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DE19908692A1 - Measuring scissors-type arrangement has slide pieces moving along guide rail, with feet, carriage and track - Google Patents

Measuring scissors-type arrangement has slide pieces moving along guide rail, with feet, carriage and track

Info

Publication number
DE19908692A1
DE19908692A1 DE1999108692 DE19908692A DE19908692A1 DE 19908692 A1 DE19908692 A1 DE 19908692A1 DE 1999108692 DE1999108692 DE 1999108692 DE 19908692 A DE19908692 A DE 19908692A DE 19908692 A1 DE19908692 A1 DE 19908692A1
Authority
DE
Germany
Prior art keywords
scissors
axis
axis arrangement
guide rail
articulated
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.)
Withdrawn
Application number
DE1999108692
Other languages
German (de)
Inventor
Guenter Pritschow
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
Priority claimed from DE1998150899 external-priority patent/DE19850899A1/en
Priority claimed from DE1999102867 external-priority patent/DE19902867A1/en
Application filed by Individual filed Critical Individual
Priority to DE1999108692 priority Critical patent/DE19908692A1/en
Publication of DE19908692A1 publication Critical patent/DE19908692A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4876—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed parallelly by a single rotating pair
    • B23Q1/488—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed parallelly by a single rotating pair followed perpendicularly by a single rotating pair
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4828—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair
    • B23Q1/4833—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair followed perpendicularly by a single rotating pair
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Landscapes

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

Abstract

The two drive side ends of the measuring scissors are connected to slide pieces running along a separate guide-rail and whose position on the rail is read by a linear scale. The angular position of the scissors in relation to the rail is plotted by means of a shaft encoder. The feet o f the scissors are fixed on the carriage of a guide track and are moved by telescopic drive mechanisms.

Description

Ergänzende BeschreibungAdditional description Mehrachsige Parallelstabkinematik nach dem Scherenprinzip mit direkter Erfassung des TCPMulti-axis parallel rod kinematics based on the scissors principle with direct Acquisition of the TCP Aktenzeichen: 198 50 899.9 und 199 02 867.2Case number: 198 50 899.9 and 199 02 867.2

Eine weitere Entkopplung der Meßschere MS1, MS2 zur Nachgiebigkeit der belasteten Führungsschiene F kann erreicht werden, wenn die beiden an­ triebsseitigen Enden am Meßschlitten gelenkig befestigt sind, die auf geson­ derten Führungsschienen für Meßzwecke gleiten, wobei die Lage der Schlitten mit einem Linearmaßstab und die Winkellage der λ-förmigen Meß­ schere gegenüber der Führungsbahn mittels eines Drehgebers erfaßt wer­ den.A further decoupling of the measuring scissors MS1, MS2 for the flexibility of the loaded guide rail F can be reached if the two on drive-side ends are articulated to the measuring slide, which on geson derten guide rails for measuring purposes, the location of the Carriage with a linear scale and the angular position of the λ-shaped measuring scissors opposite the guideway by means of a rotary encoder the.

Eine weitere erfindungsgemäße Ausgestaltung der Antriebstechnik für die Fußpunkte der λ-förmigen Schere ist gegeben, wenn die Fußpunkte der λ- förmigen Schere gelenkig mit dem einen Ende eines Teleskopantriebes ver­ bunden sind, die sich parallel zur vorhandenen oder gedachten Führungs­ bahn bewegen, und das andere Ende des Teleskopantriebes entweder an dem anderen Fußpunkt der λ-förmigen Schere oder an dem ortsfesten Ge­ stell befestigt ist. Die Teleskopantriebe können vorzugsweise als Hydrau­ likzylinder oder Kugelrollspindelsysteme mit Elektroantrieb ausgebildet sein.Another embodiment of the drive technology according to the invention for the Base points of the λ-shaped scissors are given if the base points of the λ- shaped scissors articulated ver with one end of a telescopic drive are tied in parallel to the existing or imagined leadership move the path, and either the other end of the telescopic drive the other base of the λ-shaped scissors or on the stationary Ge stell is attached. The telescopic drives can preferably be hydraulic Lik cylinder or ball screw systems are designed with an electric drive.

In Abwandlung zur 6achsigen Anordnung gemäß Fig. 9 und 10 lassen sich erfindungsgemäß auch andere Kinematiken für 3 bis 6 Achsen ableiten, die aufgrund ihrer spezifischen Aufbaueigenschaften ggf. besondere Einsatz­ vorteile besitzen. So läßt sich eine raumsparende 3achsige Anordnung ge­ mäß Fig. 17 mit nur einer λ-förmigen Schere aufbauen, deren Antriebe A1, A2 auf einer Führungsschiene laufen, deren Längsachse drehbar um den Winkel ϕ mittels eines Antriebs M1 positioniert werden kann. Mittels eines Parallelogrammes E2, E2' wird die Orientierung des Trägers T in z-Richtung konstant gehalten. Mittels weiterer Drehgelenke am Träger T kann die 3achsige Anordnung erweitert werden. In Fig. 17 ist dies über einen Greifer G demonstriert, der um den Winkel α verdrehbar ist mit Hilfe eines in den Träger T integrierten Motors.In a modification of the 6-axis arrangement according to FIGS . 9 and 10, other kinematics for 3 to 6 axes can also be derived according to the invention, which may have special application advantages due to their specific structural properties. Thus a space-saving 3-axis arrangement can accelerator as Fig. 17 with only one build λ-shaped scissors, whose drives A1, A2 run on a guide rail, the longitudinal axis rotatable by the angle φ can be positioned by means of a drive M1. The orientation of the carrier T in the z direction is kept constant by means of a parallelogram E2, E2 '. The 3-axis arrangement can be expanded by means of further swivel joints on the carrier T. This is demonstrated in FIG. 17 by means of a gripper G which can be rotated by the angle α with the aid of a motor integrated in the carrier T.

Eine abgewandelte 3achsige Anordnung zeigt Fig. 18. Anstelle einer Dre­ hung der Führung um die Längsachse z. B. entsprechend Fig. 17 bleibt hier die Führungsbahn F gestellfest und die Drehung wird mittels einer gemeinsa­ men Welle W in die Fußpunkte G1, G2, G2' der λ-förmigen Schere eingelei­ tet. Zu diesem Zweck muß die Welle W im Winkel ϕ über einen Antrieb A3 positionierbar sein und die Gelenke der Fußpunkte, die mit den linearen An­ trieben A1, A2 verbunden sind, müssen drehfest aber verschiebbar gegen­ über der Welle W angeordnet werden. Eine entsprechende Ausführungsform zeigt Fig. 19, wobei die drehfeste aber verschiebbare Verbindung der Welle gegenüber dem Gelenk G1 über eine Nut-(N)/Zapfenverbindung (Z) herge­ stellt wird. Der Antrieb A1 führt über eine Klauenverbindung K das Gelenk in Längsrichtung z.A modified 3-axis arrangement is shown in FIG. 18. Instead of a rotation of the guide around the longitudinal axis z. As shown in FIG. 17 remains here the guide track fixed to the frame F and the rotation is by means of a common tet eingelei men wave W in the foot points G1, G2, G2 'of the λ-shaped scissors. For this purpose, the shaft W must be positioned at an angle ϕ via a drive A3 and the joints of the base points, which are connected to the linear drives A1, A2, must be arranged in a rotationally fixed but displaceable manner relative to the shaft W. A corresponding embodiment is shown in FIG. 19, the rotationally fixed but slidable connection of the shaft relative to the joint G1 being established via a groove (N) / pin connection (Z). The drive A1 guides the joint in the longitudinal direction z.

Eine hinsichtlich der Nachgiebigkeit des Trägers T stabilere 3achsige Anord­ nung entsteht durch die Kombination zweier Scheren, deren Fußpunkte ge­ lenkig mit den linearen Antrieben A1. . .A4 verbunden sind, wobei die An­ triebe A1, A2 einer Führungsbahn F1 und die Antriebe A3, A4 einer Füh­ rungsbahn F2 gemäß Fig. 20a, b zugeordnet sind. Die Laufflächen der Füh­ rungsbahnen F1, F2 sind gegeneinander um einen Winkel verdreht. Quer zur Laufrichtung sind jeweils zwei λ-förmige Scheren E1, E2 mit E1', E2' bzw. E3, E4 mit E3', E4' als Parallelogramm angeordnet und mit ihren Fuß­ punkten gelenkig mit den Antrieben A1. . .A4 verbunden sowie mit ihrer an­ deren Seite an dem beweglichen Träger so befestigt, daß die Befestigungs­ ebene am Träger parallel zur Lauffläche der Führungsbahn ausgerichtet ist. 3achsige Anordnungen können zu 4, 5 oder 6achsigen Anordnungen erwei­ tert werden, indem in den beweglichen Träger T entsprechend weitere Ach­ sen integriert werden. Eine vorteilhafte Anordnung zur Erweiterung zeigt Fig. 21a. . .c, wobei in den Träger T eine zur z-Achse rechtwinklig stehende Drehachse PA integriert ist, um für die Spindel SP eine horizontale (z. B. x- Richtung) oder vertikale (z. B. z-Richtung) Bearbeitungsrichtung zu ermögli­ chen.A 3-axis arrangement, which is more stable with regard to the flexibility of the carrier T, is created by the combination of two scissors, the base points of which are articulated with the linear drives A1. . .A4 are connected, the drives A1, A2 being assigned to a guideway F1 and the drives A3, A4 to a guideway F2 according to FIGS . 20a, b. The treads of the guideways F1, F2 are rotated relative to one another by an angle. Two λ-shaped scissors E1, E2 with E1 ', E2' or E3, E4 with E3 ', E4' are arranged as a parallelogram perpendicular to the direction of travel, and their foot points are articulated with the drives A1. . .A4 connected and with their attached to the side of the movable carrier so that the mounting plane on the carrier is aligned parallel to the tread of the guideway. 3-axis arrangements can be expanded to 4, 5 or 6-axis arrangements by integrating additional axes into the movable carrier T accordingly. An advantageous arrangement for expansion is shown in FIG. 21a. . .c, in which an axis of rotation PA perpendicular to the z-axis is integrated in the carrier T, in order to enable a horizontal (e.g. x-direction) or vertical (e.g. z-direction) machining direction for the spindle SP chen.

Claims (8)

Zusatzansprüche zur Patentanmeldung
Mehrachsige Parallelstabkinematik nach dem Scherenprinzip mit direkter Erfassung des TCP
Aktenzeichen: 198 50 899.9 und 199 02 867.2Additional claims for patent application
Multi-axis parallel rod kinematics based on the scissors principle with direct acquisition of the TCP
Case number: 198 50 899.9 and 199 02 867.2 26. Vorrichtung nach Anspruch 25, dadurch gekennzeichnet, daß die beiden antriebsseitigen Enden der Meßschere MS1, MS2 gelenkig mit Gleitern verbunden sind, die auf einer separaten Führungsschiene laufen und deren Position auf der Führungsschiene mittels eines Linearmaßstabes und die Winkellage der λ-förmigen Schere zur Führungsschiene mittels eines Drehge­ bers erfaßt werden.26. The device according to claim 25, characterized in that the two drive ends of the Measuring scissors MS1, MS2 are articulated with sliders on run on a separate guide rail and its position on the Guide rail using a linear scale and the angular position the λ-shaped scissors to the guide rail by means of a rotary be recorded. 27. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß die Fußpunkte der λ-förmigen Schere gelenkig am Schlitten einer Führungsbahn befestigt sind, die durch Teleskopantriebe verschoben werden, deren eine Seite an einem der beiden Fußpunkte der λ-förmigen Schere angreift und deren an­ dere Seite entweder an dem anderen Fußpunkt der Schere oder an dem ortsfesten Gestell befestigt ist.27. The device according to claim 5, characterized in that the base points of the λ-shaped scissors are articulated on the slide of a guideway, which by Telescopic drives are moved, one side on one of the two base points of the λ-shaped scissors attacks and the either side at the other base of the scissors or at the fixed frame is attached. 28. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß eine 3achsige Anordnung gemäß Fig. 17 dadurch entsteht, daß die Fußpunkte einer λ-förmigen Schere gelenkig mit Linearantrieben A1, A2 verbunden sind, die sich auf ei­ ner um die Längsachse mit dem Winkel ϕ drehbar positionierbaren Führung F bewegen, die Schere nur Gelenke mit einem Freiheits­ grad besitzt und der bewegliche Träger T am Ende der Schere mit­ tels eines Parallelogrammes E2, E2' in der Orientierung konstant gehalten wird.28. The apparatus according to claim 5, characterized in that a 3-axis arrangement according to FIG. 17 arises in that the base points of a λ-shaped scissors are articulated with linear drives A1, A2, which are on egg ner about the longitudinal axis with the angle ϕ move rotatably positionable guide F, the scissors only have joints with a degree of freedom and the movable carrier T at the end of the scissors is kept constant in the orientation by means of a parallelogram E2, E2 '. 29. Vorrichtung nach den Ansprüchen 5 und 28, dadurch gekennzeichnet, daß eine 3achsige Anordnung gemäß Fig. 18 und 19 dadurch entsteht, daß die Führungsbahn F für die linea­ ren Fußpunktantriebe A1, A2 der λ-förmigen Schere gestellfest an­ geordnet wird und die Winkeldrehung ϕ der Schere aus einer ge­ meinsamen Welle W in die Fußpunkte G1, G2, G2' der Schere ein­ geleitet wird.29. Device according to claims 5 and 28, characterized in that a 3-axis arrangement according to FIGS . 18 and 19 arises in that the guideway F for the linea ren base point drives A1, A2 of the λ-shaped scissors is arranged fixed to the frame and the angular rotation ϕ the scissors are passed from a common shaft W into the base points G1, G2, G2 'of the scissors. 30. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß eine 3achsige Anordnung gemäß Fig. 20a, b dadurch entsteht, daß jeweils zwei quer zur Längsrichtung z parallel ausgerichtete Scherenpaare E1, E2, E1', E2' und E3, E4, E3', E4' an einem beweglichen Träger parallel zur Führungsbahn angelenkt sind und die Fußpunkte der beiden Scherenpaare auf An­ triebsschlitten geführt werden, deren Führungsbahnen in Längsrich­ tung gegeneinander verdreht sind, wobei die Orientierung des Trä­ gers T in Längsrichtung z über ein Parallelogramm E4, E4" fixiert wird.30. The device according to claim 5, characterized in that a 3-axis arrangement according to Fig. 20a, b arises in that two pairs of scissors E1, E2, E1 ', E2' and E3, E4, E3 'aligned parallel to the longitudinal direction z in parallel, E4 'are articulated on a movable carrier parallel to the guideway and the base points of the two pairs of scissors are guided on drive slides whose guideways are rotated relative to one another in the longitudinal direction, the orientation of the carrier T in the longitudinal direction z being fixed via a parallelogram E4, E4 " becomes. 31. Vorrichtung nach Anspruch 13, dadurch gekennzeichnet, daß gemäß Fig. 21a. . .c die 4achsige An­ ordnung nach Fig. 7a, b durch Ergänzung einer weiteren Positionier­ drehachse PA im beweglichen Träger T zu einer mindestens 5achsigen Anordnung erweitert wird. 31. The device according to claim 13, characterized in that according to Fig. 21a. . .c the 4-axis arrangement according to Fig. 7a, b is expanded by adding a further positioning axis of rotation PA in the movable carrier T to an at least 5-axis arrangement. 32. Vorrichtung nach den Ansprüchen 29 und 30, dadurch gekennzeichnet, daß gemäß Fig. 19a. . .c die 3achsige An­ ordnung gemäß Fig. 18a, b durch Ergänzung weiterer Positionier­ drehachsen PA im beweglichen Träger T zu einer mindestens 4achsigen Anordnung erweitert wird.32. Device according to claims 29 and 30, characterized in that according to Fig. 19a. . .c the 3-axis arrangement according to Fig. 18a, b is expanded by adding additional positioning axes of rotation PA in the movable carrier T to an at least 4-axis arrangement.
DE1999108692 1998-11-05 1999-02-26 Measuring scissors-type arrangement has slide pieces moving along guide rail, with feet, carriage and track Withdrawn DE19908692A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE1999108692 DE19908692A1 (en) 1998-11-05 1999-02-26 Measuring scissors-type arrangement has slide pieces moving along guide rail, with feet, carriage and track

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE1998150899 DE19850899A1 (en) 1998-11-05 1998-11-05 Multi-axis parallel rod system on scissor principle for industrial robot, in which scissors have end point and foot point with drive within datum plate intersecting drive guide axis
DE1999102867 DE19902867A1 (en) 1998-11-05 1999-01-25 Multi-axle parallel rods kinematic system has linear drives, linear guide tracks, frame, and spindle nut system
DE1999108692 DE19908692A1 (en) 1998-11-05 1999-02-26 Measuring scissors-type arrangement has slide pieces moving along guide rail, with feet, carriage and track

Publications (1)

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DE19908692A1 true DE19908692A1 (en) 2000-10-12

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DE1999108692 Withdrawn DE19908692A1 (en) 1998-11-05 1999-02-26 Measuring scissors-type arrangement has slide pieces moving along guide rail, with feet, carriage and track

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003062107A1 (en) * 2002-01-23 2003-07-31 Windmöller & Hölscher Kg Device for lifting loads out of, or placing loads in, holding installations
DE102008024397A1 (en) * 2008-05-20 2009-11-26 Universität Stuttgart Transfer module for use in changeable production system, has supporting arm for receiving workpiece at one location and for transporting workpiece in direction, where driving of supporting arm takes place perpendicular to direction
CN104741270A (en) * 2015-04-10 2015-07-01 清华大学 Series-parallel connection mechanism for spray-coating of automobile bumpers
EP3012064A1 (en) * 2014-10-23 2016-04-27 Possamai, Domenico Device and method for positioning a working tool inside a predetermined work area
CN107826781A (en) * 2017-10-25 2018-03-23 合肥汉德贝尔属具科技有限公司 A kind of shift-forward type side picking folder
CN109366772A (en) * 2018-10-29 2019-02-22 安徽捷运矿山机械有限公司 A kind of ore punching machine loading and unloading auxiliary device
CN109571117A (en) * 2019-01-18 2019-04-05 宁波嘉怡机器人有限公司 A kind of manipulator
CN110217122A (en) * 2019-06-28 2019-09-10 国创新能源汽车能源与信息创新中心(江苏)有限公司 A kind of axial feed device and the docking facilities that charge
CN118482316A (en) * 2024-07-16 2024-08-13 浙江数智交院科技股份有限公司 Lifting maintenance system of track type inspection robot
DE102024101989A1 (en) * 2024-01-24 2025-07-24 Md Elektronik Gmbh MANIPULATOR AND ROBOT CONSTRUCTION

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DE2429486A1 (en) * 1973-06-29 1975-01-23 Activite Atom Avance HORIZONTAL MANIPULATOR
DE19634575A1 (en) * 1996-08-27 1998-03-05 Pritschow Guenter Appliance for detecting position of tool and/or workpiece holder

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2429486A1 (en) * 1973-06-29 1975-01-23 Activite Atom Avance HORIZONTAL MANIPULATOR
DE19634575A1 (en) * 1996-08-27 1998-03-05 Pritschow Guenter Appliance for detecting position of tool and/or workpiece holder

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003062107A1 (en) * 2002-01-23 2003-07-31 Windmöller & Hölscher Kg Device for lifting loads out of, or placing loads in, holding installations
DE102008024397A1 (en) * 2008-05-20 2009-11-26 Universität Stuttgart Transfer module for use in changeable production system, has supporting arm for receiving workpiece at one location and for transporting workpiece in direction, where driving of supporting arm takes place perpendicular to direction
EP3012064A1 (en) * 2014-10-23 2016-04-27 Possamai, Domenico Device and method for positioning a working tool inside a predetermined work area
US9764437B2 (en) 2014-10-23 2017-09-19 Domenico Possamai Device and method for positioning a working tool inside a predetermined work area
CN104741270A (en) * 2015-04-10 2015-07-01 清华大学 Series-parallel connection mechanism for spray-coating of automobile bumpers
CN104741270B (en) * 2015-04-10 2017-05-17 清华大学 Series-parallel connection mechanism for spray-coating of automobile bumpers
CN107826781A (en) * 2017-10-25 2018-03-23 合肥汉德贝尔属具科技有限公司 A kind of shift-forward type side picking folder
CN109366772A (en) * 2018-10-29 2019-02-22 安徽捷运矿山机械有限公司 A kind of ore punching machine loading and unloading auxiliary device
CN109571117A (en) * 2019-01-18 2019-04-05 宁波嘉怡机器人有限公司 A kind of manipulator
CN110217122A (en) * 2019-06-28 2019-09-10 国创新能源汽车能源与信息创新中心(江苏)有限公司 A kind of axial feed device and the docking facilities that charge
CN110217122B (en) * 2019-06-28 2024-03-22 国创移动能源创新中心(江苏)有限公司 Axial feeding device and charging butt joint device
DE102024101989A1 (en) * 2024-01-24 2025-07-24 Md Elektronik Gmbh MANIPULATOR AND ROBOT CONSTRUCTION
CN118482316A (en) * 2024-07-16 2024-08-13 浙江数智交院科技股份有限公司 Lifting maintenance system of track type inspection robot

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