DE3661802D1 - Robot wrist and robot equipped with such a wrist - Google Patents

Robot wrist and robot equipped with such a wrist

Info

Publication number
DE3661802D1
DE3661802D1 DE8686401163T DE3661802T DE3661802D1 DE 3661802 D1 DE3661802 D1 DE 3661802D1 DE 8686401163 T DE8686401163 T DE 8686401163T DE 3661802 T DE3661802 T DE 3661802T DE 3661802 D1 DE3661802 D1 DE 3661802D1
Authority
DE
Germany
Prior art keywords
wrist
robot
robot equipped
robot wrist
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
Application number
DE8686401163T
Other languages
English (en)
Inventor
Michel Barland
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 DE3661802D1 publication Critical patent/DE3661802D1/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
    • B25J17/0283—Three-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
    • Y10T74/19126—Plural drivers plural driven
    • Y10T74/1913—Bevel
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE8686401163T 1985-06-10 1986-06-02 Robot wrist and robot equipped with such a wrist Expired DE3661802D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8508712A FR2582978B1 (fr) 1985-06-10 1985-06-10 Tete articulee pour robot industriel et robot equipe d'une telle tete

Publications (1)

Publication Number Publication Date
DE3661802D1 true DE3661802D1 (en) 1989-02-23

Family

ID=9320038

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8686401163T Expired DE3661802D1 (en) 1985-06-10 1986-06-02 Robot wrist and robot equipped with such a wrist

Country Status (6)

Country Link
US (1) US4761114A (de)
EP (1) EP0205376B1 (de)
JP (1) JPS61293795A (de)
DE (1) DE3661802D1 (de)
ES (1) ES8707440A1 (de)
FR (1) FR2582978B1 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5102280A (en) 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
US5180312A (en) * 1991-01-23 1993-01-19 Dsc Communications Corporation Press fit pinless latching shroud
DE19736572A1 (de) * 1997-08-22 1999-02-25 Zf Luftfahrttechnik Gmbh Getriebe mit Leistungsverzweigung, insbesondere für einen Hubschrauber-Rotor-Antrieb
US5950502A (en) * 1998-03-16 1999-09-14 Genovese; Vincent Orthogonal differential drive
US6122981A (en) * 1998-10-09 2000-09-26 Matteo; Joseph C. Triple epicyclic differential transmission
US7734375B2 (en) * 2004-06-09 2010-06-08 Boston Dynamics Robot and robot leg mechanism
DE102005043835A1 (de) * 2005-09-13 2007-03-22 F. Zimmermann Gmbh Beweglicher Fräskopf mit Torquemotorantrieb
JP2007229874A (ja) * 2006-03-01 2007-09-13 Kawasaki Heavy Ind Ltd 産業用ロボット
JP4233578B2 (ja) * 2006-08-10 2009-03-04 ファナック株式会社 産業用ロボットの手首駆動構造
JP2008256011A (ja) * 2007-04-02 2008-10-23 Harmonic Drive Syst Ind Co Ltd 傘歯車を用いた同心２軸機構
US20110130212A1 (en) * 2008-07-28 2011-06-02 Mordehai Sholev Variable Axial-Angle Coupling
CN102224360B (zh) * 2008-11-25 2014-04-02 格里森工场 具有小轴间角的准双曲面齿轮
EP2246514B1 (de) * 2009-04-30 2013-01-16 Frener & Reifer GmbH/Srl Mit Schutzelementen einer Gebäude-Zweitverkleidungsfassade anwendbare, koaxiale Doppelantriebsanordnung
GB2540756B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Gear packaging for robot arms
EP3325223B1 (de) 2015-07-22 2022-05-11 CMR Surgical Limited Getriebeverpackung für roboterarme
GB2541369B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
WO2018008679A1 (ja) * 2016-07-05 2018-01-11 株式会社ソニー・インタラクティブエンタテインメント アーム駆動装置
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU197709A1 (de) * 1965-02-20 1967-08-18
US3971266A (en) * 1973-07-17 1976-07-27 Nippondenso Co., Ltd. Power transmission device
JPS5789585A (en) * 1980-11-21 1982-06-03 Hiroaki Funahashi Flexible arm
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
DE3219292C2 (de) * 1982-05-22 1986-01-02 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Gelenkkopf für Industrieroboter
US4523100A (en) * 1982-08-11 1985-06-11 R & D Associates Optical vernier positioning for robot arm
US4502347A (en) * 1982-09-21 1985-03-05 Westinghouse Electric Corp. Robotic wrist
US4624621A (en) * 1982-10-21 1986-11-25 Kabushiki Kaisha Kobe Seiko Sho Wrist mechanism for industrial robots and the like
DE3244019C2 (de) * 1982-11-27 1985-10-24 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Industrie-Roboter
JPS59201790A (ja) * 1983-04-30 1984-11-15 ファナック株式会社 ロボツトの手首駆動装置
JPS59227395A (ja) * 1983-06-08 1984-12-20 住友電気工業株式会社 ロボツトの関節構造
ATE27561T1 (de) * 1983-08-03 1987-06-15 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren.
FR2557490B1 (fr) * 1984-01-04 1986-05-09 Barland Ets Tete articulee pour robot industriel et robot equipe d'une telle tete
DE3432773A1 (de) * 1984-09-06 1985-01-31 Daimler-Benz Ag, 7000 Stuttgart Werkzeuganordnung an einem mehrgliedrigen arm eines industrieroboters zum entgraten von werkstueckkanten

Also Published As

Publication number Publication date
EP0205376A1 (de) 1986-12-17
JPS61293795A (ja) 1986-12-24
FR2582978A1 (fr) 1986-12-12
ES8707440A1 (es) 1987-08-01
FR2582978B1 (fr) 1987-09-04
EP0205376B1 (de) 1989-01-18
US4761114A (en) 1988-08-02
ES556397A0 (es) 1987-08-01

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee