DE1291084B - Getriebeverbindung zum voneinander unabhaengigen Kuppeln von zwei Bewegungen zweier um eine gemeinsame Achse verdrehbarer Glieder eines Manipulators - Google Patents

Getriebeverbindung zum voneinander unabhaengigen Kuppeln von zwei Bewegungen zweier um eine gemeinsame Achse verdrehbarer Glieder eines Manipulators

Info

Publication number
DE1291084B
DE1291084B DEC29743A DEC0029743A DE1291084B DE 1291084 B DE1291084 B DE 1291084B DE C29743 A DEC29743 A DE C29743A DE C0029743 A DEC0029743 A DE C0029743A DE 1291084 B DE1291084 B DE 1291084B
Authority
DE
Germany
Prior art keywords
arm
axis
manipulator
gear
members
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.)
Pending
Application number
DEC29743A
Other languages
German (de)
English (en)
Inventor
Fortin Antoine
Vertut Jean
Fortin Marcel
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of DE1291084B publication Critical patent/DE1291084B/de
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/006—Toothed gearings for conveying rotary motion the driving and driven axes being designed to assume variable positions relative to one another during operation
    • 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
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G05G7/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof characterised by special provisions for conveying or converting motion, or for acting at a distance
    • G05G7/10—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof characterised by special provisions for conveying or converting motion, or for acting at a distance specially adapted for remote control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G05G7/16—Special provisions for reducing the effect of slight relative movement between supports of the mechanism, e.g. resulting from resilient mounting of a controlled mechanism
    • 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
    • Y10T74/19144—Miscellaneous [plural power paths]
    • 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
    • Y10T74/20396—Hand operated

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Catching Or Destruction (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
DEC29743A 1962-04-25 1963-04-24 Getriebeverbindung zum voneinander unabhaengigen Kuppeln von zwei Bewegungen zweier um eine gemeinsame Achse verdrehbarer Glieder eines Manipulators Pending DE1291084B (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR895538A FR1350624A (fr) 1962-04-25 1962-04-25 Dispositif de transmission de mouvements et son application dans les apparils de manipulation à distance

Publications (1)

Publication Number Publication Date
DE1291084B true DE1291084B (de) 1969-03-20

Family

ID=8777602

Family Applications (1)

Application Number Title Priority Date Filing Date
DEC29743A Pending DE1291084B (de) 1962-04-25 1963-04-24 Getriebeverbindung zum voneinander unabhaengigen Kuppeln von zwei Bewegungen zweier um eine gemeinsame Achse verdrehbarer Glieder eines Manipulators

Country Status (9)

Country Link
US (1) US3315542A (en:Method)
BE (1) BE631545A (en:Method)
CH (1) CH398814A (en:Method)
DE (1) DE1291084B (en:Method)
FR (1) FR1350624A (en:Method)
GB (1) GB1006272A (en:Method)
LU (1) LU43604A1 (en:Method)
NL (1) NL291905A (en:Method)
SE (1) SE310030B (en:Method)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2028087A1 (de) * 1969-06-06 1970-12-17 Central Research Laboratories Inc., Red Wing, Minn. (V.St.A.) Handgelenk für einen Manipulator
DE2921983A1 (de) 1978-05-31 1980-02-07 Central Research Lab Inc Master-slave-manipulator
DE3049577A1 (de) * 1980-12-31 1982-07-29 Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe Arbeitsarm fuer einen manipulator mit teleskopischer laengenverstellung
DE202010012232U1 (de) * 2010-09-06 2011-12-08 Wälischmiller Engineering GmbH Vorrichtung mit einer Antriebseinheit zum Antrieb eines Manipulatorarms eines Manipulators und Manipulator

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3507163A (en) * 1968-11-08 1970-04-21 Central Research Lab Inc Sealed manipulator
US3858735A (en) * 1973-04-16 1975-01-07 Iowa Mold Tooling Co Tire manipulating apparatus
DE2848668A1 (de) * 1978-11-09 1980-05-14 Guehring Gottlieb Fa Bearbeitungsautomat
DE3048067C2 (de) * 1980-12-19 1984-08-09 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Getriebeanordnung für den Gelenkkopf eines Manipulators
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4685861A (en) * 1984-10-30 1987-08-11 Michael Madock Continuous shaft-driven industrial robot
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
FR2620961B1 (fr) * 1987-09-30 1990-01-19 Euritech Bras de manipulation telescopique
FR2688436B1 (fr) * 1992-03-16 1994-10-28 Innovations Tech Telemanipulateur maitre-esclave mecanique a genouilleres perfectionnees.
US6871563B2 (en) * 2001-02-26 2005-03-29 Howie Choset Orientation preserving angular swivel joint

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE701190C (de) * 1935-01-15 1941-01-10 Eugen Reintjes Kegelraeder-Planetengetriebe
US2632574A (en) * 1949-12-16 1953-03-24 Raymond C Goertz Remote-control manipulator
US2679940A (en) * 1951-06-28 1954-06-01 Atomic Energy Commission Electrical manipulator
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
FR1187997A (fr) * 1959-01-20 1959-09-17 Commissariat Energie Atomique Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches
US2959301A (en) * 1957-10-07 1960-11-08 Willsea Jasper Transfer mechanism
DE1115098B (de) 1958-01-04 1961-10-12 Siemens Ag Einrichtung zum Einstellen des Abstandes der gemeinsam angetriebenen Bohrspindeln eines zweispindeligen Bohrkopfes
FR1285335A (fr) * 1961-01-10 1962-02-23 Saint Gobain Nucleaire Télémanipulateur mécanique pour le travail en enceinte chaude

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1143537A (en) * 1913-09-23 1915-06-15 Gen Electric Differential driving mechanism.
US2235013A (en) * 1936-11-03 1941-03-18 Wright Aeronautical Corp Multiple control
US2518720A (en) * 1948-09-07 1950-08-15 Elmer C Richardson Arc lamp control
US3033059A (en) * 1958-09-19 1962-05-08 Gen Mills Inc Drive means for remote control manipulator
BE582789A (en:Method) * 1958-09-19

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE701190C (de) * 1935-01-15 1941-01-10 Eugen Reintjes Kegelraeder-Planetengetriebe
US2632574A (en) * 1949-12-16 1953-03-24 Raymond C Goertz Remote-control manipulator
US2679940A (en) * 1951-06-28 1954-06-01 Atomic Energy Commission Electrical manipulator
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
US2959301A (en) * 1957-10-07 1960-11-08 Willsea Jasper Transfer mechanism
DE1115098B (de) 1958-01-04 1961-10-12 Siemens Ag Einrichtung zum Einstellen des Abstandes der gemeinsam angetriebenen Bohrspindeln eines zweispindeligen Bohrkopfes
FR1187997A (fr) * 1959-01-20 1959-09-17 Commissariat Energie Atomique Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches
FR74850E (fr) * 1959-01-20 1961-03-03 Commissariat Energie Atomique Télémanipulateur à transmission magnétique pour manipulation à l'intérieur d'enceintes étanches
FR1285335A (fr) * 1961-01-10 1962-02-23 Saint Gobain Nucleaire Télémanipulateur mécanique pour le travail en enceinte chaude

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2028087A1 (de) * 1969-06-06 1970-12-17 Central Research Laboratories Inc., Red Wing, Minn. (V.St.A.) Handgelenk für einen Manipulator
DE2921983A1 (de) 1978-05-31 1980-02-07 Central Research Lab Inc Master-slave-manipulator
DE2954648C2 (en:Method) * 1978-05-31 1992-07-02 Central Research Laboratories, Inc., Red Wing, Minn., Us
DE3049577A1 (de) * 1980-12-31 1982-07-29 Kernforschungszentrum Karlsruhe Gmbh, 7500 Karlsruhe Arbeitsarm fuer einen manipulator mit teleskopischer laengenverstellung
DE202010012232U1 (de) * 2010-09-06 2011-12-08 Wälischmiller Engineering GmbH Vorrichtung mit einer Antriebseinheit zum Antrieb eines Manipulatorarms eines Manipulators und Manipulator

Also Published As

Publication number Publication date
SE310030B (en:Method) 1969-04-14
LU43604A1 (en:Method) 1963-06-22
US3315542A (en) 1967-04-25
GB1006272A (en) 1965-09-29
FR1350624A (fr) 1964-01-31
BE631545A (en:Method)
NL291905A (en:Method)
CH398814A (fr) 1966-03-15

Similar Documents

Publication Publication Date Title
DE2945189C2 (de) Mechanischer Arm
DE3431033C3 (de) Roboterhandgelenk
DE2640055C3 (de) Rohrkrfimmermanipulator, insbesondere zur Ultraschallprüfung bei Kernreaktoranlagen
DE2323407C2 (de) Telemanipulator
DE60005187T2 (de) Instrument zur endoskopischen chirurgie
DE102006003548B4 (de) Zangen- oder Schereninstrument mit Getriebeverbindung
DE1291084B (de) Getriebeverbindung zum voneinander unabhaengigen Kuppeln von zwei Bewegungen zweier um eine gemeinsame Achse verdrehbarer Glieder eines Manipulators
EP0054763A1 (de) Getriebeanordnung für einen mit dem Ausleger eines Manipulators verbundenen Gelenkkopf
DE2751579A1 (de) Fernbedienungsvorrichtung
DE3909150A1 (de) Ventilbetaetigungsantrieb mit differential-schnecken-planetengetriebe
DE602005004453T2 (de) Gelenkmechanismus mit zwei Aktuatoren für eine Roboterhand und dergleichen
DE102018128444A1 (de) Roboterstruktur
DE2905927A1 (de) Manipulator
DE2048563A1 (de) Telemampulator
DE1603745A1 (de) Fernhandhabungsvorrichtung oder Manipulator
DE2941548A1 (de) Mitnahme- und festsetzungsvorrichtung mit zentralsteuerung fuer unter flugzeugen mitgefuehrte lasten
DE2028087A1 (de) Handgelenk für einen Manipulator
DE2033865B2 (de) Winkelbewegliche ein und ausruckbare Bogenzahnkupplung
DE1650626A1 (de) Stellmotor,insbesondere zum Verstellen der Tragfluegel eines Flugzeuges veraenderlicher Geometrie
DE10032098C2 (de) Roboterarm
DE858332C (de) Vorrichtung zur wahlweisen voneinander unabhaengigen Verstellung der Fuellungs- oder Drehzahlregeleinrichtung von Brennkraftmaschinen von Hand oder/und motorisch
DE2331504C2 (de) Steuerbarer Antrieb für eine Reifenaufbautrommel
DE2257609A1 (de) Zange fuer den arbeitsarm eines ferngesteuerten manipulators
DE1011240B (de) Umlaufraedergetriebe
DE384923C (de) UEbersetzungsgetriebe