WO2006109612A1 - アクチュエータ並びにこれを用いたパラレルリンク機構及び長尺材の曲げ加工装置 - Google Patents
アクチュエータ並びにこれを用いたパラレルリンク機構及び長尺材の曲げ加工装置 Download PDFInfo
- Publication number
- WO2006109612A1 WO2006109612A1 PCT/JP2006/307076 JP2006307076W WO2006109612A1 WO 2006109612 A1 WO2006109612 A1 WO 2006109612A1 JP 2006307076 W JP2006307076 W JP 2006307076W WO 2006109612 A1 WO2006109612 A1 WO 2006109612A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- universal joint
- long material
- guide
- movable plate
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
- B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
- B21D7/025—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member and pulling or pushing the ends of the work
-
- 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
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- 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
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18656—Carriage surrounded, guided, and primarily supported by member other than screw [e.g., linear guide, etc.]
-
- 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
Definitions
- the present invention relates to a ball screw type actuator suitable for processing pipes, rods, molds, and the like, a parallel link mechanism using the same, and a long material bending apparatus.
- This type of actuator, a parallel link mechanism using the same, and various machine tools are known.
- An example thereof is disclosed in Patent Document 1.
- This machine tool controls the machine frame, the table on which the workpiece is placed, the spindle head that holds the tool, multiple spindle head drive units (actuators) that drive the spindle heads with ball screws, and each drive unit. It consists of an NC device.
- the center of the ball screw is tiltably supported by the top plate of the machine frame by a through-type universal joint, and the tip of the ball screw is directly connected to the universal joint so that it can tilt to the spindle head. It is connected.
- a nut is screwed onto the ball screw, and the nut is rotatably connected by a motor.
- the ball screw By controlling the number of rotations of the motor based on the required amount of rotation around the axis of the ball screw and the required amount of movement in the axial direction by the NC device, the ball screw can be rotated around the axis integrally with the universal joint and in the axial direction. (Parallel link mechanism), the spindle head is controlled to the target position and posture.
- the middle of the actuator is attached to the mounting plate (top plate) with a through-type universal joint, so the position of the fixed fulcrum can be set to any position of the actuator, and the mounting portion of the actuator is / J Can be crushed.
- Patent Document 1 Japanese Patent Laid-Open No. 2001-241526
- FIG. 1 the type in which the middle of the ball screw is attached to the mounting plate (top plate) with a through-type universal joint, as in the conventional machine tool described above.
- Scale When applying to a material bending machine, the general mounting type of the actuator as shown in Fig. 2 (The front end of the actuator is attached to the movable plate via a general-purpose universal joint, and the rear end is similarly flexible. Compared with a type that is attached to the mounting plate via a joint), the mounting plate can be made somewhat small. Therefore, it is difficult to greatly reduce the size of the mounting plate.Furthermore, standard control devices such as drive motors and position sensors cannot be mounted around the outside of the actuator, which increases the cost. There is a problem.
- the present invention solves such a conventional problem.
- a parallel link mechanism using the same, and a long-body bending cache device a new universal of the actuator is provided.
- the entire system can be made compact, and standard control devices such as drive motors and position sensors can be mounted around the outside of the actuator.
- standard control devices such as drive motors and position sensors can be mounted around the outside of the actuator.
- an actuator according to the present invention is provided with an attachment shaft, and is disposed on the attachment shaft so as to be rotatable about the axis of the attachment shaft. And a rotation block that is pivotally supported between the clamping members so as to be rotatable in a direction perpendicular to the rotation direction of the clamping members, and nuts are arranged between the rotation ends.
- a trunnion universal joint composed of the above, a ball screw that is screwed through a nut of the trunnion universal joint and is operatively connected to a drive source so that the nut can be advanced and retracted; and the trunnion universal joint
- the parallel link mechanism of the present invention is attached across a base plate, a movable plate provided with a tool in the center thereof, and the base plate and the movable plate, and the actuator and the actuator 6 expansion and contraction devices that also have universal joint force provided at the tip, and the 6 expansion and contraction devices are coupled to the peripheral portions of both plate surfaces so as to have a substantially truss shape, and the actuator moves forward and backward.
- the gist is that the movable plate moves with 3 degrees of freedom of translation and 3 degrees of freedom of rotation with respect to the XYZ coordinates set on the base plate.
- the long material bending apparatus of the present invention includes a bending head that bends the long material into a curved shape, a material supply device that supplies the long material to the bending head, the bending head, and the material supply.
- a bending apparatus for a long material comprising a control system for controlling the apparatus, the bending head stands upright in the center with a guide pipe having a guide hole through which the long material supplied from the material supply device passes.
- the above-mentioned actuator installed between the plates and six expansion / contraction devices comprising a universal joint provided at the tip of the actuator, and the six expansion / contraction devices are arranged in a truss shape. Connected to the edge of the plate surface
- the gist of the present invention is to construct a parallel link mechanism that moves the movable plate with three degrees of freedom of translation and three degrees of freedom with respect to the XYZ coordinates set on the base plate by expansion and contraction of the actuator.
- the control system adjusts the length of the actuator by setting the position and inclination of the movable plate with respect to the base plate and the torsion angle around the central axis of the movable plate.
- the actuator according to the present invention can arbitrarily select the fulcrum position on the fixed side by means of the traon universal joint having the above-described configuration, and can dramatically reduce the dimensions of the mounting portion of the actuator.
- the entire actuator can be configured compactly.
- standard control devices such as a drive motor and a position sensor can be attached around the outside of the actuator, so that the manufacturing cost can be reduced.
- the distance between the fixed fulcrum and the movable fulcrum of the actuator is shortened to improve the safety factor against buckling. Therefore, the mechanical rigidity can be increased.
- the fixed-side fulcrum position can be arbitrarily selected by the above-structured actuator, and the dimensions of the mounting portion of the actuator can be dramatically reduced.
- the entire parallel link mechanism can be made compact.
- standard control devices such as a drive motor and a position sensor can be attached to the outside of the actuator so that the manufacturing cost can be reduced.
- the distance between the fixed fulcrum and the movable fulcrum of the actuator can be shortened to improve the safety factor for the knock ring and increase the mechanical rigidity.
- the long material bending apparatus using the above-described actuator of the present invention can arbitrarily select the fixed-side fulcrum position by the above-structured actuator, and ensure the operating range of the movable die.
- the size of the mounting portion of the actuator can be dramatically reduced, the bending head can be made smaller, and the entire bending apparatus can be made compact.
- standard control devices such as a drive motor and a position sensor can be attached around the outside of the actuator, so that the manufacturing cost can be reduced.
- the distance between the fixed fulcrum and the movable fulcrum of the actuator can be shortened to improve the safety factor against buckling and increase the mechanical rigidity.
- FIG. 1 (A) Schematic front view showing a configuration of a machine tool employing a conventional parallel link mechanism.
- FIG. 2 (A) Schematic front view showing the configuration of a machine tool that employs a conventional general parallel link mechanism. (B) Schematic side view of the conventional machine tool.
- FIG. 3 is a perspective view showing a configuration of an actuator according to an embodiment of the present invention.
- FIG. 4 (A) Schematic front view showing the configuration of a long material bending apparatus incorporating the parallel link mechanism using the actuator according to the embodiment. (B) The actuator according to the embodiment. Schematic side view of a long material bending machine incorporating the parallel link mechanism used
- FIG. 5 is a perspective view of a parallel link mechanism using the actuator according to the embodiment.
- FIG. 6A is a parallel link of another mode using the actuator according to the embodiment.
- FIG. 3 is a perspective view showing the structure of the actuator according to the embodiment of the present invention.
- the finisher 1 includes a traon universal joint 2, a ball screw 3, a ball screw drive unit 4, and a ball screw guide 5 as a basic configuration. Each part is described in detail below.
- the tru-on universal joint 2 includes an attachment shaft 21, a clamping member 22, and a rotation block 23.
- the mounting shaft 21 is also a cylindrical member having a flange 211 at the upper end (one end), and a bearing is disposed on the inner peripheral surface.
- the outer shape of the mounting shaft 21 may be a square, and the shape thereof is arbitrary.
- the sandwiching member 22 is a groove-shaped member, and has an intermediate base portion 221 and sandwiching portions 222 on both sides thereof.
- a shaft (not shown) is fixed at the center of the lower surface of the base 221 downward, and a support shaft 223 is attached to each clamping portion 222.
- This clamping member 22 has a shaft on the lower surface inserted through the inner peripheral surface of the mounting shaft 21 and is disposed on the mounting shaft 21 (the upper surface) so as to be rotatable in the horizontal direction around the axis of the mounting shaft 21 as a rotation center. Both sandwiching portions 222 protrude in the axial direction of the mounting shaft 21.
- the rotation block 23 is a horizontally long rectangular parallelepiped block, and has nut insertion portions between both end faces, and nuts 230 are attached to the nut insertion portions.
- the rotating block 23 is supported by a support shaft 223 between the holding portions 222 of the holding member 22. It is supported so as to be rotatable in a vertical direction (a direction orthogonal to the rotation direction of the clamping member 22).
- the outer shape of the rotating block 23 may be a cylindrical shape, a rectangular tube shape, or a spherical shape, and the shape is arbitrary.
- the ball screw 3 is a general ball screw, and is screwed into the nut 230 of the rotating block 23.
- the base end of the ball screw is operatively connected to the drive unit 4.
- the drive unit 4 includes a drive unit frame 41, a drive motor 42 with a built-in encoder, a pair of pulleys 43 and 43, and a timing belt 44 wound around the pulleys 43 and 43.
- a ball screw insertion support portion 411 and a motor mounting portion 412 are provided on one side of the drive frame 41.
- a bearing is mounted on the ball screw threading support portion 411, and the ball screw 3 is inserted into the ball screw insertion support portion 411, and the surface force on the other side of the drive unit frame 41 is also projected to one end (base end).
- the pulley 43 is attached.
- the front end side of the drive motor 42 is inserted and fixed to the motor attachment portion 412, and the other pulley 43 is attached to the drive shaft from which the surface force on the other side of the drive portion frame 41 protrudes.
- a timing belt 44 is wound around the pulleys 43 and 43.
- the ball screw guide 5 includes a guide block 51 and a guide shaft 52.
- the guide block 51 is a horizontally-long rectangular parallelepiped block smaller than the rotation block 23, and a hole parallel to the axis of the nut 230 is provided between both end faces, and a linear guide (linear The guide part 510 is formed.
- the guide block 51 is fixed to the upper surface of the rotating block 23.
- a slidable linear shaft is employed in the guide portion 510 of the guide block 51.
- the guide shaft 52 is threaded through and engaged with the guide portion 510 of the guide block 51, and is fixed by a fixing member 53 having a proximal end attached to the upper portion of the ball screw threading support portion 411 of the drive portion frame 41.
- a general type universal joint 6 is coupled to the tip of the ball screw 3 via an idler mechanism using a thrust roller bearing or the like.
- the actuator 1 is configured, the middle of the actuator 1 is fixed to the mounting plate of the actuator 1 by the mounting shaft 21 of the traon-type universal joint 2, and the universal joint 6 at the tip is fixed to the movable plate. It is attached.
- the fulcrum position on the fixed side can be selected arbitrarily, and the conventional penetrating type
- the size of the mounting plate of the actuator can be greatly reduced compared to conventional universal and through-type universal joints, and the entire actuator 1 can be made compact. it can.
- the installation area of the apparatus can be reduced.
- the actuator 1 since the outer circumference of the actuator 1 is opened unlike the conventional through-type universal joint, standard control devices such as a drive motor and position sensor should be externally attached to the side of the actuator 1 with a simple structure. Therefore, manufacturing costs can be reduced by using standard control equipment. Furthermore, since the distance between the fixed fulcrum and the movable fulcrum of the actuator 1 can be shortened, the safety factor against knocking (buckling) is increased and the mechanical rigidity can be increased. Due to this improved rigidity, the actuator 1 can be applied to Prescaloe.
- the actuator 1 is a structure effective for a parallel link mechanism and a long material bending carriage apparatus employed in various machine tools.
- a 6-axis parallel link mechanism using the actuator 1 will be described with reference to FIG. 4 (A), FIG. 4 (B) and FIG.
- FIG. 4A is a schematic front view showing the configuration of a long material bending apparatus incorporating a parallel link mechanism using the actuator according to the present embodiment.
- FIG. 4B is a schematic side view of a long material bending apparatus incorporating a parallel link mechanism using the actuator according to the present embodiment.
- FIG. 5 is a perspective view of the parallel link mechanism using the actuator according to the present embodiment.
- the parallel link mechanism 11 incorporated in the long-length bending carriage device 12 has a base plate 111 and a tool provided at the center. It is composed of a movable plate 112, and an actuator 1 mounted between the base plate 111 and the movable plate 112, and six expansion devices U1 including a universal joint 6 provided at the tip of the actuator 1. . As shown in FIG. 5, these six telescopic devices U1 are coupled to the peripheral portions of both plate surfaces so as to form a substantially truss shape, and the movable plate 112 with respect to the XYZ coordinates set on the base plate 111 by the forward and backward movement of the actuator 1. Translation of 3 degrees of freedom and rotation 3 degrees of freedom.
- the parallel link mechanism 11 can be applied to a press carriage.
- the mounting shaft 21 of the trau-on universal joint 2 is viewed from the rotating block 23 side.
- a configuration is adopted in which the base plate 111 is attached to the outer periphery toward the inside.
- the mounting shaft 21 is formed in a circular shape opened in the base plate 111 in the outward direction when viewed from the rotating block 23 side.
- a configuration for attaching to the inner periphery of the hole 113 can also be adopted. With this configuration, the internal space of the fixed fulcrum can be used freely. This can be used for space for loading and unloading objects, and for handling objects, and has a wide range of applications.
- the bending carriage device 12 controls a bending carriage head 121, a material supply device 124 that supplies a long material to the bending head 121, and the bending head 121 and the material supply device 124. And a control system (not shown).
- the bending carriage head 121 includes a base plate 111 having a guide pipe 122 having a guide hole for allowing the long material W to pass therethrough, and a long material W fed from the guide pipe 122.
- the movable plate 112 is provided with a die 123 that can bend the bending force at the center thereof, and six expansion devices U1 installed between the base plate 111 and the movable plate 112.
- Each telescopic device U1 consists of an actuator 1 and a universal joint 6 provided at the tip thereof. The middle of each actuator 1 is attached to the periphery of the base plate 111, and the universal joint 6 at the tip is movable. Plate 112 is attached to the rear edge.
- the outer size of the movable plate 112 is preferably smaller than that of the base plate 111 so as not to interfere when the long material W is bent.
- the bending carriage head 121 is a 6-axis parallel link that moves in a total of 6 degrees of freedom, with a total of 3 degrees of freedom and rotation of 3 degrees of freedom. Make a mechanism.
- the mounting position of the traon universal joint 2 on the base plate 111 side divides the circumference of the virtual circle formed around the center point of the base plate 111 on the outer periphery of the base plate 111 into three equal parts.
- Two points that are equidistant to the point and located on the circumference of the point at each point position, while the mounting position of the universal joint 6 on the movable plate 112 side is the same plane as the rear surface of the movable plate 112
- the six expansion devices U1 are configured such that the base plate 111 and the movable plate are connected to each other while the triangle connecting the trisection point of the base plate 111 and the triangle connecting the trisection point of the movable plate 112 are shifted from each other by a rotation angle of 180 °. It is installed in the shape of a truss between the 6 pairs of mounting positions closest to 112.
- xyz rectangular coordinates are set on the front surface of the base plate 111 with the center of the guide pipe 122 as the origin, and the z axis is set as the center axis of the guide pipe 122.
- the uvw rectangular coordinates are set with the center point of the die 123 attached to the movable plate 112 as the origin, the w axis is the center axis of the die 123, and the uv surface is the same plane as the die 123 mold cavity surface .
- the center point of the movable plate 112 By expanding and contracting the six expansion devices U1, the center point of the movable plate 112, in other words, the center point of the die 123 translates in the three directions of the xyz axis set in the base plate 111, and also moves to the movable plate 112. Rotate around each axis of the set uvw. In total, the movable plate 112 moves with respect to the base plate 111 with a total of 6 degrees of freedom, including 3 degrees of translation and 3 degrees of rotation.
- the center force of the guide pipe 122 is shifted from the center point of the die 123 (offset), the front force of the guide pipe 122 is also the distance to the center point of the die 123 (distance between molds), the axis of the guide pipe 122
- the angle of inclination of the die 123 with respect to the plane perpendicular to the core is set as a parameter.
- the material supply device 124 includes a frame body 125 fixed to the rear portion of the bending carriage head 121 and an actuator 126 installed on the frame body 125.
- the rear end of W is pushed at a constant speed, and the long material W is bent and fed through the guide pipe 122 of the carriage head 121.
- a recess or clamp for fixing the end of the long material W is provided at the tip of the actuator 126.
- a guide roller may be installed between the actuator 126 and the guide pipe 122 as necessary to prevent the long material W from buckling.
- the control system is constituted by a personal computer.
- the personal computer calculates the input value force of the calorimeter parameter, calculates the length of each expansion device U1, operates the actuator 1, controls the position and orientation of the movable plate 112 of the bending head 121, and supplies the material supply device 12 4
- the feed speed of the long material W by the actuator 126 is also controlled. Since the processing parameters differ depending on the shape, size, material, etc. of the long material, they are obtained by experiment and stored in advance.
- the long material W to be processed by the bending apparatus 12 is a circular, oval, square cross-section tube, bar, die, strip, etc. These long materials W are arranged in the plate pressure direction. By bending with a certain radius and twisting, it can be processed into a spiral. In addition, when bending an asymmetrical strip with a curved or chevronous cross-section, it is possible to correct the torsional strain caused by the bending by applying a twist.
- the actuator 1 can be compared with the conventional general type and through-type universal joints.
- the size of the mounting plate can be greatly reduced, the bending cage head 121 can be downsized while the operating range of the movable die 123 is secured, and the entire bending casing 12 can be made compact.
- the installation area of the device can be reduced.
- the outer circumference of each actuator 1 is opened, unlike the conventional through-type universal joint, so that a standard control device such as a drive motor, position sensor, etc.
- each actuator 1 can be easily installed on the side of each actuator 1 It can be externally attached and manufacturing costs can be reduced by using standard parts. Furthermore, since the distance between the fixed fulcrum and the movable fulcrum of each actuator 1 can be shortened, the safety factor for the knock ring is increased and the mechanical rigidity can be increased.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/911,084 US20090199610A1 (en) | 2005-04-06 | 2005-04-04 | Actuator, parallel link mechanism using the same, and long material bending device |
JP2007512914A JP4972548B2 (ja) | 2005-04-06 | 2006-04-04 | アクチュエータ並びにこれを用いたパラレルリンク機構及び長尺材の曲げ加工装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005109846 | 2005-04-06 | ||
JP2005-109846 | 2005-04-06 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006109612A1 true WO2006109612A1 (ja) | 2006-10-19 |
Family
ID=37086890
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/307076 WO2006109612A1 (ja) | 2005-04-06 | 2006-04-04 | アクチュエータ並びにこれを用いたパラレルリンク機構及び長尺材の曲げ加工装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20090199610A1 (ja) |
JP (1) | JP4972548B2 (ja) |
CN (1) | CN100591953C (ja) |
WO (1) | WO2006109612A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101462191B1 (ko) * | 2013-07-23 | 2014-11-14 | 전성율 | 파이프 밴딩기 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007041097A1 (de) * | 2006-09-04 | 2008-03-06 | Robert Bosch Gmbh | Werkzeugmaschinenüberwachungsvorrichtung |
CN102716953A (zh) * | 2012-06-21 | 2012-10-10 | 陕西科技大学 | 一种凸轮式变曲率管子弯曲系统及方法 |
WO2016157105A1 (en) | 2015-03-31 | 2016-10-06 | Fisher & Paykel Healthcare Limited | A user interface and system for supplying gases to an airway |
SG11201901094YA (en) | 2016-08-11 | 2019-03-28 | Fisher & Paykel Healthcare Ltd | A collapsible conduit, patient interface and headgear connector |
FR3061316B1 (fr) * | 2016-12-27 | 2019-01-25 | Thales | Dispositif d'entrainement |
CN114801134A (zh) * | 2022-05-23 | 2022-07-29 | 浙江中乐建设有限公司 | 一种房屋建筑布水电管线辅助处理设备 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS61260994A (ja) * | 1985-05-10 | 1986-11-19 | ネオス ロボティクス アクティエボラーグ | ロボツト |
JPS6347080A (ja) * | 1986-08-13 | 1988-02-27 | フアナツク株式会社 | 多関節形産業用ロボツトのア−ム駆動装置 |
JPH09248776A (ja) * | 1996-03-14 | 1997-09-22 | Exedy Corp | パラレルリンク機構 |
JPH1110575A (ja) * | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | パラレルリンク機構 |
JP2003148582A (ja) * | 2001-11-09 | 2003-05-21 | Mitsubishi Electric Corp | パラレルメカニズム |
JP2003343684A (ja) * | 2002-05-29 | 2003-12-03 | Mitsubishi Material Cmi Kk | モータ駆動型直線アクチュエータ |
JP2004249304A (ja) * | 2003-02-19 | 2004-09-09 | Tama Tlo Kk | 長尺ワーク材の曲げ加工方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4081593B2 (ja) * | 2001-05-18 | 2008-04-30 | 健 一柳 | 長尺材の曲げ加工装置 |
-
2005
- 2005-04-04 US US11/911,084 patent/US20090199610A1/en not_active Abandoned
-
2006
- 2006-04-04 JP JP2007512914A patent/JP4972548B2/ja active Active
- 2006-04-04 WO PCT/JP2006/307076 patent/WO2006109612A1/ja active Application Filing
- 2006-04-04 CN CN200680017685.4A patent/CN100591953C/zh not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61260994A (ja) * | 1985-05-10 | 1986-11-19 | ネオス ロボティクス アクティエボラーグ | ロボツト |
JPS6347080A (ja) * | 1986-08-13 | 1988-02-27 | フアナツク株式会社 | 多関節形産業用ロボツトのア−ム駆動装置 |
JPH09248776A (ja) * | 1996-03-14 | 1997-09-22 | Exedy Corp | パラレルリンク機構 |
JPH1110575A (ja) * | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | パラレルリンク機構 |
JP2003148582A (ja) * | 2001-11-09 | 2003-05-21 | Mitsubishi Electric Corp | パラレルメカニズム |
JP2003343684A (ja) * | 2002-05-29 | 2003-12-03 | Mitsubishi Material Cmi Kk | モータ駆動型直線アクチュエータ |
JP2004249304A (ja) * | 2003-02-19 | 2004-09-09 | Tama Tlo Kk | 長尺ワーク材の曲げ加工方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101462191B1 (ko) * | 2013-07-23 | 2014-11-14 | 전성율 | 파이프 밴딩기 |
Also Published As
Publication number | Publication date |
---|---|
US20090199610A1 (en) | 2009-08-13 |
CN101180477A (zh) | 2008-05-14 |
JPWO2006109612A1 (ja) | 2008-11-06 |
CN100591953C (zh) | 2010-02-24 |
JP4972548B2 (ja) | 2012-07-11 |
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