DE3219292A1 - Gelenkkopf fuer industrieroboter - Google Patents

Gelenkkopf fuer industrieroboter

Info

Publication number
DE3219292A1
DE3219292A1 DE19823219292 DE3219292A DE3219292A1 DE 3219292 A1 DE3219292 A1 DE 3219292A1 DE 19823219292 DE19823219292 DE 19823219292 DE 3219292 A DE3219292 A DE 3219292A DE 3219292 A1 DE3219292 A1 DE 3219292A1
Authority
DE
Germany
Prior art keywords
joint head
industrial robots
robots
industrial
joint
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
DE19823219292
Other languages
English (en)
Other versions
DE3219292C2 (de
Inventor
Dirk Dr Ing Helms
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.)
Jungheinrich AG
Original Assignee
Jungheinrich Unternehmensverwaltung KG
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 Jungheinrich Unternehmensverwaltung KG filed Critical Jungheinrich Unternehmensverwaltung KG
Priority to DE8214938U priority Critical patent/DE8214938U1/de
Priority to DE3219292A priority patent/DE3219292C2/de
Priority to US06/396,035 priority patent/US4499790A/en
Priority to FR8308071A priority patent/FR2527132B1/fr
Publication of DE3219292A1 publication Critical patent/DE3219292A1/de
Application granted granted Critical
Publication of DE3219292C2 publication Critical patent/DE3219292C2/de
Expired 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19051—Single driven plural drives
    • Y10T74/1906—Nonparallel
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/1966—Intersecting axes
    • Y10T74/19665—Bevel gear type
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
DE3219292A 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter Expired DE3219292C2 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE8214938U DE8214938U1 (de) 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter
DE3219292A DE3219292C2 (de) 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter
US06/396,035 US4499790A (en) 1982-05-22 1982-07-07 Swivel head for industrial robots
FR8308071A FR2527132B1 (fr) 1982-05-22 1983-05-16 Tete articulee pour robot industriel

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE8214938 1982-05-22
DE3219292A DE3219292C2 (de) 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter

Publications (2)

Publication Number Publication Date
DE3219292A1 true DE3219292A1 (de) 1983-11-24
DE3219292C2 DE3219292C2 (de) 1986-01-02

Family

ID=25801959

Family Applications (2)

Application Number Title Priority Date Filing Date
DE3219292A Expired DE3219292C2 (de) 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter
DE8214938U Expired DE8214938U1 (de) 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE8214938U Expired DE8214938U1 (de) 1982-05-22 1982-05-22 Gelenkkopf für Industrieroboter

Country Status (3)

Country Link
US (1) US4499790A (de)
DE (2) DE3219292C2 (de)
FR (1) FR2527132B1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0146682A1 (de) * 1983-12-22 1985-07-03 Kabushiki Kaisha Yaskawa Denki Seisakusho Gelenk für einen Industrieroboter
US4760753A (en) * 1984-12-06 1988-08-02 Hans Heynau Gmbh Swivel head for industrial robots

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3228945A1 (de) * 1982-08-03 1984-02-16 GdA Gesellschaft für digitale Automation mbH, 8000 München Vorrichtung zum antrieb der beiden achsen des handgliedes eines industrieroboters
JPS60127996A (ja) * 1983-12-15 1985-07-08 松下電器産業株式会社 工業用ロボツトの塵埃飛散防止装置
US4606695A (en) * 1984-05-18 1986-08-19 Kurt Manufacturing Company, Inc. Multiple axis robot arm
US4574655A (en) * 1984-07-16 1986-03-11 Kabushiki Kaisha Yasakawa Denki Seisakusho Wrist mechanism for industrial robot
DE3427819A1 (de) * 1984-07-27 1986-01-30 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Drehgelenk fuer einen industrieroboter
DE8511948U1 (de) * 1985-04-22 1985-07-11 GdA Gesellschaft für digitale Automation mbH, 8000 München Getriebeanordnung für eine Industrieroboterhand
FR2582978B1 (fr) * 1985-06-10 1987-09-04 Barland Michel Tete articulee pour robot industriel et robot equipe d'une telle tete
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
FR2620837B1 (fr) * 1987-09-21 1990-11-30 Commissariat Energie Atomique Dispositif d'orientation d'un objet autour de deux axes de rotation
US4912999A (en) * 1987-09-30 1990-04-03 The Boeing Company System for pivotably supporting and transmitting power through a helicopter transmission and rotor
US4807486A (en) * 1987-11-09 1989-02-28 Gmf Robotics Corporation Three-axes wrist mechanism
SE500626C2 (sv) * 1992-12-23 1994-07-25 Asea Brown Boveri Kompaktväxel
US5913938A (en) * 1997-08-18 1999-06-22 Brooks; Eddie L. Gear reduction assembly
AU2003210372A1 (en) * 2002-02-28 2003-09-09 Al-Ko Kober Ag Pivotable towing device for towing vehicles
EP1407901B2 (de) * 2002-10-09 2012-10-03 AL-KO Kober AG Anhängevorrichtung für Zugfahrzeuge
US7121781B2 (en) * 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
CN102259337B (zh) * 2010-05-28 2013-11-06 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102441894A (zh) * 2010-10-11 2012-05-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN103144102A (zh) * 2013-03-28 2013-06-12 南京妙手机电科技有限公司 一种具有双自由度连杆模块的机械手臂
CN103264399B (zh) * 2013-05-08 2015-09-09 南京航空航天大学 机器人腰臂一体化同步双驱机构及其控制方法
JP6262193B2 (ja) * 2015-12-24 2018-01-17 Ntn株式会社 リンク作動装置
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
IT201800007400A1 (it) * 2018-07-20 2020-01-20 Unità protesica di polso
CN109591047A (zh) * 2019-01-15 2019-04-09 珠海市海峰机器人***有限公司 一种二轴关节装置
CN110561489B (zh) * 2019-09-30 2020-12-01 台州学院 一种三自由度并联驱动关节
JP2022129023A (ja) * 2021-02-24 2022-09-05 株式会社ソニー・インタラクティブエンタテインメント 回転装置
CN113070902B (zh) * 2021-04-08 2022-09-16 合肥工业大学 一种三轴转动的机器人关节

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
DE2406865B2 (de) * 1973-02-28 1976-11-25 Mitsubishi Jukogyo K.K., Tokio Antriebsvorrichtung fuer den greif- oder arbeitskopf eines manipulators
DE7801844U1 (de) * 1978-01-23 1978-05-03 H.A. Schlatter Ag, Schlieren, Zuerich (Schweiz) Roboterhand
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
DE2619336B2 (de) * 1975-05-15 1980-08-28 Sofermo, Meudon La Foret, Hauts-De- Seine (Frankreich) Gelenkkopf für einen Manipulator zur Befestigung an einem Manipulatorann

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3033059A (en) * 1958-09-19 1962-05-08 Gen Mills Inc Drive means for remote control manipulator
US3315545A (en) * 1964-12-02 1967-04-25 Earl L Schnoebelen Gear driven screwdriver
JPS5025234B1 (de) * 1970-02-20 1975-08-21
JPS4921672Y1 (de) * 1970-08-21 1974-06-10
FR2183584B1 (de) * 1972-05-10 1974-09-27 Commissariat Energie Atomique
JPS5425300B2 (de) * 1973-01-25 1979-08-27
US3971266A (en) * 1973-07-17 1976-07-27 Nippondenso Co., Ltd. Power transmission device
US3893573A (en) * 1973-08-20 1975-07-08 Nasa Variable ratio mixed-mode bilateral master-slave control system for shuttle remote manipulator system
SE416452B (sv) * 1975-06-16 1981-01-05 Asea Ab Industrirobot
US4068763A (en) * 1976-07-26 1978-01-17 Nasa Wrist joint assembly
JPS54107060A (en) * 1978-02-07 1979-08-22 Toshiba Corp Wrist device for industrial robot
DE2843459A1 (de) * 1978-10-05 1980-04-24 Hurth Masch Zahnrad Carl Stirnrad-planetengetriebe mit lastausgleich
DE2908523A1 (de) * 1979-03-05 1981-01-29 Jungheinrich Unternehmensverw Automatisches arbeitsgeraet
FR2504051A1 (fr) * 1981-04-15 1982-10-22 Jungheinrich Kg Tete articulee pour robot industriel

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
DE2406865B2 (de) * 1973-02-28 1976-11-25 Mitsubishi Jukogyo K.K., Tokio Antriebsvorrichtung fuer den greif- oder arbeitskopf eines manipulators
DE2619336B2 (de) * 1975-05-15 1980-08-28 Sofermo, Meudon La Foret, Hauts-De- Seine (Frankreich) Gelenkkopf für einen Manipulator zur Befestigung an einem Manipulatorann
DE7801844U1 (de) * 1978-01-23 1978-05-03 H.A. Schlatter Ag, Schlieren, Zuerich (Schweiz) Roboterhand

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0146682A1 (de) * 1983-12-22 1985-07-03 Kabushiki Kaisha Yaskawa Denki Seisakusho Gelenk für einen Industrieroboter
US4760753A (en) * 1984-12-06 1988-08-02 Hans Heynau Gmbh Swivel head for industrial robots

Also Published As

Publication number Publication date
FR2527132B1 (fr) 1987-02-13
DE8214938U1 (de) 1983-07-28
DE3219292C2 (de) 1986-01-02
FR2527132A1 (fr) 1983-11-25
US4499790A (en) 1985-02-19

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Legal Events

Date Code Title Description
OP8 Request for examination as to paragraph 44 patent law
D2 Grant after examination
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: JUNGHEINRICH AG, 2000 HAMBURG, DE

8339 Ceased/non-payment of the annual fee