DE3050870C2 - - Google Patents
Info
- Publication number
- DE3050870C2 DE3050870C2 DE19803050870 DE3050870A DE3050870C2 DE 3050870 C2 DE3050870 C2 DE 3050870C2 DE 19803050870 DE19803050870 DE 19803050870 DE 3050870 A DE3050870 A DE 3050870A DE 3050870 C2 DE3050870 C2 DE 3050870C2
- Authority
- DE
- Germany
- Prior art keywords
- drive
- shafts
- joint head
- boom
- housing
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- 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
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Claims (1)
- Antrieb für den Gelenkkopf eines Manipulators, dessen Ausleger an der dem Gelenkkopf abgewandten Seite, bezogen auf die Schwenkachse des Auslegers, drei daran angeordnete Antriebsmotoren aufweist, von denen aus drei im Gelenkkopf konzentrisch angeordnete Antriebswellen antreibbar sind, dadurch gekennzeichnet, daß die Antriebsmotoren (3, 4, 5) mit den Antriebswellen (11, 12, 13) über seitlich an der Schwenkachse (9) vorbeigeführte und zum Gelenkkopf (2) hin konvergierende Kreuzgelenkwellen (6, 7, 8) verbunden sind und die Antriebswellen (11, 12, 13) mit abtriebsseitig angeordneten Untersetzungsgetrieben zusammenwirken.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19803050870 DE3050870C2 (de) | 1980-12-19 | 1980-12-19 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19803050870 DE3050870C2 (de) | 1980-12-19 | 1980-12-19 | |
DE3048067A DE3048067C2 (de) | 1980-12-19 | 1980-12-19 | Getriebeanordnung für den Gelenkkopf eines Manipulators |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3050870C2 true DE3050870C2 (de) | 1988-06-16 |
Family
ID=25789863
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19803050870 Expired DE3050870C2 (de) | 1980-12-19 | 1980-12-19 |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE3050870C2 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4001885A1 (de) * | 1990-01-23 | 1991-07-25 | Kuka Schweissanlagen & Roboter | Mehrachsiger industrieroboter |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2226407A1 (de) * | 1972-05-31 | 1973-12-13 | Keller & Knappich Augsburg | Geraet zur maschinellen, durch veraenderbare programme steuerbaren handreichung |
DE2402829A1 (de) * | 1973-01-25 | 1974-08-01 | Tokyo Shibaura Electric Co | Industrie-manipulator |
DE2745932A1 (de) * | 1976-12-23 | 1978-06-29 | Cincinnati Milacron Inc | Manipulator |
DE2717870A1 (de) * | 1977-04-22 | 1978-10-26 | Volkswagenwerk Ag | Handhabungsautomat |
DE2654517B2 (de) * | 1976-12-01 | 1979-09-27 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Manipulator |
-
1980
- 1980-12-19 DE DE19803050870 patent/DE3050870C2/de not_active Expired
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2226407A1 (de) * | 1972-05-31 | 1973-12-13 | Keller & Knappich Augsburg | Geraet zur maschinellen, durch veraenderbare programme steuerbaren handreichung |
DE2402829A1 (de) * | 1973-01-25 | 1974-08-01 | Tokyo Shibaura Electric Co | Industrie-manipulator |
DE2654517B2 (de) * | 1976-12-01 | 1979-09-27 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Manipulator |
DE2745932A1 (de) * | 1976-12-23 | 1978-06-29 | Cincinnati Milacron Inc | Manipulator |
DE2717870A1 (de) * | 1977-04-22 | 1978-10-26 | Volkswagenwerk Ag | Handhabungsautomat |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4001885A1 (de) * | 1990-01-23 | 1991-07-25 | Kuka Schweissanlagen & Roboter | Mehrachsiger industrieroboter |
US5305652A (en) * | 1990-01-23 | 1994-04-26 | Kuka Schweissanlagen + Robotor Gmbh | Multiaxial industrial robot |
Similar Documents
Publication | Publication Date | Title |
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DE3048067C2 (de) | Getriebeanordnung für den Gelenkkopf eines Manipulators | |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
Q172 | Divided out of (supplement): |
Ref document number: 3048067 Ref country code: DE |
|
8110 | Request for examination paragraph 44 | ||
8172 | Supplementary division/partition in: |
Ref country code: DE Ref document number: 3051110 Format of ref document f/p: P |
|
Q171 | Divided out to: |
Ref document number: 3051110 Ref country code: DE |
|
AC | Divided out of |
Ref country code: DE Ref document number: 3048067 Format of ref document f/p: P |
|
D2 | Grant after examination | ||
8364 | No opposition during term of opposition | ||
8327 | Change in the person/name/address of the patent owner |
Owner name: KUKA ROBOTER GMBH, 86165 AUGSBURG, DE |