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 robotsInfo
- 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
Links
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 238000003754 machining Methods 0.000 abstract 1
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.
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)
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)
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 |
-
1985
- 1985-01-24 FR FR8501013A patent/FR2576239B1/fr not_active Expired
-
1986
- 1986-01-16 EP EP86400085A patent/EP0190957B1/fr not_active Expired
- 1986-01-16 DE DE8686400085T patent/DE3660652D1/de not_active Expired
- 1986-01-17 US US06/819,597 patent/US4718798A/en not_active Expired - Lifetime
- 1986-01-22 JP JP61010319A patent/JPS61173838A/ja active Pending
- 1986-01-22 ES ES551600A patent/ES8702208A1/es not_active Expired
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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