WO2001038047A3 - Greif- oder betätigungsarm - Google Patents

Greif- oder betätigungsarm Download PDF

Info

Publication number
WO2001038047A3
WO2001038047A3 PCT/DE2000/003961 DE0003961W WO0138047A3 WO 2001038047 A3 WO2001038047 A3 WO 2001038047A3 DE 0003961 W DE0003961 W DE 0003961W WO 0138047 A3 WO0138047 A3 WO 0138047A3
Authority
WO
WIPO (PCT)
Prior art keywords
drives
members
actuating
gripping
actuating arm
Prior art date
Application number
PCT/DE2000/003961
Other languages
English (en)
French (fr)
Other versions
WO2001038047A2 (de
Inventor
Andreas Krug
Thomas Bayer
Karl-Georg Melber
Original Assignee
Wittenstein Gmbh & Co Kg
Andreas Krug
Thomas Bayer
Melber Karl Georg
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 Wittenstein Gmbh & Co Kg, Andreas Krug, Thomas Bayer, Melber Karl Georg filed Critical Wittenstein Gmbh & Co Kg
Priority to JP2001539640A priority Critical patent/JP2003516866A/ja
Priority to AU25022/01A priority patent/AU2502201A/en
Priority to EP00988588A priority patent/EP1232044A2/de
Publication of WO2001038047A2 publication Critical patent/WO2001038047A2/de
Publication of WO2001038047A3 publication Critical patent/WO2001038047A3/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33196—Data and power each on a different line to all peripheral, bus

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

Die Erfindung betrifft einen Greif- oder Betätigungsarm mit mindestens zwei Gliedern, die jeweils mittels eines elektromotorischen Antriebs relativ zueinander und/oder zu einer Basis beweglich, insbesondere dreh- und/oder verschwenkbar sind, wobei die Antriebe zur Durchführung definierter Bewegungen der Glieder getrennt steuerbar sind und wobei weiter jeweils eine Sensoranordnung (22,26) zur Ermittlung der Relativstellung zweier benachbarter Glieder vorgesehen ist. Dabei sind erfindungsgemäss die Antriebe als Antriebseinheiten (21,25) ausgebildet, die jeweils mindestens einen Elektromotor, die zur Betätigung des Elektromotors notwendige Motorsteuerung, gegebenenfalls ein Getriebe (20,24) und die Sensoranordnung (22,26) aufweisen. Ferner sind die Antriebe sämtlicher Glieder (,13) seriell nach Art einer Busanordnung derart hintereinander geschaltet, dass die zur Betätigung der Antriebe notwendige Energie und die Steuersignale über die Busanordnung übertragbar sind.
PCT/DE2000/003961 1999-11-22 2000-11-15 Greif- oder betätigungsarm WO2001038047A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2001539640A JP2003516866A (ja) 1999-11-22 2000-11-15 把持あるいは操作アーム
AU25022/01A AU2502201A (en) 1999-11-22 2000-11-15 Gripping or actuating arm
EP00988588A EP1232044A2 (de) 1999-11-22 2000-11-15 Greif- oder betätigungsarm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1999156176 DE19956176A1 (de) 1999-11-22 1999-11-22 Greif- oder Betätigungsarm
DE19956176.1 1999-11-22

Publications (2)

Publication Number Publication Date
WO2001038047A2 WO2001038047A2 (de) 2001-05-31
WO2001038047A3 true WO2001038047A3 (de) 2002-04-11

Family

ID=7929946

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2000/003961 WO2001038047A2 (de) 1999-11-22 2000-11-15 Greif- oder betätigungsarm

Country Status (5)

Country Link
EP (1) EP1232044A2 (de)
JP (1) JP2003516866A (de)
AU (1) AU2502201A (de)
DE (1) DE19956176A1 (de)
WO (1) WO2001038047A2 (de)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2850600B1 (fr) * 2003-02-04 2006-01-13 Staubli Sa Ets Robot multi-axes equipe d'un systeme de commande
JP2007512596A (ja) * 2003-12-01 2007-05-17 ニューサウス イノヴェーションズ ピーティワイ リミテッド 相互依存ユニットから形成されたシステムを制御する方法
US8176809B2 (en) * 2008-12-10 2012-05-15 GM Global Technology Operations LLC Planar torsion spring
US8442684B2 (en) * 2009-09-22 2013-05-14 GM Global Technology Operations LLC Integrated high-speed torque control system for a robotic joint
CN102781632B (zh) * 2010-03-02 2015-06-03 Abb研究有限公司 机器人手腕
JP5370225B2 (ja) 2010-03-18 2013-12-18 株式会社デンソーウェーブ ロボットのアーム連結装置
JP5540981B2 (ja) * 2010-08-09 2014-07-02 株式会社デンソーウェーブ 多関節ロボット
DE102015017220B3 (de) 2015-08-14 2021-09-16 Franka Emika Gmbh Robotersystem
DE102015012961B4 (de) 2015-10-08 2022-05-05 Kastanienbaum GmbH Robotersystem
DE102015012959B4 (de) 2015-10-08 2019-01-17 Franka Emika Gmbh Robotersystem und Verfahren zur Steuerung eines Robotersystems
DE102015012962A1 (de) 2015-10-08 2017-04-13 Sami Haddadin Robotersystem
DE102016004788A1 (de) 2016-04-20 2017-10-26 Kastanienbaum GmbH Verfahren zur Herstellung eines Roboters und Vorrichtung zur Durchführung dieses Verfahrens
DE102016004787B4 (de) 2016-04-20 2023-02-02 Franka Emika Gmbh Antriebsvorrichtung für einen Roboter und Verfahren zu ihrer Herstellung
LU93046B1 (de) * 2016-04-27 2017-11-07 Ovalo Gmbh Motorisiertes Gelenk für einen programmierbaren Bewegungsautomaten
DE102017115442A1 (de) * 2017-07-10 2019-01-10 Hartmut Ilch Industrieroboter und Verfahren zur Herstellung eines Industrieroboters
DE102018206019B4 (de) * 2018-04-19 2021-01-21 Kuka Deutschland Gmbh Robotersystem und Verfahren zum Betreiben des Robotersystems

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3410637A1 (de) * 1984-03-22 1985-10-03 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Elektrische kabelfuehrung im drehgelenk eines industrieroboters
JPS61103797A (ja) * 1984-10-26 1986-05-22 松下電器産業株式会社 ロボツトの腕
DE4000348A1 (de) * 1989-03-06 1990-09-13 Hewlett Packard Co Vorrichtung und verfahren zum ueberwachen der bewegungen eines vielgelenkigen roboters
EP0722811A1 (de) * 1993-10-01 1996-07-24 Kabushiki Kaisha Yaskawa Denki Robot ohne kabelverbindung
EP0937551A1 (de) * 1997-07-14 1999-08-25 Fanuc Ltd Geschützter industrie roboter

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE464855B (sv) * 1986-09-29 1991-06-24 Asea Ab Foerfarande vid en industrirobot foer kalibrering av en sensor
DE29601750U1 (de) * 1996-02-02 1996-03-14 Festo Kg Drehvorrichtung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3410637A1 (de) * 1984-03-22 1985-10-03 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Elektrische kabelfuehrung im drehgelenk eines industrieroboters
JPS61103797A (ja) * 1984-10-26 1986-05-22 松下電器産業株式会社 ロボツトの腕
DE4000348A1 (de) * 1989-03-06 1990-09-13 Hewlett Packard Co Vorrichtung und verfahren zum ueberwachen der bewegungen eines vielgelenkigen roboters
EP0722811A1 (de) * 1993-10-01 1996-07-24 Kabushiki Kaisha Yaskawa Denki Robot ohne kabelverbindung
EP0937551A1 (de) * 1997-07-14 1999-08-25 Fanuc Ltd Geschützter industrie roboter

Also Published As

Publication number Publication date
AU2502201A (en) 2001-06-04
JP2003516866A (ja) 2003-05-20
EP1232044A2 (de) 2002-08-21
DE19956176A1 (de) 2001-10-18
WO2001038047A2 (de) 2001-05-31

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