ES2163031T3 - Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes. - Google Patents
Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes.Info
- Publication number
- ES2163031T3 ES2163031T3 ES96923171T ES96923171T ES2163031T3 ES 2163031 T3 ES2163031 T3 ES 2163031T3 ES 96923171 T ES96923171 T ES 96923171T ES 96923171 T ES96923171 T ES 96923171T ES 2163031 T3 ES2163031 T3 ES 2163031T3
- Authority
- ES
- Spain
- Prior art keywords
- axis
- dented
- output
- compact
- doll
- 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
Links
Classifications
-
- 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- 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
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/2854—Toothed gearings for conveying rotary motion with gears having orbital motion involving conical gears
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
- F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
-
- 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
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
- Toys (AREA)
Abstract
ESTA INVENCION SE REFIERE A UN SISTEMA DE ENGRANAJE COMPACTO QUE INCLUYE UN EJE DE ENTRADA (28), UN EJE DE SALIDA (1) Y UNA RUEDA DENTADA QUE CONECTA A AMBOS, PROMOVIENDO LA IMPULSION, EN EL QUE EL EJE DE SALIDA (1) ESTA MOVIDO POR UN MUÑON, DENTRO DEL ALOJAMIENTO DEL ENGRANAJE (2). DE ACUERDO CON LA INVENCION, EL EJE DE SALIDA (1) ES HUECO Y TIENE UNAS ESPIGAS (5 A) QUE SE EXTIENDEN RADIALMENTE HACIA FUERA EN UN PLANO NORMAL Y CADA UNA DE LAS CUALES LLEVA UNA RUEDA DENTADA (6). A CADA LADO DE LAS ESPIGAS ESTA PROVISTA, RESPECTIVAMENTE, UNA CORONA DENTADA (11, 12), UNIDA POR UN MUÑON AL EJE DE SALIDA (1) Y QUE POSEE UN ANILLO DENTADO (17, 18) ENGRANADO CON LA RUEDA DENTADA (6). CADA CORONA DENTADA TIENE TAMBIEN UN ARO CILINDRICO DENTADO (19, 20) QUE ACTUA CONJUNTAMENTE, A DIFERENTES RELACIONES DE TRANSMISION, CON SU ARO DENTADO RESPECTIVO (25, 26), QUE ESTA SITUADO EN UN EJE EXCENTRICO (21) QUE SE PROLONGA PARALELAMENTE AL EJE DE SALIDA (1) Y QUE, POR MEDIO DE UN MUÑON, GIRA DENTRO DEL ALOJAMIENTO (2), DE DONDE EL EJE EXCENTRICO (21) ES IMPULSADO POR EL EJE DE ENTRADA (28). A LA VEZ QUE EL EJE DE ENTRADA (28) GIRA, LAS ESPIGAS SON OBLIGADAS A GIRAR ALREDEDOR DEL EJE CENTRAL DEL EJE DE SALIDA (1) Y, EN CONSECUENCIA, ARRASTRAN EL EJE DE SALIDA CON UNA REDUCCION AMPLIA. EL SISTEMA DE ENGRANAJE COMPACTO ES DE ESPECIAL APLICACION PARA EL GIRO DEL BRAZO DE UN ROBOT INDUSTRIAL, EN RELACION CON EL CUERPO DEL ROBOT.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9502476A SE504653C2 (sv) | 1995-07-06 | 1995-07-06 | Kompaktkuggväxel med stort utväxlingsförhållande |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2163031T3 true ES2163031T3 (es) | 2002-01-16 |
Family
ID=20398889
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES96923171T Expired - Lifetime ES2163031T3 (es) | 1995-07-06 | 1996-07-08 | Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes. |
Country Status (7)
Country | Link |
---|---|
US (2) | US5993348A (es) |
EP (1) | EP0836686B1 (es) |
JP (1) | JP3858944B2 (es) |
DE (1) | DE69615687T2 (es) |
ES (1) | ES2163031T3 (es) |
SE (1) | SE504653C2 (es) |
WO (1) | WO1997002442A1 (es) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE504653C2 (sv) * | 1995-07-06 | 1997-03-24 | Asea Brown Boveri | Kompaktkuggväxel med stort utväxlingsförhållande |
WO2001048397A2 (de) * | 1999-12-28 | 2001-07-05 | Diro Gmbh & Co. Kg | Verstellvorrichtung mit planetengetriebe |
JP4755357B2 (ja) * | 2001-04-18 | 2011-08-24 | ナブテスコ株式会社 | 減速機 |
JP4133188B2 (ja) * | 2002-10-07 | 2008-08-13 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンドの指ユニット |
JP4030011B2 (ja) * | 2002-10-07 | 2008-01-09 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンド用掌機構 |
US9879760B2 (en) | 2002-11-25 | 2018-01-30 | Delbert Tesar | Rotary actuator with shortest force path configuration |
DE102005042716B3 (de) * | 2005-09-02 | 2007-03-01 | Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge | Getriebe, insbesondere Gelenkgetriebe |
DE102006046578A1 (de) * | 2006-09-30 | 2008-04-17 | Zf Friedrichshafen Ag | Mehrstufiges Untersetzungsgetriebe |
US9862263B2 (en) | 2013-03-01 | 2018-01-09 | Delbert Tesar | Multi-speed hub drive wheels |
US10414271B2 (en) | 2013-03-01 | 2019-09-17 | Delbert Tesar | Multi-speed hub drive wheels |
US9208449B2 (en) | 2013-03-15 | 2015-12-08 | International Business Machines Corporation | Process model generated using biased process mining |
US9365105B2 (en) | 2013-10-11 | 2016-06-14 | Delbert Tesar | Gear train and clutch designs for multi-speed hub drives |
US10422387B2 (en) | 2014-05-16 | 2019-09-24 | Delbert Tesar | Quick change interface for low complexity rotary actuator |
US9915319B2 (en) | 2014-09-29 | 2018-03-13 | Delbert Tesar | Compact parallel eccentric rotary actuator |
US9657813B2 (en) | 2014-06-06 | 2017-05-23 | Delbert Tesar | Modified parallel eccentric rotary actuator |
US11014658B1 (en) | 2015-01-02 | 2021-05-25 | Delbert Tesar | Driveline architecture for rotorcraft featuring active response actuators |
US10464413B2 (en) | 2016-06-24 | 2019-11-05 | Delbert Tesar | Electric multi-speed hub drive wheels |
WO2018006968A1 (en) * | 2016-07-07 | 2018-01-11 | Abb Schweiz Ag | A base for a parallel kinematics robot |
DE102017122067A1 (de) * | 2017-09-22 | 2019-03-28 | Roschiwal + Partner Ingenieur Gmbh Augsburg | Roboterfräsen |
CN109751368B (zh) * | 2019-02-22 | 2023-06-02 | 陕西捷泰智能传动有限公司 | 一种大速比中空式行星减速机 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US140622A (en) * | 1873-07-08 | Improvement in horse-powers | ||
US1802112A (en) * | 1929-04-29 | 1931-04-21 | Henderson Andrew | Reduction speed gear |
CH177341A (de) * | 1934-06-13 | 1935-05-31 | Schaer Josef | Reduktionsgetriebe. |
US2019343A (en) * | 1934-06-16 | 1935-10-29 | Bradley Eugene Clarkson | Speed reducer |
GB442462A (en) * | 1934-12-04 | 1936-02-10 | Andrew Henderson | Improvements in and relating to reduction speed gears |
DE718600C (de) * | 1937-06-29 | 1942-03-16 | Hermann Kruessmann | Untersetzungsgetriebe |
US2390742A (en) * | 1939-11-03 | 1945-12-11 | A F Dormeyer Mfg Co | Food mixer |
FR992172A (fr) * | 1944-05-22 | 1951-10-15 | Transmetteur de mouvement | |
IT1013975B (it) * | 1974-01-23 | 1977-03-30 | Guardia F | Sistema di cambio automatico mediante ruotismo epicicloida le applicabile su autoveicoli ed impianti industriali |
FR2310842A1 (fr) * | 1975-05-15 | 1976-12-10 | Renault | Tete pour robot ou manipulateur comportant au moins un axe de rotation |
US5149310A (en) * | 1991-05-21 | 1992-09-22 | Damino Cesar U | Differential speed reducer |
SE500626C2 (sv) * | 1992-12-23 | 1994-07-25 | Asea Brown Boveri | Kompaktväxel |
SE504653C2 (sv) * | 1995-07-06 | 1997-03-24 | Asea Brown Boveri | Kompaktkuggväxel med stort utväxlingsförhållande |
-
1995
- 1995-07-06 SE SE9502476A patent/SE504653C2/sv not_active IP Right Cessation
-
1996
- 1996-03-06 US US08/983,014 patent/US5993348A/en not_active Expired - Fee Related
- 1996-07-08 ES ES96923171T patent/ES2163031T3/es not_active Expired - Lifetime
- 1996-07-08 JP JP50509097A patent/JP3858944B2/ja not_active Expired - Fee Related
- 1996-07-08 WO PCT/SE1996/000926 patent/WO1997002442A1/en active IP Right Grant
- 1996-07-08 DE DE69615687T patent/DE69615687T2/de not_active Expired - Fee Related
- 1996-07-08 EP EP96923171A patent/EP0836686B1/en not_active Expired - Lifetime
-
1999
- 1999-11-30 US US09/452,338 patent/US6119542A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
SE9502476L (sv) | 1997-01-07 |
WO1997002442A1 (en) | 1997-01-23 |
EP0836686A1 (en) | 1998-04-22 |
DE69615687T2 (de) | 2002-08-08 |
JPH11508675A (ja) | 1999-07-27 |
DE69615687D1 (de) | 2001-11-08 |
JP3858944B2 (ja) | 2006-12-20 |
SE9502476D0 (sv) | 1995-07-06 |
EP0836686B1 (en) | 2001-10-04 |
US5993348A (en) | 1999-11-30 |
US6119542A (en) | 2000-09-19 |
SE504653C2 (sv) | 1997-03-24 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
FG2A | Definitive protection |
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