ES2114556T3 - Mecanismo para realizar movimientos de trayectoria predeterminada, referible como de forma eliptica. - Google Patents

Mecanismo para realizar movimientos de trayectoria predeterminada, referible como de forma eliptica.

Info

Publication number
ES2114556T3
ES2114556T3 ES92902260T ES92902260T ES2114556T3 ES 2114556 T3 ES2114556 T3 ES 2114556T3 ES 92902260 T ES92902260 T ES 92902260T ES 92902260 T ES92902260 T ES 92902260T ES 2114556 T3 ES2114556 T3 ES 2114556T3
Authority
ES
Spain
Prior art keywords
arms
transmission
referible
elliptically
moved
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
ES92902260T
Other languages
English (en)
Inventor
Ugo Crippa
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
Application granted granted Critical
Publication of ES2114556T3 publication Critical patent/ES2114556T3/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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

UN MECANISMO PARA MOVIMIENTOS DE CAMINO PREFIJADO, DE FORMA SUSTANCIALMENTE ELIPTICA, COMPRENDE UNA BASE (1) DE SOPORTE PROVISTA CON UN MOTOR SIMPLE O MEDIOS (2) DE PROPULSION Y AL MENOS DOS BRAZOS (3,4,5) ENLAZADOS CADA UNO AL OTRO EN UN EXTREMO, CON EL EXTREMO LIBRE DEL BRAZO EXTERIOR PORTANDO UNOS MEDIOS (30) DE AGARRE PARA ARTICULOS A SER MOVIDOS, FORMANDO DE ESTE MODO, P.EJ. UN DISPOSITIVO DE MANEJO. LOS BRAZOS, LOS CUALES ESTAN PREFERIBLEMENTE EN NUMERO DE TRES, SON MOTIVADOS PARA ROTAR ALREDEDOR DE EJES PARALELOS (A,B,C), A TRAVES DE MEDIOS DE TRANSMISION (12-20) EN EL INTERIOR DE LOS BRAZOS Y LOS CAMINOS, SUCESIVOS AL PRIMERO, A LO LARGO DEL CUAL SE MUEVEN LOS BRAZOS, SE DEFINEN POR LAS PROPORCIONES DE TRANSMISION EN EL INTERIOR DEL BRAZO DE LA PARTE SUPERIOR DE LA CORRIENTE O INTERIOR. LA PROPORCION ENTRE LOS MEDIOS DE TRANSMISION EN EL BRAZO EXTERIOR DETERMINA SOLO LA TRANSLACION O POSIBLE ROTACION SIMULTANEA DE LOS MEDIOS DE AGARRE.
ES92902260T 1991-05-21 1991-12-17 Mecanismo para realizar movimientos de trayectoria predeterminada, referible como de forma eliptica. Expired - Lifetime ES2114556T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITMI911392A IT1251017B (it) 1991-05-21 1991-05-21 Meccanismo per compiere traiettorie prefissate assimilabili ad ellittiche

Publications (1)

Publication Number Publication Date
ES2114556T3 true ES2114556T3 (es) 1998-06-01

Family

ID=11359947

Family Applications (1)

Application Number Title Priority Date Filing Date
ES92902260T Expired - Lifetime ES2114556T3 (es) 1991-05-21 1991-12-17 Mecanismo para realizar movimientos de trayectoria predeterminada, referible como de forma eliptica.

Country Status (7)

Country Link
US (1) US5534761A (es)
EP (1) EP0586377B1 (es)
CA (1) CA2102498A1 (es)
DE (1) DE69128970T2 (es)
ES (1) ES2114556T3 (es)
IT (1) IT1251017B (es)
WO (1) WO1992020495A1 (es)

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US5794487A (en) * 1995-07-10 1998-08-18 Smart Machines Drive system for a robotic arm
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USD409636S (en) * 1998-05-07 1999-05-11 Genmark Automation, Inc. Robotic arm
JP2001096480A (ja) * 1999-09-28 2001-04-10 Tatsumo Kk 水平多関節型産業用ロボット
WO2001036165A1 (en) * 1999-11-15 2001-05-25 Fanuc Robotics North America, Inc. Constant orientation robot arm assembly
JP3639764B2 (ja) 2000-02-01 2005-04-20 タツモ株式会社 基板搬送装置
JP3437812B2 (ja) 2000-02-07 2003-08-18 タツモ株式会社 基板搬送装置
JP2002158272A (ja) 2000-11-17 2002-05-31 Tatsumo Kk ダブルアーム基板搬送装置
JP3999712B2 (ja) * 2003-07-14 2007-10-31 川崎重工業株式会社 多関節ロボット
US10086511B2 (en) 2003-11-10 2018-10-02 Brooks Automation, Inc. Semiconductor manufacturing systems
US7458763B2 (en) 2003-11-10 2008-12-02 Blueshift Technologies, Inc. Mid-entry load lock for semiconductor handling system
JP5226215B2 (ja) * 2003-11-10 2013-07-03 ブルックス オートメーション インコーポレイテッド 真空下の半導体処理システムにおいて加工中の製品を処理する方法及びシステム
US20070269297A1 (en) 2003-11-10 2007-11-22 Meulen Peter V D Semiconductor wafer handling and transport
US7585306B2 (en) 2003-12-24 2009-09-08 Maquet Cardiovascular Llc Anastomosis device, tools and methods of using
NL1026010C2 (nl) * 2004-03-25 2005-09-27 Dotec B V Inrichting voor het tillen van objecten.
US8162963B2 (en) 2004-06-17 2012-04-24 Maquet Cardiovascular Llc Angled anastomosis device, tools and method of using
US9248568B2 (en) 2005-07-11 2016-02-02 Brooks Automation, Inc. Unequal link SCARA arm
US7946800B2 (en) * 2007-04-06 2011-05-24 Brooks Automation, Inc. Substrate transport apparatus with multiple independently movable articulated arms
US8752449B2 (en) * 2007-05-08 2014-06-17 Brooks Automation, Inc. Substrate transport apparatus with multiple movable arms utilizing a mechanical switch mechanism
KR20100031681A (ko) 2007-05-18 2010-03-24 브룩스 오토메이션 인코퍼레이티드 빠른 교환 로봇을 가진 컴팩트 기판 운송 시스템
DE102007043286A1 (de) * 2007-09-11 2009-03-12 Chang, Doo-Bong, Dr. Dipl.-Ing. Vorrichtung zum Transportieren von Substraten
US7967549B2 (en) * 2008-05-15 2011-06-28 The Boeing Company Robotic system including foldable robotic arm
US8041456B1 (en) 2008-10-22 2011-10-18 Anybots, Inc. Self-balancing robot including an ultracapacitor power source
US8160747B1 (en) 2008-10-24 2012-04-17 Anybots, Inc. Remotely controlled self-balancing robot including kinematic image stabilization
US8442661B1 (en) 2008-11-25 2013-05-14 Anybots 2.0, Inc. Remotely controlled self-balancing robot including a stabilized laser pointer
US8788096B1 (en) 2010-05-17 2014-07-22 Anybots 2.0, Inc. Self-balancing robot having a shaft-mounted head
US8768513B2 (en) * 2011-08-08 2014-07-01 Applied Materials, Inc. Systems having multi-linkage robots and methods to correct positional and rotational alignment in multi-linkage robots
CN103640028B (zh) * 2013-11-28 2016-01-06 华南理工大学 一种平面关节型机器人结构
US20160120720A1 (en) * 2014-10-31 2016-05-05 Children's Hospital Medical Center Patient support coupled medical accessory support
CN104708624A (zh) * 2015-04-02 2015-06-17 中山展域智能科技有限公司 同轴式间接驱动多关节机器人手臂的传动机构
JP6686644B2 (ja) * 2016-04-06 2020-04-22 セイコーエプソン株式会社 ロボットおよびロボットシステム
CN106113083A (zh) * 2016-08-11 2016-11-16 宁波振锐智能机器科技有限公司 具有新型夹手的机械手
IT201700034987A1 (it) * 2017-03-30 2018-09-30 Ing Polin & C S P A Macchina arrotondatrice per porzioni di impasto
JP7011426B2 (ja) * 2017-09-06 2022-01-26 川崎重工業株式会社 マニピュレータシステム
US20200375675A1 (en) * 2017-12-21 2020-12-03 Koninklijke Philips N.V. Compliant end-effector for image guided surgical procedures
JP7207094B2 (ja) * 2019-03-29 2023-01-18 セイコーエプソン株式会社 水平多関節ロボット
JP2020163548A (ja) * 2019-03-29 2020-10-08 セイコーエプソン株式会社 水平多関節ロボットおよびロボットシステム
CN110668170A (zh) * 2019-12-05 2020-01-10 龙口市全工工程机械制造厂 一种分体式折叠机械抓手
CN112426226A (zh) * 2020-11-18 2021-03-02 相丰朋 一种随臂移动的神经外科手术臂
CN112659113B (zh) * 2020-12-31 2025-08-05 山东豪迈机械制造有限公司 作业设备

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FR2593106B1 (fr) * 1986-01-22 1990-03-30 Royer Jacques Dispositif de deplacement d'un outil ou analogue en porte-a-faux, notamment autour d'un objet.
JPS62203786A (ja) * 1986-03-03 1987-09-08 株式会社東芝 産業用ロボツト
DE3704505A1 (de) * 1987-02-13 1988-08-25 Leybold Ag Einlegegeraet fuer vakuumanlagen
JPS63278674A (ja) * 1987-05-11 1988-11-16 Shinko Electric Co Ltd 回転中心のオフセツト機構
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US4951517A (en) * 1987-10-28 1990-08-28 Canon Kabushiki Kaisha Rotational driving apparatus with frictional engagement and robot using the same
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JP2808826B2 (ja) * 1990-05-25 1998-10-08 松下電器産業株式会社 基板の移し換え装置
JP2826556B2 (ja) * 1990-11-28 1998-11-18 キヤノン株式会社 工業用ロボツト
US5214749A (en) * 1991-06-12 1993-05-25 Massachusetts Institute Of Technology Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage

Also Published As

Publication number Publication date
EP0586377A1 (en) 1994-03-16
CA2102498A1 (en) 1992-11-22
WO1992020495A1 (en) 1992-11-26
ITMI911392A0 (it) 1991-05-21
EP0586377B1 (en) 1998-02-25
IT1251017B (it) 1995-04-28
DE69128970D1 (de) 1998-04-02
ITMI911392A1 (it) 1992-11-21
US5534761A (en) 1996-07-09
DE69128970T2 (de) 1998-07-09

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