KR870001424A - 자동 조정용 기어 두부 - Google Patents

자동 조정용 기어 두부 Download PDF

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Publication number
KR870001424A
KR870001424A KR1019860005912A KR860005912A KR870001424A KR 870001424 A KR870001424 A KR 870001424A KR 1019860005912 A KR1019860005912 A KR 1019860005912A KR 860005912 A KR860005912 A KR 860005912A KR 870001424 A KR870001424 A KR 870001424A
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KR
South Korea
Prior art keywords
gear head
shaft
gear
head according
drive
Prior art date
Application number
KR1019860005912A
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English (en)
Other versions
KR940001203B1 (ko
Inventor
찜메르 에른스트
Original Assignee
쿠카 슈바이쓰안라겐 운트 로보테르 게엠베하
찐케 크레브스
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.)
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Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6276187&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=KR870001424(A) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 쿠카 슈바이쓰안라겐 운트 로보테르 게엠베하, 찐케 크레브스 filed Critical 쿠카 슈바이쓰안라겐 운트 로보테르 게엠베하
Publication of KR870001424A publication Critical patent/KR870001424A/ko
Application granted granted Critical
Publication of KR940001203B1 publication Critical patent/KR940001203B1/ko

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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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Adjustment Of The Magnetic Head Position Track Following On Tapes (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Transmission Devices (AREA)
  • Gear-Shifting Mechanisms (AREA)

Abstract

내용 없음.

Description

자동 조정용 기어 두부
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제 3도 및 제 4도는 방향을 바꿔 놓은 상태에서의 기어 두부의 측면도
제 9도는 특별한 방법으로 정렬되어 있는 경사축을 갖는 다양한 종류의 기어두부의 측면도들
제12도 내지 제13도는 세종류의 실시예를 나타내 주는 종단면도
* 도면의 주요부분에 대한 부호의 설명
1 : 기어두부의 전반부 2 : 기어두부의 중반부
3 : 기어두부의 후반부 4 : 구동축
5,6 : 경사축(선회축) 9,9' : 교정
35 : 구동축 38 : 플랜지판
46,46',46",46''' : 피동축

Claims (10)

  1. 경사축을 갖는 세부분으로 된 기어두부가 서로 동축을 이루며 각각에 연결되어 있는 구동부들을 움직이게 하는데 있어서, 기어두부의 후반부(3)가 구동축(35)와 하부 구동부(36)등으로 이루어지며 또한 여기에 회전가능한 플랜지판(38)이 위치되어 있으며, 기어두부의 중반부(2)와 후반부(3)사이에 공동축(16,32)과 원추차(44,45)와 함께 직접 결합되며 이에 따라 플랜지판(38)의 구동을 위해 각종 구동부(21,22,23,24,33,34,35)들이 운동을 하게 되는 것이 특징인 자동조절용 기어두부.
  2. 제1항에 있어서, 세개의 기어두부(1,2,3) 중 특히 중반부(2), 후반부(3)가 구동축(13,18,26)과 결합되는 것이 특징인 자동 조절용 기어두부.
  3. 제2항에 있어서 기어두부(2,3)의 결합이 하부 구동부(17,25)로 이루어지며 공동 회전축(16,32)과도 연결되는 것이 특징인 기어두부.
  4. 제1항에 있어서, 공동 회전축(16,32)이 기어두부 중반부(2)내에 위치되며 하부 구동부(17,25)상을 지나는 것이 특징인 기어두부.
  5. 제1항에 있어서, 구동축(35)의 축(46")이 구동축(4)에 대해 경사지게 위치되어 있는 것이 특징인 기어 두부.
  6. 제1항에 있어서, 중반부(2)에서의 경사축의 각도가 (α1,α2)로 서로 다른 것이 특징인 기어두부.
  7. 제6항에 있어서, 교점 (9')을 통해 구동축(35)과 축(45")이 경사져서 중반부(2)의 경사축(5,6)과 만나는 것이 특징인 기어두부.
  8. 제1항에 있어서, 중반부(2)의 경사축(5,6)이 경사면을 이루고 있는 것이 특징인 기어두부.
  9. 제8항에 있어서, 중반부(2)의 경사축(5,6)이 교점(9')을 형성하는 것이 특징인 기어두부.
  10. 제 1항에 있어서, 구동축(4)과 경사축(5,6)이 교점 (9')을 형성하고 중간부분에서 피동축(46',46")이 축(4,46',46")으로서 관절식연결부(49)와 결합되는 것이 특징인 기어두부.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019860005912A 1985-07-19 1986-07-19 자동 조종용 기어 두부 KR940001203B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853525806 DE3525806A1 (de) 1985-07-19 1985-07-19 Getriebekopf fuer manipulatoren
DEP3525806.3 1985-07-19

Publications (2)

Publication Number Publication Date
KR870001424A true KR870001424A (ko) 1987-03-13
KR940001203B1 KR940001203B1 (ko) 1994-02-17

Family

ID=6276187

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019860005912A KR940001203B1 (ko) 1985-07-19 1986-07-19 자동 조종용 기어 두부

Country Status (12)

Country Link
US (1) US4736645A (ko)
EP (1) EP0209111B1 (ko)
JP (1) JPH0611474B2 (ko)
KR (1) KR940001203B1 (ko)
CN (1) CN1004617B (ko)
AT (1) ATE43089T1 (ko)
AU (1) AU579300B2 (ko)
CA (1) CA1262062A (ko)
DD (1) DD248316A5 (ko)
DE (2) DE3525806A1 (ko)
ES (1) ES2000697A6 (ko)
SU (1) SU1421250A3 (ko)

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SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
AU591834B2 (en) * 1987-02-23 1989-12-14 University Of Western Australia, The Wrist mechanism for robotic manipulators
SE9202872L (sv) * 1992-10-02 1993-10-04 Sala Industrireparationer Ab Vinkelväxel
DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
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US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
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CA2695615A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
JP5475662B2 (ja) * 2007-08-15 2014-04-16 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 モジュール式およびセグメント化医療装置ならびに関連するシステム
US9126332B2 (en) * 2008-10-06 2015-09-08 Kinova Robotic arm with a plurality of motorized joints
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JP2014529414A (ja) 2010-08-06 2014-11-13 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 自然開口部手術用材料の取扱または送達のための方法およびシステム
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JP5746093B2 (ja) * 2012-05-30 2015-07-08 ファナック株式会社 産業用ロボットの手首装置
WO2013191773A1 (en) 2012-06-22 2013-12-27 Board Of Regents Of The University Of Nebraska Local Control Robotic Surgical Devices and Related Methods
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS
US9770305B2 (en) 2012-08-08 2017-09-26 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
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
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
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
US10806538B2 (en) 2015-08-03 2020-10-20 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
KR20180079323A (ko) * 2015-10-06 2018-07-10 임파서블 인코포레이티드 엘엘씨 스네이크형 로봇
CN109715081B (zh) 2016-05-18 2021-11-09 虚拟切割有限公司 机器人外科装置、***及相关方法
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JP2019524371A (ja) 2016-08-25 2019-09-05 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 クイックリリースツールカプラ並びに関連するシステム及び方法
CN109890580B (zh) 2016-08-30 2022-06-28 内布拉斯加大学董事会 具有紧凑型关节设计和附加自由度的机器人装置及相关***和方法
CN115337111A (zh) 2016-11-22 2022-11-15 内布拉斯加大学董事会 改进的粗定位装置及相关***和方法
US10675110B2 (en) 2016-11-29 2020-06-09 Virtual Incision Corporation User controller with user presence detection and related systems and methods
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DE102020130340B4 (de) 2020-11-17 2024-03-21 imk Management Services GmbH Gehäuse für mechanische Getriebeanordnungen
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Also Published As

Publication number Publication date
AU6032186A (en) 1987-01-22
CN86105696A (zh) 1987-04-01
DD248316A5 (de) 1987-08-05
DE3525806A1 (de) 1987-01-29
DE3663345D1 (en) 1989-06-22
CA1262062A (en) 1989-10-03
EP0209111B1 (de) 1989-05-17
DE3525806C2 (ko) 1987-11-05
ES2000697A6 (es) 1988-03-16
US4736645A (en) 1988-04-12
AU579300B2 (en) 1988-11-17
EP0209111A1 (de) 1987-01-21
JPH0611474B2 (ja) 1994-02-16
ATE43089T1 (de) 1989-06-15
KR940001203B1 (ko) 1994-02-17
SU1421250A3 (ru) 1988-08-30
CN1004617B (zh) 1989-06-28
JPS6274591A (ja) 1987-04-06

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