[go: up one dir, main page]

WO1996008346A1 - Accessoire a deux tetes pour bras automate - Google Patents

Accessoire a deux tetes pour bras automate Download PDF

Info

Publication number
WO1996008346A1
WO1996008346A1 PCT/US1994/010616 US9410616W WO9608346A1 WO 1996008346 A1 WO1996008346 A1 WO 1996008346A1 US 9410616 W US9410616 W US 9410616W WO 9608346 A1 WO9608346 A1 WO 9608346A1
Authority
WO
WIPO (PCT)
Prior art keywords
operating head
rotation
axis
head
frame
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.)
Ceased
Application number
PCT/US1994/010616
Other languages
English (en)
Inventor
Dennis Gemmell
Robert A. Schweitzer
Randall D. Kvalheim
Graeme P. Winslow
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to AU79571/94A priority Critical patent/AU7957194A/en
Priority to PCT/US1994/010616 priority patent/WO1996008346A1/fr
Publication of WO1996008346A1 publication Critical patent/WO1996008346A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces

Definitions

  • This invention relates generally to an outrigger-type dual head attachment for a robotic arm, and particularly to such an attachment that accomplishes synchronous contour-following movement throughout three degrees of freedom for a three-axes wrist mechanism.
  • Robotic arms and wrist mechanisms of this type have proven particularly suitable for contour-following applications such as spraying paints, coatings, or finishes and other types of surface treatments. Representative examples of such uses are described in United States Patent Nos. 4,905,913 to Frikker and 5,273,059 to Gross.
  • tandem or dual robotic arms operated by a common controller, and especially those utilizing a master-slave relationship.
  • Various distinctions can be drawn between these types of tandem or dual robotic arms. Some systems are designed to permit a user to manually manipulate a master unit which simultaneously reproduces the identical movements in a remote slave unit.
  • Another type of system utilizes a common controller to operate plural robotic arms, essentially sharing some components of the controller to reduce cost, complexity, or space requirements, but serving the function of separate robotic arms moving in unison. Representative examples of these types of tandem or dual systems are shown in United States Patent Nos. 2,978,118 to Goertz; 4,549,839 to Glachet; and 4,883,400 to Kuban.
  • the dual head attachment of this invention is used with a robotic arm having a three-axes wrist mechanism.
  • the dual head attachment utilizes three separate and dissimilar transmission linkages to impart pitch, roll, and yaw movement to the second operating head that identically and simultaneously duplicates the movement and performance of the first operating head.
  • the dual head attachment includes a frame that is fixedly attached to the housing of the robotic arm and moves both the second operating head about the same pitch axis of the three-axes wrist mechanism as the first operating head.
  • a gear and flexible drive shaft assembly imparts rotation about the roll axis to the second operating head, and a timing belt and pulley assembly imparts rotation about the yaw axis to the second operating head.
  • the workpiece is carried on a table that slides linearly along a pair of rails driven by a power cylinder to accomplish transverse movement relative to the three-axis wrist mechanism and respective operating head.
  • the dual head attachment doubles the functionality and productivity of the robotic arm at effectively no cost.
  • Figure 1 is a rear perspective view of the dual head attachment and linear positioning system of this invention mounted on a robotic arm having a three- axes wrist mechanism;
  • Figure 2 is a side elevation view of the dual head attachment and three- axes wrist mechanism and an end view of the linear positioning system of Figure
  • Figure 3 is a top view of the dual head attachment and three-axes wrist mechanism of Figure 1;
  • Figure 4 is a front elevation view of the dual head attachment and three- axes wrist mechanism of Figure 1;
  • Figure 5 is a cross-section elevation view of the linear position system of Figure 1 taken through line 5-5 of Figure 2;
  • Figure 6 is a bottom view of the linear position system of Figure 5;
  • Figure 7 is a diagrammatic view of the rotational axes for pitch, roll, and yaw movement for an operating head used with the dual head attachment of Figure 1.
  • the preferred embodiment of the dual head attachment 10 is particularly adapted to be used with a robotic arm 12 having a three-axes wrist mechanism 14.
  • a first operating head 16 such as a spray gun, tool, camera, measuring device, or other apparatus is mounted adjacent or closely proximate to the distal end of the three-axes wrist mechanism 14, while a functionally identical second operating head 18 is mounted on the dual head attachment 10 in spaced apart relation to the first operating head 16.
  • the operating heads 16, 18 are spray guns which distribute a liquid stream or pattern 20 in the direction of application shown by the corresponding arrows.
  • the Kuban '400 patent is instructive in its use of terminology regarding a three-axes wrist (elbow or shoulder) mechanism in a robotic arm.
  • Figure 2 therein discusses the pitch, roll, and yaw components of movement for the joints of such a tandem robotic arm system.
  • Roll means the left and right tilting movement the operating head 16 about the longitudinal axis 26 as shown by arrow R.
  • Yaw means the left and right movement of the distal and proximal ends of the operating head 16 parallel with the horizontal surface 22 and about a vertical axis 30 oriented generally perpendicular to the horizontal surface 22 as shown by arrow Y.
  • the three axes (longitudinal 26, transverse 28, and vertical 30) describe three perpendicular axes of rotation for the first operating head 16 or second operating head 18, however it may be appreciated that the terms longitudinal, transverse, and vertical do not define or connote any particular orientation relative to the surrounding environment since movement about one axis (for example, pitch about the transverse axis 28) will reorient at least one and usually both of the other axes relative to the surrounding environment.
  • the longitudinal 26, transverse 28, and vertical 30 could therefore simply be referred to as the first, second, and third axes, however the terms longitudinal 26, transverse 28, and vertical 30 are used herein to provide a more convenient frame of reference.
  • Additional movement of the operating head 16 may be accomplished by any combination of pivoting the robotic arm 12 in a generally horizontal plane oriented parallel with the horizontal surface 22 upon which the robotic arm 12 rests, and rocking or tilting the robotic arm 12 upward or downward relative to the horizontal surface 22 in a plane oriented generally perpendicular to that horizontal surface 22.
  • the workpiece 24 can be moved axially toward or away from the operating head 16 and robotic arm 12 in a plane generally parallel with the horizontal surface 22, laterally back and forth relative to the operating head 16 and robotic arm 12 in a plane generally parallel with the horizontal surface 22, and vertically up or down in a plane generally perpendicular to the horizontal surface 22.
  • the workpiece 24 may also be subject to pitch, roll, and yaw movement about its own longitudinal, transverse, and vertical axes.
  • the dual head attachment 10 includes a generally U-shaped frame 32 having a back segment 34, a forward-extending segment 36 connected to the distal end of the back segment 34, and a depending segment 38 connected to the front end of the forward-extending segment 36.
  • a spine segment 40 depends from the center of the back segment 34, and a T- segment 42 is connected to the bottom end of the spine segment 40 extending approximately equal lengths on the opposing sides of the spine segment 40 and oriented generally parallel with the back segment 34.
  • the three-axes wrist mechanism 14 includes a first housing 44 mounted on the robotic arm 12 and containing the internal mechanism (not shown) responsible for pitch movement of the first operating head 16 about the transverse axis 28.
  • a second housing 46 is rotatably mounted on the internal mechanism within the first housing 44, and contains a second internal mechanism (not shown) responsible for yaw movement of the first operating head 16 about the vertical axis 28.
  • Roll movement of the first operating head may be accomplished by rotating the first housing 44 relative to the more proximal portion of the robotic arm 14, however this produces vertical movement and radial displacement of the operating head 16 proportional to the distance between the rotational axis of the first housing 44 and the longitudinal axis 26 of the operating head 16 and the arc of the rotational movement.
  • roll movement of the operating head 16 is preferably accomplished by a third internal mechanism (not shown) connected to the bottom of the second housing 46 disposed directly behind the first operating head
  • the third internal mechanism includes a shaft 48 oriented generally along the longitudinal axis 26 of the first operating head 16 and extending forwardly, the shaft 48 having a distal front end to which the first operating head 16 is fixedly attached so as to be rotatable about the longitudinal axis 26 when the shaft 48 rotates relative to the third housing 50 surrounding the third internal mechanism.
  • the proximal end of the frame 32 is fixedly attached to a rear surface of the second housing 46 using removable fasteners such as bolts 52.
  • the frame 32 will therefore pitch forward and backward (up and down) as the first operating head 16 similarly pitches.
  • a first spur gear 54 is mounted on the shaft 48 disposed between the third housing 50 and the first operating head 16 such that the first spur gear 54 is oriented perpendicular to the longitudinal axis 26 and rotates in the same direction and through the same arc as the shaft 48 and first operating head 16.
  • the first spur gear 54 operatively meshes with a tracking gear 56 oriented generally parallel to and coplanar with the first spur gear 54 and that is fixedly mounted on a shaft 58 rotatably carried on bearings and mounted on a first carriage segment 60 of the frame 32.
  • the shaft 58 is connected to the proximal chuck 62 of a flexible drive shaft 64 that extends rearwardly through a semi ⁇ circular arc to a distal chuck 66 mounted on a second carriage segment 68 of the frame 32.
  • a second shaft 70 similarly attached to the distal chuck 66 and carried on bearings extends forward from the second carriage segment 68, with a following gear 72 substantially identical to the tracking gear 56 mounted on the front end of the shaft 70.
  • An orientation-reversing intermediate gear 74 is rotatably mounted on a shaft 76 connected to the front face of the second carriage segment 68 of the frame 32, and operatively meshes with the following gear 72.
  • a second spur gear 78 substantially identical to the first spur gear 54 is rotatably mounted on a shaft 80 connected to the front face of the second carriage segment 68 of the frame 32, and operatively meshes with the orientation-reversing intermediate gear 74.
  • the following gear 72, orientation-reversing intermediate gear 74, and second spur gear 78 are oriented generally parallel to and coplanar with one another, as well as the first spur gear 54 and tracking gear 56.
  • Rotation of the shaft 48 about the longitudinal axis 26 to rotate or roll the first operating head 16 imparts simultaneous rotational movement sequentially from the first spur gear 54 to the tracking gear 56, shaft 58, proximal chuck 62, flexible drive shaft 64, distal chuck 66, second shaft 70, following gear 72, orientation-reversing intermediate gear 74, and second spur gear 78 such that the second spur gear 78 rotates in the same direction and through the same arc as the first spur gear 54.
  • the second operating head 18 is mounted to the front face of the second spur gear 78 so that roll movement of the first operating head 16 about the longitudinal axis 26 is translated to and duplicated in both direction and degree by the second operating head 18 mounted on the second spur gear 78.
  • the third internal mechanism and third housing 50 are operatively connected to the second internal mechanism such that the third internal mechanism and third housing 50 rotate left and right about a vertical axis 30 to produce yaw movement in the first operating head 16.
  • a shaft 82 is connected to and depends from the second internal mechanism in alignment with the vertical axis 30, and rotates therewith.
  • a toothed pulley 84 is fixedly attached to the bottom end of the shaft 82 and rotates therewith.
  • a matingly-toothed timing belt 86 partially encircles the pulley 84, and traverses a path rearwardly at an acute angle to the proximal end of the T-segment 42 of the frame 32 where it passes behind a pair of tensioning pulleys 88 each freely rotatable and mounted on generally vertical shafts 90 extending upwardly from the T-segment 42 of the frame 32.
  • the timing belt 86 continues transversely to the distal end of the T- segment 42, and similarly passes behind another pair of tensioning pulleys 88 each freely rotatable and mounted on generally vertical shafts 90 extending upwardly from the T-segment 42 of the frame 32.
  • the timing belt 86 traverses forwardly at an acute angle and partially encircles a second matingly-toothed pulley 92 fixedly mounted on a generally vertical shaft 94 rotatably carried on the forward-extending segment 36 and depending segment 38 of the frame 32.
  • the second carriage segment 68 is similarly carried on and fixedly attached to the shaft 94 in a position above the pulley 92 and below the frame 32 such that the second carriage segment 68 rotates left and right in yaw movement about a vertical axis 30 aligned with the axis of rotation of the shaft 94 when the pulley 92 and shaft 94 rotate.
  • the tensioning pulleys 88 directs the timing belt 86 along a path generally displaced from a line connecting or bisecting the vertical axes 30 of the first operating head 16 and second operating head 18 to permit and open space for the first operating head 16 and second operating head 18 to yaw back and forth without contacting the timing belt 86.
  • the timing belt 86 thereby forms a closed-loop between the pulley 84 mounted on the shaft 82 operatively connected to the first operating head 16 and the pulley 92 mounted on the shaft 94 operatively connected to the second operating head 18.
  • Rotation of the second internal mechanism to rotate the first operating head 16 left or right in yaw movement about the vertical axis 30 imparts rotation to the shaft 82 and pulley 84, lateral movement to the timing belt 86, and rotation to the pulley 92 and shaft 94, such that the second carriage segment 68 and second operating head 18 simultaneously rotate left or right in yaw movement about the vertical axis 30 the same direction and degree as the first operating head 16.
  • a linear positioning system 96 is also utilized with the dual head attachment 10.
  • the linear positioning system 96 holds the workpiece 24 in a predetermined orientation on any suitably configured support 98 such as a mask table in the case of a spray head 16, 18, and may be carried on a support frame 100 that is attached to the robotic arm 12 to move with the robotic arm, move relative to the robotic arm 12, or be freestanding.
  • the linear positioning system 96 includes a base member 102 fixedly mounted on the support frame 100 and having or defining a generally horizontal platform 104.
  • a pair of linear bearing rails 106 are fixedly mounted on top of the platform 104 and extend generally along the length thereof substantially parallel to one another.
  • a plurality of pillow bearing blocks 108 are slidably carried on the linear bearing rails 106, the pillow bearing blocks 108 being fixedly attached to and supporting a mounting plate 110 to which the support 98 is attached.
  • One end of a double-acting power cylinder 112 is operatively connected to the mounting plate 110 using a removable yoke 114, and the opposing end of the power cylinder 112 is fixedly connected to the platform 104 using a stationary yoke 116.
  • orientation of the linear positioning system 96 may be rotated 90° to accomplish axial or radial movement rather than transverse movement, or at an angle less than 90° to accomplish a predetermined combination of both axial (radial) and transverse movement.
  • the depending segment 38 of the frame 32 and the second carriage segment 68 may be slidably mounted on a rail or track and moved along the frame 32 using a double-acting power cylinder 112 to adjust the linear displacement or spacing between the first operating head 16 and second operating head 18, however in such a case the tensioning pulleys 88 and shafts 90 must be mounted on pivoting arms that are spring-loaded rearwardly to take up any slack in the timing belt 86 that would be created as the second carriage segment 68 moves proximally toward the three-axes wrist mechanism 14.
  • the linear positioning system 96 may alternately be mounted on a second linear positioning system 96, the directions of extent of the two linear positioning systems 96 being oriented at an angle of 90° or less relative to one another, thereby permitting the top mounting plate 110 to be simultaneously moved linearly in two directions (transversely and axially) to accommodate any positioning along a two-coordinate (X-Y) system in the plane of the mounting plate 110.
  • the second linear positioning system 96 may be incorporated directly into the support frame 100 and permit the base member 102 to move relative to the support frame 100 toward and away from the center or radial axis of the robotic arm 12.
  • the support frame 100 may pivot or rotate on or relative to the external housing or frame of the robotic arm 12 to permit the mounting plate 110 to be pivoted with or in opposition to the pivoting movement of the robotic arm 12, and similarly mounted to tilt up and down with or in opposition to the tilting movement of the robotic arm.
  • the dual head attachment 10 may be fabricated in virtually any size or configuration as long as the dual head attachment 10 conforms to certain operating parameters.
  • the frame 32 should be shaped and the respective components positioned such that the pitch axis of the second operating head 18 is substantially aligned with the pitch axis of the first operating head 16.
  • the radial displacement between the tip of the first operating head 16 and corresponding shaft 48 should be substantially the same as the radial displacement between the tip of the second operating head 18 and corresponding shaft 94 s that yaw movement of the first operating head 16 and second operating head 18 results in substantially the same arcuate motion of the respective tips.
  • the radial displacement and orientation (if any) between the tip of the first operating head 16 and the longitudinal axis 30 or axis of rotation of the first spur gear 54 should be substantially the same as the radial displacement and orientation between the tip of the second operating head 18 and the longitudinal axis 30 or axis of rotation of the second spur gear 78.
  • the dual head attachment 10 and linear positioning system 96 may be fabricated from any lightweight, relatively inexpensive, and available materials.
  • the linear bearing rails 106 are preferably corrosion-resistant stainless steel, and the pillow bearing blocks may be steel with a low friction bearing surface such as UHMW HDPE or a similar polymer.
  • the timing belt 86 is preferably a fiber-reinforced rubber or polymer, and the various gears, pulleys, and shafts may be steel, brass, or any suitable metal alloy.
  • the flexible drive shaft 64 and power cylinder 112 may be any selected from any suitable commercially available type having acceptable operating parameters and dimensions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un accessoire à deux têtes (10) de type support en équerre à utiliser avec un bras automate (12) possédant un mécanisme de poignet triaxial (14). L'accessoire à deux têtes utilise trois tiges de transmission distinctes et dissemblables pour communiquer des mouvements de tangage, roulis et lacet à la seconde tête de travail (18) qui reproduit de manière identique et simultanée le mouvement et le fonctionnement de la première tête de travail (16). L'accessoire à deux têtes comprend un cadre (32) qui est solidaire du châssis du bras automate et qui déplace la seconde tête de travail autour du même axe de tangage du mécanisme de poignet triaxial que la première tête de travail. Un ensemble de commande à engrenages (54, 56, 72, 74, 78) et arbre de transmission flexible (64) communique le mouvement de rotation autour de l'axe de roulis à la deuxième tête de travail et un ensemble constitué d'une courroie synchrone et de poulies (84, 88) communique le mouvement de rotation autour de l'axe de lacet à ladite seconde tête de travail. La pièce en travail est transportée sur une table (98) qui coulisse de façon linéaire le long d'une paire de rails (106) actionnée par un vérin (112), pour accomplir un mouvement transversal par rapport au mécanisme de poignet triaxial et à chaque tête de travail. L'accessoire à deux têtes multiplie par deux la fonctionnalité et la productivité du bras automate sans dépense supplémentaire.
PCT/US1994/010616 1994-09-15 1994-09-15 Accessoire a deux tetes pour bras automate Ceased WO1996008346A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU79571/94A AU7957194A (en) 1994-09-15 1994-09-15 Dual head attachment for a robotic arm
PCT/US1994/010616 WO1996008346A1 (fr) 1994-09-15 1994-09-15 Accessoire a deux tetes pour bras automate

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US1994/010616 WO1996008346A1 (fr) 1994-09-15 1994-09-15 Accessoire a deux tetes pour bras automate

Publications (1)

Publication Number Publication Date
WO1996008346A1 true WO1996008346A1 (fr) 1996-03-21

Family

ID=22242999

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1994/010616 Ceased WO1996008346A1 (fr) 1994-09-15 1994-09-15 Accessoire a deux tetes pour bras automate

Country Status (2)

Country Link
AU (1) AU7957194A (fr)
WO (1) WO1996008346A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012254448A (ja) * 2011-05-18 2012-12-27 Toyota Auto Body Co Ltd ロボット塗装システム及びこれを用いた塗装方法
RU2481073C1 (ru) * 2011-12-20 2013-05-10 Юрий Иванович Русанов Устройство выдвижных элементов зажима и их позиционное расположение внутри сферического корпуса многофункциональной диагностико-хирургической робототехнической системы с возможностью информационно-компьютерного управления им. ю.и. русанова
CN110919630A (zh) * 2019-11-13 2020-03-27 北京机械设备研究所 一种液压油缸安装机械手及安装方法
CN114604621A (zh) * 2022-04-02 2022-06-10 合肥哈工长隆智能装备科技有限公司 一种轮毂锻造自动化加工机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0012741A1 (fr) * 1978-12-18 1980-06-25 IGM - Industriegeräte- und Maschinenfabriks-gesellschaft mbH Robot de soudage
US4561592A (en) * 1984-03-22 1985-12-31 Graco Robotics, Inc. Robot spray head
EP0508130A1 (fr) * 1991-03-12 1992-10-14 TACCON COSTRUZIONI MECANICHE s.d.F. di A.GIRONI & C. Manipulateur multiaxe à commande asservie munie de tête de pulvérisation programmable

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0012741A1 (fr) * 1978-12-18 1980-06-25 IGM - Industriegeräte- und Maschinenfabriks-gesellschaft mbH Robot de soudage
US4561592A (en) * 1984-03-22 1985-12-31 Graco Robotics, Inc. Robot spray head
EP0508130A1 (fr) * 1991-03-12 1992-10-14 TACCON COSTRUZIONI MECANICHE s.d.F. di A.GIRONI & C. Manipulateur multiaxe à commande asservie munie de tête de pulvérisation programmable

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012254448A (ja) * 2011-05-18 2012-12-27 Toyota Auto Body Co Ltd ロボット塗装システム及びこれを用いた塗装方法
RU2481073C1 (ru) * 2011-12-20 2013-05-10 Юрий Иванович Русанов Устройство выдвижных элементов зажима и их позиционное расположение внутри сферического корпуса многофункциональной диагностико-хирургической робототехнической системы с возможностью информационно-компьютерного управления им. ю.и. русанова
CN110919630A (zh) * 2019-11-13 2020-03-27 北京机械设备研究所 一种液压油缸安装机械手及安装方法
CN114604621A (zh) * 2022-04-02 2022-06-10 合肥哈工长隆智能装备科技有限公司 一种轮毂锻造自动化加工机器人
CN114604621B (zh) * 2022-04-02 2023-08-11 合肥哈工长隆智能装备科技有限公司 一种轮毂锻造自动化加工机器人

Also Published As

Publication number Publication date
AU7957194A (en) 1996-03-29

Similar Documents

Publication Publication Date Title
EP3195988B1 (fr) Robot parallèle à cinq degrés de liberté doté de supports rotatifs à arbres multiples
CN111266776B (zh) 一种管道相贯线焊接系统
US4832563A (en) Portal system
US5239160A (en) Five-axis table for laser beam machine tool
US3984009A (en) Article gripper mounting device
CA1112859A (fr) Mecanisme de commande de manipulation d'un outil, tel un pistolet de peinturage
EP0969950A1 (fr) Robot industriel
CN216029133U (zh) 卧式自动对接装配系统
GB2045720A (en) Automatic apparatus for holding workpieces or work tools
JP3506702B2 (ja) 細長部材の曲げ機に使用される工具のための万能位置決め支持装置
JP2588418B2 (ja) ３次元マニピュレータ
JPS63102880A (ja) ロボット・マ−キング装置
KR20040002748A (ko) 문형공작기계
DE10216571A1 (de) Vorrichtung zum Verfahren eines Arbeitskopfes im Raum
WO1996008346A1 (fr) Accessoire a deux tetes pour bras automate
JP2015100802A (ja) 自動溶接機
JP2018069354A (ja) リンク式多関節ロボット
CN213105241U (zh) 一种变幅门架式焊接机器人
US5148091A (en) Arrangement for bringing the tool-carrying end of a robot beam to a desired one of a plurality of possible predetermined positions
GB2146560A (en) Maintaining the position of a machine tool slide
CN109664275A (zh) 基于两转一移三自由度并联机构的五自由度混联机器人
JP4852101B2 (ja) 対象物を旋回させるための装置
CN221658395U (zh) 六轴机器人两外部轴及传感器联动系统
US5095625A (en) Adhesive applicator for contoured surfaces
US7726613B2 (en) Water blast gun support apparatus and methods

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AM AT AU BB BG BR BY CA CH CN CZ DE DK EE ES FI GB GE HU JP KE KG KP KR KZ LK LR LT LU LV MD MG MN MW NL NO NZ PL PT RO RU SD SE SI SK TJ TT UA US UZ VN

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642