WO2011053209A1 - Bras réglable pour moyens de préhension - Google Patents

Bras réglable pour moyens de préhension Download PDF

Info

Publication number
WO2011053209A1
WO2011053209A1 PCT/SE2010/000260 SE2010000260W WO2011053209A1 WO 2011053209 A1 WO2011053209 A1 WO 2011053209A1 SE 2010000260 W SE2010000260 W SE 2010000260W WO 2011053209 A1 WO2011053209 A1 WO 2011053209A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
settable
expansion socket
arm
splines
Prior art date
Application number
PCT/SE2010/000260
Other languages
English (en)
Inventor
Olaf Ruppel
Original Assignee
Olaf Ruppel
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 Olaf Ruppel filed Critical Olaf Ruppel
Priority to DE112010004203T priority Critical patent/DE112010004203B4/de
Publication of WO2011053209A1 publication Critical patent/WO2011053209A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/02—Manipulators positioned in space by hand articulated or flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • 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

Definitions

  • the present invention relates to a settable arm for carrier of gripping means or the like, comprising a number of against each other arranged links in a series.
  • Robot arms used today are built from specially designed aluminium profiles with a number of elements and joints for carrying of tubes and suction cups. These are attached Pwith precision along the profiles, such that all movements may be performed without unnecessary influence at tubes and cables.
  • the mounting demands a high precision for cutting and adaptation of the profiles.
  • the time required for putting together the gripping means and the adaptation of all tubes and suction cups make the costs high.
  • the object of the present invention is to achieve a settable arm for carrier of gripping means or the like.
  • Another object of the invention is to achieve a robot arm, that may be set in angles, such that it may reach one and the same point by a large number of angle combinations and thus get a very high degree of accessibility with a next to non limited reach, that is to say that it reaches all points within the work field of the robot. This is solved by a number of combined settable links in series.
  • the settable arm for gripping means comprises specially designed links by which can be achieved the embodiment with a number of links arranged in series.
  • the settable arm is built by a link attachment, intermediate links and a link holder, joined by screws.
  • the bottom of the link attachment is integrated with an angle, turned upwards, where there is a recess for a screw for connection to a robot.
  • Through the bottom of the link attachment there is an expansion socket, parted into four expansion taps provided with splines, expanding when a screw is set from the link attachment into the expansion socket.
  • the intermediate link there is an upper plane, integrated with a lower plane and displaced to each other by a bend downwards such that it differs the thickness of the material between the upper plane and the lower plane. At the lower edge of the bend downwards there is an integrated hoop.
  • an expansion socket is arranged. This is designed in the same way as that in the link attachment.
  • the lower plane of the intermediate link has a hole through it with inner splines, adapted to the expansion socket.
  • the expansion socket of the link attachment is led downwards into the hole of the intermediate socket, and the link attachment is locked to the intermediate link by a screw when the expansion socket expands.
  • a number of intermediate links are connected to each other. These may be set at desired angles to achieve the needed adaptation.
  • To the outer intermediate link the link holder is connected in the same way.
  • the link holder is designed to hold a vacuum gripping means.
  • a vacuum tube, connected to the vacuum gripping means is led though the hoops, integrated to the intermediate link.
  • Figure 1 shows views in perspective from above and below of a B3 ⁇ 4icL attachment, part of the settable arm
  • Figure 2 shows views in perspective from above and below of an intermediate link, part of the settable arm
  • Figure 3 shows views in perspective from above and below of a link holder, part of the settable arm
  • Figure 4 shows a view of the upper side of a settable arm built from links
  • Figure 5 shows a view of the lower side of a settable arm built from links.
  • a settable arm as shown in figures 1,2,3,4 and 5 represents an example of an embodiment.
  • a settable arm for gripping means as shown in figure 1 with a view in perspective at the upper side 4 and the lower side 5 of the bottom in a link attachment 1 in the settable arm.
  • the bottom 2 is integrated with an angle 3 turned upwards with a front side 6 and a back side 7.
  • a recess 8 for a screw.
  • the intermediate link 12 in the intermediate link 12 there is an upper plane 13 integrated with a lower plane 14, displaced to each other by bending downwards 16 such that there is a difference of the thickness of the material between the upper plane 13 and the lower plane 14.
  • a hook In the lower edge of the bending downwards 16 there is a hook integrated.
  • the lower plane 14 of the intermediate link 12 has a hole 21 through it with inner splines 22, which hole is adapted to the expansion socket 23.
  • a settable arm for gripping means as shown in figure 3 with a view in perspective at the upper side 29 and a view in perspective at the lower side 30 of a link holder 26 which is part of the settable arm.
  • the link holder 26 is integrated with a hook 28, turned downwards.
  • the link holder 26 has a hole 31 through it with inner splines 32, which hole is adapted to an expansion socket 23.
  • a settable arm for gripping means as according to figures 4 and 5, which show views in perspective at the upper side and the lower side of a settable arm built from a link attachment 1, three intermediate links 12 and a link holder 26, and show how these are connected to each other by screws 33. Furthermore there is shown a link attachment 1 with a screw 33 in the angle 3 turned upwards, for connection to a robot. From the upper side 4 of the link attachment 1 a screw 33 is fastened in an expansion socket 9 provided with splines 11. The expansion socket 9 expands and locks the link attachment 1 to an intermediate link 12 when the expansion socket 9 is connected to the lower plane 14 of the intermediate link 12, which plane is provided with a hole 21 through it with inner splines, adapted to the splines 11 of the expansion socket 9.
  • intermediate links 12 are connected to each other. These may be set at desired angles in order to get the needed adaptation.
  • a link holder 26 is connected in the same way.
  • the link holder 26 is adapted to hold a vacuum gripping means 34.
  • a vacuum tube 35 is connected to the vacuum gripping means 34 and is led through the hooks 15, that are integrated in the intermediate links.
  • the invention has been disclosed according to a preferred combination and design and it is understood, that some changes may be made without leaving the scope of the invention.
  • the settable arm may be built and angled in the horizontal and vertical direction.
  • the intermediate links are shown in the figures with a short joint, but may of course have other lengths.
  • the settable arm carries a vacuum gripping means, but may of course carry alftumber of different gripping means or other equipment.

Landscapes

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

Abstract

La présente invention se rapporte à un bras réglable destiné à porter des moyens de préhension ou similaires. Le bras réglable selon l'invention peut être réglé à certains angles, de sorte qu'il peut atteindre un seul et même point par le biais d'un grand nombre de combinaisons d'angles. Ceci permet ainsi d'obtenir une excellente accessibilité, avec une portée quasi illimitée. L'objectif de la présente invention est atteint par l'utilisation d'un nombre de maillons réglables agencés en série. Le bras réglable comprend des maillons spécialement conçus qui permettent ainsi un grand nombre de modes de réalisation différents. Selon le nombre de positions d'angle, le bras réglable comprend une fixation de maillons, des maillons intermédiaires et un support de maillons qui sont raccordés les uns aux autres par des vis.
PCT/SE2010/000260 2009-10-30 2010-10-27 Bras réglable pour moyens de préhension WO2011053209A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112010004203T DE112010004203B4 (de) 2009-10-30 2010-10-27 Einstellbarer Arm für eine Greifeinrichtung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0901394-7 2009-10-30
SE0901394A SE0901394A1 (sv) 2009-10-30 2009-10-30 Ställbar arm för gripdon

Publications (1)

Publication Number Publication Date
WO2011053209A1 true WO2011053209A1 (fr) 2011-05-05

Family

ID=43243899

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2010/000260 WO2011053209A1 (fr) 2009-10-30 2010-10-27 Bras réglable pour moyens de préhension

Country Status (3)

Country Link
DE (1) DE112010004203B4 (fr)
SE (1) SE0901394A1 (fr)
WO (1) WO2011053209A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104175328A (zh) * 2013-05-20 2014-12-03 株式会社安川电机 连接部件、连接部件的制造方法和机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0136719A2 (fr) * 1983-10-05 1985-04-10 Hitachi, Ltd. Manipulateur
US4828453A (en) * 1987-04-21 1989-05-09 The United States Of America As Represented By The United States Department Of Energy Modular multimorphic kinematic arm structure and pitch and yaw joint for same
US5184454A (en) * 1991-06-28 1993-02-09 A&A Manufacturing Co., Inc. Cable carrier chain
WO2001040676A1 (fr) * 1999-11-26 2001-06-07 Kabelschlepp Gmbh Unite de guidage d'energie
WO2003067341A2 (fr) * 2002-02-06 2003-08-14 The Johns Hopkins University Centre telecommande d'un procede et d'un systeme automatises et motorises

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29917156U1 (de) * 1999-09-29 1999-12-23 Templin Guenter Kühlflüssigkeitszuführung
DE202004014842U1 (de) * 2004-09-23 2006-02-02 Daas, Kamal Roboterarm

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0136719A2 (fr) * 1983-10-05 1985-04-10 Hitachi, Ltd. Manipulateur
US4828453A (en) * 1987-04-21 1989-05-09 The United States Of America As Represented By The United States Department Of Energy Modular multimorphic kinematic arm structure and pitch and yaw joint for same
US5184454A (en) * 1991-06-28 1993-02-09 A&A Manufacturing Co., Inc. Cable carrier chain
WO2001040676A1 (fr) * 1999-11-26 2001-06-07 Kabelschlepp Gmbh Unite de guidage d'energie
WO2003067341A2 (fr) * 2002-02-06 2003-08-14 The Johns Hopkins University Centre telecommande d'un procede et d'un systeme automatises et motorises

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104175328A (zh) * 2013-05-20 2014-12-03 株式会社安川电机 连接部件、连接部件的制造方法和机器人

Also Published As

Publication number Publication date
DE112010004203T5 (de) 2012-11-29
DE112010004203B4 (de) 2013-12-19
SE533512C2 (sv) 2010-10-12
SE0901394A1 (sv) 2010-10-12

Similar Documents

Publication Publication Date Title
US20070236112A1 (en) Sneeze Guard
CN106166736B (zh) 具有可重新配置的端部-执行器组件的机器人系统
US9321180B2 (en) Industrial robot device, an industrial robot and a method for manipulating objects
US20120025553A1 (en) Fluid Technology Device, in Particular Gripping Apparatus
EP2237905A4 (fr) Dispositifs, systèmes et procédés pour un pliage de fil automatisé
CN109551506A (zh) 一种焊接头装拆装置
US10274130B2 (en) Carrier device
CN110653102A (zh) 一种免拆卸喷枪姿态调整装置
US10150217B2 (en) Tool adapter for robot wrist and robot with tool adapter attached thereto
WO2011053209A1 (fr) Bras réglable pour moyens de préhension
JP2017218835A (ja) 天井吊り下げ物支持装置及びそれを用いた施工方法
US20060228205A1 (en) Adapter assembly including telescoping links
JP5177835B2 (ja) 双腕型ロボットマニピュレータ
WO2006010816A3 (fr) Module de service compact destiné aux usines de production d'aluminium par électrolyse
GB2591254B (en) Decoupling a tool from tilt rotator
CN204397265U (zh) 固定装置
JP2020006488A (ja) ハンド接続位置可変装置及びロボット
CN210967775U (zh) 一种胶圈转盘式组装机
CN219522168U (zh) 一种液压夹紧夹具
US20150239098A1 (en) Scaffold Workstation Tool
KR20180001748A (ko) 다단구조를 포함하는 용접지그
CN101939133A (zh) 保持件
CN105382530A (zh) 定位器凸轮组件
JP4873946B2 (ja) 組立装置
CN112092003B (zh) 一种平面定位夹爪机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10827225

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 112010004203

Country of ref document: DE

Ref document number: 1120100042039

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10827225

Country of ref document: EP

Kind code of ref document: A1