ATE40312T1 - Unterarmzusammenbau fuer industrieroboter. - Google Patents

Unterarmzusammenbau fuer industrieroboter.

Info

Publication number
ATE40312T1
ATE40312T1 AT85302922T AT85302922T ATE40312T1 AT E40312 T1 ATE40312 T1 AT E40312T1 AT 85302922 T AT85302922 T AT 85302922T AT 85302922 T AT85302922 T AT 85302922T AT E40312 T1 ATE40312 T1 AT E40312T1
Authority
AT
Austria
Prior art keywords
movement
drive units
rotors
arm assembly
outer arm
Prior art date
Application number
AT85302922T
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 ATE40312T1 publication Critical patent/ATE40312T1/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
    • B25J9/08—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
    • 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
    • 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
    • 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
    • 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
    • H02K16/00—Machines with more than one rotor or stator
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
AT85302922T 1984-08-16 1985-04-25 Unterarmzusammenbau fuer industrieroboter. ATE40312T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/641,717 US4645409A (en) 1982-02-05 1984-08-16 Outer arm assembly for industrial robot
EP85302922A EP0172603B1 (de) 1984-08-16 1985-04-25 Unterarmzusammenbau für Industrieroboter

Publications (1)

Publication Number Publication Date
ATE40312T1 true ATE40312T1 (de) 1989-02-15

Family

ID=24573566

Family Applications (1)

Application Number Title Priority Date Filing Date
AT85302922T ATE40312T1 (de) 1984-08-16 1985-04-25 Unterarmzusammenbau fuer industrieroboter.

Country Status (6)

Country Link
US (1) US4645409A (de)
EP (1) EP0172603B1 (de)
JP (1) JPS6156889A (de)
AT (1) ATE40312T1 (de)
CA (1) CA1257887A (de)
DE (1) DE3567826D1 (de)

Families Citing this family (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5201630A (en) * 1984-09-07 1993-04-13 Sony Corporation Industrial robot with servo system
US5155423A (en) * 1986-02-18 1992-10-13 Robotics Research Corporation Industrial robot with servo
US4784010A (en) * 1987-04-27 1988-11-15 Graco Robotics Inc. Electric robotic work unit
US4874998A (en) * 1987-06-11 1989-10-17 International Business Machines Corporation Magnetically levitated fine motion robot wrist with programmable compliance
FR2620837B1 (fr) * 1987-09-21 1990-11-30 Commissariat Energie Atomique Dispositif d'orientation d'un objet autour de deux axes de rotation
FR2626516B1 (fr) * 1988-02-02 1994-09-23 Calhene Sne Terminal de telemanipulateur lourd
JPH01234191A (ja) * 1988-03-10 1989-09-19 Internatl Business Mach Corp <Ibm> マニピユレータ・アセンブリ
DE4001885A1 (de) * 1990-01-23 1991-07-25 Kuka Schweissanlagen & Roboter Mehrachsiger industrieroboter
IT1241621B (it) * 1990-10-04 1994-01-25 Comau Spa Robot articolato
IT1241622B (it) * 1990-10-04 1994-01-25 Comau Spa Polso di robot
DE4130016A1 (de) * 1990-12-24 1993-03-11 Erich Rabe Elektronisch kommutierte gleichstrommaschine
US5245263A (en) * 1991-09-13 1993-09-14 University Of Maryland Anti-backlash drive systems for multi-degree freedom devices
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
JP3465850B2 (ja) * 1993-04-28 2003-11-10 株式会社安川電機 産業用ロボットの手首機構
US5894760A (en) * 1997-06-12 1999-04-20 Brooks Automation, Inc. Substrate transport drive system
DE10032098C2 (de) * 2000-07-01 2003-06-05 Kuka Roboter Gmbh Roboterarm
US7188879B2 (en) * 2001-11-06 2007-03-13 Phd, Inc. Slide gripper assembly
JP2003305682A (ja) * 2002-04-11 2003-10-28 Fanuc Ltd ロボット手首駆動機構
US8176808B2 (en) * 2007-09-13 2012-05-15 Foster-Miller, Inc. Robot arm assembly
US8414043B2 (en) 2008-10-21 2013-04-09 Foster-Miller, Inc. End effector for mobile remotely controlled robot
US20100101356A1 (en) * 2008-10-24 2010-04-29 Albin Scott R Remotely controlled mobile robot in-line robot arm and end effector mechanism
US8322249B2 (en) * 2008-12-18 2012-12-04 Foster-Miller, Inc. Robot arm assembly
US8141924B2 (en) * 2008-12-29 2012-03-27 Foster-Miller, Inc. Gripper system
DE102010007378C5 (de) * 2010-02-10 2019-02-14 Hans Hundegger Holzbearbeitungsanlage
EP3588217A1 (de) 2011-07-11 2020-01-01 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
US9186799B2 (en) 2011-07-13 2015-11-17 Brooks Automation, Inc. Compact direct drive spindle
TWI587995B (zh) * 2011-07-13 2017-06-21 布魯克斯自動機械公司 小型化直接驅動心軸
CA2880220C (en) 2011-10-03 2020-10-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
WO2013063674A1 (en) 2011-11-04 2013-05-10 Titan Medical Inc. Apparatus and method for controlling an end-effector assembly
JP2015531608A (ja) 2012-05-01 2015-11-05 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 単孔式ロボット機器および関連システムと方法
EP3424651B1 (de) 2012-06-22 2020-02-12 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen mit lokaler steuerung
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP2015526171A (ja) 2012-08-08 2015-09-10 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 ロボット手術用デバイス、システム及び関連の方法
JP5617900B2 (ja) * 2012-11-19 2014-11-05 株式会社安川電機 ロボット
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
DE102014009892B4 (de) * 2014-07-04 2018-05-30 gomtec GmbH Antriebseinheit mit magnetischer Schnittstelle
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
EP3331453B1 (de) 2015-08-03 2025-05-14 Virtual Incision Corporation Robotische chirurgische vorrichtungen und systeme
EP3457951B1 (de) 2016-05-18 2024-03-06 Virtual Incision Corporation Robotische chirurgische vorrichtungen und systeme
CN109311152B (zh) * 2016-06-15 2022-04-15 株式会社三共制作所 输送装置
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系统和方法
JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
CA3087672A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
EP3743248A4 (de) * 2018-01-22 2021-11-10 Oceaneering International, Inc. Adaptive werkzeugschnittstelle
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
CN109176595B (zh) * 2018-10-19 2023-11-24 杭州宇树科技有限公司 机器人双关节单元及应用其的足式机器人和协作机械臂
KR20200049117A (ko) * 2018-10-31 2020-05-08 주식회사 이지원인터넷서비스 휴머노이드 로봇
CN114302665B (zh) 2019-01-07 2025-12-19 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
DE102021115282A1 (de) * 2021-06-14 2022-12-15 Dr. Johannes Heidenhain Gmbh Roboterarm mit einem Handgelenk und einem Befestigungsflansch
US12440291B2 (en) 2022-12-27 2025-10-14 Conavi Medical Inc. Systems and methods for unpowered release and retraction of robotic tools in a robotic surgical system
CN119115917A (zh) * 2024-11-11 2024-12-13 浙江大学 一种多轴单电机驱动的三自由度小型机械臂系统

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2006172A (en) * 1932-04-04 1935-06-25 Ali F Klappauf Electric machine
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
US3201156A (en) * 1960-11-07 1965-08-17 John N Coats Pipe coupling having clamping force adjusting means
US3146386A (en) * 1963-07-10 1964-08-25 Gerber Scientific Instr Co Stepping motor drive
FR1396523A (fr) * 1964-03-12 1965-04-23 Soc Optique Mec Haute Prec Pince de préhension, et télémanipulateur équipé de cette pince
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
US3967837A (en) * 1974-11-04 1976-07-06 Construction Forms, Inc. High pressure coupling apparatus
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
DE2516471A1 (de) * 1975-04-15 1976-10-28 Blocher Motor Kg Antriebseinheit
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
SU707793A1 (ru) * 1977-07-01 1980-01-05 Предприятие П/Я Р-6930 Устройство дл оринтации захвата манипул тора
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
FR2461556A1 (fr) * 1979-07-18 1981-02-06 Bretagne Atel Chantiers Bras de manipulation a distance
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
FR2505239A1 (fr) * 1981-05-06 1982-11-12 Mouton Jean Bras manipulateur
US4392776A (en) * 1981-05-15 1983-07-12 Westinghouse Electric Corp. Robotic manipulator structure
US4425818A (en) * 1981-09-30 1984-01-17 Carnegie-Mellon University Robotic manipulator
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
EP0172603A1 (de) 1986-02-26
DE3567826D1 (en) 1989-03-02
EP0172603B1 (de) 1989-01-25
US4645409A (en) 1987-02-24
JPS6156889A (ja) 1986-03-22
CA1257887A (en) 1989-07-25

Similar Documents

Publication Publication Date Title
ATE40312T1 (de) Unterarmzusammenbau fuer industrieroboter.
DE3470126D1 (en) Industrial robot having direct coaxial motor drive
US4527945A (en) Swivelling handle with three axes of rotation for an industrial robot
Asada et al. Design of direct-drive mechanical arms
CN205889243U (zh) 一种模块化仿人机械臂
CA2137022A1 (en) Industrial Robot with Integrated Reduction Gear Units
EP0222018A4 (de) Gelenkantrieb für industrielle roboter.
CN111791261B (zh) 一种协作机器人的关节模组
DE69200421D1 (de) Handgelenk für Industrieroboter.
JPS61165061A (ja) 多関節駆動装置
EP0195393B1 (de) Differentialantrieb
DE3460663D1 (en) Industrial robot with three-phase single drive
Asada et al. Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors.
ES8703322A1 (es) Robot industrial (manipulador) para diferentes aplicaciones.
EP0128544B1 (de) Gelenkanordnung zwischen Verbindungsteilen, insbesondere für einen Industrieroboterarm
Asada et al. Analysis and design of semi-direct-drive robot arms
US4712973A (en) Two servo axis, AC powered robot wrist
Kanade et al. Development of CMU direct-drive arm II
Williams Direct drive system for an industrial robot using a brushless DC motor
JP2791366B2 (ja) 移動テーブル装置
JPS6353340A (ja) 電気式アクチユエ−タユニツト
DE59206947D1 (de) Modularer Roboter
SU905053A1 (ru) Приводное устройство
GB9612179D0 (en) Improvements relating to mechanical manipulators
SU1556893A2 (ru) Промышленный робот

Legal Events

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