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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-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—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
- B25J9/12—Programme-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)
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 (44)
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 |
EP2732344B1 (de) | 2011-07-11 | 2019-06-05 | Board of Regents of the University of Nebraska | Robotisches chirurgisches system |
TWI667110B (zh) * | 2011-07-13 | 2019-08-01 | 布魯克斯自動機械公司 | 基板運送裝置及密封致動器 |
US9186799B2 (en) | 2011-07-13 | 2015-11-17 | Brooks Automation, Inc. | Compact direct drive spindle |
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 |
EP2882331A4 (de) | 2012-08-08 | 2016-03-23 | Univ Nebraska | Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren |
JP5617900B2 (ja) * | 2012-11-19 | 2014-11-05 | 株式会社安川電機 | ロボット |
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 |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
CN109715081B (zh) | 2016-05-18 | 2021-11-09 | 虚拟切割有限公司 | 机器人外科装置、系统及相关方法 |
JP6946288B2 (ja) * | 2016-06-15 | 2021-10-06 | 株式会社三共製作所 | 搬送装置 |
CA3076625A1 (en) | 2017-09-27 | 2019-04-04 | Virtual Incision Corporation | Robotic surgical devices with tracking camera technology and related systems and methods |
US11013564B2 (en) * | 2018-01-05 | 2021-05-25 | 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 |
WO2020146348A1 (en) | 2019-01-07 | 2020-07-16 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
DE102021115282A1 (de) * | 2021-06-14 | 2022-12-15 | Dr. Johannes Heidenhain Gmbh | Roboterarm mit einem Handgelenk und einem Befestigungsflansch |
Family Cites Families (36)
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 |
US3559008A (en) * | 1967-06-09 | 1971-01-26 | Siemens Ag | Voltage proportional speed control of the output of a differential gear connected to two motors utilizing a pulse width modulator control |
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 |
-
1984
- 1984-08-16 US US06/641,717 patent/US4645409A/en not_active Expired - Fee Related
-
1985
- 1985-01-11 CA CA000471954A patent/CA1257887A/en not_active Expired
- 1985-03-07 JP JP60045689A patent/JPS6156889A/ja active Pending
- 1985-04-25 AT AT85302922T patent/ATE40312T1/de not_active IP Right Cessation
- 1985-04-25 DE DE8585302922T patent/DE3567826D1/de not_active Expired
- 1985-04-25 EP EP85302922A patent/EP0172603B1/de not_active Expired
Also Published As
Publication number | Publication date |
---|---|
JPS6156889A (ja) | 1986-03-22 |
DE3567826D1 (en) | 1989-03-02 |
EP0172603B1 (de) | 1989-01-25 |
US4645409A (en) | 1987-02-24 |
EP0172603A1 (de) | 1986-02-26 |
CA1257887A (en) | 1989-07-25 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
RER | Ceased as to paragraph 5 lit. 3 law introducing patent treaties |