SE515548C2 - Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning - Google Patents

Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning

Info

Publication number
SE515548C2
SE515548C2 SE9804214A SE9804214A SE515548C2 SE 515548 C2 SE515548 C2 SE 515548C2 SE 9804214 A SE9804214 A SE 9804214A SE 9804214 A SE9804214 A SE 9804214A SE 515548 C2 SE515548 C2 SE 515548C2
Authority
SE
Sweden
Prior art keywords
industrial robot
outer tube
movable plate
inner shaft
base part
Prior art date
Application number
SE9804214A
Other languages
English (en)
Swedish (sv)
Other versions
SE9804214L (sv
SE9804214D0 (sv
Inventor
Pierre Mikaelsson
Jan Larsson
Fredrik Persson
Haakan Hvittfeldt
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 SE9804214A priority Critical patent/SE515548C2/sv
Publication of SE9804214D0 publication Critical patent/SE9804214D0/xx
Priority to DE69927704T priority patent/DE69927704T2/de
Priority to JP2000587935A priority patent/JP2002532269A/ja
Priority to ES99963794T priority patent/ES2251252T3/es
Priority to PCT/SE1999/002254 priority patent/WO2000035640A1/en
Priority to AT99963794T priority patent/ATE306369T1/de
Priority to EP99963794A priority patent/EP1135238B1/en
Priority to AU20163/00A priority patent/AU2016300A/en
Publication of SE9804214L publication Critical patent/SE9804214L/xx
Publication of SE515548C2 publication Critical patent/SE515548C2/sv
Priority to US10/700,057 priority patent/US7188544B2/en

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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C3/00—Shafts; Axles; Cranks; Eccentrics
    • F16C3/02—Shafts; Axles
    • F16C3/03—Shafts; Axles telescopic
    • F16C3/035—Shafts; Axles telescopic with built-in bearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
SE9804214A 1998-12-03 1998-12-03 Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning SE515548C2 (sv)

Priority Applications (9)

Application Number Priority Date Filing Date Title
SE9804214A SE515548C2 (sv) 1998-12-03 1998-12-03 Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning
AU20163/00A AU2016300A (en) 1998-12-03 1999-12-02 Industrial robot
PCT/SE1999/002254 WO2000035640A1 (en) 1998-12-03 1999-12-02 Industrial robot
JP2000587935A JP2002532269A (ja) 1998-12-03 1999-12-02 工業用ロボット
ES99963794T ES2251252T3 (es) 1998-12-03 1999-12-02 Robot industrial segun el concepto delta con un eje telescopico rotativo.
DE69927704T DE69927704T2 (de) 1998-12-03 1999-12-02 Industrieroboter nach dem delta-konzept mit einer drehbaren teleskopachse
AT99963794T ATE306369T1 (de) 1998-12-03 1999-12-02 Industrieroboter nach dem delta-konzept mit einer drehbaren teleskopaxe
EP99963794A EP1135238B1 (en) 1998-12-03 1999-12-02 Industrial robot according to the delta concept with a rotatable telescopic axle
US10/700,057 US7188544B2 (en) 1998-12-03 2003-11-04 Industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9804214A SE515548C2 (sv) 1998-12-03 1998-12-03 Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning

Publications (3)

Publication Number Publication Date
SE9804214D0 SE9804214D0 (sv) 1998-12-03
SE9804214L SE9804214L (sv) 2000-06-04
SE515548C2 true SE515548C2 (sv) 2001-08-27

Family

ID=20413560

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9804214A SE515548C2 (sv) 1998-12-03 1998-12-03 Industrirobot med ett armsystem enligt deltakonceptet och förfarande för tillverkning av en industrirobot samt användning

Country Status (8)

Country Link
EP (1) EP1135238B1 (enExample)
JP (1) JP2002532269A (enExample)
AT (1) ATE306369T1 (enExample)
AU (1) AU2016300A (enExample)
DE (1) DE69927704T2 (enExample)
ES (1) ES2251252T3 (enExample)
SE (1) SE515548C2 (enExample)
WO (1) WO2000035640A1 (enExample)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6896473B2 (en) 2001-09-17 2005-05-24 Robert Bosch Gmbh Device for transmitting torque
EP1938929A1 (en) * 2006-12-21 2008-07-02 Abb Research Ltd. Manipulator of a parallel kinematic structure
FR2912944B1 (fr) 2007-02-28 2009-04-24 Jean Marie Chenu Robot manipulateur compact
DE102008009328A1 (de) * 2007-11-29 2009-06-04 Weber Maschinenbau Gmbh Breidenbach Roboter mit Delta-Kinematik
DE102008019725A1 (de) 2008-04-18 2009-10-29 Elau Gmbh Deltaroboter mit dreieckig profilierter Teleskopachse
DE102008019965B4 (de) 2008-04-21 2014-08-21 Schneider Electric Automation Gmbh Deltaroboter mit Drehteller in der Parallelplatte
JP4964190B2 (ja) * 2008-06-10 2012-06-27 村田機械株式会社 パラレルメカニズム
JP4598864B2 (ja) 2009-01-29 2010-12-15 ファナック株式会社 パラレルロボット
ES2384674T3 (es) 2009-09-24 2012-07-10 Cama 1 Spa Árbol telescópico para un robot industrial de acuerdo con el concepto delta
JP4653848B1 (ja) 2009-10-26 2011-03-16 ファナック株式会社 パラレルリンクロボット
CN102261540B (zh) * 2011-04-21 2012-08-22 哈尔滨工程大学 自胀式尺蠖机器人
JP5205504B2 (ja) * 2011-12-06 2013-06-05 村田機械株式会社 パラレルメカニズム
JP5977136B2 (ja) 2012-10-03 2016-08-24 ヤマハ発動機株式会社 アーム部材およびこのアーム部材を備える産業用ロボット
JP5977137B2 (ja) 2012-10-04 2016-08-24 ヤマハ発動機株式会社 回転軸およびこの回転軸を備える産業用ロボット
JP5682642B2 (ja) * 2013-03-05 2015-03-11 株式会社安川電機 パラレルリンクロボット
DE102013225630B4 (de) 2013-12-11 2025-01-23 Autonox Robotics Gmbh Industrieroboter
CN104260080B (zh) * 2014-09-19 2016-08-24 江南大学 三自由度杆内置并联机器人
KR101704525B1 (ko) * 2014-11-27 2017-02-09 주식회사 라온테크 정밀도 향상을 위한 진동 저감 장치를 구비한 링크암 로봇
DE102016113448A1 (de) 2015-08-19 2017-02-23 Krones Aktiengesellschaft Parallelkinematik-Roboter, Verfahren zu dessen Herstellung und Verwendung eines Parallelkinematik-Roboters
DE102015225332A1 (de) 2015-12-15 2017-06-22 Krones Aktiengesellschaft Parallelkinematik-Roboter, insbesondere Industrieroboter
DE102016108215A1 (de) * 2016-05-03 2017-11-09 Krones Aktiengesellschaft Delta-Roboter mit Teleskopstange
DE102016108257A1 (de) 2016-05-03 2017-11-09 Krones Ag Delta-Roboter mit Teleskopstange
DE102016108230A1 (de) 2016-05-03 2017-11-09 Krones Aktiengesellschaft Delta-Roboter mit Teleskopstange
DE102016115602A1 (de) 2016-08-23 2018-03-01 Krones Ag Delta-Roboter mit zwei Drehwellen

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5324936A (en) * 1976-08-18 1978-03-08 Hiroshi Teramachi Finitely sliding ball spline
EP0000877B1 (de) * 1977-08-31 1983-05-18 Grisebach, Hans-Theodor Manipulator zum Positionieren von Werkstücken oder anderen Lasten
JPS60126727U (ja) * 1984-02-03 1985-08-26 トヨタ自動車株式会社 自動車用ステアリング装置のスライデイングシヤフト
NO157568C (no) * 1985-11-26 1988-04-13 Multicraft As Armanordning.
CH672089A5 (enExample) * 1985-12-16 1989-10-31 Sogeva Sa
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
US5249881A (en) * 1992-03-20 1993-10-05 A-Dec, Inc. Telescoping arm apparatus
JPH0644673U (ja) * 1992-11-27 1994-06-14 富士機工株式会社 伸縮自在シャフトのガタ防止構造
US5460574A (en) * 1993-08-31 1995-10-24 Trw Inc. Variable length shaft assembly with a lash bushing
DE59404462D1 (de) * 1993-09-06 1997-12-04 Focke & Co Handhabungsvorrichtung mit Teleskopteil
SE509505C2 (sv) * 1996-02-20 1999-02-01 Neos Robotics Ab Positioneringsmetod och positioneringsanordning f ör ett produktionssystem

Also Published As

Publication number Publication date
DE69927704T2 (de) 2006-07-06
SE9804214L (sv) 2000-06-04
ES2251252T3 (es) 2006-04-16
JP2002532269A (ja) 2002-10-02
EP1135238B1 (en) 2005-10-12
DE69927704D1 (de) 2006-02-23
ATE306369T1 (de) 2005-10-15
AU2016300A (en) 2000-07-03
EP1135238A1 (en) 2001-09-26
WO2000035640A1 (en) 2000-06-22
SE9804214D0 (sv) 1998-12-03

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