CN1004867B - 机械手用传动装置组件 - Google Patents

机械手用传动装置组件 Download PDF

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Publication number
CN1004867B
CN1004867B CN86108531.0A CN86108531A CN1004867B CN 1004867 B CN1004867 B CN 1004867B CN 86108531 A CN86108531 A CN 86108531A CN 1004867 B CN1004867 B CN 1004867B
Authority
CN
China
Prior art keywords
transmission
transmission assembly
reduction ratio
reducer
supported
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
CN86108531.0A
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English (en)
Chinese (zh)
Other versions
CN86108531A (zh
Inventor
厄恩·斯特·齐默
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 Machine Factory Co ltd
Kuka Welding Equipment Co ltd
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
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of CN86108531A publication Critical patent/CN86108531A/zh
Publication of CN1004867B publication Critical patent/CN1004867B/zh
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
CN86108531.0A 1985-12-19 1986-12-17 机械手用传动装置组件 Expired CN1004867B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853545068 DE3545068A1 (de) 1985-12-19 1985-12-19 Getriebekopf fuer manipulatoren
DEP3545068.1 1985-12-19

Publications (2)

Publication Number Publication Date
CN86108531A CN86108531A (zh) 1987-11-11
CN1004867B true CN1004867B (zh) 1989-07-26

Family

ID=6288934

Family Applications (1)

Application Number Title Priority Date Filing Date
CN86108531.0A Expired CN1004867B (zh) 1985-12-19 1986-12-17 机械手用传动装置组件

Country Status (12)

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US (1) US4771652A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
EP (1) EP0229941B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JPS62148183A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
KR (1) KR900003641B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
CN (1) CN1004867B (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AT (1) ATE47074T1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AU (1) AU587749B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
CA (1) CA1268797A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DD (1) DD252787A5 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (2) DE3545068A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
ES (1) ES2002442A6 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
SU (1) SU1524801A3 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

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JP2003025269A (ja) * 2001-07-12 2003-01-29 National Aerospace Laboratory Of Japan 回転修正機構付きオフセット回転関節ユニット
JP2004148449A (ja) * 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ
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US7331584B2 (en) * 2004-09-17 2008-02-19 Black & Decker Inc. Chuck with nutating gear reduction
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
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WO2007149559A2 (en) 2006-06-22 2007-12-27 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
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JP2010536435A (ja) 2007-08-15 2010-12-02 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 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
WO2010040215A1 (en) * 2008-10-06 2010-04-15 Kinova Portable robotic arm
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
CN101875196B (zh) * 2010-03-15 2011-11-02 中国原子能科学研究院 远距离导轨对中操作机械手
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JP6174017B2 (ja) 2011-06-10 2017-08-02 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 生体内血管シールエンドエフェクタおよび生体内ロボット装置
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US9636178B2 (en) * 2011-12-07 2017-05-02 Specialty Surgical Instrumentation, Inc. System and method for an articulating shaft
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CN103758932B (zh) * 2014-01-26 2016-05-25 浙江来福谐波传动股份有限公司 大减速比角向谐波减速装置
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Also Published As

Publication number Publication date
DE3666173D1 (en) 1989-11-16
ES2002442A6 (es) 1988-08-01
CN86108531A (zh) 1987-11-11
DD252787A5 (de) 1987-12-30
DE3545068A1 (de) 1987-06-25
EP0229941A2 (de) 1987-07-29
DE3545068C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1987-09-24
SU1524801A3 (ru) 1989-11-23
CA1268797A (en) 1990-05-08
KR900003641B1 (ko) 1990-05-28
JPH0314594B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-02-27
AU6671286A (en) 1987-06-25
ATE47074T1 (de) 1989-10-15
EP0229941B1 (de) 1989-10-11
EP0229941A3 (en) 1987-08-12
JPS62148183A (ja) 1987-07-02
KR870005755A (ko) 1987-07-07
AU587749B2 (en) 1989-08-24
US4771652A (en) 1988-09-20

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Free format text: CORRECT: PATENTEE; FROM: KUKA WELDING EQUIPMENT STOCK CO., LTD. TO: KUKA MACHINERY PLANT STOCK CO.,LTD.

Free format text: CORRECT: PATENTEE; FROM: KUKA SCHWEIBANIAGEN + ROBOTER GMBH TO: KUKA WELDING EQUIPMENT STOCK CO., LTD.

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Patentee after: KUKA welding equipment Co.,Ltd.

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Patentee after: KUKA Machine Factory Co.,Ltd.

Patentee before: KUKA welding equipment Co.,Ltd.

C15 Extension of patent right duration from 15 to 20 years for appl. with date before 31.12.1992 and still valid on 11.12.2001 (patent law change 1993)
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