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EP1638739A1 - Dispositif de prehension guide par manipulateur, muni d'un systeme de protection par deviation, a fonction d'evitement - Google Patents

Dispositif de prehension guide par manipulateur, muni d'un systeme de protection par deviation, a fonction d'evitement

Info

Publication number
EP1638739A1
EP1638739A1 EP04739651A EP04739651A EP1638739A1 EP 1638739 A1 EP1638739 A1 EP 1638739A1 EP 04739651 A EP04739651 A EP 04739651A EP 04739651 A EP04739651 A EP 04739651A EP 1638739 A1 EP1638739 A1 EP 1638739A1
Authority
EP
European Patent Office
Prior art keywords
gripping device
parts
securing
gripping
securing parts
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Withdrawn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
EP04739651A
Other languages
German (de)
English (en)
Inventor
Botho Kikut
Elmar Nüchter
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen GmbH
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 DE20314896U external-priority patent/DE20314896U1/de
Application filed by KUKA Schweissanlagen GmbH filed Critical KUKA Schweissanlagen GmbH
Publication of EP1638739A1 publication Critical patent/EP1638739A1/fr
Withdrawn legal-status Critical Current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
    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure

Landscapes

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

Abstract

L'invention concerne un dispositif de préhension (1) guidé par manipulateur pour éléments constitutifs de carrosserie. Ledit dispositif de préhension (1) comporte plusieurs parties (6, 7) et un dispositif de sécurité (9) pour déterminer des variations géométriques des parties du dispositif (6, 7, 8), qui présente au moins un système de protection par déviation (10) sur les parties du dispositif (6, 7, 8). Ledit système de protection par déviation (10) et disposé en un point de jonction (23) entre les parties du dispositif (6, 7, 8).
EP04739651A 2003-06-17 2004-06-07 Dispositif de prehension guide par manipulateur, muni d'un systeme de protection par deviation, a fonction d'evitement Withdrawn EP1638739A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE20309435 2003-06-17
DE20314896U DE20314896U1 (de) 2003-06-17 2003-09-24 Manipulatorgeführte Greifeinrichtung
PCT/EP2004/006113 WO2004110705A1 (fr) 2003-06-17 2004-06-07 Dispositif de prehension guide par manipulateur, muni d'un systeme de protection par deviation, a fonction d'evitement

Publications (1)

Publication Number Publication Date
EP1638739A1 true EP1638739A1 (fr) 2006-03-29

Family

ID=33553661

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04739651A Withdrawn EP1638739A1 (fr) 2003-06-17 2004-06-07 Dispositif de prehension guide par manipulateur, muni d'un systeme de protection par deviation, a fonction d'evitement

Country Status (3)

Country Link
US (1) US20060181092A1 (fr)
EP (1) EP1638739A1 (fr)
WO (1) WO2004110705A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO20050337A1 (it) * 2005-05-17 2006-11-18 Ol Ci Srl Attrezzatura di supporto per un organo di presa di un robot manipolatore
US7609020B2 (en) * 2006-07-11 2009-10-27 Delaware Capital Formation, Inc. Geometric end effector system
DE102006052902B4 (de) * 2006-11-08 2016-03-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. Radmontage-Industrieroboter, Endeffektor und Verfahren zur Montage eines Rades durch einen Radmontage-Industrieroboter
FR2915415B1 (fr) * 2007-04-24 2010-02-19 Henri Moysan Prehenseur polyvalent et modulaire pour geometrie en assemblage et ou manutention.
FR2915412B1 (fr) * 2007-04-24 2010-02-19 Henri Moysan Outillage d'assemblage fixe ou mobile polyvalent et modulaire pour geometrie et ou positionnement.
DE102007057910A1 (de) * 2007-11-28 2009-06-10 Zis Industrietechnik Gmbh Einrichtung zum Schutz von beweglichen, bevorzugt reaktionskraftfrei wirkenden Bearbeitungsköpfen
US8478443B2 (en) * 2009-02-09 2013-07-02 Kawasaki Jukogyo Kabushiki Kaisha Robot system
GB201013819D0 (en) * 2010-08-18 2010-09-29 Johnson & Allen Ltd Articulation assembly
DE102010063202A1 (de) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Schutzeinrichtung für eine Greifeinrichtung an einerHandhabungsvorrichtung, insbesondere einem Handhabungsroboter
DE102011008194A1 (de) * 2011-01-10 2012-07-12 Thyssenkrupp System Engineering Gmbh Halterungsvorrichtung mit einer Überlastsicherungskupplung zur Halterung wenigstens eines Werkzeuggliedes in einem Fahrzeugkarosserie-Fertigungssystem
AT516097B1 (de) * 2014-07-03 2016-09-15 Blue Danube Robotics Gmbh Schutzverfahren und Schutzvorrichtung für Handhabungsgerät
US9724831B2 (en) 2015-08-28 2017-08-08 Te Connectivity Corporation Robotic gripper mechanism
DE102016106689A1 (de) * 2016-04-12 2017-10-12 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Dämpfungseinrichtung
US10500735B1 (en) 2018-07-13 2019-12-10 Dexterity, Inc. Robotic toolset and gripper
EP4015163B1 (fr) * 2020-12-17 2024-02-07 C.R.F. Società Consortile per Azioni Outil de préhension
IT202100016373A1 (it) * 2021-06-22 2022-12-22 Forel S P A Unipersonale Dispositivo e procedimento per lo scarico di vetro isolante da una linea di produzione dello stesso ed il successivo condizionamento

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4673329A (en) * 1984-04-06 1987-06-16 Mitsubishi Denki Kabushiki Kaisha Arm device for industrial robot
DE3641368A1 (de) * 1986-12-03 1988-06-09 Mannesmann Ag Lagerung fuer einen greifer oder dergleichen
DE3907553A1 (de) 1989-03-09 1990-09-13 Eckard Design Gmbh Bei ueberlast selbsttaetig ausrastbare kupplung
JP2541779B2 (ja) 1994-04-18 1996-10-09 株式会社ケージーケー ロボット手首の保護装置
DE29718726U1 (de) * 1997-10-10 1999-02-18 KUKA Schweissanlagen GmbH, 86165 Augsburg Wechselkupplung
DE20004369U1 (de) 2000-03-10 2001-07-19 KUKA Schweissanlagen GmbH, 86165 Augsburg Positioniergerüst
FR2818180B1 (fr) 2000-12-20 2003-04-25 Genus Technologies Dispositif de prehension destine a etre monte sur un bras de robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2004110705A1 *

Also Published As

Publication number Publication date
WO2004110705A9 (fr) 2006-03-16
WO2004110705A1 (fr) 2004-12-23
US20060181092A1 (en) 2006-08-17

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Legal Events

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17Q First examination report despatched

Effective date: 20070828

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: KUKA SYSTEMS GMBH

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

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Effective date: 20110101

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230528