DE60231437D1 - Industrieroboter - Google Patents
IndustrieroboterInfo
- Publication number
- DE60231437D1 DE60231437D1 DE60231437T DE60231437T DE60231437D1 DE 60231437 D1 DE60231437 D1 DE 60231437D1 DE 60231437 T DE60231437 T DE 60231437T DE 60231437 T DE60231437 T DE 60231437T DE 60231437 D1 DE60231437 D1 DE 60231437D1
- Authority
- DE
- Germany
- Prior art keywords
- actuator
- axis
- arm
- linkage
- supporting
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
Classifications
-
- 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
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- 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
- B23Q1/545—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 comprising spherical surfaces
- B23Q1/5462—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 comprising spherical surfaces with one supplementary sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- 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
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/SE2002/000075 WO2003059581A1 (en) | 2002-01-16 | 2002-01-16 | Industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
DE60231437D1 true DE60231437D1 (de) | 2009-04-16 |
Family
ID=20286638
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60231437T Expired - Lifetime DE60231437D1 (de) | 2002-01-16 | 2002-01-16 | Industrieroboter |
Country Status (7)
Country | Link |
---|---|
US (1) | US7637710B2 (de) |
EP (1) | EP1492649B1 (de) |
AT (1) | ATE424283T1 (de) |
AU (1) | AU2002226827A1 (de) |
DE (1) | DE60231437D1 (de) |
ES (1) | ES2322036T3 (de) |
WO (1) | WO2003059581A1 (de) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7337691B2 (en) * | 1999-08-05 | 2008-03-04 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
ES2339766T3 (es) * | 2002-12-20 | 2010-05-25 | Abb Ab | Manipulador cinematico paralelo y metodo de funcionamiento del mismo, que incluye accionadores emparejados. |
CN100548590C (zh) * | 2004-06-10 | 2009-10-14 | Abb公司 | 并联运动机器人及控制该机器人的方法 |
AT503729B1 (de) * | 2004-10-11 | 2008-06-15 | Ehrenleitner Franz | Parallelkinematik, insbesondere hubroboter |
AT502426B1 (de) * | 2004-10-11 | 2008-06-15 | Ehrenleitner Franz | Parallelkinematik, insbesondere hubtisch |
AT502980B1 (de) * | 2004-10-11 | 2008-06-15 | Ehrenleitner Franz | Parallelkinematik, insbesondere knickarm |
AT502864A3 (de) | 2004-10-11 | 2008-08-15 | Ehrenleitner Franz | Parallelkinematischer roboter |
ES2255842B1 (es) * | 2004-11-02 | 2007-07-16 | Universidad Del Pais Vasco Euskal Herriko Unibertsitatea | Junta de union de barras. |
CN101233071A (zh) * | 2005-07-29 | 2008-07-30 | 弗伦茨·埃伦莱特纳 | 可折叠的悬臂 |
US8191504B2 (en) * | 2006-11-27 | 2012-06-05 | United Technologies Corporation | Coating apparatus and methods |
CN101977737A (zh) * | 2008-01-18 | 2011-02-16 | 法特罗尼克基金会 | 两自由度并行操纵器 |
AT507111B1 (de) * | 2008-07-30 | 2012-04-15 | Ehrenleitner Franz | Presse |
DE102008058644A1 (de) * | 2008-10-10 | 2010-04-15 | Num Industry Alliance Ag | Schneidvorrichtung |
US20100275718A1 (en) * | 2009-04-29 | 2010-11-04 | Microdexterity Systems, Inc. | Manipulator |
AT508495B1 (de) * | 2009-07-09 | 2013-04-15 | Ehrenleitner Franz | Werkzeugmaschine |
CN102107431A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 并联机器人 |
EA024239B1 (ru) * | 2010-03-11 | 2016-08-31 | Сумитомо Метал Индастриз, Лтд. | Позиционирующее устройство и устройство для горячей обработки заготовки, содержащее это позиционирующее устройство |
EP2576154A4 (de) * | 2010-05-25 | 2014-09-10 | Systemantics India Pvt Ltd | Hybride seriell-parallel-verbindung auf grundlage von sechs freiheitsgraden eines robotermanipulators |
WO2012031635A1 (en) * | 2010-09-10 | 2012-03-15 | Abb Research Ltd. | Industrial robot |
US8761927B2 (en) * | 2010-12-17 | 2014-06-24 | Disney Enterprises, Inc. | Externally actuated figure |
JP5866154B2 (ja) * | 2011-07-06 | 2016-02-17 | キヤノン電子株式会社 | パラレルリンクロボット |
CN102303313B (zh) * | 2011-08-16 | 2013-12-18 | 河南科技大学 | 一种非对称完全各向同性三自由度空间并联机器人机构 |
NL2010312C2 (en) | 2013-02-15 | 2014-08-18 | Oldin Beheer B V | Load handling robot with three single degree of freedom actuators. |
EP3473374A1 (de) | 2013-11-27 | 2019-04-24 | Diebotics IP, LLC | Mehrachsige werkstückübertragungsvorrichtung |
USD759139S1 (en) * | 2014-05-26 | 2016-06-14 | Abb Technology Ltd | Industrial robot |
CN104308831B (zh) * | 2014-09-22 | 2017-01-25 | 汕头大学 | 双动子直线电机驱动的并联机器人 |
ES2833417T3 (es) * | 2015-05-14 | 2021-06-15 | Euromatic Srl | Dispositivo para el movimiento y el posicionamiento de un objeto en el espacio |
CN104972453B (zh) * | 2015-05-26 | 2016-09-28 | 韩方元 | 一种多运动平台并联机器人构建方法及其并联机器人 |
CN104985589B (zh) * | 2015-07-02 | 2017-01-25 | 上海交通大学 | 具有弧形移动副的五自由度转动移动完全解耦并联机构 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4651589A (en) | 1983-03-08 | 1987-03-24 | Societe Bauduin Becart S.A. | Polyarticulated retractile mechanism |
US4569627A (en) * | 1983-03-10 | 1986-02-11 | Simunovic Sergio N | Robotic manipulator |
CH672089A5 (de) * | 1985-12-16 | 1989-10-31 | Sogeva Sa | |
FR2670424B1 (fr) * | 1990-12-18 | 1993-04-09 | Onera (Off Nat Aerospatiale) | Dispositif manipulateur pour deplacer un objet, dans l'espace, parallelement a lui-meme. |
US5156062A (en) * | 1991-07-01 | 1992-10-20 | Rockwell International Corporation | Anti-rotation positioning mechanism |
US5813287A (en) * | 1994-03-02 | 1998-09-29 | Renishaw Plc | Coordinate positioning machine |
JPH08277898A (ja) * | 1995-04-05 | 1996-10-22 | Takeshi Yanagisawa | ロボット装置 |
US5847528A (en) * | 1995-05-19 | 1998-12-08 | Canadian Space Agency | Mechanism for control of position and orientation in three dimensions |
FR2739801B1 (fr) | 1995-10-13 | 1998-01-02 | Leseure Michel | Perfectionnements aux manipulateurs plans a trajectoire figee ou programmable a tres haute cadence |
JPH09186216A (ja) * | 1995-12-27 | 1997-07-15 | Sony Corp | 搬送装置 |
SE508890C2 (sv) * | 1996-03-14 | 1998-11-16 | Asea Brown Boveri | Manipulator |
AU5685498A (en) * | 1997-01-14 | 1998-08-03 | Asea Brown Boveri Ab | A device for relative displacement of two elements |
DE19710171C2 (de) * | 1997-03-12 | 2002-02-07 | Juergen Hesselbach | Manipulator mit Parallelstruktur |
US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
SE513334C2 (sv) * | 1997-09-12 | 2000-08-28 | Abb Ab | Anordning för relativ förflyttning av två element |
SE512931C2 (sv) | 1998-04-29 | 2000-06-05 | Abb Ab | Anordning för relativ förflyttning av två element |
FR2779080B1 (fr) * | 1998-05-27 | 2000-08-11 | Renault Automation | Dispositif permettant de mettre en oeuvre une structure logique de machine-outil a architecture parallele et machine-outil adoptant un tel dispositif |
US6702805B1 (en) * | 1999-11-12 | 2004-03-09 | Microdexterity Systems, Inc. | Manipulator |
SE0100134D0 (sv) * | 2001-01-15 | 2001-01-15 | Abb Ab | Industrirobot |
-
2002
- 2002-01-16 DE DE60231437T patent/DE60231437D1/de not_active Expired - Lifetime
- 2002-01-16 WO PCT/SE2002/000075 patent/WO2003059581A1/en not_active Application Discontinuation
- 2002-01-16 ES ES02716504T patent/ES2322036T3/es not_active Expired - Lifetime
- 2002-01-16 EP EP02716504A patent/EP1492649B1/de not_active Expired - Lifetime
- 2002-01-16 US US10/501,554 patent/US7637710B2/en active Active
- 2002-01-16 AT AT02716504T patent/ATE424283T1/de not_active IP Right Cessation
- 2002-01-16 AU AU2002226827A patent/AU2002226827A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
WO2003059581A1 (en) | 2003-07-24 |
AU2002226827A1 (en) | 2003-07-30 |
EP1492649A1 (de) | 2005-01-05 |
EP1492649B1 (de) | 2009-03-04 |
ES2322036T3 (es) | 2009-06-16 |
ATE424283T1 (de) | 2009-03-15 |
US7637710B2 (en) | 2009-12-29 |
US20060104793A1 (en) | 2006-05-18 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |