ATE67709T1 - Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden. - Google Patents

Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden.

Info

Publication number
ATE67709T1
ATE67709T1 AT88201276T AT88201276T ATE67709T1 AT E67709 T1 ATE67709 T1 AT E67709T1 AT 88201276 T AT88201276 T AT 88201276T AT 88201276 T AT88201276 T AT 88201276T AT E67709 T1 ATE67709 T1 AT E67709T1
Authority
AT
Austria
Prior art keywords
articulated joint
group
hollow shafts
industrial robot
freedom
Prior art date
Application number
AT88201276T
Other languages
English (en)
Inventor
Bruno Bisiach
Original Assignee
Bruno Bisiach
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 Bruno Bisiach filed Critical Bruno Bisiach
Application granted granted Critical
Publication of ATE67709T1 publication Critical patent/ATE67709T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • B25J18/00—Arms
    • 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
    • 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
    • Y10T74/1906—Nonparallel
    • 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
    • Y10T74/19633—Yieldability in gear trains
    • 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
    • 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
    • Y10T74/19698—Spiral
    • Y10T74/19828—Worm
    • 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
    • Y10T74/20207—Multiple controlling elements for single controlled element
AT88201276T 1987-07-10 1988-06-21 Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden. ATE67709T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT8767593A IT1211195B (it) 1987-07-10 1987-07-10 Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento
EP88201276A EP0299551B1 (de) 1987-07-10 1988-06-21 Mehrfach gelenkter Industrieroboter mit mehreren Freiheitsgraden

Publications (1)

Publication Number Publication Date
ATE67709T1 true ATE67709T1 (de) 1991-10-15

Family

ID=11303707

Family Applications (1)

Application Number Title Priority Date Filing Date
AT88201276T ATE67709T1 (de) 1987-07-10 1988-06-21 Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden.

Country Status (5)

Country Link
US (1) US4854808A (de)
EP (1) EP0299551B1 (de)
AT (1) ATE67709T1 (de)
DE (1) DE3865129D1 (de)
IT (1) IT1211195B (de)

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DE4219370A1 (de) * 1992-06-13 1993-12-16 Krupp Industrietech Hubeinrichtung für Lasten
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DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
US7713190B2 (en) 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US6692485B1 (en) * 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US8414598B2 (en) 1998-02-24 2013-04-09 Hansen Medical, Inc. Flexible instrument
US6554844B2 (en) 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
FR2783451B1 (fr) * 1998-09-17 2000-12-01 Gb Tronic Robot de manipulation d'un objet
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US6263755B1 (en) * 1999-02-10 2001-07-24 New York University Robotic manipulator and method
DE10010615A1 (de) * 2000-03-03 2001-09-06 Duerr Systems Gmbh Roboter zum Beschichten oder Behandeln von Werkstücken
US6871563B2 (en) * 2001-02-26 2005-03-29 Howie Choset Orientation preserving angular swivel joint
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US8007511B2 (en) 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
US8337407B2 (en) * 2003-12-30 2012-12-25 Liposonix, Inc. Articulating arm for medical procedures
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US20050193451A1 (en) * 2003-12-30 2005-09-01 Liposonix, Inc. Articulating arm for medical procedures
US7857773B2 (en) * 2003-12-30 2010-12-28 Medicis Technologies Corporation Apparatus and methods for the destruction of adipose tissue
DE102005038976B4 (de) * 2004-02-17 2016-08-04 Josef Moser Bewegungseinrichtung mit sinusförmigem Bewegungsablauf
US20050247155A1 (en) * 2004-05-04 2005-11-10 Kuo-Chen Liu Bending structure of bendable opener
JP4520268B2 (ja) * 2004-09-28 2010-08-04 川崎重工業株式会社 ロボット
US20060122509A1 (en) * 2004-11-24 2006-06-08 Liposonix, Inc. System and methods for destroying adipose tissue
US8030873B2 (en) * 2007-08-09 2011-10-04 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Walk and roll robot
AU2013200713B2 (en) * 2007-11-16 2014-12-18 Delaval Holding Ab A milking parlour and method for operating the same
US7791465B1 (en) 2008-02-01 2010-09-07 El-Massry Amr S Graphical taillight system
US8795278B2 (en) 2008-06-23 2014-08-05 Microfabrica Inc. Selective tissue removal tool for use in medical applications and methods for making and using
US9814484B2 (en) 2012-11-29 2017-11-14 Microfabrica Inc. Micro debrider devices and methods of tissue removal
US10939934B2 (en) 2008-06-23 2021-03-09 Microfabrica Inc. Miniature shredding tools for use in medical applications, methods for making, and procedures for using
US20140100558A1 (en) * 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation
US8475458B2 (en) 2008-06-23 2013-07-02 Microfabrica Inc. Miniature shredding tool for use in medical applications and methods for making
US9451977B2 (en) 2008-06-23 2016-09-27 Microfabrica Inc. MEMS micro debrider devices and methods of tissue removal
US20100126293A1 (en) * 2008-11-21 2010-05-27 Comau Inc. Robotic radial tool positioning system
US20120191121A1 (en) 2009-08-18 2012-07-26 Chen Richard T Concentric cutting devices for use in minimally invasive medical procedures
CN102198665A (zh) * 2010-03-24 2011-09-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102811843A (zh) * 2010-09-03 2012-12-05 Abb研究有限公司 工业机器人、用于该工业机器人的组件系统以及用于组装该工业机器人的方法
CN102441894A (zh) * 2010-10-11 2012-05-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
WO2012104785A1 (en) * 2011-01-31 2012-08-09 Csir Drive apparatus
EP3588217A1 (de) 2011-07-11 2020-01-01 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
CN103121215A (zh) * 2011-11-18 2013-05-29 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CA2871149C (en) 2012-05-01 2020-08-25 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
EP2882331A4 (de) 2012-08-08 2016-03-23 Univ Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
EP3022064A4 (de) 2013-07-16 2017-06-07 Microfabrica Inc. Fälschungssichere sicherheitsvorrichtungen sowie systeme und verfahren damit
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
KR101558375B1 (ko) * 2013-12-17 2015-10-07 현대자동차 주식회사 조립 기기용 마운팅 위치 변환장치
CN108472030B (zh) 2015-08-03 2021-06-18 内布拉斯加大学董事会 机器人手术装置系统及相关方法
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
CN114872081A (zh) * 2016-08-30 2022-08-09 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
JP6407945B2 (ja) * 2016-12-06 2018-10-17 ファナック株式会社 ロボットの導電路構造
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
CN111770816B (zh) 2018-01-05 2023-11-03 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
NL2021133B1 (nl) * 2018-06-15 2019-12-20 Exact Dynamics B V Vertragingsunit, Armgewricht voorzien van twee respectievelijk drie vertragingsunits, alsmede een robotarm
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CN114302665A (zh) 2019-01-07 2022-04-08 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
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Also Published As

Publication number Publication date
DE3865129D1 (de) 1991-10-31
IT8767593A0 (it) 1987-07-10
IT1211195B (it) 1989-10-12
EP0299551B1 (de) 1991-09-25
US4854808A (en) 1989-08-08
EP0299551A1 (de) 1989-01-18

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Legal Events

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