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 användningInfo
- 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
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)
- Bending Of Plates, Rods, And Pipes (AREA)
- Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
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 |
EP99963794A EP1135238B1 (fr) | 1998-12-03 | 1999-12-02 | Robot industriel selon le concept delta avec un axe telescopique rotatif |
DE69927704T DE69927704T2 (de) | 1998-12-03 | 1999-12-02 | Industrieroboter nach dem delta-konzept mit einer drehbaren teleskopachse |
ES99963794T ES2251252T3 (es) | 1998-12-03 | 1999-12-02 | Robot industrial segun el concepto delta con un eje telescopico rotativo. |
AT99963794T ATE306369T1 (de) | 1998-12-03 | 1999-12-02 | Industrieroboter nach dem delta-konzept mit einer drehbaren teleskopaxe |
PCT/SE1999/002254 WO2000035640A1 (fr) | 1998-12-03 | 1999-12-02 | Robot industriel |
JP2000587935A JP2002532269A (ja) | 1998-12-03 | 1999-12-02 | 工業用ロボット |
AU20163/00A AU2016300A (en) | 1998-12-03 | 1999-12-02 | Industrial robot |
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 (fr) |
JP (1) | JP2002532269A (fr) |
AT (1) | ATE306369T1 (fr) |
AU (1) | AU2016300A (fr) |
DE (1) | DE69927704T2 (fr) |
ES (1) | ES2251252T3 (fr) |
SE (1) | SE515548C2 (fr) |
WO (1) | WO2000035640A1 (fr) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6896473B2 (en) | 2001-09-17 | 2005-05-24 | Robert Bosch Gmbh | Device for transmitting torque |
EP1938929A1 (fr) * | 2006-12-21 | 2008-07-02 | Abb Research Ltd. | Manipulateur de type à structure cinématique parallèle |
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 |
EP2301726B1 (fr) | 2009-09-24 | 2012-05-16 | CAMA 1 SpA | Tige télescopique pour robot industriel selon le concept 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 |
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 |
DE102016108257A1 (de) | 2016-05-03 | 2017-11-09 | Krones Ag | Delta-Roboter mit Teleskopstange |
DE102016108215A1 (de) | 2016-05-03 | 2017-11-09 | Krones Aktiengesellschaft | 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)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5324936A (en) * | 1976-08-18 | 1978-03-08 | Hiroshi Teramachi | Finitely sliding ball spline |
EP0132442A1 (fr) * | 1977-08-31 | 1985-02-13 | Hans-Theodor Grisebach | Appareil de positionnement à entraînement par broche |
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 (fr) * | 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 |
-
1998
- 1998-12-03 SE SE9804214A patent/SE515548C2/sv not_active IP Right Cessation
-
1999
- 1999-12-02 EP EP99963794A patent/EP1135238B1/fr not_active Expired - Lifetime
- 1999-12-02 AT AT99963794T patent/ATE306369T1/de not_active IP Right Cessation
- 1999-12-02 AU AU20163/00A patent/AU2016300A/en not_active Abandoned
- 1999-12-02 ES ES99963794T patent/ES2251252T3/es not_active Expired - Lifetime
- 1999-12-02 JP JP2000587935A patent/JP2002532269A/ja active Pending
- 1999-12-02 WO PCT/SE1999/002254 patent/WO2000035640A1/fr active IP Right Grant
- 1999-12-02 DE DE69927704T patent/DE69927704T2/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
WO2000035640A1 (fr) | 2000-06-22 |
EP1135238A1 (fr) | 2001-09-26 |
JP2002532269A (ja) | 2002-10-02 |
SE9804214L (sv) | 2000-06-04 |
AU2016300A (en) | 2000-07-03 |
SE9804214D0 (sv) | 1998-12-03 |
DE69927704D1 (de) | 2006-02-23 |
ES2251252T3 (es) | 2006-04-16 |
DE69927704T2 (de) | 2006-07-06 |
EP1135238B1 (fr) | 2005-10-12 |
ATE306369T1 (de) | 2005-10-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |