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KR910021292A - 산업로보트와 협동하도록된 조종기 - Google Patents

산업로보트와 협동하도록된 조종기 Download PDF

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Publication number
KR910021292A
KR910021292A KR1019910000077A KR910000077A KR910021292A KR 910021292 A KR910021292 A KR 910021292A KR 1019910000077 A KR1019910000077 A KR 1019910000077A KR 910000077 A KR910000077 A KR 910000077A KR 910021292 A KR910021292 A KR 910021292A
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KR
South Korea
Prior art keywords
mentioned
clutch member
motor
moving
moving means
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Granted
Application number
KR1019910000077A
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English (en)
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KR960013719B1 (en
Inventor
잉그바 에마뉴엘 죠한슨 존
Original Assignee
원본미기재
토르스테크니크 아크티에볼라그
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Publication of KR910021292A publication Critical patent/KR910021292A/ko
Application granted granted Critical
Publication of KR960013719B1 publication Critical patent/KR960013719B1/ko
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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 for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass 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 for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass 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

내용 없음

Description

산업로보트와 협동하도록된 조종기
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 산업로보트와 관련된 발명에 따른 조종기의 평면도, 제2도는 제1도의 평면도의 부분을 확대한 도면, 제3도는 제1도의 화살표 Ⅲ-Ⅲ의 방향에서의 단면도.

Claims (8)

  1. 작업물이 차례로 처리되므로서 산업로보트(4)에 관해 작업률을 위치하게 하는 조종기, 각각 작업들을 잡는 고정수단, 부리는 위치를 향하여 작동위치로부터 언급된 고정물의 다른 것을 동시에 움직이는 동안 로보트의 작동범위내의 작동위치를 향하여 언급된 고정수단에 잡혀있는 작업편의 교환의 발생하는 부리는 위치로부터 언급된 고정물 지지의 하나를 움직이기 위한 움직이는 수단(16), 언급된 움직이는 수단(16)을 구동하는 수단과, 언급된 고정물지지를 회전시킬 수 있도록 즉, 작업편의 부분과 다양한 표면부분을 로보트에 의해 조작되는 기구에 접근할 수 있게 하기 위해 로보트의 작동이동과 모터의 작동을 조정하는 제어체계에 의해 제어될 수 있도록 작동위치에 보지 되는 고정물 지지(26)와 구동력으로 맞물리고 고정물 지지와 공통인 회전서보모터(32)를 갖는 최소한 두개의 고정물 지지(26, 27)를 구성하면서 움직이는 수단(16)의 언급된 구동수단처럼 모터(32)을 사용할 수 있도록 모터가 어떤 고정물 지지와 감결합될때 언급된 움직이는 수단(16)에 언급된 모터(32)을 구동적으로 연결하는 연결수단(30, 38, 40)을 특징으로 하는 언급된 조종기(2).
  2. 1항에 있어서, 언급된 연결수단이 고정물 지지(26)로부터 감결합되는 언급된 모터에 반응하여 언급된 움직이는 수단(16)와 언급된 모터가 맞물리고 고정물 지지(26)와 맞물리는 언급된 모터에 반응하여 언급된 움직이는 수단(16)으로부터 언급된 모터(32)을 감결합시키는 수단(30)을 구성하는 것을 특징을 갖는 조종기.
  3. 제1항 또는 제2항에 있어서, 고정물 지지가 작동위치로 움직인 후 언급된 움직이는 수단(16)을 정지시키는 수단(46-52)으로 특정지워지는 조종기.
  4. 전기의 어느 한항에 있어서, 언급된 연결수단이 고정물 지지(26)에 구동적으로 연결되는 두번째 클려치부재(28)와 맞물리는 첫번째 위치와 움직이는 수단(16)에 구동적으로 연결되는 세번째 클러치부재(40)사이에 이동할 수 있고 모터(32)로 구성되는 첫번째 클러치부재(30)를 구성하는 특징으로 갖는 조종기.
  5. 제4항에 있어서, 언급한 움직이는 수단(16)이 고정물 지지(27, 28)의 회전하는 공통의 호울더를 구성하고 언급한 첫번째 클러치부재가 모터(32)에 의해 회전된 원판(30)을 구성하며 모터로 부터 먼 축부상에 두번째 클러치부재(2)의 보조표면 맞물림수단(33′)과 맞물리는 표면뭊물리수단(33′)을 가지면서 언급된 표면수단(33′)과언급된 보조표면수단(33′)이 언급된 첫 번째 클러치부재(30)의 첫 번째 위치에서 서로 맞물리며 원주상의 언급된 원판(30)이 언급된 움직이는 수단(16)과 구동적으로 연결되고 언급된 세번째 클러치부재를 형성하는 톱니바퀴(40)상에는 보조톱니와 맞물리도록된 톱니(44)를 운반하며 언급된 톱니(44)와 언급된 보조톱니가 언급된 첫번째 클러치부재(30)의 두번째 위치에서 서로 맞물리는 특징으로 갖는 조종기.
  6. 제1항에 있어서, 언급된 연결수단이 모터(32)에 구동되는 첫번째 클러치부재(30), 고정물 지지(26)에 구동적으로 연결된 두번째 클러치부재(28), 움직이는 수단(16)에 구동적으로 연결된 네번째 클러치부재와 언급된 두번째와 네번째 클러치부재의 하나와 언급된 첫번째 클러치부재(30)가 맞물리는 수단(36;100, 102)를 구성하는 특징을 갖는 조종기.
  7. 제6항에 있어서 언급된 첫번째와 두번째 클러치부재(30, 28)가 서로 맞물리는 첫번째 위치와 감결합되는 두번째 위치사이에서 서로 이동될 수 있고 첫번째 클러치부재(30)가 언급된 네번째 클러치부재(38)에 구동적으로 연결되는 특징을 갖는 조종기.
  8. 제7항에 있어서, 언급된 첫번째 클러치부재(30)가 고정되었고 언급된 두번째 클러치부재(28), 언급된 네번째 클러치부재(38)와 언급한 움직이는 수단(16)이 언급한 두번째 위치를 형성하도록 함께 이동하는 특징을 갖는 조종기.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR91000077A 1990-02-12 1991-01-07 A manipulator intended for cooperation with an industrial robot Expired - Lifetime KR960013719B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP902003086 1990-02-12
EP90200308 1990-02-12

Publications (2)

Publication Number Publication Date
KR910021292A true KR910021292A (ko) 1991-12-20
KR960013719B1 KR960013719B1 (en) 1996-10-10

Family

ID=8204934

Family Applications (1)

Application Number Title Priority Date Filing Date
KR91000077A Expired - Lifetime KR960013719B1 (en) 1990-02-12 1991-01-07 A manipulator intended for cooperation with an industrial robot

Country Status (10)

Country Link
US (1) US5074741A (ko)
EP (1) EP0442160B1 (ko)
JP (1) JP2620991B2 (ko)
KR (1) KR960013719B1 (ko)
AT (1) ATE135614T1 (ko)
CA (1) CA2012117C (ko)
DE (2) DE69026068T2 (ko)
ES (1) ES2085324T3 (ko)
FI (1) FI901442A7 (ko)
NO (1) NO173594C (ko)

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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
KR102059632B1 (ko) * 2015-08-31 2019-12-26 가부시키가이샤 키렉스 워크 위치 결정장치
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
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Also Published As

Publication number Publication date
DE442160T1 (de) 1992-09-24
US5074741A (en) 1991-12-24
NO173594B (no) 1993-09-27
NO173594C (no) 1994-01-05
JP2620991B2 (ja) 1997-06-18
NO901873L (no) 1991-08-13
ATE135614T1 (de) 1996-04-15
CA2012117A1 (en) 1991-08-12
DE69026068T2 (de) 1996-08-29
KR960013719B1 (en) 1996-10-10
ES2085324T3 (es) 1996-06-01
EP0442160B1 (en) 1996-03-20
FI901442A0 (fi) 1990-03-22
EP0442160A2 (en) 1991-08-21
CA2012117C (en) 2001-05-01
NO901873D0 (no) 1990-04-26
DE69026068D1 (de) 1996-04-25
FI901442A7 (fi) 1991-08-13
JPH07100725A (ja) 1995-04-18
EP0442160A3 (en) 1992-12-09

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