WO2004020160A8 - Gewichtsausgleichssystem für geräte mit drehachsen - Google Patents
Gewichtsausgleichssystem für geräte mit drehachsenInfo
- Publication number
- WO2004020160A8 WO2004020160A8 PCT/DE2003/002812 DE0302812W WO2004020160A8 WO 2004020160 A8 WO2004020160 A8 WO 2004020160A8 DE 0302812 W DE0302812 W DE 0302812W WO 2004020160 A8 WO2004020160 A8 WO 2004020160A8
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- compensation system
- rotation
- robot
- weight compensation
- weight
- Prior art date
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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
- B25J19/0008—Balancing devices
-
- 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
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03790737A EP1578566A1 (de) | 2002-08-23 | 2003-08-22 | Gewichtsausgleichssystem für geräte mit drehachsen |
AU2003260275A AU2003260275A1 (en) | 2002-08-23 | 2003-08-22 | Weight compensation system for devices with axes of rotation |
DE10393671T DE10393671D2 (de) | 2002-08-23 | 2003-08-22 | Gewichtsausgleichssystem für Geräte mit Drehachsen |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10238645.5 | 2002-08-23 | ||
DE10238645 | 2002-08-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004020160A1 WO2004020160A1 (de) | 2004-03-11 |
WO2004020160A8 true WO2004020160A8 (de) | 2004-04-29 |
Family
ID=31968987
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2003/002812 WO2004020160A1 (de) | 2002-08-23 | 2003-08-22 | Gewichtsausgleichssystem für geräte mit drehachsen |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1578566A1 (de) |
AU (1) | AU2003260275A1 (de) |
DE (1) | DE10393671D2 (de) |
WO (1) | WO2004020160A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104245250A (zh) * | 2012-04-24 | 2014-12-24 | 株式会社安川电机 | 重力补偿机构及机器人 |
CN105082181A (zh) * | 2015-08-31 | 2015-11-25 | 苏州神运机器人有限公司 | 一种带有平衡凸轮块的阻尼平衡装置 |
EP3448628B1 (de) | 2016-04-28 | 2023-02-01 | ABB Schweiz AG | Steuerung eines robotergelenks mit zwei antrieben |
CN107718037B (zh) * | 2017-09-28 | 2021-05-04 | 南京双京电博特种机器人产业研究院有限公司 | 一种关节机器人的平衡装置 |
CN107914284B (zh) * | 2017-11-08 | 2021-03-19 | 燕山大学 | 一种转动关节机械臂重力补偿机构 |
DE102020101515A1 (de) | 2020-01-23 | 2021-07-29 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren, Computerprogrammprodukt und Roboter zum Bestimmen einer Orientierung eines Roboters in einem Gravitationsfeld |
CN112223305B (zh) * | 2020-09-23 | 2021-05-07 | 合肥铁榔头教育科技有限公司 | 一种人形机器人腰部关节及实现方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2422482A1 (fr) * | 1978-04-13 | 1979-11-09 | Renault | Dispositif de transfert de pieces |
FR2565153B1 (fr) * | 1984-05-29 | 1986-09-26 | Ecole Centrale Arts Manufactur | Dispositif d'equilibrage des forces de pesanteur dans un bras robotique |
SU1202863A1 (ru) * | 1984-07-16 | 1986-01-07 | Всесоюзный заочный машиностроительный институт | Уравновешенный манипул тор |
FR2627718A1 (fr) * | 1988-02-26 | 1989-09-01 | Oppermann Rene | Dispositif d'equilibrage des forces, notamment de pesanteur, agissant sur un bras de robot ou analogue |
DE58904945D1 (de) * | 1988-06-16 | 1993-08-26 | Haag Ag Streit | Hoehenverstellbare tragvorrichtung fuer ein instrument. |
DE4132775A1 (de) * | 1991-10-02 | 1993-04-08 | Richter Hans | Roboterbaukasten |
DE29506008U1 (de) * | 1995-04-07 | 1996-08-14 | Kuka Schweissanlagen & Roboter | Industrieroboter mit Massenausgleich |
DE19748822A1 (de) * | 1997-11-05 | 1999-05-06 | Kuka Roboter Gmbh | Roboterarm mit Gewichtsausgleich |
DE10015411C1 (de) * | 2000-03-28 | 2001-07-26 | Kuka Roboter Gmbh | Vorrichtung zum Gewichtsausgleich an einem Roboter |
-
2003
- 2003-08-22 WO PCT/DE2003/002812 patent/WO2004020160A1/de not_active Application Discontinuation
- 2003-08-22 DE DE10393671T patent/DE10393671D2/de not_active Expired - Fee Related
- 2003-08-22 EP EP03790737A patent/EP1578566A1/de not_active Withdrawn
- 2003-08-22 AU AU2003260275A patent/AU2003260275A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
AU2003260275A1 (en) | 2004-03-19 |
EP1578566A1 (de) | 2005-09-28 |
DE10393671D2 (de) | 2005-07-21 |
WO2004020160A1 (de) | 2004-03-11 |
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