WO2010069377A1 - A kit and a method - Google Patents
A kit and a method Download PDFInfo
- Publication number
- WO2010069377A1 WO2010069377A1 PCT/EP2008/067813 EP2008067813W WO2010069377A1 WO 2010069377 A1 WO2010069377 A1 WO 2010069377A1 EP 2008067813 W EP2008067813 W EP 2008067813W WO 2010069377 A1 WO2010069377 A1 WO 2010069377A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- work station
- kit
- frame
- object holder
- 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
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
Definitions
- the invention relates to a robot work station kit according to the preamble of claim 1 and a method to manufacture a robot work station kit according to the preamble of claim 8.
- Robots, object holders for robots and robot controllers are usually shipped separately from factory to users and the users are building their robot work stations from said parts. Depending on the use of the work station different types of robots, object holders and robot controllers are chosen by the user and they are assembled to work stations according to their use.
- robot work station parts such as a robot, a robot controller and an object holder configured to hold and manipulate said object are ordered from a manufacturer of said robot work station parts.
- the robot work station parts are installed and calibrated in the facilities of the user.
- the object of the present invention is to provide a new and favourable robot work station kit.
- This object is according to the invention achieved by means of a robot work station kit having the features defined in claim 1 .
- a user can be offered robot work station kits defined for specific uses from a manufacturer of robots.
- a user usually has a clearly defined task for the robot work station and can order a robot work station kit, optimized for said task, from a manufacturer of such kits directly. In this way the installation of the work station at the facility of the user will be much quicker than if separate parts of the work station are assembled.
- the frame is configured to house cables of the robot work station kit, such as cables used between the robot and the robot controller and between the object holder and the robot controller. Cables are expensive and by housing the cables in the frame the lengths of the cables can be minimized. There is also a high risk for damaging cables during installation of robot work stations in the facilities of the user, since heavy equipment is transported during the installation. Due to the fact that cables are installed in the robot work station kit the cables are not exposed during installation of said kit reducing the risk for cable damage.
- cables of the robot work station kit such as cables used between the robot and the robot controller and between the object holder and the robot controller. Cables are expensive and by housing the cables in the frame the lengths of the cables can be minimized. There is also a high risk for damaging cables during installation of robot work stations in the facilities of the user, since heavy equipment is transported during the installation. Due to the fact that cables are installed in the robot work station kit the cables are not exposed during installation of said kit reducing the risk for cable damage.
- the robot work station kit comprises an additional robot mounted to the frame and configured to perform a work, such as welding, on an object. If an additional robot is mounted to the frame an additional work can be performed by the robot work station kit.
- the additional robot can be provided to the robot work station kit to do a similar work as the first robot or another work.
- the object holder has at least one shaft, preferably 1 - 5 shafts, most preferred 1 - 3 shafts, by means of which an object held by the object holder can be moved.
- the robot work station kit the robot and the object holder work cooperatively. If the object holder is provided with at least one shaft by means of which the object can be moved, said cooperative work is facilitated.
- the object holder is a positioner configured to hold an object on which a welding work is to be performed.
- the robot controller is situated in the frame, directly under the robot/robots. In this way the lengths of the cables between the robot and the robot controller can be minimized and costs can be saved when manufacturing the robot work station kit.
- a further object of the invention is to provide a new and favourable method to manufacture a robot work station kit.
- This object is according to the invention achieved by means of a method having the features defined in claim 8.
- a user can be offered robot work station kits defined for specific uses from a manufacturer of robots.
- a user usually has a clearly defined task for the robot work station and can order a robot work station kit, optimized for said task, from a manufacturer of such kits directly. In this way the installation of the work station at the facility of the user will be much quicker than if separate parts of the work station are assembled.
- a calibration of the robot work station kit is performed after the robot, the object holder and the robot controller have been mounted to the frame in common.
- a calibration of said kit can be performed after mounting.
- the calibrated robot work station kit can thereafter be transported to another location.
- the calibration of the robot work station kit is performed in a factory before the robot work station kit is shipped to a place for use of said kit. This saves costs and time for the user of the robot work station kit. Earlier operators had to calibrate the robot work station kit after having been installed at the user's facility. This is time consuming and costly for the user. Said costs can be partly saved by the robot work station kit of the invention.
- the robot/robots is/are mounted directly to the frame without mounting a foot casting in between the robot/robots and the frame. Since the robot is mounted directly to the frame, a foot casting or similar is unnecessary. In this way production costs can be saved.
- the robot, the object holder and the robot controller are mounted to said frame in a factory before being shipped to a place to be used.
- the robot work station kit can be custom made for the user and no further optimization and calibrations are needed after the kit is installed in a facility of the user.
- cables are damaged. By providing the kit directly from the manufacturer such damages are avoided.
- Fig 1 shows a robot work station kit according to the invention
- Fig 2 shows another robot work station kit according to the invention.
- the robot work station kit 10 comprises a robot 1 1 , configured to perform a work, such as welding, on an object 12, an object holder 13, configured to hold the object 12 on which the work is performed, and a robot controller 14, configured to control the robot 1 1 and the object holder 13.
- the robot work station kit 10 comprises a frame 15 to which the robot 1 1 , the object holder 13 and the robot controller 14 are mounted.
- the frame 15 is configured to house cables of the robot work station kit 10, such as cables used between the robot 1 1 and the robot controller 14 and between the object holder 13 and the robot controller 14.
- the robot controller 14 is situated in the frame 15, directly under the robot 1 1 .
- the object holder 13 shown in Fig 1 has one shaft by means of which the object 12 held by the object holder 13 can be moved, but the object holder 13 can according to the invention have several shafts.
- the object holder 13 is a positioner configured to hold an object 12 on which a welding work is to be performed, but the object holder 13 can of course be any kind of object holder 13.
- the robot 1 1 , the object holder 13 and the robot controller 14 are mounted to the frame 15 in common in a factory before being shipped to a place to be used.
- the robot 1 1 is mounted directly to the frame 15 without mounting a foot casting in between the robot 1 1 and the frame 15.
- a calibration of the robot work station kit 10 is performed after that the robot 1 1 , the object holder 13 and the robot controller 14 have been mounted to the frame 15 in common and the calibration of the robot work station kit 10 is performed in a factory before the robot work station kit 10 is shipped to a place for use of said kit 10.
- the robot work station kit 20 comprises two robots 21 a, 21 b configured to perform a work, such as welding, on an object 22, an object holder 23, configured to hold the object 22 on which the work is performed, and a robot controller 24, configured to control the robots 21 a, 21 b and the object holder 23.
- the robot work station kit 20 comprises a frame 25 to which the robots 21 a, 21 b, the object holder 23 and the robot controller 24 are mounted.
- the frame 25 is configured to house cables of the robot work station kit 20, such as cables used between the robots 21 a, 21 b and the robot controller 24 and between the object holder 23 and the robot controller 24.
- the robot controller 24 is situated in the frame 25, directly under the robots 21 a, 21 b.
- the object holder 23 shown in Fig 1 has one shaft by means of which the object 22 held by the object holder 23 can be moved, but the object holder 23 can according to the invention have several shafts.
- the object holder 23 is a positioner configured to hold an object 22 on which a welding work is to be performed, but the object holder 23 can of course be any kind of object holder 23.
- the robots 21 a, 21 b, the object holder 23 and the robot controller 24 are mounted to the frame 25 in common in a factory before being shipped to a place to be used.
- the robots 21 a, 21 b are mounted directly to the frame 25 without mounting a foot casting in between the robots 21 a, 21 b and the frame 25.
- a calibration of the robot work station kit 20 is performed after that the robots 21 a, 21 b, the object holder 23 and the robot controller 24 have been mounted to the frame 25 in common and the calibration of the robot work station kit 20 is performed in a factory before the robot work station kit 20 is shipped to a place for use of said kit 20.
- the robot work station kit of the invention can of course comprise more than two robots and the invention is of course not in any way limited to the embodiments described above. On the contrary, several possibilities to modifications thereof should be apparent to a person skilled in the art without departing from the scope of the invention as defined in the appended claims.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A robot work station kit (10, 20) comprising at least one robot (11, 21a, 21b), configured to perform a work, such as welding, on an object (12, 22), an object holder (13, 23), configured to hold the object (12, 22) on which the work is performed, and a robot controller (14, 24), configured to control the robot (11,21a, 21b) and the object holder (13, 23), wherein the robot work station kit (10, 20) comprises a frame (15, 25) to which the robot (11, 21 a, 21 b), the object holder (13, 23) and the robot controller (14, 24) are mounted.
Description
A kit and a method
FIELD OF THE INVENTION AND BACKGROUND ART
The invention relates to a robot work station kit according to the preamble of claim 1 and a method to manufacture a robot work station kit according to the preamble of claim 8.
Robots, object holders for robots and robot controllers are usually shipped separately from factory to users and the users are building their robot work stations from said parts. Depending on the use of the work station different types of robots, object holders and robot controllers are chosen by the user and they are assembled to work stations according to their use.
If a user for instance needs a robot to perform a welding work on an object, robot work station parts such as a robot, a robot controller and an object holder configured to hold and manipulate said object are ordered from a manufacturer of said robot work station parts. The robot work station parts are installed and calibrated in the facilities of the user. Several problems may arise in the installation phase of the robot work station in the facilities of the user, such as:
• extensive calibration work after the installation, • risk for damages on cables, and
• high costs for installation.
These problems are costly for the user and there is a need to reduce said problems.
SUMMARY OF THE INVENTION
The object of the present invention is to provide a new and favourable robot work station kit. This object is according to the invention achieved by means of a robot work station kit having the features defined in claim 1 .
By providing a frame to which the robot, the robot controller and the object holder are mounted a user can be offered robot work station kits defined for specific uses from a manufacturer of robots. A user usually has a clearly defined task for the robot work station and can order a robot work station kit, optimized for said task, from a manufacturer of such kits directly. In this way the installation of the work station at the facility of the user will be much quicker than if separate parts of the work station are assembled.
According to one embodiment of the invention the frame is configured to house cables of the robot work station kit, such as cables used between the robot and the robot controller and between the object holder and the robot controller. Cables are expensive and by housing the cables in the frame the lengths of the cables can be minimized. There is also a high risk for damaging cables during installation of robot work stations in the facilities of the user, since heavy equipment is transported during the installation. Due to the fact that cables are installed in the robot work station kit the cables are not exposed during installation of said kit reducing the risk for cable damage.
According to another embodiment of the invention the robot work station kit comprises an additional robot mounted to the frame and configured to perform a work, such as welding, on an object. If an additional robot is mounted to the frame an additional work can be performed by the robot work station kit. The additional robot can be provided to the robot work station kit to do a similar work as the first robot or another work.
According to another embodiment of the invention the object holder has at least one shaft, preferably 1 - 5 shafts, most preferred 1 - 3 shafts, by means of which an object held by the object holder can be moved. In the robot work station kit the robot and the object holder work cooperatively. If the object
holder is provided with at least one shaft by means of which the object can be moved, said cooperative work is facilitated.
According to another embodiment of the invention the object holder is a positioner configured to hold an object on which a welding work is to be performed.
According to another embodiment of the invention the robot controller is situated in the frame, directly under the robot/robots. In this way the lengths of the cables between the robot and the robot controller can be minimized and costs can be saved when manufacturing the robot work station kit.
A further object of the invention is to provide a new and favourable method to manufacture a robot work station kit. This object is according to the invention achieved by means of a method having the features defined in claim 8.
By providing a method by which the robot, the robot controller and the object holder are mounted to a frame in common a user can be offered robot work station kits defined for specific uses from a manufacturer of robots. A user usually has a clearly defined task for the robot work station and can order a robot work station kit, optimized for said task, from a manufacturer of such kits directly. In this way the installation of the work station at the facility of the user will be much quicker than if separate parts of the work station are assembled.
According to another embodiment of the invention a calibration of the robot work station kit is performed after the robot, the object holder and the robot controller have been mounted to the frame in common. By having the parts of the robot work station kit mounted onto a frame in common a calibration of said kit can be performed after mounting. The calibrated robot work station kit can thereafter be transported to another location.
According to another embodiment of the invention the calibration of the robot work station kit is performed in a factory before the robot work station kit is shipped to a place for use of said kit. This saves costs and time for the user of the robot work station kit. Earlier operators had to calibrate the robot work station kit after having been installed at the user's facility. This is time consuming and costly for the user. Said costs can be partly saved by the robot work station kit of the invention.
According to another embodiment of the invention the robot/robots is/are mounted directly to the frame without mounting a foot casting in between the robot/robots and the frame. Since the robot is mounted directly to the frame, a foot casting or similar is unnecessary. In this way production costs can be saved.
According to another embodiment of the invention the robot, the object holder and the robot controller are mounted to said frame in a factory before being shipped to a place to be used. This way the robot work station kit can be custom made for the user and no further optimization and calibrations are needed after the kit is installed in a facility of the user. During mounting of parts to a robot work station kit it often happens that cables are damaged. By providing the kit directly from the manufacturer such damages are avoided.
Other advantages and advantageous features of the invention will appear from the other dependent claims and the subsequent description.
BRIEF DESCRIPTION OF THE DRAWINGS
With reference to the appended drawings, below follows a specific description of embodiments of the invention cited as examples.
In the drawings:
Fig 1 shows a robot work station kit according to the invention, and
Fig 2 shows another robot work station kit according to the invention.
DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION
Explained herein are embodiments of the invention, describing a robot work station kit of the invention and a method to manufacture the robot work station kit. The invention may, however, be embodied in many different forms and should not be construed as being limited to the exemplary embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art.
In Fig 1 a robot work station kit 10 is shown. The robot work station kit 10 comprises a robot 1 1 , configured to perform a work, such as welding, on an object 12, an object holder 13, configured to hold the object 12 on which the work is performed, and a robot controller 14, configured to control the robot 1 1 and the object holder 13. The robot work station kit 10 comprises a frame 15 to which the robot 1 1 , the object holder 13 and the robot controller 14 are mounted. The frame 15 is configured to house cables of the robot work station kit 10, such as cables used between the robot 1 1 and the robot controller 14 and between the object holder 13 and the robot controller 14. The robot controller 14 is situated in the frame 15, directly under the robot 1 1 . The object holder 13 shown in Fig 1 has one shaft by means of which the object 12 held by the object holder 13 can be moved, but the object holder 13 can according to the invention have several shafts. In Fig 1 the object holder 13 is a
positioner configured to hold an object 12 on which a welding work is to be performed, but the object holder 13 can of course be any kind of object holder 13.
During the manufacturing of a robot work station kit 10 as the one shown in Fig 1 , the robot 1 1 , the object holder 13 and the robot controller 14 are mounted to the frame 15 in common in a factory before being shipped to a place to be used. The robot 1 1 is mounted directly to the frame 15 without mounting a foot casting in between the robot 1 1 and the frame 15. A calibration of the robot work station kit 10 is performed after that the robot 1 1 , the object holder 13 and the robot controller 14 have been mounted to the frame 15 in common and the calibration of the robot work station kit 10 is performed in a factory before the robot work station kit 10 is shipped to a place for use of said kit 10.
In Fig 2 a robot work station kit 20 is shown. The robot work station kit 20 comprises two robots 21 a, 21 b configured to perform a work, such as welding, on an object 22, an object holder 23, configured to hold the object 22 on which the work is performed, and a robot controller 24, configured to control the robots 21 a, 21 b and the object holder 23. The robot work station kit 20 comprises a frame 25 to which the robots 21 a, 21 b, the object holder 23 and the robot controller 24 are mounted. The frame 25 is configured to house cables of the robot work station kit 20, such as cables used between the robots 21 a, 21 b and the robot controller 24 and between the object holder 23 and the robot controller 24. The robot controller 24 is situated in the frame 25, directly under the robots 21 a, 21 b. The object holder 23 shown in Fig 1 has one shaft by means of which the object 22 held by the object holder 23 can be moved, but the object holder 23 can according to the invention have several shafts. In Fig 1 the object holder 23 is a positioner configured to hold an object 22 on which a welding work is to be performed, but the object holder 23 can of course be any kind of object holder 23.
During the manufacturing of a robot work station kit 20 as the one shown in Fig 1 , the robots 21 a, 21 b, the object holder 23 and the robot controller 24 are mounted to the frame 25 in common in a factory before being shipped to a place to be used. The robots 21 a, 21 b are mounted directly to the frame 25 without mounting a foot casting in between the robots 21 a, 21 b and the frame 25. A calibration of the robot work station kit 20 is performed after that the robots 21 a, 21 b, the object holder 23 and the robot controller 24 have been mounted to the frame 25 in common and the calibration of the robot work station kit 20 is performed in a factory before the robot work station kit 20 is shipped to a place for use of said kit 20.
The robot work station kit of the invention can of course comprise more than two robots and the invention is of course not in any way limited to the embodiments described above. On the contrary, several possibilities to modifications thereof should be apparent to a person skilled in the art without departing from the scope of the invention as defined in the appended claims.
Claims
1 . A robot work station kit (10, 20) comprising at least one robot (1 1 , 21 a, 21 b), configured to perform a work, such as welding, on an object (12, 22), an object holder (13, 23), configured to hold the object (12, 22) on which the work is performed, and a robot controller (14, 24), configured to control the robot (1 1 , 21 a, 21 b) and the object holder (13, 23), characterized in that the robot work station kit (10,
20) comprises a frame (15, 25) to which the robot (1 1 , 21 a,
21 b), the object holder (13, 23) and the robot controller
(14, 24) are mounted.
2. A robot work station kit (10, 20) according to claim 1 , characterized in that the frame (15, 25) is configured to house cables of the robot work station kit (10, 20), such as cables used between the robot (1 1 , 21 a, 21 b) and the robot controller (14, 24) and between the object holder (13, 23) and the robot controller (14, 24).
3. A robot work station kit (20) according to claim 1 or 2, characterized in that the robot work station kit (20) comprises an additional robot (21 b) mounted to the frame (25) and configured to perform a work, such as welding, on an object (22).
4. A robot work station kit (10, 20) according to any of the preceding claims, characterized in that the object holder (13, 23) has at least one shaft by means of which an object (12, 22) held by the object holder (13, 23)can be moved.
5. A robot work station kit (10, 20) according to any of the preceding claims, characterized in that the object holder
(13, 23) has 1 - 5 shafts, preferably 1 - 3 shafts, by means of which an object (12, 22) held by the object holder (13, 23) can be moved.
6. A robot work station kit (10, 20) according to any of the preceding claims, characterized in that the object holder
(13, 23) is a positioner configured to hold an object (12, 22) on which a welding work is to be performed.
7. A robot work station kit (10, 20) according to any of the preceding claims, characterized in that the robot controller (14, 24) is situated in the frame (15, 25), directly under the robot/robots (1 1 , 21 a, 21 b).
8. A method to manufacture a robot work station kit (10, 20), characterized in that at least one robot (1 1 , 21 a, 21 b), configured to perform a work, such as welding, on an object (12, 22), an object holder (13, 23), configured to hold a said object (12, 22) on which the work is performed, and a robot controller (14, 24), configured to control the robot (1 1 , 21 a, 21 b) and the object holder (13, 23), are mounted to a frame (15, 25) in common.
9. A method according to claim 8, characterized in that a calibration of the robot work station kit (10, 20) is performed after that the robot (1 1 , 21 a, 21 b), the object holder (13, 23) and the robot controller (14, 24) have been mounted to the frame (15, 25) in common.
10. A method according to any of claims 9, characterized in that the calibration of the robot work station kit (10, 20) is performed in a factory before the robot work station kit (10, 20) is shipped to a place for use of said kit (10, 20).
1 1 . A method according to any of claims 8 - 10, characterized [n_ that at least one additional robot (21 b) is mounted to the common frame (25).
12. A method according to any of claims 8 - 11, characterized [n_ that the robot/robots (11, 21a, 21b) is/are mounted directly to the frame (15, 25) without mounting a foot casting in between the robot/robots (11, 21a, 21b) and the frame (15, 25).
13. A method according to any of claims 8 - 12, characterized [n_ that the robot controller (14, 24) is mounted into the frame (15, 25) directly under the robot/robots (11, 21a,
21b).
14. A method according to any of claims 8 - 13, characterized in. that the robot (11, 21a, 21b), the object holder (13, 23) and the robot controller (14, 24) are mounted to said frame
(15, 25) in a factory before being shipped to a place for use of said kit (10, 20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2008/067813 WO2010069377A1 (en) | 2008-12-18 | 2008-12-18 | A kit and a method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2008/067813 WO2010069377A1 (en) | 2008-12-18 | 2008-12-18 | A kit and a method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2010069377A1 true WO2010069377A1 (en) | 2010-06-24 |
Family
ID=40467158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2008/067813 WO2010069377A1 (en) | 2008-12-18 | 2008-12-18 | A kit and a method |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2010069377A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014035352A1 (en) * | 2012-08-29 | 2014-03-06 | Gokhan Vargin Gok | A positioner with angular wings |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2105234A (en) * | 1981-09-08 | 1983-03-23 | Lansing Bagnall Ltd | Work support including positionable work-tables |
| EP0110347A1 (en) * | 1982-11-26 | 1984-06-13 | Hitachi, Ltd. | Robot operation control system |
| FR2578181A1 (en) * | 1985-01-11 | 1986-09-05 | Electronique Appliquee Mecaniq | Installation for the stepwise transfer of workpieces between several successive work stations where these workpieces are checked or machined |
| FR2612826A1 (en) * | 1987-03-24 | 1988-09-30 | Houiller Louis | Machine tool for working pieces of wood |
| JPH0241889A (en) * | 1988-07-29 | 1990-02-13 | Toshiba Corp | Clean robot |
| EP0925883A1 (en) * | 1997-12-22 | 1999-06-30 | ABBPATENT GmbH | Industrial robotic system |
| FR2847505A1 (en) * | 2002-11-26 | 2004-05-28 | Sauvageau Commercy Soudure | Welding installation for catalytic muffler pot, has three arms, where one includes welding unit and system of angular swiveling that moves welding unit with respect to positioning device and motor based on given angular trajectory |
| US20040138782A1 (en) * | 2003-01-09 | 2004-07-15 | Passmore Michael L. | Multi-station robotic welding assembly |
| EP1609532A1 (en) * | 2004-06-25 | 2005-12-28 | Dürr Systems GmbH | Painting installation and corresponding operating process |
| DE102006000721A1 (en) * | 2005-02-04 | 2006-08-10 | Koenig Maschinenbau Ag | Handling system e.g. for handling work piece with industrial robot, has robot for moving workpieces from storage zone to processing machine and batch zone is provided |
| US20060226139A1 (en) * | 2005-04-06 | 2006-10-12 | Craig Jennings | Wok-piece positioner |
-
2008
- 2008-12-18 WO PCT/EP2008/067813 patent/WO2010069377A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2105234A (en) * | 1981-09-08 | 1983-03-23 | Lansing Bagnall Ltd | Work support including positionable work-tables |
| EP0110347A1 (en) * | 1982-11-26 | 1984-06-13 | Hitachi, Ltd. | Robot operation control system |
| FR2578181A1 (en) * | 1985-01-11 | 1986-09-05 | Electronique Appliquee Mecaniq | Installation for the stepwise transfer of workpieces between several successive work stations where these workpieces are checked or machined |
| FR2612826A1 (en) * | 1987-03-24 | 1988-09-30 | Houiller Louis | Machine tool for working pieces of wood |
| JPH0241889A (en) * | 1988-07-29 | 1990-02-13 | Toshiba Corp | Clean robot |
| EP0925883A1 (en) * | 1997-12-22 | 1999-06-30 | ABBPATENT GmbH | Industrial robotic system |
| FR2847505A1 (en) * | 2002-11-26 | 2004-05-28 | Sauvageau Commercy Soudure | Welding installation for catalytic muffler pot, has three arms, where one includes welding unit and system of angular swiveling that moves welding unit with respect to positioning device and motor based on given angular trajectory |
| US20040138782A1 (en) * | 2003-01-09 | 2004-07-15 | Passmore Michael L. | Multi-station robotic welding assembly |
| EP1609532A1 (en) * | 2004-06-25 | 2005-12-28 | Dürr Systems GmbH | Painting installation and corresponding operating process |
| DE102006000721A1 (en) * | 2005-02-04 | 2006-08-10 | Koenig Maschinenbau Ag | Handling system e.g. for handling work piece with industrial robot, has robot for moving workpieces from storage zone to processing machine and batch zone is provided |
| US20060226139A1 (en) * | 2005-04-06 | 2006-10-12 | Craig Jennings | Wok-piece positioner |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014035352A1 (en) * | 2012-08-29 | 2014-03-06 | Gokhan Vargin Gok | A positioner with angular wings |
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