DE2819976C2 - Articulated arm with wrapped parallelogram function - Google Patents

Articulated arm with wrapped parallelogram function

Info

Publication number
DE2819976C2
DE2819976C2 DE2819976A DE2819976A DE2819976C2 DE 2819976 C2 DE2819976 C2 DE 2819976C2 DE 2819976 A DE2819976 A DE 2819976A DE 2819976 A DE2819976 A DE 2819976A DE 2819976 C2 DE2819976 C2 DE 2819976C2
Authority
DE
Germany
Prior art keywords
articulated arm
wrapped
joint
rails
parallelogram
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
DE2819976A
Other languages
German (de)
Other versions
DE2819976A1 (en
Inventor
Fritz 5882 Meinerzhagen Sträter
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to DE2819976A priority Critical patent/DE2819976C2/en
Publication of DE2819976A1 publication Critical patent/DE2819976A1/en
Application granted granted Critical
Publication of DE2819976C2 publication Critical patent/DE2819976C2/en
Expired 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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
    • F16H37/126—Guiding mechanism using levers combined with gearings for straight line output movement, e.g. by using gears or pulleys with ratio 2:1
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/04—Guiding mechanisms, e.g. for straight-line guidance
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms

Description

Die Erfindung betrifft einen Gelenkarm mit umhüllter Paraileiogrammfunktion, wobei das Gehäuse mit Gelenkachsen ausgestattet istThe invention relates to an articulated arm with a covered Paraileiogrammfunktion, with the housing with Articulated axes is equipped

Ein derartiger Gelenkarm, von dem die Erfindung ausgeht, ist aus der DE-PS 8 64 223 bekanntSuch an articulated arm, from which the invention is based, is known from DE-PS 8 64 223

Letzere offenbart eine Vorrichtung zur Parallelführung eines Gerätes, wie zum Beispiel eines Zeichenkopfes mit einem oder mehreren hintereinander geschalteten Führungsarmen, wobei die Parallelführung mit Hilfe von Kreis- oder Kreissegmentscheiben erfolgt, die in den Enden der Führungsarme drehbar gelagert sind und durch Wälzkörper kraft- oder formschlüssig derart miteinander verbunden sind, daß beim Verschwenken eines Armes um die im Schwenkpunkt feststehende Kreis- oder K.reissegmentscheibe -Wen Relativbewegung gegenüber dem Lenker gleichsinnig auf die am anderen Lenkerende angeordnete, gegebenenfalls das zu führende Gerät aufnehmende Kreis- oder Kreissegmentscheibe übertragen wird.The latter discloses a device for parallel guidance of a device, such as a drawing head with one or more guide arms connected one behind the other, the parallel guidance being carried out with the aid of circular or circular segment disks which are rotatably mounted in the ends of the guide arms and are non-positively or positively locked by rolling elements are connected to each other in such a way that when an arm is pivoted around the circular or circular segment disk fixed at the pivot point, relative movement with respect to the handlebar is transmitted in the same direction to the circular or circular segment disk which is arranged at the other end of the handlebar and which may be used to accommodate the device to be guided.

Dabei sind alle Glieder in Gehäusen angeordnet. Bei dieser Vorrichtung ist zwar die bei ferner bekannten Parallelogrammführungen (Lenkerführungen) sind ergebende Verletzungsgefahr durch die beim Verschwecken des Gelenkarmes sich einander nähernden Lenker ausgeschlossen, aber ihre Herstellung ist relativ kompliziert und teuer.All links are arranged in housings. In this device, although that is also known in the case of Parallelogram guides (handlebar guides) are a resulting risk of injury from being swallowed up of the articulated arm, approaching handlebars are excluded, but their manufacture is relative complicated and expensive.

Aufgabe der Erfindung ist es nun, einen Gelenkarm der im Oberbegriff des Anspruches 1 angegebenen Art derart zu verbessern, daß unter Beibehaltung des beim Stand der Technik bereits erreichten Vorteiles, nämlich daß eine Verletzungsgefahr weitgehend ausgeschlossen ist, darüber hinaus eine Vereinfachung des Gelenkarmes erreichbar ist, die auch eine preiswertere Herstellung ergibt.The object of the invention is now to provide an articulated arm of the type specified in the preamble of claim 1 to be improved in such a way that while maintaining the advantage already achieved in the prior art, namely that a risk of injury is largely excluded, in addition, a simplification of the articulated arm is achievable, which also results in a cheaper production.

Die Lösung dieser Aufgabe ist dadurch gekennzeichnet, daß die Gehäuseschalen als Lenker zwischen den Gelenkachsen ausgebildet sind und daß für die Paraileiogrammfunktion ein einziges Schienenpaar zwischen den Gehäuseschalen vorgesehen ist daß exzentrisch an auf den Gelenkachsen angeordneten Gelenkscheiben angreiftThe solution to this problem is characterized in that the housing shells as a link between the Joint axes are formed and that a single pair of rails for the Paraileiogrammfunktion is provided between the housing shells that eccentrically arranged on the hinge axes Attacks joint discs

Hieraus resultiert ein Gelenkarm geschlossenerThis results in a more closed articulated arm

Bauweise, bei dem sich die Herstellung und MontageConstruction in which the manufacture and assembly

ίο des bislang erforderlichen zweiten und mit den Gelenkscheiben gelenkig zu verbindenden Lenkers erübrigtίο the second required so far and with the Articulated disks to be connected to articulated handlebars unnecessary

Zwar ist aus der US-PS 35 66 713 eine Lenkeranordnung bekannt bei der die Paraileiogrammfunktion ein ι > einziger Lenker ausübt aber hierbei sind die Schwingen ortsfest gehaltert so daß dieser Stand der Technik zur Entwicklung des erfindungsgemäßen Gelenkarmes keine ausreichenden technischen Anregungen zu geben vermag.It is true that from US-PS 35 66 713 a handlebar arrangement is known in which the Paraileiogrammfunktion a ι> only handlebar exercises but here the wings are fixed so that this state of the art for Development of the articulated arm according to the invention did not give sufficient technical suggestions able.

Eine unter Umständen bevorzugte Variante des vorbeschriebenen Gegenstandes besteht darin, daß das Schienenpaar von einem inneniiegenden Drahtseil gebildet wird, welches um die Gelenkscheiben herumgeführt wird und an diesen jeweils befestigt ist
Der Stand der Technik und Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden im folgenden näher beschriebei.. Es zeigtA variant of the above-described subject which may be preferred under certain circumstances consists in that the pair of rails is formed by an internal wire rope which is guided around the joint disks and is fastened to them in each case
The prior art and exemplary embodiments of the invention are shown in the drawings and are described in more detail below. It shows

F i g. I einen Gefenkarm bekannter Art mit zwei gleichlangen parallelogrammartig miteinander verbundenen Lenkern,F i g. I a known type of cage arm with two parallelograms of equal length connected to one another Handlebars,

F i g. 2 einen erfbidungsgemäß ausgebildeten Gelenkarm in der Vorderansicht,F i g. 2 an articulated arm designed according to the invention in the front view,

Fig.3 desgleichen im Schnitt HI-III der Fig.4 gesehen,
J5 F i g. 4 desgleichen in der SeitenansichtFig. 3 also seen in section HI-III of Fig. 4,
J5 F i g. 4 the same in the side view

Fig.5 eine Variante gemäß der Linie III-III der F i g. 4 gesehen.5 shows a variant along the line III-III of F i g. 4 seen.

Der erfindungsgemäße Gelenkarm, welcher mit demThe articulated arm according to the invention, which with the

einen Endteil an einen Gelerikarm 1 und mit deman end part to a Gelerikarm 1 and with the

■ίο anderen Endteil an einen Gelenkarni 2 angelenkt ist, umfaßt zwei Gehäuseschalen 3 und 4, die um an den Gelenkarmen 1 und 2 gehalterte Achsen 5 bzw. 6 drehbar gelagert sind, und ein einziges, zwischen den Gehäuseschalen 3 und 4 vorgesehenes Schienenpaar 7.■ ίο the other end part is hinged to a joint arm 2, comprises two housing shells 3 and 4 around axes 5 and 6, respectively, which are supported on the articulated arms 1 and 2 are rotatably mounted, and a single pair of rails 7 provided between the housing shells 3 and 4.

Das Schienenpaar 7 ist exzentrisch an auf den Gelenkachsen 3 und 4 angeordneten Gelenkscheiben 8 und 9 angelenkt.The pair of rails 7 is eccentric on joint disks 8 arranged on the joint axes 3 and 4 and 9 hinged.

In F i g. 5 wird das Schienenpaar 7 durch ein innerhalb der Gehäuseschalen 3 und 4 angeordnetes, um die V) Gelenkscheiben 8 und 9 herumgeführtes und an den Gelenkscheiben befestigtes Drahtseil 10 gebildet.In Fig. 5, the pair of rails 7 is formed by a wire rope 10 arranged inside the housing shells 3 and 4, guided around the V) joint disks 8 and 9 and fastened to the joint disks.

In strichpunktierten Linien sind mögliche Schwenkstcllungen des Gelenkarmes dargestellt.Possible pivot positions are shown in dash-dotted lines of the articulated arm.

Hierzu 2 Blatt ZeichnungenFor this purpose 2 sheets of drawings

Claims (1)

Patentansprüche:Patent claims: 1. Gelenkarm mit umhüllter Parallelogrammfunktion, wobei das Gehäuse mit Gelenkachsen ausgestattet ist, dadurch gekennzeichnet, daß die Gehäuseschalen (3, 4) ais Lenker zwischen den Gelenkachsen (5,6) ausgebildet sind und daß für die Parallelogrammfunktion ein einziges Schienenpaar (7) rwischen den Gehäuseschalen vorgesehen ist, das exzentrisch an auf den Gelenkachsen angeordneten Gelenkscheiben (8,9) angreift1. Articulated arm with wrapped parallelogram function, the housing being equipped with hinge axles, characterized in that the housing shells (3, 4) are formed as a link between the hinge axes (5,6) and that for the Parallelogram function, a single pair of rails (7) is provided between the housing shells engages eccentrically on flexible disks (8, 9) arranged on the joint axes Z Gelenkarm nach Anspruch 1, dadurch gekennzeichnet, daß das Schienenpaar (7) von einem innenliegenden Drahtseil (10) gebildet wird, welches um die Gelenkscheiben (8,9) herumgeführt wird und an diesen jeweils befestigt ist.Z articulated arm according to claim 1, characterized in that the pair of rails (7) from one inner wire rope (10) is formed, which is guided around the joint disks (8,9) and is attached to each of these.
DE2819976A 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function Expired DE2819976C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2819976A DE2819976C2 (en) 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2819976A DE2819976C2 (en) 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function

Publications (2)

Publication Number Publication Date
DE2819976A1 DE2819976A1 (en) 1979-11-15
DE2819976C2 true DE2819976C2 (en) 1984-03-08

Family

ID=6038830

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2819976A Expired DE2819976C2 (en) 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function

Country Status (1)

Country Link
DE (1) DE2819976C2 (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3918179C1 (en) * 1989-06-03 1989-12-28 Fritz Straeter
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US6461372B1 (en) 1995-06-07 2002-10-08 Sri International System and method for releasably holding a surgical instrument
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US7890211B2 (en) 1992-01-21 2011-02-15 Intuitive Surgical Operations, Inc. Master-slave manipulator system and apparatus
US8337521B2 (en) 2002-12-06 2012-12-25 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8911428B2 (en) 2001-06-29 2014-12-16 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9005112B2 (en) 2001-06-29 2015-04-14 Intuitive Surgical Operations, Inc. Articulate and swapable endoscope for a surgical robot
CN108098747A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of wu-zhi-shan pig of the electronic clamping jaw of band

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2671505B1 (en) * 1991-01-11 1995-02-03 Ecole Centrale Arts Manufactur DEVICE FOR THE SPACE TRANSLATION MOVEMENT OF AN ELEMENT INTO SPACE, PARTICULARLY FOR A MECHANICAL ROBOT.
DE69312053T2 (en) 1992-01-21 1997-10-30 Stanford Res Inst Int TELEOPERATEURSYSTEM AND METHOD WITH TELE PRESENCE
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
FR2716400B1 (en) * 1994-02-22 1996-04-26 Onera (Off Nat Aerospatiale) Manipulator device, with parallel structure, for moving an object in a cylindrical workspace.
FR2754206B1 (en) * 1996-10-09 1998-10-30 Commissariat Energie Atomique ARTICULATED MECHANICAL ARM
US6493608B1 (en) 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
US9261172B2 (en) 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE7722585U1 (en) * 1900-01-01 Straeter, Fritz, 5882 Meinerzhagen
DE864223C (en) * 1951-02-18 1953-01-22 Alfred Dipl-Ing Schubkegel Device for parallel guidance of a device
DE1281631B (en) * 1962-05-05 1968-10-31 Medizintechnik Leipzig Veb Dental unit
US3566713A (en) * 1969-07-16 1971-03-02 Sybron Corp Link for control linkage
DE1941303B2 (en) * 1969-08-14 1972-01-05 Siemens AG, 1000 Berlin u 8000 München DENTAL TREATMENT CHAIR

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3918179C1 (en) * 1989-06-03 1989-12-28 Fritz Straeter
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US7890211B2 (en) 1992-01-21 2011-02-15 Intuitive Surgical Operations, Inc. Master-slave manipulator system and apparatus
US8048088B2 (en) 1995-06-07 2011-11-01 Sri International Surgical manipulator for a telerobotic system
US8500753B2 (en) 1995-06-07 2013-08-06 Sri International Surgical manipulator for a telerobotic system
US6461372B1 (en) 1995-06-07 2002-10-08 Sri International System and method for releasably holding a surgical instrument
US7648513B2 (en) 1995-06-07 2010-01-19 Sri International Surgical manipulator for a telerobotic system
US7824424B2 (en) 1995-06-07 2010-11-02 Sri International System and method for releasably holding a surgical instrument
US6413264B1 (en) 1995-06-07 2002-07-02 Sri International Surgical manipulator for a telerobotic system
US8012160B2 (en) 1995-06-07 2011-09-06 Sri International System and method for releasably holding a surgical instrument
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US8840628B2 (en) 1995-06-07 2014-09-23 Intuitive Surgical Operations, Inc. Surgical manipulator for a telerobotic system
US6620174B2 (en) 1995-06-07 2003-09-16 Sri International Surgical manipulator for a telerobotic system
US8911428B2 (en) 2001-06-29 2014-12-16 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9005112B2 (en) 2001-06-29 2015-04-14 Intuitive Surgical Operations, Inc. Articulate and swapable endoscope for a surgical robot
US8690908B2 (en) 2002-12-06 2014-04-08 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8790243B2 (en) 2002-12-06 2014-07-29 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8337521B2 (en) 2002-12-06 2012-12-25 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9095317B2 (en) 2002-12-06 2015-08-04 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
CN108098747A (en) * 2017-12-27 2018-06-01 华南智能机器人创新研究院 A kind of wu-zhi-shan pig of the electronic clamping jaw of band

Also Published As

Publication number Publication date
DE2819976A1 (en) 1979-11-15

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Legal Events

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8101 Request for examination as to novelty
8105 Search report available
8110 Request for examination paragraph 44
8125 Change of the main classification

Ipc: F16H 21/10

D2 Grant after examination
8331 Complete revocation