DE69405966D1 - Industrieroboter, insbesondere zum Transport von Teilen zwischen Pressen in einer Pressenstrasse - Google Patents
Industrieroboter, insbesondere zum Transport von Teilen zwischen Pressen in einer PressenstrasseInfo
- Publication number
- DE69405966D1 DE69405966D1 DE69405966T DE69405966T DE69405966D1 DE 69405966 D1 DE69405966 D1 DE 69405966D1 DE 69405966 T DE69405966 T DE 69405966T DE 69405966 T DE69405966 T DE 69405966T DE 69405966 D1 DE69405966 D1 DE 69405966D1
- Authority
- DE
- Germany
- Prior art keywords
- presses
- industrial robots
- press line
- transporting parts
- forearms
- 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 - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- 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
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S414/00—Material or article handling
- Y10S414/13—Handlers utilizing parallel links
-
- 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
- Y10T74/20317—Robotic arm including electric motor
-
- 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
- Y10T74/20335—Wrist
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Press Drives And Press Lines (AREA)
- Specific Conveyance Elements (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITTO930961A IT1272084B (it) | 1993-12-17 | 1993-12-17 | Robot industriale, particolarmente per la movimentazione di pezzi da una pressa all'altra in una linea di presse |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69405966D1 true DE69405966D1 (de) | 1997-11-06 |
DE69405966T2 DE69405966T2 (de) | 1998-03-05 |
Family
ID=11411943
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69405966T Expired - Fee Related DE69405966T2 (de) | 1993-12-17 | 1994-12-01 | Industrieroboter, insbesondere zum Transport von Teilen zwischen Pressen in einer Pressenstrasse |
Country Status (11)
Country | Link |
---|---|
US (1) | US5522275A (de) |
EP (1) | EP0658403B1 (de) |
JP (1) | JP2652355B2 (de) |
KR (1) | KR0168696B1 (de) |
CN (1) | CN1070092C (de) |
AT (1) | ATE158743T1 (de) |
CA (1) | CA2137023C (de) |
DE (1) | DE69405966T2 (de) |
ES (1) | ES2108962T3 (de) |
IT (1) | IT1272084B (de) |
RU (1) | RU2091207C1 (de) |
Families Citing this family (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6019013A (en) * | 1994-10-24 | 2000-02-01 | Luik; Ilmar | Machine tool operated by gyroscopic precession |
US5746566A (en) * | 1995-04-26 | 1998-05-05 | Design Systems, Inc. | Apparatus for a moving workpiece |
US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
US5789878A (en) * | 1996-07-15 | 1998-08-04 | Applied Materials, Inc. | Dual plane robot |
US6336374B1 (en) | 1997-01-14 | 2002-01-08 | Asea Brown Boveri A.B. | Device for relative displacement of two elements |
US6132165A (en) * | 1998-02-23 | 2000-10-17 | Applied Materials, Inc. | Single drive, dual plane robot |
DE10010079A1 (de) | 1999-03-17 | 2000-09-21 | Mueller Weingarten Maschf | Transportsystem |
DE10064930A1 (de) * | 2000-02-10 | 2001-08-16 | Mueller Weingarten Maschf | Horizontales Transportsystem |
FR2810573B1 (fr) * | 2000-06-21 | 2002-10-11 | Commissariat Energie Atomique | Bras de commande a deux branches en parallele |
DE10064154B4 (de) | 2000-12-22 | 2004-06-03 | Schuler Pressen Gmbh & Co. Kg | Mehrstufenpresse" |
DE10108321A1 (de) * | 2001-02-21 | 2002-08-29 | A & F Automation & Foerdertech | Handhabungsvorrichtung insbesondere in einer Verpackungsmaschine |
ITTO20010575A1 (it) * | 2001-06-15 | 2002-12-15 | Comau Spa | Linea di unita' operatrici per l'esecuzione di lavorazioni di macchina provvista di dispositivi traslatori modulari per il trasferimento dei |
US6841006B2 (en) * | 2001-08-23 | 2005-01-11 | Applied Materials, Inc. | Atmospheric substrate processing apparatus for depositing multiple layers on a substrate |
DE10157328A1 (de) * | 2001-11-23 | 2003-06-12 | Schuler Pressen Gmbh & Co | Vorrichtung zum Transport von Werkstücken innerhalb einer Mehrstufenpresse |
US20030180135A1 (en) * | 2002-03-25 | 2003-09-25 | Sawdon Edwin G. | Adjustable end arm effector |
DE102004038036A1 (de) * | 2004-08-05 | 2006-03-23 | Schuler Automation Gmbh & Co.Kg | Knickroboter |
US7309204B2 (en) | 2005-12-20 | 2007-12-18 | Schuler Automation Gmbh & Co. Kg | Articulated arm robot |
JP4631881B2 (ja) | 2007-07-30 | 2011-02-16 | トヨタ自動車株式会社 | ワーク搬送装置 |
US7967549B2 (en) * | 2008-05-15 | 2011-06-28 | The Boeing Company | Robotic system including foldable robotic arm |
US8920108B2 (en) * | 2009-12-21 | 2014-12-30 | Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik | Manipulator |
CN102125960B (zh) * | 2010-12-30 | 2012-08-15 | 无锡市新峰管业股份有限公司 | 管件成形机的上下料机械手 |
JP6040057B2 (ja) * | 2013-03-01 | 2016-12-07 | コマツNtc株式会社 | 二次元移動閉リンク構造 |
DE102013220798A1 (de) | 2013-10-15 | 2015-04-16 | Kuka Laboratories Gmbh | Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter |
USD759139S1 (en) * | 2014-05-26 | 2016-06-14 | Abb Technology Ltd | Industrial robot |
CN104139395A (zh) * | 2014-06-30 | 2014-11-12 | 东莞市顺如电子科技有限公司 | 一种检测机器人 |
CN104259335A (zh) * | 2014-08-18 | 2015-01-07 | 昆山鑫腾顺自动化设备有限公司 | 一种四轴冲压取料机的操作工艺 |
CN204711031U (zh) * | 2014-12-03 | 2015-10-21 | 佛山市艾乐博机器人科技有限公司 | 一种用于冲压工序的上下料机械手及装置 |
CN104440905B (zh) * | 2014-12-29 | 2016-01-13 | 扬州捷迈锻压机械有限公司 | 一种工件传放机械手 |
CN104669277B (zh) * | 2015-03-11 | 2016-05-11 | 宿州学院 | 一种双臂型写字机器人及其控制方法 |
CN104827464A (zh) * | 2015-04-14 | 2015-08-12 | 马鞍山鼎泰稀土新材料股份有限公司 | 一种四自由度高速搬运机器人水平驱动机构 |
US10788264B2 (en) * | 2016-04-12 | 2020-09-29 | Vanrx Pharmasystems, Inc. | Method and apparatus for loading a lyophilization system |
CN106180449B (zh) * | 2016-07-06 | 2018-04-03 | 燕山大学 | 混联构型冲压上下料机械手 |
DE102018113838B4 (de) | 2018-06-11 | 2024-08-01 | Trapo Ag | Lagenbildungsvorrichtung |
FR3086570B1 (fr) * | 2018-10-01 | 2021-01-15 | Univ Le Havre Normandie | Systeme robotise, comprenant un bras articule |
CN112357551A (zh) * | 2020-10-13 | 2021-02-12 | 山东科技大学 | 一种蔬菜盆栽苗搬运机器人 |
CN113213151A (zh) * | 2021-04-29 | 2021-08-06 | 广东安达智能装备股份有限公司 | 一种多角度旋转倾斜组装***的组装方法 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2091836B (en) * | 1981-01-26 | 1985-06-12 | Nat Res Dev | Pantograph linkage system |
JPS59160187A (ja) * | 1983-03-04 | 1984-09-10 | 株式会社日立製作所 | 液晶表示装置 |
JPS6048276A (ja) * | 1983-08-25 | 1985-03-15 | 日本電気株式会社 | リンク式ロボット |
AU3583084A (en) * | 1983-12-10 | 1985-06-13 | Aida Engineering Ltd. | Playback grinding robot |
DE3404553C2 (de) * | 1984-02-09 | 1986-04-17 | Carl Hurth Maschinen- und Zahnradfabrik GmbH & Co, 8000 München | Handhabungseinrichtung, insbesondere zum Be- und Entladen von Werkzeugmaschinen |
JPS6161778A (ja) * | 1984-08-31 | 1986-03-29 | 松下電器産業株式会社 | 産業用ロボツト |
US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
US4756662A (en) * | 1986-03-31 | 1988-07-12 | Agency Of Industrial Science & Technology | Varible compliance manipulator |
JPS63150177A (ja) * | 1986-12-15 | 1988-06-22 | 工業技術院長 | 可変コンプライアンスパラレルリンクア−ム |
JPS63229289A (ja) * | 1987-03-18 | 1988-09-26 | 三菱電機株式会社 | ロボツト機構 |
JP2629920B2 (ja) * | 1988-12-28 | 1997-07-16 | 株式会社デンソー | 工業用ロボット |
SU1627401A1 (ru) * | 1989-02-27 | 1991-02-15 | Предприятие П/Я В-2190 | Манипул тор |
JPH0832402B2 (ja) * | 1989-12-28 | 1996-03-29 | 川崎重工業株式会社 | 産業用ロボツト |
US5107719A (en) * | 1990-08-28 | 1992-04-28 | The University Of Michigan | Adjustable robotic mechanism |
US5180955A (en) * | 1990-10-11 | 1993-01-19 | International Business Machines Corporation | Positioning apparatus |
IT1245512B (it) * | 1991-02-15 | 1994-09-29 | Comau Spa | Robot articolato dotato di doppio avambraccio |
US5423648A (en) * | 1992-01-21 | 1995-06-13 | Fanuc Robotics North America, Inc. | Method and system for quickly and efficiently transferring a workpiece from a first station to a second station |
-
1993
- 1993-12-17 IT ITTO930961A patent/IT1272084B/it active IP Right Grant
-
1994
- 1994-11-30 CA CA002137023A patent/CA2137023C/en not_active Expired - Fee Related
- 1994-12-01 ES ES94830558T patent/ES2108962T3/es not_active Expired - Lifetime
- 1994-12-01 DE DE69405966T patent/DE69405966T2/de not_active Expired - Fee Related
- 1994-12-01 EP EP94830558A patent/EP0658403B1/de not_active Expired - Lifetime
- 1994-12-01 AT AT94830558T patent/ATE158743T1/de not_active IP Right Cessation
- 1994-12-09 JP JP6331004A patent/JP2652355B2/ja not_active Expired - Fee Related
- 1994-12-16 RU RU94044522/02A patent/RU2091207C1/ru not_active IP Right Cessation
- 1994-12-16 KR KR1019940034554A patent/KR0168696B1/ko not_active IP Right Cessation
- 1994-12-17 CN CN94120056A patent/CN1070092C/zh not_active Expired - Fee Related
- 1994-12-19 US US08/358,368 patent/US5522275A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN1117411A (zh) | 1996-02-28 |
JP2652355B2 (ja) | 1997-09-10 |
EP0658403B1 (de) | 1997-10-01 |
JPH07205063A (ja) | 1995-08-08 |
RU2091207C1 (ru) | 1997-09-27 |
ITTO930961A1 (it) | 1995-06-17 |
EP0658403A1 (de) | 1995-06-21 |
KR0168696B1 (ko) | 1999-02-01 |
IT1272084B (it) | 1997-06-11 |
US5522275A (en) | 1996-06-04 |
KR950017111A (ko) | 1995-07-20 |
ITTO930961A0 (it) | 1993-12-17 |
DE69405966T2 (de) | 1998-03-05 |
CA2137023A1 (en) | 1995-06-18 |
ATE158743T1 (de) | 1997-10-15 |
CA2137023C (en) | 1998-04-07 |
ES2108962T3 (es) | 1998-01-01 |
RU94044522A (ru) | 1996-10-20 |
CN1070092C (zh) | 2001-08-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE69405966D1 (de) | Industrieroboter, insbesondere zum Transport von Teilen zwischen Pressen in einer Pressenstrasse | |
DE59004840D1 (de) | Mehrachsiger industrieroboter. | |
DE59107487D1 (de) | Greifer für einen Manipulator | |
DE69203296D1 (de) | Gelenkmechanismus für industrieroboter. | |
CA2325458A1 (en) | Modular articulated robot structure | |
EP0667214A4 (de) | Gelenkroboter. | |
DE69102841D1 (de) | Industrieroboter mit leitungsmechanismus. | |
DE69408497D1 (de) | Industrieroboter | |
IT1272085B (it) | Robot industriale | |
ATE175367T1 (de) | Rohrbiegemaschine | |
ATE126576T1 (de) | Vorrichtung zum gegeneinanderpressen von zwei konischen flanschen einer rohrverbindung. | |
DE69201894D1 (de) | Gelenkartiger Roboter mit zwei Unterarmen. | |
DE59409425D1 (de) | Umsetzeinrichtung für den Werkstücktransport | |
ATA155691A (de) | Getriebe zum antrieb eines gelenkes, insbesondere eines industrieroboters | |
DE69228282D1 (de) | Gelenkmechanismus für Industrieroboter | |
DE69414565D1 (de) | Industrieroboter | |
DE69107295D1 (de) | Schwenkbetätiger zum Ausführen aller geradlinigen oder rotierenden Bewegungen. | |
TW252070B (en) | Buffering device for robots used in forging industry | |
DE69114688D1 (de) | Industrieroboter mit mehrfachem antrieb. | |
ITMI932653A1 (it) | Dispositivo di movimentazione, in particolare pinza, collegabile con un braccio di robot industriale. | |
DE69414982D1 (de) | Industrieroboter | |
TH55131EX (th) | ปากจับคู่หนึ่งสำหรับคีมเชื่อม | |
ITTO910125V0 (it) | Articolazione a ginocchiera costituita da coppie di bracci articolati in pezzo unico con corrispondenti collari di serraggio | |
Straub | Press automation in a bodywork factor with industrial robots | |
Balakrishnan | CORROSION CONTROL FOR INDUSTRIAL STRUCTURES BY ORGANIC COATINGS: THE NEED FOR AN INTEGRATED APPROACH |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8328 | Change in the person/name/address of the agent |
Representative=s name: KEHL & ETTMAYR, PATENTANWAELTE, 81679 MUENCHEN |
|
8339 | Ceased/non-payment of the annual fee |