DE3276225D1 - Directional wrist with three rotational axes for an industrial robot - Google Patents
Directional wrist with three rotational axes for an industrial robotInfo
- Publication number
- DE3276225D1 DE3276225D1 DE8282401618T DE3276225T DE3276225D1 DE 3276225 D1 DE3276225 D1 DE 3276225D1 DE 8282401618 T DE8282401618 T DE 8282401618T DE 3276225 T DE3276225 T DE 3276225T DE 3276225 D1 DE3276225 D1 DE 3276225D1
- Authority
- DE
- Germany
- Prior art keywords
- wrist
- directional
- industrial robot
- rotational axes
- axes
- 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
- 210000000707 wrist Anatomy 0.000 title 1
Classifications
-
- 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
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
-
- 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)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8117426A FR2512727A1 (fr) | 1981-09-15 | 1981-09-15 | Poignet orientable a trois axes de rotation pour robot industriel |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3276225D1 true DE3276225D1 (en) | 1987-06-11 |
Family
ID=9262161
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8282401618T Expired DE3276225D1 (en) | 1981-09-15 | 1982-09-02 | Directional wrist with three rotational axes for an industrial robot |
Country Status (5)
Country | Link |
---|---|
US (2) | US4527945A (de) |
EP (1) | EP0074882B1 (de) |
JP (1) | JPS5856791A (de) |
DE (1) | DE3276225D1 (de) |
FR (1) | FR2512727A1 (de) |
Families Citing this family (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59187492A (ja) * | 1983-04-05 | 1984-10-24 | 株式会社神戸製鋼所 | 関節機構 |
DE8310054U1 (de) * | 1983-04-06 | 1986-02-27 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenk |
FR2557490B1 (fr) * | 1984-01-04 | 1986-05-09 | Barland Ets | Tete articulee pour robot industriel et robot equipe d'une telle tete |
CA1245244A (en) * | 1984-04-30 | 1988-11-22 | Richard S. Antoszewski | Robotic wrist |
DE8430397U1 (de) * | 1984-10-16 | 1986-05-28 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenkmechanismus |
FR2574335B1 (fr) * | 1984-12-07 | 1989-05-12 | Villejuif Etudes Indles | Dispositif d'articulation |
DE3513705A1 (de) * | 1985-04-16 | 1986-10-23 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Industrieroboter mit schwenkarm |
FR2582978B1 (fr) * | 1985-06-10 | 1987-09-04 | Barland Michel | Tete articulee pour robot industriel et robot equipe d'une telle tete |
US4712973A (en) * | 1986-05-15 | 1987-12-15 | Westinghouse Electric Corp. | Two servo axis, AC powered robot wrist |
FR2599290B1 (fr) * | 1986-05-27 | 1994-07-29 | Afma Robots | Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes. |
JPS62287991A (ja) * | 1986-06-09 | 1987-12-14 | ファナック株式会社 | 産業用ロボツトの手首駆動機構 |
SE453580B (sv) * | 1986-06-12 | 1988-02-15 | Asea Ab | Robothandled med glappjustering |
DE3634048A1 (de) * | 1986-10-06 | 1988-04-14 | Manutec Gmbh | Robotergelenkanordnung |
FR2620837B1 (fr) * | 1987-09-21 | 1990-11-30 | Commissariat Energie Atomique | Dispositif d'orientation d'un objet autour de deux axes de rotation |
JPH0194540U (de) * | 1987-12-16 | 1989-06-22 | ||
JP2514789Y2 (ja) * | 1989-02-09 | 1996-10-23 | 川崎重工業株式会社 | 産業用ロボットの手首構造 |
JP2592340B2 (ja) * | 1989-12-14 | 1997-03-19 | 本田技研工業株式会社 | 脚式歩行ロボットの関節構造 |
IT1241622B (it) * | 1990-10-04 | 1994-01-25 | Comau Spa | Polso di robot |
JP2572483B2 (ja) * | 1990-10-16 | 1997-01-16 | 本田技研工業株式会社 | 産業用ロボット装置 |
IT1245433B (it) * | 1991-03-04 | 1994-09-20 | Comau Spa | Polso di robot industriale |
US5255571A (en) * | 1992-06-25 | 1993-10-26 | United Parcel Service Of America, Inc. | Three degree of freedom actuator system |
JP2590404B2 (ja) * | 1994-10-20 | 1997-03-12 | 帝人製機株式会社 | 産業ロボットの関節装置 |
US5881604A (en) * | 1996-08-09 | 1999-03-16 | Honda Giken Kogyo Kabushiki Kaisha | Industrial robot |
JPH1029189A (ja) * | 1997-03-12 | 1998-02-03 | Teijin Seiki Co Ltd | 産業ロボットの関節装置 |
SE0202264D0 (sv) * | 2002-07-18 | 2002-07-18 | Abb Ab | Industrial robot |
US8006586B2 (en) * | 2007-03-12 | 2011-08-30 | Comau S.P.A. | Articulated robot wrist |
KR100963633B1 (ko) | 2008-07-14 | 2010-06-15 | 한양대학교 산학협력단 | 로봇용 어깨 관절 액츄에이터 |
EP2419244B1 (de) | 2009-04-15 | 2013-03-06 | ABB Research Ltd. | Vorrichtung für einen roboterarm |
CN102049783A (zh) * | 2009-11-10 | 2011-05-11 | 鸿富锦精密工业(深圳)有限公司 | 机器人结构 |
DE102013018857A1 (de) * | 2013-11-11 | 2015-05-13 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vorrichtung nach Art eines Knickarmroboters |
CN103707292B (zh) * | 2013-12-30 | 2015-08-19 | 上海交通大学 | 基于xyz直角坐标关节和姿态腕的6自由度工业机器人 |
CN103978475B (zh) * | 2014-05-05 | 2015-10-21 | 重庆优楷科技有限公司 | 工业智能机器人本体 |
CN106564070A (zh) * | 2015-10-12 | 2017-04-19 | 海宁新越电子科技有限公司 | 一种系列化小型机器人关节结构 |
CN105479453B (zh) * | 2015-12-16 | 2017-09-08 | 嘉兴布鲁艾诺机器人有限公司 | 一种新型机械臂 |
CN106003008A (zh) * | 2016-06-15 | 2016-10-12 | 上海未来伙伴机器人有限公司 | 类人机器人智能电机装置 |
CN106863347B (zh) * | 2017-03-07 | 2023-08-18 | 壹利特机器人科技(常州)有限公司 | 一种模块化两自由度机器人关节 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2730698A (en) * | 1951-03-26 | 1956-01-10 | Sperry Rand Corp | Position indicating apparatus |
US3043448A (en) * | 1958-09-19 | 1962-07-10 | Gen Mills Inc | Vehicle-mounted manipulator |
US3033059A (en) * | 1958-09-19 | 1962-05-08 | Gen Mills Inc | Drive means for remote control manipulator |
US3381485A (en) * | 1965-10-23 | 1968-05-07 | Battelle Development Corp | General purpose underwater manipulating system |
SE321811B (de) * | 1966-03-16 | 1970-03-16 | Jungner Instrument Ab | |
US3505576A (en) * | 1966-07-12 | 1970-04-07 | Litton Business Systems Inc | Digital servomechanism including an inductive position encoder |
DE2226407C3 (de) * | 1972-05-31 | 1978-10-12 | Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe | Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung |
DE2228598A1 (de) * | 1972-06-12 | 1974-01-03 | Jens Dr Rer Nat Geerk | Anthropomorpher manipulator |
FR2310842A1 (fr) * | 1975-05-15 | 1976-12-10 | Renault | Tete pour robot ou manipulateur comportant au moins un axe de rotation |
FR2315629A1 (fr) * | 1975-06-24 | 1977-01-21 | Sofermo | Pivot modulaire autonome pour mecanismes divers en particulier pour robot |
US4068763A (en) * | 1976-07-26 | 1978-01-17 | Nasa | Wrist joint assembly |
US4149278A (en) * | 1977-09-27 | 1979-04-17 | Nasa | Compact artificial hand |
DE2754609A1 (de) * | 1977-12-08 | 1979-06-13 | Karlsruhe Augsburg Iweka | Antriebsaggregat fuer die handachsen eines handhabungsgeraetes |
JPS5824237B2 (ja) * | 1979-02-01 | 1983-05-19 | 株式会社明電舎 | マニプレ−タの腕部作動装置 |
FR2461556A1 (fr) * | 1979-07-18 | 1981-02-06 | Bretagne Atel Chantiers | Bras de manipulation a distance |
JPS5727686A (en) * | 1980-07-21 | 1982-02-15 | Hitachi Ltd | Industrial articular robot |
US4380928A (en) * | 1980-08-29 | 1983-04-26 | Aisin Seiki Company, Limited | Rotational angle sensor |
-
1981
- 1981-09-15 FR FR8117426A patent/FR2512727A1/fr active Granted
-
1982
- 1982-09-02 EP EP82401618A patent/EP0074882B1/de not_active Expired
- 1982-09-02 DE DE8282401618T patent/DE3276225D1/de not_active Expired
- 1982-09-13 JP JP57158259A patent/JPS5856791A/ja active Pending
- 1982-09-14 US US06/417,851 patent/US4527945A/en not_active Expired - Fee Related
-
1985
- 1985-04-19 US US06/724,896 patent/US4576544A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP0074882B1 (de) | 1987-05-06 |
US4527945A (en) | 1985-07-09 |
EP0074882A2 (de) | 1983-03-23 |
JPS5856791A (ja) | 1983-04-04 |
FR2512727B1 (de) | 1984-10-19 |
EP0074882A3 (en) | 1984-05-02 |
US4576544A (en) | 1986-03-18 |
FR2512727A1 (fr) | 1983-03-18 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8339 | Ceased/non-payment of the annual fee |