WO1991008871A3 - Accouplement de transmission pour tete de manipulateur - Google Patents

Accouplement de transmission pour tete de manipulateur

Info

Publication number
WO1991008871A3
WO1991008871A3 PCT/JP1990/001656 JP9001656W WO9108871A3 WO 1991008871 A3 WO1991008871 A3 WO 1991008871A3 JP 9001656 W JP9001656 W JP 9001656W WO 9108871 A3 WO9108871 A3 WO 9108871A3
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator head
transmission coupling
line
support body
slidable
Prior art date
Application number
PCT/JP1990/001656
Other languages
English (en)
Other versions
WO1991008871A2 (fr
Inventor
Franco Sartorio
Bruno Ballesjo
Stefano Vergano
Original Assignee
Amada Co Ltd
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
Priority claimed from IT06812989A external-priority patent/IT1237703B/it
Priority claimed from IT06812889A external-priority patent/IT1237702B/it
Application filed by Amada Co Ltd filed Critical Amada Co Ltd
Priority to EP91900935A priority Critical patent/EP0458986B1/fr
Priority to DE69023640T priority patent/DE69023640T2/de
Priority to US07/743,300 priority patent/US5328222A/en
Publication of WO1991008871A2 publication Critical patent/WO1991008871A2/fr
Publication of WO1991008871A3 publication Critical patent/WO1991008871A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • 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
    • 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
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Stereophonic Arrangements (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Agricultural Machines (AREA)

Abstract

L'invention se rapporte à un accouplement de transmission pour tête de manipulateur, qui comprend un corps de support (50) relié à la tête de manipulateur (4), un élément de transmission intermédiaire (76) coulissant sur le corps de support (50) le long d'une première ligne (C), ainsi qu'un élément de fixation (28) coulissant sur l'élément intermédiaire (76) le long d'une seconde ligne (B) perpendiculaire à la première ligne. L'élément de fixation peut pivoter par rapport au corps de support (50) autour d'au moins deux axes perpendiculaires entre eux, sensiblement parallèles au plan défini par les première et seconde lignes.
PCT/JP1990/001656 1989-12-19 1990-12-19 Accouplement de transmission pour tete de manipulateur WO1991008871A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP91900935A EP0458986B1 (fr) 1989-12-19 1990-12-19 Accouplement de transmission pour tete de manipulateur
DE69023640T DE69023640T2 (de) 1989-12-19 1990-12-19 Getriebekupplung für manipulatorkopf.
US07/743,300 US5328222A (en) 1989-12-19 1990-12-19 Transmission coupling for a manipulator head

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
IT06812989A IT1237703B (it) 1989-12-19 1989-12-19 Giunto di trasmissione per una testa manipolatrice motorizzata.
IT68128A-89 1989-12-19
IT68129A-89 1989-12-19
IT06812889A IT1237702B (it) 1989-12-19 1989-12-19 Dispositivo d'attacco rapido di un attrezzo intercambiabile ad una testa manipolatrice motorizzata.

Publications (2)

Publication Number Publication Date
WO1991008871A2 WO1991008871A2 (fr) 1991-06-27
WO1991008871A3 true WO1991008871A3 (fr) 1991-07-25

Family

ID=26329881

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1990/001656 WO1991008871A2 (fr) 1989-12-19 1990-12-19 Accouplement de transmission pour tete de manipulateur

Country Status (7)

Country Link
US (2) US5328222A (fr)
EP (2) EP0638396B1 (fr)
JP (1) JPH04503776A (fr)
KR (1) KR0160453B1 (fr)
AT (2) ATE163876T1 (fr)
DE (2) DE69032139T2 (fr)
WO (1) WO1991008871A2 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6276733B1 (en) 1998-06-30 2001-08-21 Phd, Inc. Jaw tips and jaw tip assemblies for parts grippers
ATE500929T1 (de) 2007-10-09 2011-03-15 Abb Technology Ab Industrierobotervorrichtung, industrieroboter und verfahren zur handhabung von objekten
CN102271666A (zh) 2008-12-10 2011-12-07 Paka肺部医药公司 用于向肺脏递送药物的方法和组合物
US8992113B2 (en) * 2009-06-08 2015-03-31 Re2, Inc. Robust manual connector for robotic arm end effector
US8382177B2 (en) * 2009-06-11 2013-02-26 Re2, Inc. Quick-change finger for robotic gripper
US10076844B2 (en) 2009-08-10 2018-09-18 Re2, Inc. Automated tool change assembly for robotic arm
CN102275167B (zh) * 2010-06-11 2013-11-20 鸿富锦精密工业（深圳）有限公司 夹持装置
JP6030718B1 (ja) * 2015-07-03 2016-11-24 上銀科技股▲分▼有限公司 末端効果器を交換する機械式交換装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2213212A1 (fr) * 1972-10-18 1974-08-02 Electrolux Ab
FR2445199A1 (fr) * 1978-12-27 1980-07-25 Jaz Sa Poignet elastique monte a la partie terminale d'un organe de manipulation a distance d'objet
WO1980001547A1 (fr) * 1979-02-02 1980-08-07 C Johansson Dispositif mecanique pour guider le mouvement relatif de deux pieces mobiles
EP0030828A1 (fr) * 1979-12-05 1981-06-24 Westinghouse Electric Corporation Porte-outil autocentrant
EP0036912A1 (fr) * 1980-03-26 1981-10-07 Maschinenfabrik Meyer AG. Pince pour manipulateur
FR2506195A1 (fr) * 1981-05-15 1982-11-26 Microbo Sa Outil de montage a tete orientable avec coussin de fluide
EP0115602A1 (fr) * 1983-01-06 1984-08-15 Hämmerle AG Dispositif pour manipuler des pièces à usiner
US4661037A (en) * 1982-07-12 1987-04-28 Yamatake-Honeywell Co., Ltd. Angular and positional deviation adjusting mechanism of a robot hand

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH265690A (de) 1944-02-29 1949-12-15 Bernhard Thoren Ernst Vorrichtung zum Heben und Fortbewegen von Flaschen.
US4179783A (en) * 1974-12-16 1979-12-25 Hitachi, Ltd. Holding apparatus with elastic mechanism
US4413207A (en) * 1979-12-05 1983-11-01 Nippon Electric Co., Ltd. Multicavity klystron
DE3214025A1 (de) * 1982-04-16 1983-10-20 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Zweiteilige einrichtung mit kegelhuelse und kegelschaft
GB2120634B (en) * 1982-04-20 1985-12-18 British Cast Iron Res Ass Releasable coupling between robot arm and tools
DE3327060A1 (de) * 1983-07-27 1985-02-07 Josef 4790 Paderborn Göllner jun. Greifer mit zwei gegeneinander beweglichen backen
US4595333A (en) * 1983-08-29 1986-06-17 Kabushiki Kaisha Komatsu Seisakusho Hand apparatus of a robot
FR2576239B1 (fr) * 1985-01-24 1987-03-06 Aerospatiale Support d'outil en deux parties reliees elastiquement, notamment pour robot
JPS61279490A (ja) * 1985-06-05 1986-12-10 キヤノン株式会社 ロボツトハンドのコンプライアンス装置
US4778329A (en) * 1986-03-21 1988-10-18 General Motors Corporation Robot with floating XY plane arm
US4717003A (en) * 1986-04-21 1988-01-05 Eoa Systems Breakaway clutch for robot end-of-arm tooling
DE3641368A1 (de) * 1986-12-03 1988-06-09 Mannesmann Ag Lagerung fuer einen greifer oder dergleichen
US4801240A (en) * 1987-02-19 1989-01-31 Hautau Charles F Robot compliance apparatus
US4919586A (en) * 1988-05-25 1990-04-24 Grasp, Inc. Mechanical closed loop robotic arm end effector positioning system
US5018889A (en) 1989-02-15 1991-05-28 Tokyo Electric Co., Ltd. Sheet conveying apparatus for a printer
JPH02216462A (ja) 1989-02-17 1990-08-29 Taiyo Fishery Co Ltd エンドトキシンに対する特異性の高いアメボサイト・ライセート
GB2234925B (en) 1989-08-16 1994-04-27 Amada Co Ltd Sheet workpiece manipulating device for a bending press

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2213212A1 (fr) * 1972-10-18 1974-08-02 Electrolux Ab
FR2445199A1 (fr) * 1978-12-27 1980-07-25 Jaz Sa Poignet elastique monte a la partie terminale d'un organe de manipulation a distance d'objet
WO1980001547A1 (fr) * 1979-02-02 1980-08-07 C Johansson Dispositif mecanique pour guider le mouvement relatif de deux pieces mobiles
EP0030828A1 (fr) * 1979-12-05 1981-06-24 Westinghouse Electric Corporation Porte-outil autocentrant
EP0036912A1 (fr) * 1980-03-26 1981-10-07 Maschinenfabrik Meyer AG. Pince pour manipulateur
FR2506195A1 (fr) * 1981-05-15 1982-11-26 Microbo Sa Outil de montage a tete orientable avec coussin de fluide
US4661037A (en) * 1982-07-12 1987-04-28 Yamatake-Honeywell Co., Ltd. Angular and positional deviation adjusting mechanism of a robot hand
EP0115602A1 (fr) * 1983-01-06 1984-08-15 Hämmerle AG Dispositif pour manipuler des pièces à usiner

Also Published As

Publication number Publication date
EP0638396A3 (fr) 1995-03-15
ATE130237T1 (de) 1995-12-15
EP0458986A1 (fr) 1991-12-04
US5397159A (en) 1995-03-14
KR0160453B1 (ko) 1999-01-15
DE69032139D1 (de) 1998-04-16
DE69023640T2 (de) 1996-04-18
DE69023640D1 (de) 1995-12-21
JPH04503776A (ja) 1992-07-09
EP0638396A2 (fr) 1995-02-15
EP0638396B1 (fr) 1998-03-11
ATE163876T1 (de) 1998-03-15
EP0458986B1 (fr) 1995-11-15
WO1991008871A2 (fr) 1991-06-27
DE69032139T2 (de) 1998-07-02
US5328222A (en) 1994-07-12
KR920700853A (ko) 1992-08-10

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