ES2108962T3 - Robot industrial, en particular para la transferencia de piezas de una prensa a otra en una linea de prensas. - Google Patents
Robot industrial, en particular para la transferencia de piezas de una prensa a otra en una linea de prensas.Info
- Publication number
- ES2108962T3 ES2108962T3 ES94830558T ES94830558T ES2108962T3 ES 2108962 T3 ES2108962 T3 ES 2108962T3 ES 94830558 T ES94830558 T ES 94830558T ES 94830558 T ES94830558 T ES 94830558T ES 2108962 T3 ES2108962 T3 ES 2108962T3
- Authority
- ES
- Spain
- Prior art keywords
- press
- industrial robot
- transfer
- parts
- another
- 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
- 210000000245 forearm Anatomy 0.000 abstract 1
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)
Abstract
UN ROBOT INDUSTRIAL, ESPECIALMENTE PARA USO COMO UN ROBOT ENTRE PRENSAS, COMPRENDE UN PAR DE BRAZOS (9, 10) ROTATORIOS, ALREDEDOR DE DOS EJES (I, II), PARALELOS ENTRE SI, Y ESPACIADOS UNO DE OTRO, SOBRE LOS CUALES SE ARTICULAN DOS ANTEBRAZOS (13, 14). LOS EXTREMOS OPUESTOS DE LOS ANTEBRAZOS (13, 14) ESTAN MUTUAMENTE ARTICULADOS ALREDEDOR DE UN EJE COMUN (15), Y UNO DE ESTOS ANTEBRAZOS (14) SOPORTA ROTATORIAMENTE UN MUÑON (17) ALREDEDOR DE UN TERCER EJE (III) PARALELO A LOS CITADOS EJES PRIMERO Y SEGUNDO (I, II).
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 (1)
Publication Number | Publication Date |
---|---|
ES2108962T3 true ES2108962T3 (es) | 1998-01-01 |
Family
ID=11411943
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES94830558T Expired - Lifetime ES2108962T3 (es) | 1993-12-17 | 1994-12-01 | Robot industrial, en particular para la transferencia de piezas de una prensa a otra en una linea de prensas. |
Country Status (11)
Country | Link |
---|---|
US (1) | US5522275A (es) |
EP (1) | EP0658403B1 (es) |
JP (1) | JP2652355B2 (es) |
KR (1) | KR0168696B1 (es) |
CN (1) | CN1070092C (es) |
AT (1) | ATE158743T1 (es) |
CA (1) | CA2137023C (es) |
DE (1) | DE69405966T2 (es) |
ES (1) | ES2108962T3 (es) |
IT (1) | IT1272084B (es) |
RU (1) | RU2091207C1 (es) |
Families Citing this family (35)
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 |
CA2361920C (en) * | 1999-03-17 | 2005-12-06 | Muller Weingarten Ag | Transport system |
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 |
BR112012015640B1 (pt) * | 2009-12-21 | 2020-09-29 | Wilfried Strothmann Gmbh Maschinenbau Und Handhabungstechnik | Elemento manipulador |
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 |
CN104785655A (zh) * | 2014-12-03 | 2015-07-22 | 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 |
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 |
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 |
US4756662A (en) * | 1986-03-31 | 1988-07-12 | Agency Of Industrial Science & Technology | Varible compliance manipulator |
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 AT AT94830558T patent/ATE158743T1/de not_active IP Right Cessation
- 1994-12-01 DE DE69405966T patent/DE69405966T2/de not_active Expired - Fee Related
- 1994-12-01 ES ES94830558T patent/ES2108962T3/es not_active Expired - Lifetime
- 1994-12-01 EP EP94830558A patent/EP0658403B1/en not_active Expired - Lifetime
- 1994-12-09 JP JP6331004A patent/JP2652355B2/ja not_active Expired - Fee Related
- 1994-12-16 KR KR1019940034554A patent/KR0168696B1/ko not_active IP Right Cessation
- 1994-12-16 RU RU94044522/02A patent/RU2091207C1/ru 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 |
---|---|
KR0168696B1 (ko) | 1999-02-01 |
JP2652355B2 (ja) | 1997-09-10 |
CN1070092C (zh) | 2001-08-29 |
DE69405966T2 (de) | 1998-03-05 |
RU2091207C1 (ru) | 1997-09-27 |
RU94044522A (ru) | 1996-10-20 |
US5522275A (en) | 1996-06-04 |
ITTO930961A1 (it) | 1995-06-17 |
KR950017111A (ko) | 1995-07-20 |
IT1272084B (it) | 1997-06-11 |
EP0658403B1 (en) | 1997-10-01 |
ATE158743T1 (de) | 1997-10-15 |
DE69405966D1 (de) | 1997-11-06 |
CA2137023A1 (en) | 1995-06-18 |
CA2137023C (en) | 1998-04-07 |
CN1117411A (zh) | 1996-02-28 |
EP0658403A1 (en) | 1995-06-21 |
ITTO930961A0 (it) | 1993-12-17 |
JPH07205063A (ja) | 1995-08-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
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