WO2001047734A8 - Un dispositivo de un elemento de trabajo con dos grados de movilidad - Google Patents

Un dispositivo de un elemento de trabajo con dos grados de movilidad

Info

Publication number
WO2001047734A8
WO2001047734A8 PCT/ES2000/000484 ES0000484W WO0147734A8 WO 2001047734 A8 WO2001047734 A8 WO 2001047734A8 ES 0000484 W ES0000484 W ES 0000484W WO 0147734 A8 WO0147734 A8 WO 0147734A8
Authority
WO
WIPO (PCT)
Prior art keywords
work element
mobility
degrees
motors
mobile link
Prior art date
Application number
PCT/ES2000/000484
Other languages
English (en)
French (fr)
Other versions
WO2001047734A1 (es
Inventor
Teodor Akinfiev
Rodriguez Manuel Angel Armada
De Santos Pablo Gonzalez
Ruiz Ma Antonia Jimenez
Loaiza Andres Maurici Uquillas
Original Assignee
Consejo Superior Investigacion
Teodor Akinfiev
Rodriguez Manuel Angel Armada
De Santos Pablo Gonzalez
Ruiz Ma Antonia Jimenez
Loaiza Andres Maurici Uquillas
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 Consejo Superior Investigacion, Teodor Akinfiev, Rodriguez Manuel Angel Armada, De Santos Pablo Gonzalez, Ruiz Ma Antonia Jimenez, Loaiza Andres Maurici Uquillas filed Critical Consejo Superior Investigacion
Priority to US09/914,432 priority Critical patent/US6952978B2/en
Priority to AU21742/01A priority patent/AU2174201A/en
Priority to EP00985275A priority patent/EP1203682A1/en
Publication of WO2001047734A1 publication Critical patent/WO2001047734A1/es
Publication of WO2001047734A8 publication Critical patent/WO2001047734A8/es

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • B23Q1/5468—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 a single rotating pair followed parallelly by a single rotating pair
    • 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
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • 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
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • 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
    • Y10T74/20305—Robotic arm
    • 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
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor
    • 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
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Un elemento de trabajo con dos grados de movilidad, el cual, con la ayuda de dos motores consigue mover dos eslabones móviles, uno de ellos actuando sobre el elemento de trabajo, este es un método que se distingue por la acción simultánea sobre un elemento de trabajo con la ayuda de otro eslabón móvil. La conducción de un elemento de trabajo con dos grados de movilidad que tiene dos motores uno de los cuales esta ubicado en la base y conectado cinemáticamente con un extremo del primer eslabón móvil localizado en la base con posibilidad de movimiento y otro motor conectado cinemáticamente con un extremo del segundo eslabón móvil, y el elemento de trabajo que está conectado con el otro extremo del segundo eslabón móvil.
PCT/ES2000/000484 1999-12-28 2000-12-22 Un dispositivo de un elemento de trabajo con dos grados de movilidad WO2001047734A1 (es)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US09/914,432 US6952978B2 (en) 1999-12-28 2000-12-22 Device for a work element having two degrees of mobility
AU21742/01A AU2174201A (en) 1999-12-28 2000-12-22 Device for a work element having two degrees of mobility
EP00985275A EP1203682A1 (en) 1999-12-28 2000-12-22 Device for a work element having two degrees of mobility

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES009902863A ES2161184B1 (es) 1999-12-28 1999-12-28 Un dispositivo de un elemento de trabajo con dos grados de movilidad.
ESP9902863 1999-12-28

Publications (2)

Publication Number Publication Date
WO2001047734A1 WO2001047734A1 (es) 2001-07-05
WO2001047734A8 true WO2001047734A8 (es) 2002-03-21

Family

ID=8311097

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2000/000484 WO2001047734A1 (es) 1999-12-28 2000-12-22 Un dispositivo de un elemento de trabajo con dos grados de movilidad

Country Status (5)

Country Link
US (1) US6952978B2 (es)
EP (1) EP1203682A1 (es)
AU (1) AU2174201A (es)
ES (1) ES2161184B1 (es)
WO (1) WO2001047734A1 (es)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050048366A1 (en) * 2003-08-27 2005-03-03 Bowden William L. Cathode material and method of manufacturing
ES2244343B1 (es) * 2004-05-31 2007-03-01 Consejo Sup. Investig. Cientificas Robot cuadrupedo para procesos tecnologicos.
US20090088912A1 (en) * 2007-09-28 2009-04-02 Anorad Corporation Linear driven x-z robot
JP6684439B2 (ja) * 2016-03-30 2020-04-22 日本電産株式会社 ロボット

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4256947A (en) * 1977-06-06 1981-03-17 Ettore De Candia Car body welding assembly system
DE3404553C2 (de) * 1984-02-09 1986-04-17 Carl Hurth Maschinen- und Zahnradfabrik GmbH & Co, 8000 München Handhabungseinrichtung, insbesondere zum Be- und Entladen von Werkzeugmaschinen
EP0320498A3 (de) 1985-07-25 1991-10-09 Alfred Winter Industrieroboter
FR2621715B1 (fr) * 1987-10-13 1991-11-15 Ensait Dispositif de balayage mecanique
IT1230248B (it) 1989-06-08 1991-10-18 Luigi Paris Robot arrampicatore, mobile lungo una struttura a traliccio, in particolare di un palo di linea elettrica di alta tensione.
WO1991004835A1 (fr) * 1989-10-03 1991-04-18 Kabushiki Kaisha Yaskawa Denki Seisakusho Manipulateur utilisant un moteur pas a pas de type plat
US4962676A (en) * 1989-10-12 1990-10-16 The Gillette Company Two axis transfer device
FR2682909B1 (fr) 1991-10-25 1994-01-28 Arilon Robot industriel a cadence elevee pour le deplacement d'un outil suivant les trois axes d'un repere cartesien orthogonal.
FR2691093B1 (fr) 1992-05-12 1996-06-14 Univ Joseph Fourier Robot de guidage de gestes et procede de commande.
JPH06132380A (ja) * 1992-09-04 1994-05-13 Fujitsu Ltd 搬送装置
US5340400A (en) * 1993-02-04 1994-08-23 Megamation Incorporated Linear motor surface coating system
SE9400579L (sv) 1994-02-21 1995-08-22 Asea Brown Boveri Förfarande för att styra en industrirobots rörelse i och i närheten av singulariteter
JP3117118B2 (ja) * 1995-07-31 2000-12-11 ヒーハイスト精工株式会社 多自由度位置決め機構
CA2181097C (en) * 1996-07-12 2007-10-23 Fernando Manuel Rodrigues Nunes Overload protector for robotic tooling
US5886494A (en) * 1997-02-06 1999-03-23 Camelot Systems, Inc. Positioning system
JP3806812B2 (ja) * 1997-07-16 2006-08-09 株式会社ダイヘン ２アーム方式の搬送用ロボット装置
EP0916446B1 (de) * 1997-10-20 2002-05-02 Hüller Hille GmbH Werkzeugmaschine zur 3-achsigen Bearbeitung von Werkstücken

Also Published As

Publication number Publication date
US20020134188A1 (en) 2002-09-26
AU2174201A (en) 2001-07-09
ES2161184A1 (es) 2001-11-16
ES2161184B1 (es) 2002-07-01
US6952978B2 (en) 2005-10-11
EP1203682A1 (en) 2002-05-08
WO2001047734A1 (es) 2001-07-05

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