DE3472070D1 - Manipulation arm mechanism for an industrial robot - Google Patents

Manipulation arm mechanism for an industrial robot

Info

Publication number
DE3472070D1
DE3472070D1 DE8484107347T DE3472070T DE3472070D1 DE 3472070 D1 DE3472070 D1 DE 3472070D1 DE 8484107347 T DE8484107347 T DE 8484107347T DE 3472070 T DE3472070 T DE 3472070T DE 3472070 D1 DE3472070 D1 DE 3472070D1
Authority
DE
Germany
Prior art keywords
industrial robot
arm mechanism
manipulation arm
manipulation
robot
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
DE8484107347T
Other languages
English (en)
Inventor
Makoto Kiuchi
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.)
Toyoda Koki KK
Original Assignee
Toyoda Koki KK
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
Priority claimed from JP11549583A external-priority patent/JPH0246359B2/ja
Priority claimed from JP58115494A external-priority patent/JPS609696A/ja
Application filed by Toyoda Koki KK filed Critical Toyoda Koki KK
Application granted granted Critical
Publication of DE3472070D1 publication Critical patent/DE3472070D1/de
Expired legal-status Critical Current

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/105—Programme-controlled manipulators characterised by positioning means for manipulator elements using eccentric means
    • 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
    • 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
    • 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
    • Y10T74/1955—Parallel shafts, adjustable gear mesh

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE8484107347T 1983-06-27 1984-06-26 Manipulation arm mechanism for an industrial robot Expired DE3472070D1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11549583A JPH0246359B2 (ja) 1983-06-27 1983-06-27 Robotsutonososasochi
JP58115494A JPS609696A (ja) 1983-06-27 1983-06-27 ロボツトの操作装置

Publications (1)

Publication Number Publication Date
DE3472070D1 true DE3472070D1 (en) 1988-07-21

Family

ID=26453987

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8484107347T Expired DE3472070D1 (en) 1983-06-27 1984-06-26 Manipulation arm mechanism for an industrial robot

Country Status (3)

Country Link
US (1) US4642021A (de)
EP (1) EP0130539B1 (de)
DE (1) DE3472070D1 (de)

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4637774A (en) * 1984-02-29 1987-01-20 Toyoda Koki Kabushiki Kaisha Industrial robot
DE3525806A1 (de) * 1985-07-19 1987-01-29 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
EP0242438A1 (de) * 1986-04-17 1987-10-28 Cincinnati Milacron Inc. Manipulator und einen Manipulator enthaltende robotartige Maschine
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
JPH0641117B2 (ja) * 1986-06-13 1994-06-01 株式会社日立製作所 ロボツトの手首装置
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
US4827786A (en) * 1987-02-11 1989-05-09 Cincinnati Milacron Inc. Preloaded antibacklash gear assembly
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
ATA155691A (de) * 1991-08-05 1993-04-15 Igm Robotersysteme Aktiengesel Getriebe zum antrieb eines gelenkes, insbesondere eines industrieroboters
JP2511894Y2 (ja) * 1991-09-30 1996-09-25 川崎重工業株式会社 産業用ロボット
US5738481A (en) * 1996-12-02 1998-04-14 Rogers; Vincent Universally actuable robot assembly
JP2003305682A (ja) * 2002-04-11 2003-10-28 Fanuc Ltd ロボット手首駆動機構
SE0303539D0 (sv) * 2003-12-22 2003-12-22 Abb Ab Anordning för en industrirobot
ATE485924T1 (de) * 2006-04-21 2010-11-15 Abb Ab Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters
US8006586B2 (en) * 2007-03-12 2011-08-30 Comau S.P.A. Articulated robot wrist
US20100126293A1 (en) * 2008-11-21 2010-05-27 Comau Inc. Robotic radial tool positioning system
US8640788B2 (en) * 2009-11-13 2014-02-04 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
KR101955296B1 (ko) 2009-11-13 2019-03-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴팩트 손목을 구비한 수술 도구
US9259275B2 (en) 2009-11-13 2016-02-16 Intuitive Surgical Operations, Inc. Wrist articulation by linked tension members
BR112012011424B1 (pt) 2009-11-13 2020-10-20 Intuitive Surgical Operations, Inc instrumento cirúrgico
CN102259337B (zh) * 2010-05-28 2013-11-06 鸿富锦精密工业（深圳）有限公司 机器人臂部件
DE102012208448A1 (de) 2012-05-21 2013-11-21 Kuka Roboter Gmbh Industrieroboter mit in einem Handgrundgehäuse sich erstreckenden Antrieben
JP6640821B2 (ja) * 2017-11-24 2020-02-05 ファナック株式会社 ロボットの構造
CN110977954A (zh) * 2019-11-18 2020-04-10 广东电网有限责任公司 一种长臂机器人
CN114367953A (zh) * 2021-11-26 2022-04-19 浙江大有实业有限公司带电作业分公司 一种配网带电作业机器人系统及其作业方法
CN114193424B (zh) * 2021-11-26 2023-12-15 浙江大有实业有限公司带电作业分公司 一种人机协同操作的配网带电作业机器人系统

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE837629C (de) * 1950-07-25 1952-04-28 Otto Kuehne Getriebe mit veraenderlichem Winkel von Antriebs- und Abtriebswelle
GB918241A (en) * 1959-07-06 1963-02-13 Smidth & Co As F L Improvements in gear trains
US2996929A (en) * 1959-11-20 1961-08-22 Orenda Engines Ltd Bevel gear transmission with back-lash control
JPS5425300B2 (de) * 1973-01-25 1979-08-27
DE2435156C2 (de) * 1974-07-22 1983-09-01 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmgesteuerter Manipulator
FR2310842A1 (fr) * 1975-05-15 1976-12-10 Renault Tete pour robot ou manipulateur comportant au moins un axe de rotation
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
DE2927485A1 (de) * 1979-07-07 1981-01-22 Daimler Benz Ag Dreiachsgelenk fuer manipulatoren, roboter, handhabungseinrichtungen o.dgl.
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
JPS5841996A (ja) * 1981-09-01 1983-03-11 旭硝子株式会社 紙用耐油剤
DE78113T1 (de) * 1981-10-26 1983-09-15 United Kingdom Atomic Energy Authority, London Manipulator.
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot

Also Published As

Publication number Publication date
EP0130539A3 (en) 1985-05-29
EP0130539B1 (de) 1988-06-15
EP0130539A2 (de) 1985-01-09
US4642021A (en) 1987-02-10

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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