestilling de enkelte segmentene 8, 9 befinner seg, og uten å være avhengig av god eller dårlig friksjon mellom kontaktflatene 5, kan disse være forsynt med styreanordninger 4, for eksempel tenner som samvirker med motsvarende tenner i inntilliggende elementer 11 ved segmen-tenes relative bevegelse. Hensiktsmessig utformes segmentene 8,9 som deler av sylindriske tannhjul, hvorved den enkeltkrummede kontaktflatens 5 krumningssentrum eller sentrum til tennenes delesirkel er beliggende utenfor respektive element.
Ved siden av de med tenner 4 forsynte segmenter 8,9
er det i høyde med tannroten anordnet slette segmentpartier 3.
Ved å utforme segmentene 8,9 som delsylindriske tannhjul, som i hvert element 11 er anordnet i innbyrdes rett-vinklede plan, oppnås en vekselvis utbøyningsmulighet ved hvert tanninngrep. Utbøyningsvinklene overlagres og armen får totalt sett samme bevegelsesmuligheter som om kontaktflatene var slette. Denne konstruksjonen medfører også at det oppnås meget god dreiestivhet ved at elementene innbyrdes er formbundet. Tannflankekontakten medfører at det mellom to samvirkende segmenter alltid er linjekontakt.
Den store tannbredden og/eller de slette segmentpartiene 3 medfører stor kontaktflate, noe som medfører større valg-muligheter av materiale i segmentene. I stedet for å
behøve benytte hårde kontaktflater kan man med den nye anord-
ningen også benytte hensiktsmessige plastmaterialer, aluminium eller lignende.
Ved hittil kjente allsidige bøyelige robotarmer,
med et ledd mellom hvert element, er leddlegemets radie r
lik halve elementets høyde h, dvs. r = h. Dette innebærer at slike elementer ikke har en entydig bestemt stilling for en viss inntatt linemengde, og en robotarm bestående av slike elementer har derfor ikke nødvendig stivhet.
For at en arm, bestående av et stort antall elementer, skal være stiv, kreves at en relativ endring av elementenes stilling ved armens bøyning, innebærer en endring av den i systemet opplagrede energien. Jo høyere dette endringsarbeidet er, desto stabilere er armen.
Dette oppnås ifølge oppfinnelsen ved at hvert segments 8,9 radius r er større, fortrinnsvis til og med meget større enn segmentets høyde h. Derved blir summen av linelengdene ogX£- se figur 6 - ved enhver valgt dreiningsvinkel på elementene 11 aldri like, og denne forskjell A representererjen energiendring på armsystemet. Eftersom summen av inntatt og utløpt line 14', 14'<1>er konstant når linene er viklet på en felles trommel 19, kommer ^ til å være identisk med linetrommelens bevegelse. Denne forflytning er sammen med fjarkraften et viktig energitilskudd for å oppnå den ønskede5Stivheten.
Den i figur 9 viste varianten er utviklet for også
å kunne overføre roterende bevegelser via elementene, som i denne hensikt på sine kontaktflater, dvs. de mot hverandre vendende hvelvede flatene, er forsynt med radielle tenner
[)35, som uavhengig av hvilken vinkelstilling elementene inntar er i tanninngrep med hverandre. For å tillate elementenes rotasjonsbevegelse, er flensene 30 med utsparingene 12 for vaierene 14 roterbare relativt elementlegemet, hvilket er oppnådd ved å anordne et lager 36 mellom disse delene.
5Ved hjelp av en motor 20 kan elementene på denne måte over-føre rotasjonsbevegelser til armens frie ende og til arbeidsredskapet 2 3 uten at armens bøyelighet på noen måte vanskelig-gj øres.
For overføring av ekstra store laster og/eller momenter kan det være fordelaktig å komplettere de line-formede påvirkningsorganene 14,, som bare har sammenholdende funksjon, med el-magnetiske eller hydrauliske servomotorer. Utførelseseksempelet ifølge figur 10 viser en
variant med elektromagnetisk innstilling av elementenes vinkelstillinger relativt hverandre, idet det mellom hver flens 30 er leddbart lagret elektromagneter 39, ved hjelp av hvilke avstanden mellom elementene kan reguleres. Eventuelt kan hver elektromagnet individuelt påvirkes for oppnåelse av størst mulig bevegelighet og bøyelighet.
I stedet for å anordne bevegelige jernkjerner i en spole, slik som tilfellet er ved utførelsesformen ifølge figur 10, kan man som vist i figur 11 benytte faste elektro-.magneter som er orientert aksielt i elementene. De faste elektromagnetene har sine poler vendt mot hverandre, og for å oppnå'en variabel bøyning på armen, kan flere slike stav-formede magneter være anordnet i et radielt mønster i elementene .
I begge utførelseseksemplene ifølge figur 10 og 11, betegnes med 14 elektriske tilførselsledninger til elektromagnetene .
Elektromagnetiske påvirkningsorganer arbeider som regel bare mellom to faste endestillinger, hvorved en trinn-løs innstilling av armens bøybarhet er umulig. Denne begrensning er eliminert med den i figur 12 viste varianten, der påvirkningsorganene 14 utgjøres av hydrauliske eller pneumatiske servomotorer i form av sylindre 42 med dobbelt motstilte stempler 43. Via et sentralt inn- eller utløp 44 kan trykkmediet tilføres fra en mateslange 45. Stemplene 43 er svingbart lagret ved elementenes periferielle flens 30. Mateslangen 45 er hensiktsmessig tredd gjennom utsparinger i flensen 30.
I figur 13 vises en utførelsesform der elementene er todelt langs de periferielle flensene, og der hver del 37 og 38 er utformet med en periferiell flens 30. Mellom disse delene 37 og 38 er det anordnet servomotorer 32 i en slik fordeling at de to halvdelene kan innta forskjellige relative helningsstillinger. Servomotorene 32 utgjøres av kortslag hydrauliske eller pneumatiske motorer, for eksempel stempelsylindre eller trykkmediumpåvirkede belger. Minst tre slike motorer er anordnet i forskjellig avstand fra hverandre og trykkmiddeliedninger 45 forsyner disse med trykkmedium.
Ytterligere et utførelseseksempel der elementene påvirkes på hydraulisk eller pneumatisk måte er vist i figur 14,. Et antall trykkslanger 46 med radielt utstikkende trykklepper 4 7 er anordnet for å virke mellom elementenes(periferielle flenser 30. Når et trykk påsettes i slangen 46 kommer trykkleppene 4 7 til å utvide seg og forskyve elementenes flenser 30 fra hverandre. Eventuelt kan slangene 46 utgjøre en fast bestanddel av armens 10 kappe 26.
Claims (8)
1. Bøyelig arm, særlig en robotarm (10) for bæring og/ eller bevegelse av arbeidsredskaper (23) eller lignende-, hvilken arm omfatter et antall i serie og til anlegg mot hverandre anordnede elementer (11), idet kraftgenererende og/eller kraftoverførende påvirkningsorganer (14) er anordnet for å virke mellom resp. på elementene,karakterisertved at hvert element (11) oppviser i det minste en konveks krummet kontaktflate (5), anordnet for å utføre en rullende bevegelse på en kontaktflate på et hosliggende element, når elementene påvirkes av nevnte- påvirkningsorgan (14), idet radien (r) på krumningen på nevnte krummede flater er langt større enn elementets halve høyde (H).
2. Bøyelig arm ifølge krav 1,karakterisertved at de krummede kontaktflatene (5) har en elliptisk form.
3. Bøyelig arm ifølge krav 1 eller 2,karakterisert vedat elementene (11) har enkeltkrummede kontaktflater på begge sider, idet kontaktflaten på den ene siden er dreid 90° i forhold til kontaktflatene på den andre siden..
4. Bøyelig arm ifølge krav 3,karakterisertved at i det minste en del av kontaktflatene i hvert element (11) er forsynt med styreinnretninger (4), utformet for ved elementenes relative bevegelse å gripe inn med og rulle mot hverandre.
5. Bøyelig arm ifølge krav 4,karakterisertved at styreinnrctningen (4) utgjøres av aksielle og/eller radielle kammer og spor.
6. Anordning ifølge krav 5,karakterisertved at segmentets kontaktflate er utformet som en del av et sylindrisk tannhjul.
7. Anordning ifølge krav 4, 5 eller 6,karakterisert vedat kontaktflaten (5) er oppdelt i minst ett slett parti (3) og minst ett med styroinnretning (4), f.eks. tenner forsynt parti.
8. Bøyelig arm ifølge ett eller flere av foregående krav,karakterisert vedat elementene er forsynt med i det minste en sentral gjennomløpskanal (13).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE7902366A SE419421B (sv) | 1979-03-16 | 1979-03-16 | Bojlig arm i synnerhet robotarm |
Publications (3)
Publication Number | Publication Date |
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NO800750L NO800750L (no) | 1980-09-17 |
NO148987B true NO148987B (no) | 1983-10-17 |
NO148987C NO148987C (no) | 1984-01-25 |
Family
ID=20337557
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
NO800750A NO148987C (no) | 1979-03-16 | 1980-03-14 | Boeyelig arm, saerlig en robotarm |
Country Status (7)
Country | Link |
---|---|
US (1) | US4393728A (no) |
EP (1) | EP0017016B1 (no) |
JP (1) | JPS5921756B2 (no) |
DE (1) | DE3065494D1 (no) |
FI (1) | FI75110C (no) |
NO (1) | NO148987C (no) |
SE (1) | SE419421B (no) |
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1979
- 1979-03-16 SE SE7902366A patent/SE419421B/sv not_active IP Right Cessation
-
1980
- 1980-03-10 DE DE8080101213T patent/DE3065494D1/de not_active Expired
- 1980-03-10 EP EP80101213A patent/EP0017016B1/en not_active Expired
- 1980-03-13 FI FI800774A patent/FI75110C/fi not_active IP Right Cessation
- 1980-03-14 NO NO800750A patent/NO148987C/no unknown
- 1980-03-15 JP JP55032167A patent/JPS5921756B2/ja not_active Expired
-
1982
- 1982-02-23 US US06/351,589 patent/US4393728A/en not_active Expired - Fee Related
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EP4180185A1 (en) * | 2018-05-29 | 2023-05-17 | General Electric Company | Robotic arm assembly |
Also Published As
Publication number | Publication date |
---|---|
EP0017016B1 (en) | 1983-11-09 |
EP0017016A1 (en) | 1980-10-15 |
NO148987C (no) | 1984-01-25 |
JPS563193A (en) | 1981-01-13 |
DE3065494D1 (en) | 1983-12-15 |
FI800774A (fi) | 1980-09-17 |
JPS5921756B2 (ja) | 1984-05-22 |
FI75110B (fi) | 1988-01-29 |
SE7902366L (sv) | 1980-09-17 |
NO800750L (no) | 1980-09-17 |
FI75110C (fi) | 1988-05-09 |
SE419421B (sv) | 1981-08-03 |
US4393728A (en) | 1983-07-19 |
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