JPS57121490A - Gearing for hinge head coupled with jib of manipulator - Google Patents
Gearing for hinge head coupled with jib of manipulatorInfo
- Publication number
- JPS57121490A JPS57121490A JP56201715A JP20171581A JPS57121490A JP S57121490 A JPS57121490 A JP S57121490A JP 56201715 A JP56201715 A JP 56201715A JP 20171581 A JP20171581 A JP 20171581A JP S57121490 A JPS57121490 A JP S57121490A
- Authority
- JP
- Japan
- Prior art keywords
- head
- holder
- longitudinal axis
- rotatable
- housing
- 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
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
-
- 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
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gear-Shifting Mechanisms (AREA)
- Retarders (AREA)
- Jib Cranes (AREA)
- Gear Transmission (AREA)
- Resistance Welding (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3048067A DE3048067C2 (de) | 1980-12-19 | 1980-12-19 | Getriebeanordnung für den Gelenkkopf eines Manipulators |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS57121490A true JPS57121490A (en) | 1982-07-28 |
JPS6158277B2 JPS6158277B2 (ja) | 1986-12-10 |
Family
ID=6119712
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP56201715A Granted JPS57121490A (en) | 1980-12-19 | 1981-12-16 | Gearing for hinge head coupled with jib of manipulator |
Country Status (9)
Country | Link |
---|---|
US (1) | US4548097A (ja) |
EP (1) | EP0054763B2 (ja) |
JP (1) | JPS57121490A (ja) |
AT (1) | ATE9289T1 (ja) |
AU (1) | AU551501B2 (ja) |
DD (1) | DD201988A5 (ja) |
DE (2) | DE3048067C2 (ja) |
ES (1) | ES507712A0 (ja) |
SU (1) | SU1153817A3 (ja) |
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
WO1984001538A1 (fr) * | 1982-10-20 | 1984-04-26 | Fanuc Ltd | Mecanisme de poignet pour robot industriel |
WO1984001537A1 (fr) * | 1982-10-19 | 1984-04-26 | Fanuc Ltd | Bras articule pour robot industriel |
WO1984001536A1 (en) * | 1982-10-19 | 1984-04-26 | Fanuc Ltd | Articulated arm type of industrial robot |
JPS59169790A (ja) * | 1983-03-14 | 1984-09-25 | 三菱電機株式会社 | 産業用ロボツト |
JPS59175989A (ja) * | 1983-03-19 | 1984-10-05 | 日本シスコン株式会社 | マニピユレ−タの手首作動装置 |
JPS6025676A (ja) * | 1983-07-21 | 1985-02-08 | 神鋼電機株式会社 | 多関節ロボツトのリミツトスイツチ機構 |
JPS6044288A (ja) * | 1983-08-16 | 1985-03-09 | 株式会社東芝 | 工業用ロボツトの手首装置 |
JPS6044291A (ja) * | 1983-08-22 | 1985-03-09 | 株式会社東芝 | 工業用ロボツトの手首装置 |
JPS6056894A (ja) * | 1983-08-03 | 1985-04-02 | クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | マニプレ−タ用のロボツトハンド |
JPS60191783A (ja) * | 1984-03-09 | 1985-09-30 | 豊田工機株式会社 | 関節形ロボツト |
JPS6144592A (ja) * | 1984-08-03 | 1986-03-04 | クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | マニプレ−タ用の伝動ヘツド |
JPS6144591A (ja) * | 1984-08-07 | 1986-03-04 | 株式会社不二越 | ロボツト |
JPS6168888U (ja) * | 1984-10-09 | 1986-05-12 | ||
JPS61142086A (ja) * | 1984-12-13 | 1986-06-28 | メドマン株式会社 | 多関節型学習用ロボツト |
JPS61199801A (ja) * | 1985-03-04 | 1986-09-04 | 花王株式会社 | 靴底 |
JPS61159190U (ja) * | 1985-03-23 | 1986-10-02 | ||
JPS624586A (ja) * | 1985-01-18 | 1987-01-10 | 帝人製機株式会社 | 産業ロボツトの関節装置 |
JPS62107994A (ja) * | 1985-07-05 | 1987-05-19 | 株式会社安川電機 | 産業用ロボツトの手首機構 |
JPS62218088A (ja) * | 1986-03-18 | 1987-09-25 | 帝人製機株式会社 | 産業ロボットの関節駆動用減速装置 |
JPS62218087A (ja) * | 1985-01-18 | 1987-09-25 | 帝人製機株式会社 | 産業ロボットの関節駆動用減速装置 |
JPS62246496A (ja) * | 1986-04-15 | 1987-10-27 | 株式会社日立製作所 | 産業用ロボツト |
JPH07299791A (ja) * | 1994-12-02 | 1995-11-14 | Teijin Seiki Co Ltd | 産業ロボットの関節駆動用減速装置 |
JPH07308882A (ja) * | 1994-10-20 | 1995-11-28 | Teijin Seiki Co Ltd | 産業ロボットの関節装置 |
KR101095690B1 (ko) | 2009-07-29 | 2011-12-20 | 창원대학교 산학협력단 | 3축 로봇 및 이를 이용한 갠트리형 공작 시스템 |
Families Citing this family (33)
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 |
US4624621A (en) * | 1982-10-21 | 1986-11-25 | Kabushiki Kaisha Kobe Seiko Sho | Wrist mechanism for industrial robots and the like |
DE3370299D1 (en) * | 1982-11-02 | 1987-04-23 | Westinghouse Electric Corp | Robot wrist and arm |
DE3244019C2 (de) * | 1982-11-27 | 1985-10-24 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Industrie-Roboter |
DE3247789A1 (de) * | 1982-12-23 | 1984-06-28 | GASA-Produktion GmbH, 8752 Hösbach | Vorrichtung zum manipulieren eines gegenstandes |
GB8327937D0 (en) * | 1983-10-19 | 1983-11-23 | Colne Robotics Co Ltd | Mechanical handling apparatus |
US4637774A (en) * | 1984-02-29 | 1987-01-20 | Toyoda Koki Kabushiki Kaisha | Industrial robot |
FR2560546A1 (fr) * | 1984-03-01 | 1985-09-06 | Toyoda Machine Works Ltd | Robot a articulations a fourches |
SE444531B (sv) * | 1984-08-31 | 1986-04-21 | Asea Ab | Handled for en industrirobot |
DE3448409C2 (en) * | 1984-12-28 | 1993-01-28 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De | Modular driving unit for industrial robot |
DE8511948U1 (de) * | 1985-04-22 | 1985-07-11 | GdA Gesellschaft für digitale Automation mbH, 8000 München | Getriebeanordnung für eine Industrieroboterhand |
US4683772A (en) * | 1985-07-25 | 1987-08-04 | Westinghouse Electric Corp. | Hand gear train with three degrees of freedom |
DE8525812U1 (de) * | 1985-09-10 | 1987-02-19 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Gelenkroboter |
DE3545068A1 (de) * | 1985-12-19 | 1987-06-25 | Kuka Schweissanlagen & Roboter | Getriebekopf fuer manipulatoren |
SE453579B (sv) * | 1986-06-12 | 1988-02-15 | Asea Ab | Robothandled bestaende av tva handledshalvor |
JPH0641117B2 (ja) * | 1986-06-13 | 1994-06-01 | 株式会社日立製作所 | ロボツトの手首装置 |
DE3631024A1 (de) * | 1986-09-09 | 1988-03-17 | Mannesmann Ag | Roboterarm |
DE3636514A1 (de) * | 1986-10-27 | 1988-05-05 | Fraunhofer Ges Forschung | Schraubvorrichtung |
JPH04310384A (ja) * | 1991-04-09 | 1992-11-02 | Toyota Motor Corp | 複腕ロボット |
DE3939836A1 (de) * | 1988-12-02 | 1990-06-07 | Tokico Ltd | Industrieroboter |
JPH02190288A (ja) * | 1989-01-20 | 1990-07-26 | Kobe Steel Ltd | 工業用ロボット等の手首機構 |
US5102280A (en) * | 1989-03-07 | 1992-04-07 | Ade Corporation | Robot prealigner |
FR2667532B1 (fr) * | 1990-10-03 | 1998-05-15 | Commissariat Energie Atomique | Element de commande d'un bras de manipulation. |
JPH106270A (ja) * | 1996-06-24 | 1998-01-13 | Fanuc Ltd | 産業用ロボット |
DE19817606A1 (de) * | 1998-04-17 | 1999-10-21 | Kuka Roboter Gmbh | Vorrichtung zum Antrieb einer Roboterhand |
RU2181669C1 (ru) * | 2001-07-02 | 2002-04-27 | Акционерное общество закрытого типа "Концерн Содружество" | Способ получения рельефной поверхности и устройство для его осуществления |
FR2866826B1 (fr) * | 2004-02-26 | 2006-08-04 | Commissariat Energie Atomique | Bras de telemanipulation en deux parties |
JP4659098B2 (ja) * | 2009-02-13 | 2011-03-30 | ファナック株式会社 | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット |
US8893578B2 (en) | 2009-02-13 | 2014-11-25 | Fanuc Corporation | Parallel robot provided with wrist section having three degrees of freedom |
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 |
CN103121217B (zh) * | 2011-11-21 | 2015-11-25 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
DE102013225117A1 (de) * | 2013-12-06 | 2015-06-11 | Richard Wolf Gmbh | Antriebsanordnung für ein endoskopisches Schaftinstrument |
DE102021003318A1 (de) | 2021-06-29 | 2022-12-29 | Günther Zimmer | Industrieroboter mit kompakt aufgebautem Achsantrieb |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2861699A (en) * | 1950-10-16 | 1958-11-25 | Gen Mills Inc | Method and apparatus for performing operations at a remote point |
US2822094A (en) * | 1953-09-29 | 1958-02-04 | Greer Hydraulics Inc | Bridge manipulator |
NL111065C (ja) * | 1959-08-31 | |||
NL291905A (ja) * | 1962-04-25 | |||
US3253995A (en) * | 1963-09-17 | 1966-05-31 | Gen Dynamics Corp | Rod handling equipment for nuclear reactor |
DE2226407C3 (de) * | 1972-05-31 | 1978-10-12 | Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe | Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung |
JPS5425300B2 (ja) * | 1973-01-25 | 1979-08-27 | ||
JPS49124474U (ja) * | 1973-02-28 | 1974-10-24 | ||
DE2330393C3 (de) * | 1973-06-15 | 1975-11-27 | Bruker-Physik Ag, 7501 Forchheim | Manipulator, insbesondere für Unterwasserfahrzeuge |
DE2435156C2 (de) * | 1974-07-22 | 1983-09-01 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Programmgesteuerter Manipulator |
FR2310842A1 (fr) * | 1975-05-15 | 1976-12-10 | Renault | Tete pour robot ou manipulateur comportant au moins un axe de rotation |
DE2654517B2 (de) | 1976-12-01 | 1979-09-27 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Manipulator |
US4068536A (en) | 1976-12-23 | 1978-01-17 | Cincinnati Milacron Inc. | Manipulator |
SU624788A1 (ru) * | 1977-04-22 | 1978-09-25 | Кировоградский институт сельскохозяйственного машиностроения | Привод робота |
DE2717870C3 (de) * | 1977-04-22 | 1983-05-19 | Volkswagenwerk Ag, 3180 Wolfsburg | Handhabungsgerät |
SU707793A1 (ru) * | 1977-07-01 | 1980-01-05 | Предприятие П/Я Р-6930 | Устройство дл оринтации захвата манипул тора |
DE2908523A1 (de) * | 1979-03-05 | 1981-01-29 | Jungheinrich Unternehmensverw | Automatisches arbeitsgeraet |
JPS5727686A (en) * | 1980-07-21 | 1982-02-15 | Hitachi Ltd | Industrial articular robot |
JPH0547167A (ja) * | 1990-09-04 | 1993-02-26 | Canon Inc | 塵埃除去装置 |
JPH05114653A (ja) * | 1991-10-23 | 1993-05-07 | Fujitsu Ltd | 半導体装置 |
JPH073958B2 (ja) * | 1992-01-31 | 1995-01-18 | インターナショナル・ビジネス・マシーンズ・コーポレイション | 終端回路 |
-
1980
- 1980-12-19 DE DE3048067A patent/DE3048067C2/de not_active Expired
-
1981
- 1981-11-30 AT AT81110010T patent/ATE9289T1/de active
- 1981-11-30 DE DE8181110010T patent/DE3166085D1/de not_active Expired
- 1981-11-30 EP EP81110010A patent/EP0054763B2/de not_active Expired
- 1981-12-02 US US06/326,762 patent/US4548097A/en not_active Expired - Lifetime
- 1981-12-04 ES ES507712A patent/ES507712A0/es active Granted
- 1981-12-11 DD DD81235681A patent/DD201988A5/de not_active IP Right Cessation
- 1981-12-15 SU SU813364456A patent/SU1153817A3/ru active
- 1981-12-16 AU AU78561/81A patent/AU551501B2/en not_active Ceased
- 1981-12-16 JP JP56201715A patent/JPS57121490A/ja active Granted
Cited By (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1984001537A1 (fr) * | 1982-10-19 | 1984-04-26 | Fanuc Ltd | Bras articule pour robot industriel |
WO1984001536A1 (en) * | 1982-10-19 | 1984-04-26 | Fanuc Ltd | Articulated arm type of industrial robot |
JPH028878B2 (ja) * | 1982-10-20 | 1990-02-27 | Fanuc Ltd | |
WO1984001538A1 (fr) * | 1982-10-20 | 1984-04-26 | Fanuc Ltd | Mecanisme de poignet pour robot industriel |
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 |
JPS59169790A (ja) * | 1983-03-14 | 1984-09-25 | 三菱電機株式会社 | 産業用ロボツト |
JPS59175989A (ja) * | 1983-03-19 | 1984-10-05 | 日本シスコン株式会社 | マニピユレ−タの手首作動装置 |
JPS6025676A (ja) * | 1983-07-21 | 1985-02-08 | 神鋼電機株式会社 | 多関節ロボツトのリミツトスイツチ機構 |
JPS6056894A (ja) * | 1983-08-03 | 1985-04-02 | クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | マニプレ−タ用のロボツトハンド |
JPH0583354B2 (ja) * | 1983-08-03 | 1993-11-25 | Kuka Shuaisuanraagen Unto Robootaa Gmbh | |
JPS6044288A (ja) * | 1983-08-16 | 1985-03-09 | 株式会社東芝 | 工業用ロボツトの手首装置 |
JPH0451312B2 (ja) * | 1983-08-16 | 1992-08-18 | Tokyo Shibaura Electric Co | |
JPS6044291A (ja) * | 1983-08-22 | 1985-03-09 | 株式会社東芝 | 工業用ロボツトの手首装置 |
JPH0451313B2 (ja) * | 1983-08-22 | 1992-08-18 | Tokyo Shibaura Electric Co | |
JPS60191783A (ja) * | 1984-03-09 | 1985-09-30 | 豊田工機株式会社 | 関節形ロボツト |
JPH0530599B2 (ja) * | 1984-08-03 | 1993-05-10 | Kuka Shuaisuanraagen Unto Robootaa Gmbh | |
JPS6144592A (ja) * | 1984-08-03 | 1986-03-04 | クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング | マニプレ−タ用の伝動ヘツド |
JPS6144591A (ja) * | 1984-08-07 | 1986-03-04 | 株式会社不二越 | ロボツト |
JPH0411027Y2 (ja) * | 1984-10-09 | 1992-03-18 | ||
JPS6168888U (ja) * | 1984-10-09 | 1986-05-12 | ||
JPS61142086A (ja) * | 1984-12-13 | 1986-06-28 | メドマン株式会社 | 多関節型学習用ロボツト |
JPH0513794B2 (ja) * | 1985-01-18 | 1993-02-23 | Teijin Seiki Co Ltd | |
JPS62218087A (ja) * | 1985-01-18 | 1987-09-25 | 帝人製機株式会社 | 産業ロボットの関節駆動用減速装置 |
JPS624586A (ja) * | 1985-01-18 | 1987-01-10 | 帝人製機株式会社 | 産業ロボツトの関節装置 |
JPS61199801A (ja) * | 1985-03-04 | 1986-09-04 | 花王株式会社 | 靴底 |
JPS61159190U (ja) * | 1985-03-23 | 1986-10-02 | ||
JPS62107994A (ja) * | 1985-07-05 | 1987-05-19 | 株式会社安川電機 | 産業用ロボツトの手首機構 |
JPS62218088A (ja) * | 1986-03-18 | 1987-09-25 | 帝人製機株式会社 | 産業ロボットの関節駆動用減速装置 |
JPH0513795B2 (ja) * | 1986-03-18 | 1993-02-23 | Teijin Seiki Co Ltd | |
JPS62246496A (ja) * | 1986-04-15 | 1987-10-27 | 株式会社日立製作所 | 産業用ロボツト |
JPH07308882A (ja) * | 1994-10-20 | 1995-11-28 | Teijin Seiki Co Ltd | 産業ロボットの関節装置 |
JPH07299791A (ja) * | 1994-12-02 | 1995-11-14 | Teijin Seiki Co Ltd | 産業ロボットの関節駆動用減速装置 |
KR101095690B1 (ko) | 2009-07-29 | 2011-12-20 | 창원대학교 산학협력단 | 3축 로봇 및 이를 이용한 갠트리형 공작 시스템 |
Also Published As
Publication number | Publication date |
---|---|
DD201988A5 (de) | 1983-08-24 |
EP0054763A1 (de) | 1982-06-30 |
EP0054763B2 (de) | 1989-10-04 |
SU1153817A3 (ru) | 1985-04-30 |
US4548097A (en) | 1985-10-22 |
AU551501B2 (en) | 1986-05-01 |
ES8304468A1 (es) | 1983-03-01 |
DE3048067A1 (de) | 1982-07-15 |
AU7856181A (en) | 1982-09-23 |
ES507712A0 (es) | 1983-03-01 |
ATE9289T1 (de) | 1984-09-15 |
EP0054763B1 (de) | 1984-09-12 |
DE3048067C2 (de) | 1984-08-09 |
DE3166085D1 (en) | 1984-10-18 |
JPS6158277B2 (ja) | 1986-12-10 |
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