SE513348C2 - Industrirobot - Google Patents

Industrirobot Download PDF

Info

Publication number
SE513348C2
SE513348C2 SE9302288A SE9302288A SE513348C2 SE 513348 C2 SE513348 C2 SE 513348C2 SE 9302288 A SE9302288 A SE 9302288A SE 9302288 A SE9302288 A SE 9302288A SE 513348 C2 SE513348 C2 SE 513348C2
Authority
SE
Sweden
Prior art keywords
robot arm
axis
arm
drive unit
robot
Prior art date
Application number
SE9302288A
Other languages
English (en)
Swedish (sv)
Other versions
SE9302288L (sv
SE9302288D0 (sv
Inventor
Haakan Dahlquist
Original Assignee
Abb Ab
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 Abb Ab filed Critical Abb Ab
Priority to SE9302288A priority Critical patent/SE513348C2/sv
Publication of SE9302288D0 publication Critical patent/SE9302288D0/xx
Priority to US08/262,978 priority patent/US5761965A/en
Priority to DE69408497T priority patent/DE69408497T2/de
Priority to EP94109943A priority patent/EP0631853B1/de
Priority to ES94109943T priority patent/ES2115104T3/es
Priority to JP6150865A priority patent/JPH07148688A/ja
Publication of SE9302288L publication Critical patent/SE9302288L/
Publication of SE513348C2 publication Critical patent/SE513348C2/sv

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/24Features related to electrodes
    • B23K9/28Supporting devices for electrodes
    • B23K9/287Supporting devices for electrode holders
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0241One-dimensional joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025Means for supplying energy to the end effector
    • B25J19/0029Means for supplying energy to the end effector arranged within the different robot elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16CSHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00Pivots; Pivotal connections
    • F16C11/04Pivotal connections
    • YGENERAL 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
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • YGENERAL 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
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20317Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
SE9302288A 1993-07-02 1993-07-02 Industrirobot SE513348C2 (sv)

Priority Applications (6)

Application Number Priority Date Filing Date Title
SE9302288A SE513348C2 (sv) 1993-07-02 1993-07-02 Industrirobot
US08/262,978 US5761965A (en) 1993-07-02 1994-06-21 Industrial robot with articulated hollow robot arms
DE69408497T DE69408497T2 (de) 1993-07-02 1994-06-28 Industrieroboter
EP94109943A EP0631853B1 (de) 1993-07-02 1994-06-28 Industrieroboter
ES94109943T ES2115104T3 (es) 1993-07-02 1994-06-28 Robot industrial.
JP6150865A JPH07148688A (ja) 1993-07-02 1994-07-01 工業用ロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9302288A SE513348C2 (sv) 1993-07-02 1993-07-02 Industrirobot

Publications (3)

Publication Number Publication Date
SE9302288D0 SE9302288D0 (sv) 1993-07-02
SE9302288L SE9302288L (sv) 1995-01-03
SE513348C2 true SE513348C2 (sv) 2000-08-28

Family

ID=20390497

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9302288A SE513348C2 (sv) 1993-07-02 1993-07-02 Industrirobot

Country Status (6)

Country Link
US (1) US5761965A (de)
EP (1) EP0631853B1 (de)
JP (1) JPH07148688A (de)
DE (1) DE69408497T2 (de)
ES (1) ES2115104T3 (de)
SE (1) SE513348C2 (de)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3734135B2 (ja) * 1999-08-03 2006-01-11 株式会社不二越 産業用ロボットの手首装置
WO2001026556A1 (de) * 1999-10-14 2001-04-19 Karl Storz Gmbh & Co. Drehgelenk, insbesondere für medizinische instrumente
US6543307B2 (en) * 2001-04-06 2003-04-08 Metrica, Inc. Robotic system
EP1491299A1 (de) * 2003-06-26 2004-12-29 Abb Ab Robotisches Handgelenk mit mehreren seriell angeordneten und von Kegelzahnrädern angetriebenen Teilen
DE602006011403D1 (de) * 2005-08-25 2010-02-11 Ingersoll Machine Tools Inc Kompakte Faserauflegevorrichtung
US7731123B2 (en) * 2006-09-24 2010-06-08 Lockheed Martin Corporation Contra-bevel driven control surface
JP5272588B2 (ja) * 2008-09-01 2013-08-28 セイコーエプソン株式会社 水平多関節型ロボット
US20100200168A1 (en) * 2009-02-06 2010-08-12 Ingersoll Machine Tools, Inc. Fiber delivery apparatus and system having a creel and fiber placement head sans fiber redirect
US8954180B2 (en) 2010-08-06 2015-02-10 Ingersoll Machine Tools, Inc. Manufacturing process and apparatus having an interchangeable machine tool head with integrated control
US8534338B2 (en) 2010-10-15 2013-09-17 Ingersoll Machine Tools, Inc. Fiber delivery apparatus and system having a creel and fiber placement head with polar axis of rotation
IT1404528B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404527B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
US9636178B2 (en) * 2011-12-07 2017-05-02 Specialty Surgical Instrumentation, Inc. System and method for an articulating shaft
JP5617900B2 (ja) * 2012-11-19 2014-11-05 株式会社安川電機 ロボット
DE102015116138B4 (de) 2015-09-24 2017-06-08 Hochschule Für Technik Und Wirtschaft Berlin Drehgelenk sowie ein damit ausgestatteter, manuell betätigbarer Griff
US10288458B2 (en) * 2016-06-29 2019-05-14 GM Global Technology Operations LLC Systems and methods for sensor platform
US10175658B2 (en) 2016-06-29 2019-01-08 GM Global Technology Operations LLC Systems and methods for sensor platform
CN106426125A (zh) * 2016-09-27 2017-02-22 济南昊远智能科技有限公司 一种高速柔性冲压机器人
DE112019002283T5 (de) 2018-05-03 2021-02-04 Fanuc America Corporation Robotergesteuerte vorrichtung für eine kompakte lackierkabine
US20220381374A1 (en) * 2020-01-20 2022-12-01 Techreo LCC Tubular structures
CN111659937B (zh) * 2020-06-22 2021-07-16 重庆科技学院 一种数控偏置万向铣头
DE102022129199A1 (de) 2022-11-04 2024-05-08 Schaeffler Technologies AG & Co. KG Gelenkarm

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0108657B1 (de) * 1982-09-25 1987-08-12 Fujitsu Limited Vielgliedriger Roboter
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
FR2562459B1 (fr) * 1984-02-07 1986-05-23 Gabillet Maurice Bras de manipulation modulaire
DE3536747A1 (de) * 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Gelenkmechanismus
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
IT1211195B (it) * 1987-07-10 1989-10-12 Bruno Bisiach Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento
SE466994B (sv) * 1988-04-13 1992-05-11 Asea Brown Boveri Robothandled
US4911033A (en) * 1989-01-03 1990-03-27 Ross-Hime Designs, Incorporated Robotic manipulator
DE4108262A1 (de) * 1991-03-14 1992-09-17 Friedhelm Wirxel Schraegsegmentegelenk- manipulator bzw. -handhabungsgeraet

Also Published As

Publication number Publication date
SE9302288L (sv) 1995-01-03
DE69408497D1 (de) 1998-03-19
EP0631853B1 (de) 1998-02-11
ES2115104T3 (es) 1998-06-16
DE69408497T2 (de) 1998-09-24
US5761965A (en) 1998-06-09
JPH07148688A (ja) 1995-06-13
EP0631853A1 (de) 1995-01-04
SE9302288D0 (sv) 1993-07-02

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