[go: up one dir, main page]

WO2001038047A3 - Gripping or actuating arm - Google Patents

Gripping or actuating arm Download PDF

Info

Publication number
WO2001038047A3
WO2001038047A3 PCT/DE2000/003961 DE0003961W WO0138047A3 WO 2001038047 A3 WO2001038047 A3 WO 2001038047A3 DE 0003961 W DE0003961 W DE 0003961W WO 0138047 A3 WO0138047 A3 WO 0138047A3
Authority
WO
WIPO (PCT)
Prior art keywords
drives
members
actuating
gripping
actuating arm
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/DE2000/003961
Other languages
German (de)
French (fr)
Other versions
WO2001038047A2 (en
Inventor
Andreas Krug
Thomas Bayer
Karl-Georg Melber
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.)
Wittenstein SE
Original Assignee
Wittenstein SE
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 Wittenstein SE filed Critical Wittenstein SE
Priority to AU25022/01A priority Critical patent/AU2502201A/en
Priority to JP2001539640A priority patent/JP2003516866A/en
Priority to EP00988588A priority patent/EP1232044A2/en
Publication of WO2001038047A2 publication Critical patent/WO2001038047A2/en
Publication of WO2001038047A3 publication Critical patent/WO2001038047A3/en
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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33196—Data and power each on a different line to all peripheral, bus

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a gripping or actuating arm comprising at least two members which can each be moved, in particular, can be rotated and/or pivoted, in relation to one another and/or in relation to a base by means of an electromotive drive. The drives used to execute defined movements of the members can be controlled separately, and a sensor (22, 26) is provided for determining the relative position of two adjacent members. According to the invention, the drives are configured as drive units (14-19) each equipped with at least one electric motor (21, 25) which, for actuating the electric motor (21, 25), comprise necessary motor control, optionally, a gearing (20, 24), and the sensor (22, 26). In addition, the drives of all members (7-13) are series-connected one behind the other in the manner of a bus configuration so that the energy, which is required for actuating the drives, and the control signals can be transmitted via the bus configuration.
PCT/DE2000/003961 1999-11-22 2000-11-15 Gripping or actuating arm Ceased WO2001038047A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU25022/01A AU2502201A (en) 1999-11-22 2000-11-15 Gripping or actuating arm
JP2001539640A JP2003516866A (en) 1999-11-22 2000-11-15 Grasping or operating arm
EP00988588A EP1232044A2 (en) 1999-11-22 2000-11-15 Gripping or actuating arm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19956176.1 1999-11-22
DE1999156176 DE19956176A1 (en) 1999-11-22 1999-11-22 Gripping or actuating arm

Publications (2)

Publication Number Publication Date
WO2001038047A2 WO2001038047A2 (en) 2001-05-31
WO2001038047A3 true WO2001038047A3 (en) 2002-04-11

Family

ID=7929946

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2000/003961 Ceased WO2001038047A2 (en) 1999-11-22 2000-11-15 Gripping or actuating arm

Country Status (5)

Country Link
EP (1) EP1232044A2 (en)
JP (1) JP2003516866A (en)
AU (1) AU2502201A (en)
DE (1) DE19956176A1 (en)
WO (1) WO2001038047A2 (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2850600B1 (en) * 2003-02-04 2006-01-13 Staubli Sa Ets MULTI-AXIS ROBOT EQUIPPED WITH A CONTROL SYSTEM
US20080249640A1 (en) * 2003-12-01 2008-10-09 Timothy Ramford Vittor Method for Controlling a System Formed from Interdependent Units
US8176809B2 (en) * 2008-12-10 2012-05-15 GM Global Technology Operations LLC Planar torsion spring
US8442684B2 (en) * 2009-09-22 2013-05-14 GM Global Technology Operations LLC Integrated high-speed torque control system for a robotic joint
WO2011107143A1 (en) * 2010-03-02 2011-09-09 Abb Research Ltd A robot wrist
JP5370225B2 (en) 2010-03-18 2013-12-18 株式会社デンソーウェーブ Robot arm coupling device
JP5540981B2 (en) * 2010-08-09 2014-07-02 株式会社デンソーウェーブ Articulated robot
DE202015009607U1 (en) 2015-08-14 2018-07-30 Franka Emika Gmbh Robot system and housing part for such a robot system
DE102015012959B4 (en) 2015-10-08 2019-01-17 Franka Emika Gmbh Robot system and method for controlling a robot system
DE102015012961B4 (en) 2015-10-08 2022-05-05 Kastanienbaum GmbH robotic system
DE102015012962B4 (en) 2015-10-08 2024-08-22 Franka Emika Gmbh Robot system
DE102016004788A1 (en) 2016-04-20 2017-10-26 Kastanienbaum GmbH Method for producing a robot and device for carrying out this method
DE102016004787B4 (en) 2016-04-20 2023-02-02 Franka Emika Gmbh Driving device for a robot and method for its manufacture
LU93046B1 (en) * 2016-04-27 2017-11-07 Ovalo Gmbh Motorized joint for a programmable motion machine
DE102017115442A1 (en) * 2017-07-10 2019-01-10 Hartmut Ilch Industrial robots and method for manufacturing an industrial robot
DE102018206019B4 (en) * 2018-04-19 2021-01-21 Kuka Deutschland Gmbh Robot system and method for operating the robot system
JP7497018B2 (en) * 2020-05-26 2024-06-10 Ｏｒｂｒａｙ株式会社 Robot Hand

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3410637A1 (en) * 1984-03-22 1985-10-03 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Electric cabling in the swivel joint of an industrial robot
JPS61103797A (en) * 1984-10-26 1986-05-22 松下電器産業株式会社 robot arm
DE4000348A1 (en) * 1989-03-06 1990-09-13 Hewlett Packard Co DEVICE AND METHOD FOR MONITORING THE MOVEMENTS OF A FLEXIBLE ROBOT
EP0722811A1 (en) * 1993-10-01 1996-07-24 Kabushiki Kaisha Yaskawa Denki No-wiring robot
EP0937551A1 (en) * 1997-07-14 1999-08-25 Fanuc Ltd Shielded industrial robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE464855B (en) * 1986-09-29 1991-06-24 Asea Ab PROCEDURE OF AN INDUSTRIAL BOTTOM FOR CALIBRATION OF A SENSOR
DE29601750U1 (en) * 1996-02-02 1996-03-14 Festo Kg, 73734 Esslingen Rotating device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3410637A1 (en) * 1984-03-22 1985-10-03 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Electric cabling in the swivel joint of an industrial robot
JPS61103797A (en) * 1984-10-26 1986-05-22 松下電器産業株式会社 robot arm
DE4000348A1 (en) * 1989-03-06 1990-09-13 Hewlett Packard Co DEVICE AND METHOD FOR MONITORING THE MOVEMENTS OF A FLEXIBLE ROBOT
EP0722811A1 (en) * 1993-10-01 1996-07-24 Kabushiki Kaisha Yaskawa Denki No-wiring robot
EP0937551A1 (en) * 1997-07-14 1999-08-25 Fanuc Ltd Shielded industrial robot

Also Published As

Publication number Publication date
AU2502201A (en) 2001-06-04
JP2003516866A (en) 2003-05-20
EP1232044A2 (en) 2002-08-21
DE19956176A1 (en) 2001-10-18
WO2001038047A2 (en) 2001-05-31

Similar Documents

Publication Publication Date Title
WO2001038047A3 (en) Gripping or actuating arm
IL169447A0 (en) Modified power control for hybrid arq on the reverse link
IT8919012A0 (en) TORQUE CONTROL WITH INTEGRATED CURRENT SENSORS FOR ACTUATED MOTOR ACTUATOR.
DE3874834D1 (en) TORQUE CONTROL BY MOTOR LOAD IN FLOOR WIPERS.
CA2198688A1 (en) Automatic door controller
DE3377048D1 (en) Multi-mode exercising apparatus
AU2003264728A1 (en) Motor drive control
AU3620601A (en) Hydraulic actuating device for a convertible top assembly of a vehicle
DE60016687D1 (en) Control system for a hybrid drive unit
AU3808489A (en) Sliding lifting roof for motor vehicles
AU2003206486A1 (en) Work table
MY106701A (en) Direct teaching type robot.
AU1347299A (en) Drive mechanism and torque sensor, and method for the production thereof
DE69900619D1 (en) Torque sensor for vehicle with auxiliary drive
GB2333579B (en) Hybrid displacement control with servo assisted manual operation
SG93263A1 (en) Servo system with learning function for achieving servo compensation in a disk drive
ATE204814T1 (en) METHOD AND APPARATUS FOR LIFTING
AU2003237745A1 (en) Transport device with slave control
PL1890909T3 (en) Tailgate
DE3870924D1 (en) CONTROLLED DRIVE FOR A DOOR LEAF OR THE LIKE.
US20070011947A1 (en) Arrangement in a swing door apparatus for the detection of door position
WO2004089578A3 (en) Actuating device, particularly for an articulated arm
ATE259728T1 (en) RAIL VEHICLE DRIVE COMPONENTS CONTROL SYSTEM
EP0997245A3 (en) A panel edge machining unit
WO2005061832A3 (en) Window-lifting system comprising a manual or motive drive device

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CR CU CZ DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
WWE Wipo information: entry into national phase

Ref document number: 2000988588

Country of ref document: EP

AK Designated states

Kind code of ref document: A3

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CR CU CZ DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ PL PT RO RU SD SE SG SI SK SL TJ TM TR TT TZ UA UG US UZ VN YU ZA ZW

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZW AM AZ BY KG KZ MD RU TJ TM AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR BF BJ CF CG CI CM GA GN GW ML MR NE SN TD TG

WWE Wipo information: entry into national phase

Ref document number: 10130680

Country of ref document: US

ENP Entry into the national phase

Ref country code: JP

Ref document number: 2001 539640

Kind code of ref document: A

Format of ref document f/p: F

WWP Wipo information: published in national office

Ref document number: 2000988588

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 2000988588

Country of ref document: EP