DK2750839T3 - Afbalanceret pneumatisk manipulator - Google Patents
Afbalanceret pneumatisk manipulator Download PDFInfo
- Publication number
- DK2750839T3 DK2750839T3 DK13730351.7T DK13730351T DK2750839T3 DK 2750839 T3 DK2750839 T3 DK 2750839T3 DK 13730351 T DK13730351 T DK 13730351T DK 2750839 T3 DK2750839 T3 DK 2750839T3
- Authority
- DK
- Denmark
- Prior art keywords
- manipulator
- actuator
- guide member
- manipulator according
- guide
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- 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
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/22—Fluid 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
- Adhesives Or Adhesive Processes (AREA)
Claims (7)
1. Afbalanceret pneumatisk manipulator, omfattende: - en bæreindretning (11) omfattende et om en lodret akse (z) drejeligt aggregat (13), - en leddelt parallellogrammekanisme (21), der omfatter en svingarm (24) svingbart monteret på aggregatet (13) for drejning om en vandret svingningsakse (x), - mindst en pneumatisk lineær aktuator (22), der virker mellem det drejelige aggregat (13) og den leddelte parallellogrammekanisme (21) for at få armen (24) til at dreje om svingningsaksen (x), kendetegnet ved, at manipulatoren yderligere omfatter: - en slæde (23) forbundet med aktuatoren (22) og glidende monteret på det drejelige aggregat (13) ved hjælp af et første retlinet føringsorgan (30), der strækker sig i en første given retning (c), - et andet retlinet føringsorgan (31), som er integreret med slæden (23) og forløbende i en anden retning vinkelret på den første retning, - et indgrebselement (32, 33) monteret på svingarmen (24), hvilket element (32, 33) er i indgreb med det andet føringsorgan (31).
2. Manipulator ifølge krav 1, kendetegnet ved, at indgrebselementet (32, 33) omfatter et rulleorgan (33), som er drejeligt om en akse (35) integreret med svingarmen (24), og som ruller langs slædens (23) andet retlinede føringsorgan (31).
3. Manipulator ifølge krav 1 eller 2, kendetegnet ved, at det andet føringsorgan (31) omfatter mindst en slids (31a, 31b).
4. Manipulator ifølge krav 3, kendetegnet ved, at det andet føringsorgan omfatter et par parallelle slidser (31a, 31b) placeret i indbyrdes afstand i retning vinkelret på den anden retning.
5. Manipulator ifølge krav 2 eller 3, kendetegnet ved, at rulleorganet omfatter en cylindrisk rulle (33), der ruller i begge slidser (31a, 31b).
6. Manipulator ifølge ethvert af de foregående krav, kendetegnet ved, at det første føringsorgan strækker sig i en lodret retning, og det andet føringsorgan strækker sig i en vandret retning.
7. Manipulator ifølge ethvert af de foregående krav, kendetegnet ved, at slæden (23) omfatter mindst et stift L-formet element med en lang sektion koblet til det første føringsorgan (30) og en kort sektion, som er vinkelret på den lange sektion og tilvejebringer det andet føringsorgan (31).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT000425A ITTO20120425A1 (it) | 2012-05-11 | 2012-05-11 | Manipolatore pneumatico bilanciato |
PCT/IB2013/053791 WO2013168130A1 (en) | 2012-05-11 | 2013-05-10 | A balanced pneumatic manipulator |
Publications (1)
Publication Number | Publication Date |
---|---|
DK2750839T3 true DK2750839T3 (da) | 2015-12-14 |
Family
ID=46210358
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK13730351.7T DK2750839T3 (da) | 2012-05-11 | 2013-05-10 | Afbalanceret pneumatisk manipulator |
Country Status (21)
Country | Link |
---|---|
US (1) | US9457481B2 (da) |
EP (1) | EP2750839B1 (da) |
JP (1) | JP6302461B2 (da) |
CN (1) | CN103826808B (da) |
BR (1) | BR112014005281B1 (da) |
CA (1) | CA2846570C (da) |
DK (1) | DK2750839T3 (da) |
ES (1) | ES2555474T3 (da) |
HK (1) | HK1198473A1 (da) |
HR (1) | HRP20151314T1 (da) |
HU (1) | HUE027143T2 (da) |
IT (1) | ITTO20120425A1 (da) |
MX (1) | MX341776B (da) |
PL (1) | PL2750839T3 (da) |
PT (1) | PT2750839E (da) |
RS (1) | RS54481B1 (da) |
RU (1) | RU2625356C2 (da) |
SG (1) | SG11201400302VA (da) |
SI (1) | SI2750839T1 (da) |
SM (1) | SMT201500313B (da) |
WO (1) | WO2013168130A1 (da) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2004201371B2 (en) * | 2003-05-07 | 2006-07-27 | Grant Million Investments Limited | A cleaning fluid heating reservoir and motor assembly for a range hood |
CN106335047A (zh) * | 2016-10-31 | 2017-01-18 | 苏州立源信智能科技有限公司 | 一种耐摇晃的桁架机器人 |
CN112203810A (zh) * | 2018-03-27 | 2021-01-08 | Idea机器显影设计及生产有限公司 | 夹持和移动*** |
CN108356656B (zh) * | 2018-03-29 | 2023-08-25 | 广东博科数控机械有限公司 | 一种气动机械臂及采用该机械臂的自吸尘打磨抛光终端装置 |
CN109760102B (zh) * | 2019-03-22 | 2024-07-02 | 重庆金山医疗机器人有限公司 | 一种机械手升降回转连接结构 |
CN112758688A (zh) * | 2021-01-26 | 2021-05-07 | 江苏盟星智能科技有限公司 | 一种avi产品自动上料机构 |
IT202100008468A1 (it) | 2021-04-06 | 2022-10-06 | Scaglia Indeva Spa | Manipolatore pneumatico bilanciato |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE379665B (da) * | 1974-10-14 | 1975-10-20 | Hiab Foco Ab | |
JPS5918192B2 (ja) * | 1981-03-07 | 1984-04-25 | 元田電子工業株式会社 | 荷重取扱ロボツト |
JPS5915797B2 (ja) * | 1981-03-27 | 1984-04-11 | 元田電子工業株式会社 | 荷重取扱ロボツト等に於けるア−ム機構の支持装置 |
FR2512410A1 (fr) * | 1981-09-04 | 1983-03-11 | Kroczynski Patrice | Systeme de robots a pattes |
JPS59142083A (ja) * | 1983-02-01 | 1984-08-15 | ダイキン工業株式会社 | リンクロボツト |
US4659278A (en) * | 1984-02-27 | 1987-04-21 | Stahl Aufzuge & Co. KG | Manipulator based on the pantograph principle |
JPS60259391A (ja) * | 1984-06-05 | 1985-12-21 | 株式会社岡村製作所 | 産業用ロボツトのア−ム支持装置 |
SU1202863A1 (ru) * | 1984-07-16 | 1986-01-07 | Всесоюзный заочный машиностроительный институт | Уравновешенный манипул тор |
US4662813A (en) * | 1985-05-24 | 1987-05-05 | Hartman John F | Mechanism for rotating a robot arm on an axis |
US4899644A (en) * | 1986-04-18 | 1990-02-13 | Thermwood Corporation | Fluid cylinder assembly for robot actuators |
SU1648888A1 (ru) * | 1986-06-04 | 1991-05-15 | Могилевский Проектно-Конструкторский Технологический Институт Специальной Технологической Оснастки, Автоматизации И Механизации | Способ замены грузозахватных приспособлений самоуравновешивающегос манипул тора |
JPH0418787Y2 (da) * | 1986-06-25 | 1992-04-27 | ||
JPH05337846A (ja) * | 1991-08-15 | 1993-12-21 | Takachiho Koeki Kk | 締めつけ工具用補助アーム及び締めつけ装置 |
US5456130A (en) * | 1992-02-24 | 1995-10-10 | Integrated Systems, Inc. | Load balancing arm |
JP2799952B2 (ja) * | 1994-04-19 | 1998-09-21 | 日東工器株式会社 | マニピュレータの安全操作システム |
SE515119C2 (sv) * | 1995-03-30 | 2001-06-11 | Abb Ab | Industrirobot |
JPH11262889A (ja) * | 1998-03-17 | 1999-09-28 | Mitsubishi Heavy Ind Ltd | 産業用多関節ロボット |
SE516878C2 (sv) * | 1999-12-09 | 2002-03-19 | Abb Ab | Industrirobot med en skruvfjäderuppbyggd balanseringsanordning med en teleskopisk enhet, samt förfarande för och användning av roboten |
JP3614383B2 (ja) * | 2001-07-30 | 2005-01-26 | 川崎重工業株式会社 | ロボット |
JP3830481B2 (ja) * | 2003-10-03 | 2006-10-04 | ファナック株式会社 | 産業用ロボット |
DE102005041462B3 (de) * | 2005-09-01 | 2006-10-12 | Esab Cutting Systems Gmbh | Vorrichtung zum Schwenken von Objekten |
WO2007046754A1 (en) * | 2005-10-21 | 2007-04-26 | Abb Ab | An arm part of an industrial robot as well as an indus- trial robot provided therewith |
CN101234486B (zh) * | 2007-01-31 | 2010-09-15 | 胡青 | 气动平衡机械臂 |
CN201220417Y (zh) * | 2008-05-28 | 2009-04-15 | 长春艾希技术有限公司 | 气动平衡移载机械手 |
EP2300724A1 (en) * | 2008-06-27 | 2011-03-30 | Allegiance Corporation | Flexible wrist-type element and methods of manufacture and use thereof |
KR101072818B1 (ko) * | 2009-03-16 | 2011-10-14 | 한국과학기술원 | 분산구동 메커니즘을 갖는 매니퓰레이터 |
US8784404B2 (en) * | 2009-06-29 | 2014-07-22 | Carefusion 2200, Inc. | Flexible wrist-type element and methods of manufacture and use thereof |
CN103619547A (zh) * | 2011-03-30 | 2014-03-05 | 斯寇司株式会社 | 斯科特拉塞尔机构式装置 |
-
2012
- 2012-05-11 IT IT000425A patent/ITTO20120425A1/it unknown
-
2013
- 2013-05-10 MX MX2014002548A patent/MX341776B/es active IP Right Grant
- 2013-05-10 JP JP2015510932A patent/JP6302461B2/ja active Active
- 2013-05-10 PL PL13730351T patent/PL2750839T3/pl unknown
- 2013-05-10 RS RS20150801A patent/RS54481B1/en unknown
- 2013-05-10 HU HUE13730351A patent/HUE027143T2/en unknown
- 2013-05-10 ES ES13730351.7T patent/ES2555474T3/es active Active
- 2013-05-10 BR BR112014005281-6A patent/BR112014005281B1/pt active IP Right Grant
- 2013-05-10 CN CN201380003077.8A patent/CN103826808B/zh active Active
- 2013-05-10 DK DK13730351.7T patent/DK2750839T3/da active
- 2013-05-10 SI SI201330105T patent/SI2750839T1/sl unknown
- 2013-05-10 RU RU2014112365A patent/RU2625356C2/ru active
- 2013-05-10 SG SG11201400302VA patent/SG11201400302VA/en unknown
- 2013-05-10 CA CA2846570A patent/CA2846570C/en active Active
- 2013-05-10 WO PCT/IB2013/053791 patent/WO2013168130A1/en active Application Filing
- 2013-05-10 US US14/350,964 patent/US9457481B2/en active Active
- 2013-05-10 EP EP13730351.7A patent/EP2750839B1/en active Active
- 2013-05-10 PT PT137303517T patent/PT2750839E/pt unknown
-
2014
- 2014-11-27 HK HK14111971.4A patent/HK1198473A1/zh unknown
-
2015
- 2015-12-02 HR HRP20151314T patent/HRP20151314T1/hr unknown
- 2015-12-10 SM SM201500313T patent/SMT201500313B/it unknown
Also Published As
Publication number | Publication date |
---|---|
JP6302461B2 (ja) | 2018-03-28 |
PL2750839T3 (pl) | 2016-05-31 |
US9457481B2 (en) | 2016-10-04 |
CN103826808B (zh) | 2016-01-13 |
ITTO20120425A1 (it) | 2013-11-12 |
EP2750839A1 (en) | 2014-07-09 |
BR112014005281B1 (pt) | 2021-11-16 |
WO2013168130A1 (en) | 2013-11-14 |
CA2846570A1 (en) | 2013-11-14 |
ES2555474T3 (es) | 2016-01-04 |
MX2014002548A (es) | 2014-04-30 |
HRP20151314T1 (hr) | 2016-03-25 |
SG11201400302VA (en) | 2014-08-28 |
RU2014112365A (ru) | 2015-10-10 |
MX341776B (es) | 2016-09-02 |
CN103826808A (zh) | 2014-05-28 |
HUE027143T2 (en) | 2016-08-29 |
EP2750839B1 (en) | 2015-09-09 |
US20140251057A1 (en) | 2014-09-11 |
CA2846570C (en) | 2020-08-18 |
HK1198473A1 (zh) | 2015-05-08 |
BR112014005281A2 (pt) | 2017-03-28 |
SMT201500313B (it) | 2016-01-08 |
SI2750839T1 (sl) | 2016-03-31 |
RU2625356C2 (ru) | 2017-07-13 |
PT2750839E (pt) | 2015-12-30 |
RS54481B1 (en) | 2016-06-30 |
JP2015515933A (ja) | 2015-06-04 |
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