ES8702208A1 - Soporte para herramientas dividido en dos partes unidas elasticamente, en especial para robots - Google Patents

Soporte para herramientas dividido en dos partes unidas elasticamente, en especial para robots

Info

Publication number
ES8702208A1
ES8702208A1 ES551600A ES551600A ES8702208A1 ES 8702208 A1 ES8702208 A1 ES 8702208A1 ES 551600 A ES551600 A ES 551600A ES 551600 A ES551600 A ES 551600A ES 8702208 A1 ES8702208 A1 ES 8702208A1
Authority
ES
Spain
Prior art keywords
robot
tool
parts
axis
reference axis
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
Application number
ES551600A
Other languages
English (en)
Other versions
ES551600A0 (es
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Group SAS
Original Assignee
Airbus Group SAS
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 Airbus Group SAS filed Critical Airbus Group SAS
Publication of ES551600A0 publication Critical patent/ES551600A0/es
Publication of ES8702208A1 publication Critical patent/ES8702208A1/es
Expired legal-status Critical Current

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
    • B25J17/0208—Compliance devices
    • 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
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
    • B23Q1/36—Springs
    • 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
    • Y10S408/00—Cutting by use of rotating axially moving tool
    • Y10S408/714—Resilient tool or tool-support
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30084—Milling with regulation of operation by templet, card, or other replaceable information supply
    • Y10T409/301176—Reproducing means
    • Y10T409/301624—Duplicating means
    • Y10T409/30168—Duplicating means with means for operation without manual intervention
    • Y10T409/301848—Duplicating means with means for operation without manual intervention with means to support templet above or under work
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30084—Milling with regulation of operation by templet, card, or other replaceable information supply
    • Y10T409/301176—Reproducing means
    • Y10T409/301624—Duplicating means
    • Y10T409/302576—Duplicating means with means to support templet above or under work
    • 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
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/309352—Cutter spindle or spindle support

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Processing Of Stones Or Stones Resemblance Materials (AREA)
  • Mechanical Treatment Of Semiconductor (AREA)

Abstract

SOPORTE PARA HERRAMIENTAS. DICHO SOPORTE CONSTA DE DOS PARTES (3 Y 8) UNIDAS ENTRE SI POR MEDIO DE UN CONJUNTO DE LAMINAS (9) ELASTICAS LO SUFICIENTEMENTE ELASTICAS COMO PARA COMPENSAR LOS EFECTOS RESULTANTES DE LOS DESPLAZAMIENTOS DE UNA GUIA (5) UNIDA A LA HERRAMIENTA (4) APOYADA SOBRE UNA PLANTILLA (6). EL MOTOR QUE ARRASTRA A LA HERRAMIENTA (4) EN ROTACION VA MONTADO SOBRE UNA DE LAS DOS PARTES (3) EN EL HUECO QUE DEJAN LAS LAMINAS (9). PUEDE PRESENTAR UNA JUNTA OLDHAM (14) SITUADA ENTRE UNA DE LAS DOS PARTES (3) QUE SOSTIENE EL MOTOR Y LA OTRA PARTE (8) UNIDA AL ROBOT, CUYA MISION ES LA DE RECUPERAR EL PAR DE TORSION QUE PUEDE PRODUCIRSE POR LA ROTACION DE LA HERRAMIENTA ALREDEDOR DE SU EJE.
ES551600A 1985-01-24 1986-01-22 Soporte para herramientas dividido en dos partes unidas elasticamente, en especial para robots Expired ES8702208A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8501013A FR2576239B1 (fr) 1985-01-24 1985-01-24 Support d'outil en deux parties reliees elastiquement, notamment pour robot

Publications (2)

Publication Number Publication Date
ES551600A0 ES551600A0 (es) 1987-01-01
ES8702208A1 true ES8702208A1 (es) 1987-01-01

Family

ID=9315575

Family Applications (1)

Application Number Title Priority Date Filing Date
ES551600A Expired ES8702208A1 (es) 1985-01-24 1986-01-22 Soporte para herramientas dividido en dos partes unidas elasticamente, en especial para robots

Country Status (6)

Country Link
US (1) US4718798A (es)
EP (1) EP0190957B1 (es)
JP (1) JPS61173838A (es)
DE (1) DE3660652D1 (es)
ES (1) ES8702208A1 (es)
FR (1) FR2576239B1 (es)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2604938A1 (fr) * 1986-09-25 1988-04-15 Peugeot Tete de positionnement
JPH04503776A (ja) * 1989-12-19 1992-07-09 株式会社アマダ マニピュレータヘッド用伝動継手
DE4002225C2 (de) * 1990-01-26 1996-07-18 Ipr Intelligente Peripherien F Vorrichtung zum Ausgleichen von Positionierungenauigkeiten für einen Handhabungsautomaten
US5678967A (en) * 1995-11-21 1997-10-21 Micro Optics Design Corporation Apparatus for cutting a workpiece and including a kinematic tool coupling
DE19620195C1 (de) * 1996-05-20 1997-11-20 Fraunhofer Ges Forschung Füge- oder Trennmodul für Industrieroboter
US5765975A (en) * 1996-09-05 1998-06-16 Abb Flexible Automation, Inc. Compliant end effector for an industrial robot
SE512067C2 (sv) * 1996-09-06 2000-01-24 Bjoern Lind Finance & Property För höga varvtal avsett verktyg
SE512066C2 (sv) * 1996-09-06 2000-01-24 Bjoern Lind Finance & Property Verktygslager för upptagande av skärkrafter
SE512068C2 (sv) * 1996-09-06 2000-01-24 Bjoern Lind Finance & Property Anordning vid verktyg
DE19812654A1 (de) * 1998-03-23 1999-09-30 Volkswagen Ag Adapter zur drehfesten Verbindung eines Werkzeugs mit einer in einer Adapterlängsachse wirkenden Drehantriebseinrichtung
US6368012B1 (en) 1999-12-22 2002-04-09 Abb Flexible Automation, Inc. Compliant end effector
CA2335396A1 (en) * 2001-02-13 2002-08-13 Yves Fortin Tool compliance device and method
US8443526B2 (en) * 2008-11-05 2013-05-21 Nexen Group, Inc. Robot compliance device
CN104385293B (zh) * 2014-11-17 2016-10-05 河北工业大学 一种旋转型柔性关节
DE102016103929A1 (de) * 2016-03-04 2017-09-07 Hiwin Technologies Corp. Verfahren zur Weg-Planung für ein mit einem Roboterarm durchgeführtes Array-basiertes Pick-und-Place und Kompensator zur Verwendung in dem Verfahren
KR101997356B1 (ko) * 2017-11-28 2019-07-05 경남대학교 산학협력단 2축 힘 측정 기능을 갖는 순응장치
DE102022107843A1 (de) 2022-04-01 2023-10-05 SOKO-TEC GmbH Ausgleichseinrichtung

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2761298A (en) * 1953-09-09 1956-09-04 Jarvis Ralph Herbert Flexible tool coupling
US4098001A (en) * 1976-10-13 1978-07-04 The Charles Stark Draper Laboratory, Inc. Remote center compliance system
CH620389A5 (es) * 1977-07-11 1980-11-28 Fischer Ag Georg
US4155169A (en) * 1978-03-16 1979-05-22 The Charles Stark Draper Laboratory, Inc. Compliant assembly system device
US4242017A (en) * 1979-08-03 1980-12-30 The Charles Stark Draper Laboratory, Inc. Passive mating system
CA1152307A (en) * 1979-12-05 1983-08-23 Westinghouse Electric Corporation Self-centering tool holder
EP0036912A1 (de) * 1980-03-26 1981-10-07 Maschinenfabrik Meyer AG. Greifer für Handhabungsgeräte
US4338052A (en) * 1980-03-31 1982-07-06 Northrop Corporation Variable geometry router
NO159980C (no) * 1982-09-21 1989-03-01 Fujitsu Ltd Baereanordning.
US4547101A (en) * 1983-09-20 1985-10-15 Dowdakin Sr William J Self-aligning tool holder

Also Published As

Publication number Publication date
DE3660652D1 (en) 1988-10-13
ES551600A0 (es) 1987-01-01
US4718798A (en) 1988-01-12
EP0190957A1 (fr) 1986-08-13
EP0190957B1 (fr) 1988-09-07
JPS61173838A (ja) 1986-08-05
FR2576239B1 (fr) 1987-03-06
FR2576239A1 (fr) 1986-07-25

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