KR870005755A - 매니퓰레이터용 기어장치 헤드 - Google Patents

매니퓰레이터용 기어장치 헤드 Download PDF

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Publication number
KR870005755A
KR870005755A KR860010471A KR860010471A KR870005755A KR 870005755 A KR870005755 A KR 870005755A KR 860010471 A KR860010471 A KR 860010471A KR 860010471 A KR860010471 A KR 860010471A KR 870005755 A KR870005755 A KR 870005755A
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South Korea
Prior art keywords
head
segment
axis
gear device
drive
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KR860010471A
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English (en)
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KR900003641B1 (ko
Inventor
찜메르 에른스트
Original Assignee
찐케, 크레브스
쿠카 슈바이쓰 안라겐 운트 로보테르 게엠베하
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Application filed by 찐케, 크레브스, 쿠카 슈바이쓰 안라겐 운트 로보테르 게엠베하 filed Critical 찐케, 크레브스
Publication of KR870005755A publication Critical patent/KR870005755A/ko
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Publication of KR900003641B1 publication Critical patent/KR900003641B1/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist 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
    • Y10T74/19—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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)

Abstract

내용 없음

Description

매니퓰레이터용 기어장치 헤드
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 복수개의 기어장치헤드의 개략적 측면도이고,
제2도는 기어장치열(列)이 예시된 제1도에 의한 기어장치헤드의 수직단면도이고,
제3도는 다수의 실시예에 있어서 중간 및 전방기어장치 두부에 있는 기어장치열의 약시도이다.
도면의 주요부분에 대한 부호의 설명
1:후방두부 2:중간두부
3:전방두부 22,24:경사축
23:각도구동륜 25,26:감속기어장치

Claims (4)

  1. 그(두부)의 경사축 선들은 신장상태의 기어장치 헤드의 기본축선과 반대측으로 벌어지는 예각을 형성하며, 순차로 배열되고 서로 경사진 축선주위로 배설된 세 두부를 갖고 있으며, 후방두부의 입구측에 두부를 위한 또한 경우에 따라서는 전방두부에 장설된 공구담지부를 위한 구동축이 상호 공심적으로 배열되어 있고, 고 감속 기어장치는 경사축을 따라 뻗어있고 각도 기어장치를 통해 상호 결합되어 있는 축 위 구동부에서 떨어진 쪽(피동측)에 설치되어 있는 매니 퓰레이터용 기어장치 헤드에 있어서, 후방두부(1)와 중간두부(2) 사이에 있는 감속기어장치(25)의 감속(x)은 중간두부(2)와 전방두부(3) 사이에 있는 다른 감속 기어장치(26)의 감속(x-1)과 회전만큼 상이하며, 두 경사축(22,24)을 결합하는 각도구동기(23)는 이 감속-상이의 보정이 중간두부(2)의 1회전동안 각도구동륜(23)의 상호 회전에 의해 일어나도록 배치되어 있는 것을 특징으로 하는 매니 퓰레이터용 기어장치 헤드.
  2. 제1항에 있어서, 동일한 조화-구동-차동기어 장치가 감속기어장치(25,26)로 사용되고, 그러나 이것은 그의 스틸링(鋼環)(동적 스플라인(DS) 내지 원형 스플라인(CS))을 서로 상이하게 지지하여 감속차를 실현키 위해 설치되는 것을 특징으로 하는 기어장치 헤드.
  3. 제1항에 있어서, 상이한 조화-구동-차동기어 장치가 감속기어장치(25,26)로 사용되고, 그러나 이것은 그의 스틸링(동적 스플라인(DS) 내지 원형 스플라인(CS))을 서로 동일하게 지지하여 감속차를 실현키 위해 설치되는 것을 특징으로 하는 기어장치 헤드.
  4. 제1항 내지 제3항중의 어느 하나에 있어서, 그의 구동축(14,15,16,17,18,19,32)이 경사축선(5,6)을 따라 뻗어있는 중공축(22,24)에 의해 안내되는 피동공구담지부(7)가 배치되어 있는것을 특징으로 하는 기어장치 헤드.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019860010471A 1985-12-19 1986-12-08 매니퓰레이터용 기어장치 헤드 KR900003641B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DEP3545068.1 1985-12-19
DE3545068.1 1985-12-19
DE19853545068 DE3545068A1 (de) 1985-12-19 1985-12-19 Getriebekopf fuer manipulatoren

Publications (2)

Publication Number Publication Date
KR870005755A true KR870005755A (ko) 1987-07-07
KR900003641B1 KR900003641B1 (ko) 1990-05-28

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KR1019860010471A KR900003641B1 (ko) 1985-12-19 1986-12-08 매니퓰레이터용 기어장치 헤드

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Country Link
US (1) US4771652A (ko)
EP (1) EP0229941B1 (ko)
JP (1) JPS62148183A (ko)
KR (1) KR900003641B1 (ko)
CN (1) CN1004867B (ko)
AT (1) ATE47074T1 (ko)
AU (1) AU587749B2 (ko)
CA (1) CA1268797A (ko)
DD (1) DD252787A5 (ko)
DE (2) DE3545068A1 (ko)
ES (1) ES2002442A6 (ko)
SU (1) SU1524801A3 (ko)

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Publication number Publication date
CN1004867B (zh) 1989-07-26
ATE47074T1 (de) 1989-10-15
DD252787A5 (de) 1987-12-30
KR900003641B1 (ko) 1990-05-28
EP0229941B1 (de) 1989-10-11
EP0229941A2 (de) 1987-07-29
JPS62148183A (ja) 1987-07-02
DE3666173D1 (en) 1989-11-16
SU1524801A3 (ru) 1989-11-23
DE3545068C2 (ko) 1987-09-24
AU587749B2 (en) 1989-08-24
AU6671286A (en) 1987-06-25
US4771652A (en) 1988-09-20
EP0229941A3 (en) 1987-08-12
CN86108531A (zh) 1987-11-11
DE3545068A1 (de) 1987-06-25
CA1268797A (en) 1990-05-08
JPH0314594B2 (ko) 1991-02-27
ES2002442A6 (es) 1988-08-01

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