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ES2085324T3 - Manipulador previsto para la cooperacion con un robot industrial. - Google Patents

Manipulador previsto para la cooperacion con un robot industrial.

Info

Publication number
ES2085324T3
ES2085324T3 ES90203359T ES90203359T ES2085324T3 ES 2085324 T3 ES2085324 T3 ES 2085324T3 ES 90203359 T ES90203359 T ES 90203359T ES 90203359 T ES90203359 T ES 90203359T ES 2085324 T3 ES2085324 T3 ES 2085324T3
Authority
ES
Spain
Prior art keywords
fixture
motor
robot
holder
work piece
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
Application number
ES90203359T
Other languages
English (en)
Inventor
John I E Johansson
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.)
MOTOMAN ROBOTICS AB
Original Assignee
MOTOMAN ROBOTICS AB
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 MOTOMAN ROBOTICS AB filed Critical MOTOMAN ROBOTICS AB
Application granted granted Critical
Publication of ES2085324T3 publication Critical patent/ES2085324T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • 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
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
    • 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
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/048—Multiple gripper units

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Feeding Of Workpieces (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Spray Control Apparatus (AREA)

Abstract

LA INVENCION SE REFIERE A UN MANIPULADOR PARA POSICIONAR PIEZAS CON RESPECTO A UN ROBOT INDUSTRIAL (4) POR MEDIO DEL CUAL LAS PIEZAS UNA DESPUES DE LA OTRA SON PROCESADAS. EL MANIPULADOR (2) COMPRENDE AL MENOS DOS SOPORTES DE FIJACION (26, 27) CADA UNO DE LOS CUALES TIENE MIEMBROS DE FIJACION PARA SUJETAR LA PIEZA RESPECTIVA, UNA SUJECION (16) PARA LOS SOPORTES DE FIJACION, SUSPENDIDA DE FORMA MOVIL PARA MOVER UNO DE DICHOS SOPORTES DE FIJACION DESDE UNA POSICION DE CARGA, EN LA CUAL EL INTERCAMBIO DE UNA PIEZA MANTENIDA EN DICHOS MIEMBROS DE FIJACION PUEDE TENER LUGAR, HASTA UNA POSICION DE TRABAJO DENTRO DEL RANGO DE FUNCIONAMIENTO DEL ROBOT, MIENTRAS QUE SIMULTANEAMENTE SE MUEVE OTRA DE DICHAS FIJACIONES DESDE UNA POSICION OPERATIVA HASTA UNA POSICION DE CARGA. UN SERVOMOTOR GIRATORIO (32) COMUN A LOS SOPORTES DE FIJACION ES MOVILMENTE ENGRANABLE CON UN SOPORTE DE FIJACION (26) MANTENIDO EN LA POSICION DE TRABAJO DE TAL FORMA QUE SEA CAPAZ DE HACER GIRAR DICHO SOPORTE DE FIJACION, COMO POR EJEMPLO A MEDIDA QUE SE CONTROLA MEDIANTE UN SISTEMA DE CONTROL QUE COORDINE EL FUNCIONAMIENTO DEL MOTOR CON LOS MOVIMIENTOS OPERACIONALES DEL ROBOT EN ORDEN A OBTENER VARIAS PARTES SUPERFICIALES Y PARTES DE LA PIEZA ACCESIBLES AL MANEJO IMPLEMENTADO POR EL ROBOT. SE DISPONE DE MEDIOS DE ACOPLAMIENTO (30, 38, 40) PARA EL ACOPLAMIENTO MOVIL DE DICHO MOTOR (32) CON DICHA SUJECCION (16) CUANDO EL MOTOR NO ESTE ENGRANADO CON NINGUN SOPORTE DE FIJACION DE TAL FORMA QUE SEA CAPAZ DE USAR EL MOTOR (32) COMO MEDIO IMPULSOR PARA DICHA SUJECION (16) DURANTE LOS MOVIMIENTOS OPERATIVOS DE LA MISMA.
ES90203359T 1990-02-12 1990-12-15 Manipulador previsto para la cooperacion con un robot industrial. Expired - Lifetime ES2085324T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP90200308 1990-02-12

Publications (1)

Publication Number Publication Date
ES2085324T3 true ES2085324T3 (es) 1996-06-01

Family

ID=8204934

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90203359T Expired - Lifetime ES2085324T3 (es) 1990-02-12 1990-12-15 Manipulador previsto para la cooperacion con un robot industrial.

Country Status (10)

Country Link
US (1) US5074741A (es)
EP (1) EP0442160B1 (es)
JP (1) JP2620991B2 (es)
KR (1) KR960013719B1 (es)
AT (1) ATE135614T1 (es)
CA (1) CA2012117C (es)
DE (2) DE442160T1 (es)
ES (1) ES2085324T3 (es)
FI (1) FI901442A (es)
NO (1) NO173594C (es)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04275888A (ja) * 1991-02-28 1992-10-01 Toyoda Mach Works Ltd ロボットの原点割出し装置
IT1272049B (it) * 1993-11-10 1997-06-11 Comau Spa Dispositivo e metodo per scambiare di posizione due tavole di lavoro, particolarmente tavole porta-pezzi per l'assemblaggio di gruppi comprendenti elementi di lamiera stampata.
DE29601808U1 (de) * 1996-02-04 1996-04-11 Winkler, Siegbert, Forchach Vorrichtung zum Bearbeiten von Stangenmaterial, Profilen u.dgl.
USRE38622E1 (en) 1996-07-15 2004-10-12 Seiko Epson Corporation Parts handling method
JP3533879B2 (ja) * 1996-07-15 2004-05-31 セイコーエプソン株式会社 部材の受け渡し装置および集積回路デバイスの検査装置
CN1093458C (zh) * 1996-09-12 2002-10-30 朱天赉 机器人控制装置共用法
US5791032A (en) * 1997-05-15 1998-08-11 Eastman Kodak Company Robotic turret tool
US6044310A (en) * 1997-10-21 2000-03-28 Douglass; Thomas E. System for automatic alignment of a workpiece
US6264418B1 (en) 1998-03-30 2001-07-24 Motoman, Inc. Workpiece positioner
US6281474B1 (en) 1999-08-17 2001-08-28 Motoman, Inc. X-beam positioner
WO2001056738A2 (en) * 2000-02-01 2001-08-09 Emmegi S.A., Luxembourg, Lugano Branch System for carrying out mechanical working
JP3586623B2 (ja) * 2000-06-23 2004-11-10 ファナック株式会社 ワーク交換装置及びワーク取扱いシステム
US8146901B2 (en) * 2006-08-15 2012-04-03 Genesis Systems Group, Llc Modular robotic workpiece holder and method for using same
JP3514732B2 (ja) * 2001-01-17 2004-03-31 川崎重工業株式会社 回転駆動装置
FI112848B (fi) * 2002-07-12 2004-01-30 Finn Power Oy Valmistussolu sekä siirto- ja käsittelylaitteisto työkappaleita varten
FR2850049B1 (fr) * 2003-01-22 2005-02-25 Sauvageau Commercy Soudure Dispositif d'indexage/desindexage et machine de soudage robotise equipee de ce dispositif
FR2850046A1 (fr) * 2003-01-22 2004-07-23 Sauvageau Commercy Soudure Installation de soudage robotise a deux moteurs et systeme d'indexage/desindexage
US20060043111A1 (en) * 2004-08-23 2006-03-02 Craig Jennings Robotic beverage server
US20060037969A1 (en) * 2004-08-23 2006-02-23 Craig Jennings Robotic beverage server
US7577498B2 (en) * 2005-08-23 2009-08-18 Motoman, Inc. Apparatus and methods for a robotic beverage server
CN103317288A (zh) * 2013-07-10 2013-09-25 广西大学 可控可翻转式工程机械拉杆装夹具
CN104259728A (zh) * 2014-09-13 2015-01-07 上海晓奥享荣汽车工业装备有限公司 客车侧围用变位焊装台
CN104942618B (zh) * 2015-06-10 2017-04-19 肖宁 一种变位机
WO2017037758A1 (ja) * 2015-08-31 2017-03-09 株式会社キーレックス ワーク位置決め装置
CN105293398A (zh) * 2015-11-26 2016-02-03 苏州源硕精密模具有限公司 一种基于丝杆传动的翻转装置
CN105458583A (zh) * 2015-12-16 2016-04-06 芜湖普威技研有限公司 汽车仪表盘横梁焊接夹具
JP6737726B2 (ja) * 2017-03-02 2020-08-12 オークマ株式会社 工作機械
CN107030442A (zh) * 2017-06-05 2017-08-11 无锡市南方电器制造有限公司 重载式l型液压升降焊接变位机
CN109227292B (zh) * 2018-10-17 2020-10-16 宁波市江北欣盛数控机械有限公司 一种十字工件磨床及控制方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB134061A (es) * 1919-01-13 1900-01-01
DE1096722B (de) * 1957-06-18 1961-01-05 Masch U Appbau M Heitze Kom G Werkstueckrevolver
US3799006A (en) * 1972-03-20 1974-03-26 Robertshaw Controls Co Method and apparatus for welding bellows constructions and the like
SE437627B (sv) * 1984-04-16 1985-03-11 Torsteknik Ab Manipulator for samverkan med en industrirobot
JPH072317B2 (ja) * 1984-10-19 1995-01-18 ソニー株式会社 産業用ロボツトのツール選択装置
DE3701504A1 (de) * 1986-01-27 1987-07-30 Ingbuero Gregr Zweispindel-drehautomat
DE3802491A1 (de) * 1988-01-28 1989-08-03 Monforts Gmbh & Co A Doppelspindel-drehmaschine

Also Published As

Publication number Publication date
DE69026068D1 (de) 1996-04-25
KR910021292A (ko) 1991-12-20
FI901442A0 (fi) 1990-03-22
DE442160T1 (de) 1992-09-24
CA2012117A1 (en) 1991-08-12
ATE135614T1 (de) 1996-04-15
EP0442160A3 (en) 1992-12-09
EP0442160B1 (en) 1996-03-20
EP0442160A2 (en) 1991-08-21
DE69026068T2 (de) 1996-08-29
NO173594B (no) 1993-09-27
FI901442A (fi) 1991-08-13
NO901873D0 (no) 1990-04-26
JP2620991B2 (ja) 1997-06-18
NO901873L (no) 1991-08-13
US5074741A (en) 1991-12-24
NO173594C (no) 1994-01-05
KR960013719B1 (en) 1996-10-10
JPH07100725A (ja) 1995-04-18
CA2012117C (en) 2001-05-01

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