CA1245691A - Mechanical wrist mechanism - Google Patents

Mechanical wrist mechanism

Info

Publication number
CA1245691A
CA1245691A CA000497944A CA497944A CA1245691A CA 1245691 A CA1245691 A CA 1245691A CA 000497944 A CA000497944 A CA 000497944A CA 497944 A CA497944 A CA 497944A CA 1245691 A CA1245691 A CA 1245691A
Authority
CA
Canada
Prior art keywords
axes
tool
mounting surface
support member
point
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.)
Expired
Application number
CA000497944A
Other languages
English (en)
French (fr)
Inventor
Hadi A. Akeel
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.)
GMF Robotics Corp
Original Assignee
GMF Robotics 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 GMF Robotics Corp filed Critical GMF Robotics Corp
Application granted granted Critical
Publication of CA1245691A publication Critical patent/CA1245691A/en
Expired 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
    • 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
CA000497944A 1985-01-22 1985-12-18 Mechanical wrist mechanism Expired CA1245691A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US69299485A 1985-01-22 1985-01-22
US692,994 1985-01-22

Publications (1)

Publication Number Publication Date
CA1245691A true CA1245691A (en) 1988-11-29

Family

ID=24782889

Family Applications (1)

Application Number Title Priority Date Filing Date
CA000497944A Expired CA1245691A (en) 1985-01-22 1985-12-18 Mechanical wrist mechanism

Country Status (3)

Country Link
JP (1) JPS61168487A (ja)
CA (1) CA1245691A (ja)
DE (1) DE3601456A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108638120A (zh) * 2018-06-15 2018-10-12 广州启帆工业机器人有限公司 多工位喷涂机械手腕

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE466994B (sv) * 1988-04-13 1992-05-11 Asea Brown Boveri Robothandled
DE3937706A1 (de) * 1989-11-13 1991-05-16 Niko Maschinen Automation Gmbh Roboter mit mindestens einem roboterarm
US5661387A (en) * 1992-02-29 1997-08-26 Stadele, Deceased; Erhard Device for manipulating objects in a gripper or the like
ES2098027T3 (es) * 1992-02-29 1997-04-16 Stadele Berta Dispositivo para manipulacion de objetos.
JP2746543B2 (ja) * 1995-02-21 1998-05-06 株式会社神戸製鋼所 産業用ロボットの手首装置
DE59908214D1 (de) * 1999-10-14 2004-02-05 Storz Karl Gmbh & Co Drehgelenk für medizinische instrumente
DE10205593A1 (de) * 2002-02-11 2003-08-21 Duerr Systems Gmbh Beschichtungsmaschine mit einem Zerstäuber und einem Zerstäuber und einem Drehgelenk
CN106142131A (zh) * 2016-08-03 2016-11-23 希美埃（芜湖）机器人技术有限公司 一种喷涂机器人中空手腕结构
EP4137710A1 (de) * 2021-08-20 2023-02-22 maxon international ag Ausgangslageranordnung für einen gelenkantrieb, insbesondere einen robotergelenkantrieb

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1083111B (it) * 1977-05-18 1985-05-21 Bisiach & Carru Testa portautensile per macchina operatrice particolarmente per pinze di saldatura a resistenza o torce per saldatura in tig mig o mag
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
JPS6133887A (ja) * 1984-07-27 1986-02-17 フアナツク株式会社 工業用ロボツトの中空腕構造

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108638120A (zh) * 2018-06-15 2018-10-12 广州启帆工业机器人有限公司 多工位喷涂机械手腕

Also Published As

Publication number Publication date
DE3601456C2 (ja) 1992-02-27
JPS61168487A (ja) 1986-07-30
JPH0446720B2 (ja) 1992-07-30
DE3601456A1 (de) 1986-07-24

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Legal Events

Date Code Title Description
MKEX Expiry