AU4001385A - Manipulator head assembly - Google Patents

Manipulator head assembly

Info

Publication number
AU4001385A
AU4001385A AU40013/85A AU4001385A AU4001385A AU 4001385 A AU4001385 A AU 4001385A AU 40013/85 A AU40013/85 A AU 40013/85A AU 4001385 A AU4001385 A AU 4001385A AU 4001385 A AU4001385 A AU 4001385A
Authority
AU
Australia
Prior art keywords
gear head
gear
head part
drive
longitudinal axis
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
AU40013/85A
Other versions
AU580759B2 (en
Inventor
Ernst Zimmer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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
Priority claimed from DE19843428748 external-priority patent/DE3428748A1/en
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of AU4001385A publication Critical patent/AU4001385A/en
Application granted granted Critical
Publication of AU580759B2 publication Critical patent/AU580759B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

1. Gear head for manipulators, consisting of three head parts (1, 2, 3) disposed one behind the other and mounted about axes (5, 6) inclined with respect to each other, the inclined axes (5, 6) of which head parts, in the elongated position of the gear head, respectively form an acute angle (alpha), opening in opposite directions, with the longitudinal axis (4) of the gear head and intersect so that the angle legs formed by the inclined axes (5, 6) point towards a common side of the longitudinal axis (4), a surface (12) for the flange-mounting of a tool, extending in the elongated position at right angles to the longitudinal axis (4), being disposed on the front gear head part (3) and three drive shafts (13, 18, 26), extending concentrically to the longitudinal axis (4), being provided for driving the gear head parts (1, 2, 3), of which drive shafts one of the inner drive shafts (18) is connected by way of an angle drive (19, 20) and an intermediate shaft (21) rotating about the inclined axis of rotation (5) to the front head part (3) supporting the tool and the other of the inner drive shafts is connected by an angle drive (14, 15), whereof the output gear (15) surrounds the intermediate shaft (21) concentrically with play, to the central gear head part (2) and that disposed in the central gear head part (2) is at least one reduction gear (25) having a high reduction ratio, for the drive of the front gear head part (3), preferably also a reduction gear (17) of this type for the drive of the central gear head part (2).
AU40013/85A 1984-08-03 1985-03-15 Manipulator head assembly Ceased AU580759B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19843428748 DE3428748A1 (en) 1983-08-03 1984-08-03 TRANSMISSION HEAD FOR MANIPULATORS
DE3428748 1984-08-03

Publications (2)

Publication Number Publication Date
AU4001385A true AU4001385A (en) 1986-02-06
AU580759B2 AU580759B2 (en) 1989-02-02

Family

ID=6242343

Family Applications (1)

Application Number Title Priority Date Filing Date
AU40013/85A Ceased AU580759B2 (en) 1984-08-03 1985-03-15 Manipulator head assembly

Country Status (9)

Country Link
EP (2) EP0169942B1 (en)
JP (1) JPS6144592A (en)
KR (1) KR920008805B1 (en)
AT (1) ATE47685T1 (en)
AU (1) AU580759B2 (en)
CA (1) CA1234998A (en)
DE (1) DE3480331D1 (en)
ES (1) ES8606055A2 (en)
SU (1) SU1600621A3 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU579300B2 (en) * 1985-07-19 1988-11-17 Kuka Schweissanlagen & Roboter Gmbh Gear unit for a manipulator

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3545068A1 (en) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter TRANSMISSION HEAD FOR MANIPULATORS
DE3631024A1 (en) * 1986-09-09 1988-03-17 Mannesmann Ag ROBOT ARM

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3712481A (en) * 1971-12-23 1973-01-23 Mc Donnell Douglas Corp Actuator
DE2225476C3 (en) * 1972-05-25 1975-04-24 Engel, Heinrich, 6407 Schlitz Actuator
US4046262A (en) * 1974-01-24 1977-09-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Anthropomorphic master/slave manipulator system
DE2435156C2 (en) * 1974-07-22 1983-09-01 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Program controlled manipulator
JPS5841996B2 (en) * 1976-02-27 1983-09-16 株式会社椿本チエイン Industrial robot wrist mechanism
DE2717870C3 (en) * 1977-04-22 1983-05-19 Volkswagenwerk Ag, 3180 Wolfsburg Handling device
US4151390A (en) * 1977-08-04 1979-04-24 Luciano Bisiach Tool holder head, particularly for welding yokes and guns
SU766856A1 (en) * 1978-09-28 1980-09-30 Проектно-Конструкторско-Технологическое Бюро По Вагонам Working member of manipulator
JPS56163624A (en) * 1980-05-20 1981-12-16 Umetani Youji Active cord mechanism
DE3048067C2 (en) * 1980-12-19 1984-08-09 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Gear arrangement for the joint head of a manipulator
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4502347A (en) * 1982-09-21 1985-03-05 Westinghouse Electric Corp. Robotic wrist
DE3464021D1 (en) * 1983-08-03 1987-07-09 Kuka Schweissanlagen & Roboter Manipulator gear head
SE454659B (en) * 1983-09-01 1988-05-24 Asea Ab ROBOT WRIST

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU579300B2 (en) * 1985-07-19 1988-11-17 Kuka Schweissanlagen & Roboter Gmbh Gear unit for a manipulator

Also Published As

Publication number Publication date
JPS6144592A (en) 1986-03-04
ES539887A0 (en) 1986-04-01
EP0169943A1 (en) 1986-02-05
AU580759B2 (en) 1989-02-02
SU1600621A3 (en) 1990-10-15
EP0169942B1 (en) 1989-11-02
EP0169943B1 (en) 1989-11-02
CA1234998A (en) 1988-04-12
EP0169942A1 (en) 1986-02-05
ATE47685T1 (en) 1989-11-15
JPH0530599B2 (en) 1993-05-10
KR920008805B1 (en) 1992-10-09
KR860001696A (en) 1986-03-22
DE3480331D1 (en) 1989-12-07
ES8606055A2 (en) 1986-04-01

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