ATE33220T1 - Industrieroboter mit direktem, koaxialem motorantrieb. - Google Patents

Industrieroboter mit direktem, koaxialem motorantrieb.

Info

Publication number
ATE33220T1
ATE33220T1 AT84305040T AT84305040T ATE33220T1 AT E33220 T1 ATE33220 T1 AT E33220T1 AT 84305040 T AT84305040 T AT 84305040T AT 84305040 T AT84305040 T AT 84305040T AT E33220 T1 ATE33220 T1 AT E33220T1
Authority
AT
Austria
Prior art keywords
movement
drive units
industrial robot
direct
motor drive
Prior art date
Application number
AT84305040T
Other languages
English (en)
Inventor
Robert H Gorman
Original Assignee
American Cimflex Corp
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 American Cimflex Corp filed Critical American Cimflex Corp
Application granted granted Critical
Publication of ATE33220T1 publication Critical patent/ATE33220T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
    • 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
    • Y10T74/19051—Single driven plural drives
    • Y10T74/19065—Aligned

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Multiple Motors (AREA)
AT84305040T 1983-08-19 1984-07-24 Industrieroboter mit direktem, koaxialem motorantrieb. ATE33220T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/524,839 US4552505A (en) 1982-11-19 1983-08-19 Industrial robot having direct coaxial motor drive
EP84305040A EP0138308B1 (de) 1983-08-19 1984-07-24 Industrieroboter mit direktem, koaxialem Motorantrieb

Publications (1)

Publication Number Publication Date
ATE33220T1 true ATE33220T1 (de) 1988-04-15

Family

ID=24090869

Family Applications (1)

Application Number Title Priority Date Filing Date
AT84305040T ATE33220T1 (de) 1983-08-19 1984-07-24 Industrieroboter mit direktem, koaxialem motorantrieb.

Country Status (6)

Country Link
US (1) US4552505A (de)
EP (1) EP0138308B1 (de)
JP (1) JPS60123279A (de)
AT (1) ATE33220T1 (de)
CA (1) CA1239164A (de)
DE (1) DE3470126D1 (de)

Families Citing this family (30)

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Publication number Priority date Publication date Assignee Title
US4699563A (en) * 1984-05-31 1987-10-13 Seiko Instruments & Electronics Ltd. Horizontal articulated robot
US4702668A (en) * 1985-01-24 1987-10-27 Adept Technology, Inc. Direct drive robotic system
DE3518104A1 (de) * 1985-05-21 1986-11-27 Arnold Müller GmbH & Co KG, 7312 Kirchheim Antriebsvorrichtung zur erzeugung von schwenkbewegungen und weiteren bewegungen
FR2582630B1 (fr) * 1985-05-28 1991-04-05 Pouyaud Andre Dispositif de prelevement pneumatique de matieres granuleuses ou pulverulentes
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US5096364A (en) * 1986-04-28 1992-03-17 Varian Associates, Inc. Wafer arm handler mechanism
US4768918A (en) * 1986-06-13 1988-09-06 American Cimflex Corporation Industrial robot having counterbalanced arms
US4728252A (en) * 1986-08-22 1988-03-01 Lam Research Corporation Wafer transport mechanism
JPS63162176A (ja) * 1986-12-24 1988-07-05 フアナツク株式会社 水平関節型ロボツトの第１ア−ム構造
JPS63191585A (ja) * 1987-01-31 1988-08-09 フアナツク株式会社 ダイレクト・ドライブ型多関節ロボツト
US4775289A (en) * 1987-09-25 1988-10-04 Regents Of The University Of Minnesota Statically-balanced direct-drive robot arm
FR2633487B1 (fr) * 1988-07-04 1991-04-05 Tout Pour Le Grain Sa Dispositif de prelevement de matieres granuleuses ou pulverulentes
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
GB8907270D0 (en) * 1989-03-31 1989-05-17 Teamleader Robotics Ltd Linear gantry robot
DE4001885A1 (de) * 1990-01-23 1991-07-25 Kuka Schweissanlagen & Roboter Mehrachsiger industrieroboter
JPH0779840A (ja) * 1993-09-10 1995-03-28 Tokai Rubber Ind Ltd 重量物搭載板回動装置
SE515130C2 (sv) * 1995-02-24 2001-06-11 Abb Ab Robotutrustning
US5746565A (en) * 1996-01-22 1998-05-05 Integrated Solutions, Inc. Robotic wafer handler
ATE536577T1 (de) * 2004-06-24 2011-12-15 Irobot Corp Fernbediente ablaufsteuerung und verfahren für eine autonome robotervorrichtung
US20070125480A1 (en) * 2005-12-01 2007-06-07 Henthorne David A Synchronous drive and method for tire cord application
US7657769B2 (en) 2007-01-08 2010-02-02 Marcy M Scott N-way synchronization of data
US8444631B2 (en) * 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
WO2012149575A2 (en) 2011-04-29 2012-11-01 Irobot Corporation Robotic vacuum
US11471020B2 (en) 2011-04-29 2022-10-18 Irobot Corporation Robotic vacuum cleaning system
US10512384B2 (en) 2016-12-15 2019-12-24 Irobot Corporation Cleaning roller for cleaning robots
US10595624B2 (en) 2017-07-25 2020-03-24 Irobot Corporation Cleaning roller for cleaning robots
JP6875348B2 (ja) * 2018-10-17 2021-05-26 ファナック株式会社 ロボットおよび第１アーム部材
US11109727B2 (en) 2019-02-28 2021-09-07 Irobot Corporation Cleaning rollers for cleaning robots
CN110000808B (zh) * 2019-04-28 2022-04-26 深圳市汇川技术股份有限公司 机器人关节结构及机器人关节结构的装配方法
TW202219420A (zh) * 2020-11-03 2022-05-16 崔文德 球座標轉向機構

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Publication number Priority date Publication date Assignee Title
US2459253A (en) * 1944-11-29 1949-01-18 Air Reduction Reproducing apparatus
FR1266080A (fr) * 1960-07-30 1961-07-07 Zaklady Wytworcze Glosnikow To Manipulateur télécommandé électriquement à distance
US3146386A (en) * 1963-07-10 1964-08-25 Gerber Scientific Instr Co Stepping motor drive
GB1180500A (en) * 1967-06-09 1970-02-04 Siemens Ag A Combination of a Shaft and Driving Means for causing it to Rotate at a Speed Dictated by a Control Voltage Applied to the Driving Means
FR2183584B1 (de) * 1972-05-10 1974-09-27 Commissariat Energie Atomique
DE2224349C3 (de) * 1972-05-18 1978-11-23 Pfaff Pietzsch Industrieroboter Gmbh, 7505 Ettlingen Manipulator
DE2228598A1 (de) * 1972-06-12 1974-01-03 Jens Dr Rer Nat Geerk Anthropomorpher manipulator
US3834555A (en) * 1972-12-04 1974-09-10 Budd Co Article transfer apparatus
US3985238A (en) * 1973-03-17 1976-10-12 Daikin Kogyo Co., Ltd. Industrial robot
DE2530261C2 (de) * 1974-10-22 1986-10-23 Asea S.p.A., Mailand/Milano Programmiereinrichtung für einen Manipulator
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
US4181465A (en) * 1975-02-13 1980-01-01 Aktiebolaget Electrolux Apparatus utilizing magnetic means for transferring articles to and from predetermined positions
US4068763A (en) * 1976-07-26 1978-01-17 Nasa Wrist joint assembly
US4062455A (en) * 1976-11-22 1977-12-13 Flatau Carl R Remote manipulator
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
SU763082A1 (ru) * 1977-07-01 1980-09-15 Предприятие П/Я Р-6930 Манипул тор модульного типа
CS212433B1 (en) * 1977-12-06 1982-03-26 Zdenko Stanicek Electrically driven mechanic arm of the industrial robot
DE2754609A1 (de) * 1977-12-08 1979-06-13 Karlsruhe Augsburg Iweka Antriebsaggregat fuer die handachsen eines handhabungsgeraetes
US4289996A (en) * 1978-08-29 1981-09-15 Frazer Nash Limited Actuators
DE2908523A1 (de) * 1979-03-05 1981-01-29 Jungheinrich Unternehmensverw Automatisches arbeitsgeraet
US4246661A (en) * 1979-03-15 1981-01-27 The Boeing Company Digitally-controlled artificial hand
GB2058009B (en) * 1979-09-13 1983-07-27 Atomic Energy Authority Uk Manipulators
US4445184A (en) * 1980-07-19 1984-04-24 Shin Meiwa Industry Co., Ltd. Articulated robot
CA1209172A (en) * 1981-10-23 1986-08-05 Peter E. Chance Robotic manipulator arm
US4459898A (en) * 1981-12-09 1984-07-17 Nordson Corporation Streamlined multi-axis robot wrist assembly with partially enclosed hydraulic and electrical lines to minimize the wrist envelope
US4636138A (en) * 1982-02-05 1987-01-13 American Robot Corporation Industrial robot
US4398110A (en) * 1982-05-05 1983-08-09 Westinghouse Electric Corp. Harmonic electric actuator

Also Published As

Publication number Publication date
DE3470126D1 (en) 1988-05-05
EP0138308A1 (de) 1985-04-24
EP0138308B1 (de) 1988-03-30
US4552505A (en) 1985-11-12
CA1239164A (en) 1988-07-12
JPS60123279A (ja) 1985-07-01

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Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties