ES2076508T3 - Una unidad de robot. - Google Patents

Una unidad de robot.

Info

Publication number
ES2076508T3
ES2076508T3 ES91830407T ES91830407T ES2076508T3 ES 2076508 T3 ES2076508 T3 ES 2076508T3 ES 91830407 T ES91830407 T ES 91830407T ES 91830407 T ES91830407 T ES 91830407T ES 2076508 T3 ES2076508 T3 ES 2076508T3
Authority
ES
Spain
Prior art keywords
axes
robot unit
around
operating member
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 - Lifetime
Application number
ES91830407T
Other languages
English (en)
Inventor
Mauro Zona
Marco Bettinardi
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Application granted granted Critical
Publication of ES2076508T3 publication Critical patent/ES2076508T3/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
    • 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
    • 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
    • Y10T74/20—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)

Abstract

SE PRESENTA UNA MUÑECA (16) PARA UN ROBOT ARTICULADO QUE TIENE UN MIEMBRO OPERATIVO (45) QUE PUEDE GIRAR ALREDEDOR DE TRES EJES MUTUAMENTE PERPENDICULARES (17, 18, 19) Y TRES UNIDADES MOTORIZADAS (27, 29, 46) CADA UNA DE LAS CUALES PUEDE HACER GIRAR AL MIEMBRO OPERATIVO (45) ALREDEDOR DE SOLAMENTE UNO DE LOS TRES EJES (17, 18, 19) SIN PROVOCAR NINGUNA ROTACION ALREDEDOR DE LOS OTROS EJES.
ES91830407T 1990-10-04 1991-10-02 Una unidad de robot. Expired - Lifetime ES2076508T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67764A IT1241622B (it) 1990-10-04 1990-10-04 Polso di robot

Publications (1)

Publication Number Publication Date
ES2076508T3 true ES2076508T3 (es) 1995-11-01

Family

ID=11305120

Family Applications (1)

Application Number Title Priority Date Filing Date
ES91830407T Expired - Lifetime ES2076508T3 (es) 1990-10-04 1991-10-02 Una unidad de robot.

Country Status (6)

Country Link
US (1) US5178032A (es)
EP (1) EP0479739B1 (es)
JP (1) JPH04256593A (es)
DE (1) DE69112557T2 (es)
ES (1) ES2076508T3 (es)
IT (1) IT1241622B (es)

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US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5410944A (en) * 1993-06-03 1995-05-02 Cushman; William B. Telescoping robot arm with spherical joints
US5647723A (en) * 1995-11-13 1997-07-15 Rush; Joe A. Memory wire robotic hand
US5894754A (en) * 1996-04-26 1999-04-20 Amada Company, Limited System for producing bent sheet-metal articles and components of the system
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
SE516023C2 (sv) * 1999-06-24 2001-11-12 Abb Ab Industrirobot innefattande en växellådskonfiguration samt förfarande i en industrirobot
SE0001163L (sv) * 2000-03-31 2001-10-01 Anani Vladimirov Ananiev Omkonfigurerbar lättviktsrobotarm för mobila robotar
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
US6746443B1 (en) * 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
SE0202445L (sv) * 2002-08-19 2004-02-20 Abb Ab Anordning vid en industrirobot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7960935B2 (en) * 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
CA3068216C (en) 2006-06-22 2023-03-07 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
EP3078344B1 (en) * 2007-07-12 2020-02-26 Board of Regents of the University of Nebraska Actuation in robotic devices
EP2178456B1 (en) * 2007-08-15 2018-10-31 Board of Regents of the University of Nebraska Modular and cooperative medical system
JP2010536435A (ja) 2007-08-15 2010-12-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
FR2931092B1 (fr) * 2008-05-19 2010-09-10 Commissariat Energie Atomique Bras manipulateur ayant une extremite amovible incorporant des moteurs
KR100997140B1 (ko) * 2008-07-16 2010-11-30 삼성전자주식회사 인간형 로봇
FR2952573B1 (fr) * 2009-10-02 2011-12-09 Commissariat Energie Atomique Structure de robot ou d'interface haptique a bras en parallele
US8894633B2 (en) * 2009-12-17 2014-11-25 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US9033998B1 (en) 2010-05-13 2015-05-19 Titan Medical Inc. Independent roll wrist mechanism
US8968267B2 (en) 2010-08-06 2015-03-03 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
EP2717796B1 (en) 2011-06-10 2020-02-26 Board of Regents of the University of Nebraska In vivo vessel sealing end effector
WO2013009887A1 (en) 2011-07-11 2013-01-17 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
EP3970784A1 (en) 2012-01-10 2022-03-23 Board of Regents of the University of Nebraska Systems and devices for surgical access and insertion
WO2014011238A2 (en) 2012-05-01 2014-01-16 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
EP3943255B1 (en) 2012-06-22 2023-06-14 Board of Regents of the University of Nebraska Local control robotic surgical devices
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
WO2014025399A1 (en) 2012-08-08 2014-02-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
EP3970604A1 (en) 2013-03-15 2022-03-23 Board of Regents of the University of Nebraska Robotic surgical devices and systems
EP3021779A4 (en) 2013-07-17 2017-08-23 Board of Regents of the University of Nebraska Robotic surgical devices, systems and related methods
US9128507B2 (en) * 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
JP6710199B2 (ja) 2014-09-12 2020-06-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ クイックリリースエンドエフェクターおよび関連するシステムおよび方法
JP5898743B1 (ja) * 2014-09-25 2016-04-06 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
EP3689257B1 (en) 2014-11-11 2024-01-03 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
WO2016152987A1 (ja) * 2015-03-25 2016-09-29 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置、手術用観察装置及び医療用観察システム
EP3331453A4 (en) 2015-08-03 2019-04-24 Board of Regents of the University of Nebraska ROBOTIC SURGICAL DEVICE SYSTEMS AND METHODS RELATED THERETO
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
WO2018176141A1 (en) * 2017-03-31 2018-10-04 Kinova Inc. Articulated mechanism with protective sleeve at joint
JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
CA3087672A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
JP7167522B2 (ja) * 2018-07-27 2022-11-09 セイコーエプソン株式会社 ロボットアーム
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
US4645409A (en) * 1982-02-05 1987-02-24 American Cimflex Corporation Outer arm assembly for industrial robot
JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
US4671732A (en) * 1982-11-19 1987-06-09 American Cimflex Corporation Industrial robot
DE8310067U1 (de) * 1983-04-06 1985-06-05 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
JPS60127989A (ja) * 1983-12-14 1985-07-08 ファナック株式会社 産業用ロボットの手首駆動機構
DE3423432C2 (de) * 1984-06-26 1986-06-12 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Vorrichtung zur Positionierung einer Probe
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
DE3717597A1 (de) * 1986-07-09 1988-01-21 Eisenmann Foerdertech Gmbh Robotergelenkkopf in modulbauweise

Also Published As

Publication number Publication date
US5178032A (en) 1993-01-12
DE69112557T2 (de) 1996-03-14
DE69112557D1 (de) 1995-10-05
IT9067764A0 (it) 1990-10-04
JPH04256593A (ja) 1992-09-11
EP0479739A1 (en) 1992-04-08
EP0479739B1 (en) 1995-08-30
IT9067764A1 (it) 1992-04-04
IT1241622B (it) 1994-01-25

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