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ES2031434T1 - Efectuador terminal de funcion multiple regulado roboticamente. - Google Patents

Efectuador terminal de funcion multiple regulado roboticamente.

Info

Publication number
ES2031434T1
ES2031434T1 ES199090118142T ES90118142T ES2031434T1 ES 2031434 T1 ES2031434 T1 ES 2031434T1 ES 199090118142 T ES199090118142 T ES 199090118142T ES 90118142 T ES90118142 T ES 90118142T ES 2031434 T1 ES2031434 T1 ES 2031434T1
Authority
ES
Spain
Prior art keywords
pressor
origin
presented
organ
robot
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.)
Granted
Application number
ES199090118142T
Other languages
English (en)
Other versions
ES2031434T3 (es
Inventor
Giovanni B. Bonomi
Battistino Oldani
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.)
ITALIAN MACHINE TOOL AGENCY Inc
Original Assignee
ITALIAN MACHINE TOOL AGENCY Inc
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 ITALIAN MACHINE TOOL AGENCY Inc filed Critical ITALIAN MACHINE TOOL AGENCY Inc
Publication of ES2031434T1 publication Critical patent/ES2031434T1/es
Application granted granted Critical
Publication of ES2031434T3 publication Critical patent/ES2031434T3/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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B21J15/142—Aerospace structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • 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
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5104—Type of machine
    • Y10T29/5105—Drill press
    • Y10T29/5107—Drilling and other

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

UN ORGANO PRENSOR MULTITAREA QUE SE PUEDE ACOPLAR A LA CABEZA MOVIL DE UN CENTRO DE MAQUINADO ROBOTICO CONTROLADO POR UN ORDENADOR O "ROBOT" MANEJABLE PARA IMPARTIR MULTIPLES MOVIMIENTOS AXILES LINEALES O ROTACIONALES AL ORGANO PRENSOR QUE CONSTA DE UN CABEZAL GIRATORIO QUE SE ACOPLA A LA CABEZA MOVIL DEL ROBOT PARA TRANSPORTAR VARIAS HERRAMIENTAS DE TRABAJO SUJETAS POR UNA LANZADERA MOTORIZADA. SE PUEDE HACER FUNCIONAR LA LANZADERA DE MANERA SELECTIVA PARA COLOCAR O CATALOGAR CADA HERRAMIENTA TRANSPORTADA POR EL MISMO EN UNA POSICION DE ALINEACION COAXIAL CON EL EJE CENTRAL DE LA CABEZA MOVIL DEL ROBOT Y DEL CABEZAL GIRATORIO DEL ORGANO PRENSOR. DURANTE LA OPERACION HAY COLOCADOS DOS ROBOTS EN LOS LADOS OPUESTOS DE PIEZAS DE TRABAJO SUJETAS AL SOPORTE SUJETADOR DE MODO QUE LOS ORGANOS PRENSORES A ELLOS ACOPLADOS SON ALINEADOS COAXIALMENTE Y OPERABLES PARA AGARRAR LAS PIEZAS DE TRABAJO ENTRE ELLAS CON FUERZAS MEDIDAS Y EQUILIBRADAS. LA LANZADERA DE AL MENOS UN ORGANO PRENSOR SE PUEDE ACTIVAR SELECTIVAMENTE PARA PRESENTAR LAS HERRAMIENTAS PARA FORMAR Y PREPARAR AGUJEROS A TRAVES DE LAS PIEZAS DE TRABAJO SEGUIDO DE LA INSERCION E INSTALACION DE AGARRADORES APTOS, COMO POR EJEMPLO REMACHES, TORNILLOS O SIMILARES SIN DESENGANCHAR LAS PIEZAS DE TRABAJO.
ES90118142T 1990-03-30 1990-09-20 Actuador final multitarea roboticamente controlado. Expired - Lifetime ES2031434T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/502,541 US4995148A (en) 1990-03-30 1990-03-30 Robotically controlled multi-task end effector

Publications (2)

Publication Number Publication Date
ES2031434T1 true ES2031434T1 (es) 1992-12-16
ES2031434T3 ES2031434T3 (es) 1994-10-16

Family

ID=23998279

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90118142T Expired - Lifetime ES2031434T3 (es) 1990-03-30 1990-09-20 Actuador final multitarea roboticamente controlado.

Country Status (10)

Country Link
US (1) US4995148A (es)
EP (1) EP0448777B1 (es)
JP (1) JPH03285736A (es)
KR (1) KR910016407A (es)
BR (1) BR9004887A (es)
DE (2) DE69010319T2 (es)
ES (1) ES2031434T3 (es)
FI (1) FI904724A (es)
IE (1) IE903490A1 (es)
IL (1) IL95506A0 (es)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110450184A (zh) * 2019-08-28 2019-11-15 新松机器人联合研究院(湘潭)有限公司 一种螺栓紧固机器人系统末端执行器连接装置

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US8172642B2 (en) 2008-08-20 2012-05-08 Black & Decker Inc. Multi-sander
US8365376B2 (en) * 2008-11-18 2013-02-05 The Boeing Company Rivet installation system
US20100217437A1 (en) * 2009-02-24 2010-08-26 Branko Sarh Autonomous robotic assembly system
DE102009012155A1 (de) * 2009-03-06 2010-09-09 Thyssenkrupp Drauz Nothelfer Gmbh Bearbeitungseinrichtung zur Bearbeitung eines Werkstücks
DE102009012154B4 (de) * 2009-03-06 2011-05-05 Thyssenkrupp Drauz Nothelfer Gmbh Bearbeitungseinrichtung und Verfahren zur automatisierten Bestimmung eines Gesamtverfahrwegs einer Bearbeitungseinrichtung zur Gewährleistung einer vorbestimmten Überarbeitungstiefe
US9764376B2 (en) 2009-04-01 2017-09-19 David L. LeMieux System for rivet fastening
US8666546B2 (en) * 2009-07-10 2014-03-04 The Boeing Company Autonomous robotic platform
US20110068150A1 (en) * 2009-09-18 2011-03-24 The Boeing Company Friction Stir Weld Assembly And Associated Method For Mitigating Distortion In A Friction Stir Weld Joint
US8651046B1 (en) 2010-07-23 2014-02-18 The Boeing Company Robotic sealant and end effector
JP5777348B2 (ja) * 2011-02-01 2015-09-09 三菱重工業株式会社 締結弛緩装置
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110450184A (zh) * 2019-08-28 2019-11-15 新松机器人联合研究院(湘潭)有限公司 一种螺栓紧固机器人系统末端执行器连接装置

Also Published As

Publication number Publication date
DE448777T1 (de) 1992-09-03
JPH03285736A (ja) 1991-12-16
DE69010319D1 (de) 1994-08-04
US4995148A (en) 1991-02-26
EP0448777B1 (en) 1994-06-29
BR9004887A (pt) 1991-11-19
EP0448777A2 (en) 1991-10-02
IL95506A0 (en) 1991-06-30
ES2031434T3 (es) 1994-10-16
FI904724A (fi) 1991-10-01
IE903490A1 (en) 1991-10-09
EP0448777A3 (en) 1992-03-04
FI904724A0 (fi) 1990-09-26
KR910016407A (ko) 1991-11-05
DE69010319T2 (de) 1995-01-19

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