DK3325225T3 - Ledkonstruktion - Google Patents
Ledkonstruktion Download PDFInfo
- Publication number
- DK3325225T3 DK3325225T3 DK16745048.5T DK16745048T DK3325225T3 DK 3325225 T3 DK3325225 T3 DK 3325225T3 DK 16745048 T DK16745048 T DK 16745048T DK 3325225 T3 DK3325225 T3 DK 3325225T3
- Authority
- DK
- Denmark
- Prior art keywords
- led construction
- led
- construction
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B25J17/0241—One-dimensional joints
-
- 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
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
-
- 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
- B25J19/0004—Braking devices
-
- 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
- B25J19/02—Sensing devices
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/20—Drive system for arm with provision for altering speed of driven element
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/23—Electric motor
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/25—Gearing
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
- Y10S901/29—Wrist
-
- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DKPA201570484 | 2015-07-21 | ||
PCT/DK2016/050255 WO2017012626A1 (en) | 2015-07-21 | 2016-07-21 | Joint assembly |
Publications (1)
Publication Number | Publication Date |
---|---|
DK3325225T3 true DK3325225T3 (da) | 2022-04-04 |
Family
ID=56555152
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK16745048.5T DK3325225T3 (da) | 2015-07-21 | 2016-07-21 | Ledkonstruktion |
Country Status (7)
Country | Link |
---|---|
US (2) | US10919159B2 (da) |
EP (1) | EP3325225B1 (da) |
CN (2) | CN114905497A (da) |
DK (1) | DK3325225T3 (da) |
ES (1) | ES2910052T3 (da) |
PL (1) | PL3325225T3 (da) |
WO (1) | WO2017012626A1 (da) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2017012626A1 (en) | 2015-07-21 | 2017-01-26 | Kr 2013 Aps | Joint assembly |
EP3269323B1 (de) * | 2015-08-12 | 2019-03-20 | medineering GmbH | Medizinischer haltearm mit ringförmigen led-anzeigemitteln |
LU93045B1 (de) * | 2016-04-27 | 2017-11-07 | Ovalo Gmbh | Motorisiertes Gelenk für einen programmierbaren Bewegungsautomaten |
US10337561B2 (en) * | 2016-12-15 | 2019-07-02 | Boston Dynamics, Inc. | Transmission with integrated overload protection for a legged robot |
JP6817841B2 (ja) | 2017-02-17 | 2021-01-20 | 日本電産シンポ株式会社 | 電動機付き減速機 |
US10022861B1 (en) * | 2017-04-27 | 2018-07-17 | Engineering Services Inc. | Two joint module and arm using same |
DE102017211540A1 (de) * | 2017-07-06 | 2019-01-10 | Siemens Aktiengesellschaft | Getriebemotoreinheit |
IT201700097364A1 (it) * | 2017-08-30 | 2019-03-02 | Axist S R L | Robot per eseguire misurazioni dimensionali. |
WO2019096923A2 (en) * | 2017-11-15 | 2019-05-23 | Universal Robots A/S | Strain wave gear with output flange and integrated encoder |
DE102018204338A1 (de) * | 2018-03-21 | 2019-09-26 | Kuka Deutschland Gmbh | Drehgelenkanordnung |
JP6836248B2 (ja) * | 2018-04-10 | 2021-02-24 | 東京ロボティクス株式会社 | 関節ユニット、ロボットアーム及びロボット |
US20210121252A1 (en) * | 2018-04-12 | 2021-04-29 | Eindhoven Medical Robotics B.V. | Robotic instrument for bone removal |
DE102018110079A1 (de) * | 2018-04-26 | 2019-10-31 | M-Robot OHG | Sicherungsvorrichtung und Verfahren zum Betreiben einer Sicherungsvorrichtung |
CN112352206A (zh) * | 2018-06-15 | 2021-02-09 | 优傲机器人公司 | 机器人臂的双模自由驱动 |
DE102018121701B4 (de) * | 2018-09-05 | 2020-06-04 | M-Robot OHG | Sicherungsvorrichtung und Verfahren zum Betreiben einer Sicherungsvorrichtung |
US11062923B2 (en) * | 2018-09-28 | 2021-07-13 | Rohinni, LLC | Apparatus to control transfer parameters during transfer of semiconductor devices |
CN111086462A (zh) * | 2018-10-23 | 2020-05-01 | 蔚来汽车有限公司 | 一种车载智能终端以及使用其的车辆 |
NL2022473B1 (nl) * | 2019-01-29 | 2020-08-18 | Henricus Adrianus Van Lieshout Richard | Gewricht voor een robotarm, alsmede robotarm voorzien van een dergelijk gewricht |
US11865714B2 (en) * | 2019-02-17 | 2024-01-09 | Samsung Electronics Co., Ltd. | Robotic limb |
DE102019106582A1 (de) * | 2019-03-14 | 2020-09-17 | Franka Emika Gmbh | Bremsvorrichtung für eine Antriebseinrichtung eines Roboters |
JP2022527659A (ja) * | 2019-04-10 | 2022-06-02 | キュービーロボティックス エス.アール.エル. | ロボットハンド |
IT201900005562A1 (it) * | 2019-04-10 | 2020-10-10 | Qbrobotics S R L | Mano robotica |
DE102019112146B3 (de) * | 2019-05-09 | 2020-09-10 | Schaeffler Technologies AG & Co. KG | Vorrichtung zum Messen eines Drehmoments und Spannungswellengetriebe mit dieser Vorrichtung |
US11696806B2 (en) * | 2019-07-23 | 2023-07-11 | Verb Surgical Inc. | Strain wave gearing with input to output braking |
DE102019125957B4 (de) * | 2019-09-26 | 2021-04-29 | Franka Emika Gmbh | Bremsvorrichtung für einen Robotermanipulator |
CN110919688B (zh) * | 2019-11-30 | 2021-07-16 | 北京思灵机器人科技有限责任公司 | 一种机械臂关节 |
CN110733029B (zh) * | 2019-12-06 | 2024-06-07 | 南方科技大学 | 一种柔性外骨骼机器人的驱动单元及柔性外骨骼机器人 |
CN111085988B (zh) * | 2019-12-19 | 2022-07-15 | 中科新松有限公司 | 一种具有快拆连接方式的轻量协作机器人 |
DE102020107674B3 (de) * | 2020-03-19 | 2021-08-05 | Harmonic Drive Se | Spannungswellengetriebeeinrichtung mit integriertem Sensor |
WO2022108635A1 (en) * | 2020-08-12 | 2022-05-27 | Joby Aero, Inc. | Compact offset outrunner harmonic drive rotary actuator and deployment system using same |
CN112247977A (zh) * | 2020-10-14 | 2021-01-22 | 浙江杭摩欧亿汽车零部件有限公司 | 一种自动安装汽车零部件的机械手臂 |
DK180930B1 (en) | 2021-03-25 | 2022-06-29 | Universal Robots As | Strain wave gear with encoder integration |
CN115674254A (zh) * | 2021-07-21 | 2023-02-03 | 中强光电股份有限公司 | 机器人的关节致动器 |
IT202100030044A1 (it) | 2021-11-26 | 2023-05-26 | Ergotech Srl | Nuovo riduttore armonico a struttura compatta realizzato con materiale plastico |
US12036670B2 (en) * | 2021-12-10 | 2024-07-16 | Boston Dynamics, Inc. | Systems and methods for actuation of a robotic manipulator |
CN114382861A (zh) * | 2022-03-25 | 2022-04-22 | 成都瑞迪智驱科技股份有限公司 | 一种机器人关节内嵌电磁制动谐波减速装置及关节*** |
KR102545932B1 (ko) * | 2022-12-23 | 2023-06-21 | 주식회사 이레테크 | 로봇암에 장착되는 프로브 모듈 |
CN116006606B (zh) * | 2023-03-28 | 2023-06-27 | 苏州艾利特机器人有限公司 | 关节抱闸机构及机器人关节 |
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US3883900A (en) * | 1973-09-07 | 1975-05-20 | Liberty Mutual Insurance Compa | Bioelectrically controlled prosthetic member |
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US4678952A (en) * | 1985-08-13 | 1987-07-07 | Intelledex Incorporated | Sealed joint for a robot and the like |
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WO2007082594A2 (en) * | 2006-01-20 | 2007-07-26 | Abb Ab | Drive unit comprising an electric rotating actuator and a wave gear speed reducer |
US7891272B2 (en) * | 2006-11-14 | 2011-02-22 | Schonlau William J | Robotic harmonic flex-drive |
CN102066879B (zh) * | 2008-06-20 | 2013-01-02 | 谐波传动***有限公司 | 磁编码器及致动器 |
WO2010116483A1 (ja) * | 2009-04-06 | 2010-10-14 | 株式会社ナビタイムジャパン | 経路案内システム、経路探索サーバ、経路探索仲介サーバ及び経路案内方法 |
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AU2011237357B2 (en) | 2010-04-09 | 2016-05-19 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
JP5488494B2 (ja) * | 2011-02-23 | 2014-05-14 | 株式会社安川電機 | ロボットシステム |
KR101165969B1 (ko) * | 2011-04-27 | 2012-07-18 | 목포대학교산학협력단 | 거리 및 각도측정 기능을 갖는 위치측정장치 |
KR101250795B1 (ko) * | 2011-05-30 | 2013-04-04 | 한국과학기술연구원 | 직접 교시 로봇 시스템 및 직접 교시 로봇 동작 제어 방법 |
JP2013027087A (ja) * | 2011-07-19 | 2013-02-04 | Seiko Epson Corp | 電気機械装置、ロボット及び移動体 |
ES2968150T3 (es) * | 2012-03-21 | 2024-05-08 | B Temia Inc | Actuador de alta densidad que tiene un accionamiento armónico y un conjunto de limitación de par |
GB2505226A (en) * | 2012-08-23 | 2014-02-26 | Melexis Technologies Nv | Arrangement, method and sensor for measuring an absolute angular position using a multi-pole magnet |
JP6053424B2 (ja) * | 2012-09-25 | 2016-12-27 | キヤノン株式会社 | ロボット装置、ロボット制御方法、プログラム及び記録媒体 |
WO2015168793A2 (en) * | 2014-05-06 | 2015-11-12 | Genesis Advanced Technology Inc. | Flex spline torque transfer device |
WO2017012626A1 (en) | 2015-07-21 | 2017-01-26 | Kr 2013 Aps | Joint assembly |
-
2016
- 2016-07-21 WO PCT/DK2016/050255 patent/WO2017012626A1/en active Application Filing
- 2016-07-21 DK DK16745048.5T patent/DK3325225T3/da active
- 2016-07-21 CN CN202210417255.2A patent/CN114905497A/zh active Pending
- 2016-07-21 CN CN201680054700.6A patent/CN108136575B/zh active Active
- 2016-07-21 US US15/746,064 patent/US10919159B2/en active Active
- 2016-07-21 PL PL16745048T patent/PL3325225T3/pl unknown
- 2016-07-21 ES ES16745048T patent/ES2910052T3/es active Active
- 2016-07-21 EP EP16745048.5A patent/EP3325225B1/en active Active
-
2021
- 2021-01-14 US US17/148,728 patent/US11850736B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN114905497A (zh) | 2022-08-16 |
EP3325225B1 (en) | 2022-01-12 |
CN108136575A (zh) | 2018-06-08 |
US10919159B2 (en) | 2021-02-16 |
US11850736B2 (en) | 2023-12-26 |
EP3325225A1 (en) | 2018-05-30 |
WO2017012626A1 (en) | 2017-01-26 |
US20180215050A1 (en) | 2018-08-02 |
CN108136575B (zh) | 2022-05-27 |
US20210138667A1 (en) | 2021-05-13 |
ES2910052T3 (es) | 2022-05-11 |
PL3325225T3 (pl) | 2022-05-23 |
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