DE3601456C2 - - Google Patents

Info

Publication number
DE3601456C2
DE3601456C2 DE3601456A DE3601456A DE3601456C2 DE 3601456 C2 DE3601456 C2 DE 3601456C2 DE 3601456 A DE3601456 A DE 3601456A DE 3601456 A DE3601456 A DE 3601456A DE 3601456 C2 DE3601456 C2 DE 3601456C2
Authority
DE
Germany
Prior art keywords
tool
axes
rotation
mechanical wrist
wrist mechanism
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 - Lifetime
Application number
DE3601456A
Other languages
German (de)
English (en)
Other versions
DE3601456A1 (de
Inventor
Hadi A. Sterling Heights Mich. Us Akeel
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.)
Fanuc Robotics North America Inc
Original Assignee
GMF ROBOTICS CORP TROY MICH US
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 GMF ROBOTICS CORP TROY MICH US filed Critical GMF ROBOTICS CORP TROY MICH US
Publication of DE3601456A1 publication Critical patent/DE3601456A1/de
Application granted granted Critical
Publication of DE3601456C2 publication Critical patent/DE3601456C2/de
Granted 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
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE19863601456 1985-01-22 1986-01-20 Mechanischer gelenkmechanismus Granted DE3601456A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US69299485A 1985-01-22 1985-01-22

Publications (2)

Publication Number Publication Date
DE3601456A1 DE3601456A1 (de) 1986-07-24
DE3601456C2 true DE3601456C2 (ja) 1992-02-27

Family

ID=24782889

Family Applications (1)

Application Number Title Priority Date Filing Date
DE19863601456 Granted DE3601456A1 (de) 1985-01-22 1986-01-20 Mechanischer gelenkmechanismus

Country Status (3)

Country Link
JP (1) JPS61168487A (ja)
CA (1) CA1245691A (ja)
DE (1) DE3601456A1 (ja)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE466994B (sv) * 1988-04-13 1992-05-11 Asea Brown Boveri Robothandled
DE3937706A1 (de) * 1989-11-13 1991-05-16 Niko Maschinen Automation Gmbh Roboter mit mindestens einem roboterarm
JP3467273B2 (ja) * 1992-02-29 2003-11-17 シュテーデレ，ベルタ 対象物体を操作する装置
US5661387A (en) * 1992-02-29 1997-08-26 Stadele, Deceased; Erhard Device for manipulating objects in a gripper or the like
JP2746543B2 (ja) * 1995-02-21 1998-05-06 株式会社神戸製鋼所 産業用ロボットの手首装置
EP1227759B1 (de) * 1999-10-14 2004-01-02 Karl Storz GmbH & Co. Drehgelenk für medizinische instrumente
DE10205593A1 (de) * 2002-02-11 2003-08-21 Duerr Systems Gmbh Beschichtungsmaschine mit einem Zerstäuber und einem Zerstäuber und einem Drehgelenk
CN106142131A (zh) * 2016-08-03 2016-11-23 希美埃（芜湖）机器人技术有限公司 一种喷涂机器人中空手腕结构
CN108638120A (zh) * 2018-06-15 2018-10-12 广州启帆工业机器人有限公司 多工位喷涂机械手腕
EP4137710A1 (de) * 2021-08-20 2023-02-22 maxon international ag Ausgangslageranordnung für einen gelenkantrieb, insbesondere einen robotergelenkantrieb

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1083111B (it) * 1977-05-18 1985-05-21 Bisiach & Carru Testa portautensile per macchina operatrice particolarmente per pinze di saldatura a resistenza o torce per saldatura in tig mig o mag
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
JPS6133887A (ja) * 1984-07-27 1986-02-17 フアナツク株式会社 工業用ロボツトの中空腕構造

Also Published As

Publication number Publication date
CA1245691A (en) 1988-11-29
JPS61168487A (ja) 1986-07-30
JPH0446720B2 (ja) 1992-07-30
DE3601456A1 (de) 1986-07-24

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Legal Events

Date Code Title Description
8110 Request for examination paragraph 44
D2 Grant after examination
8363 Opposition against the patent
8365 Fully valid after opposition proceedings
8327 Change in the person/name/address of the patent owner

Owner name: FANUC ROBOTICS NORTH AMERICA, INC., ROCHESTER HILL