DE3777343D1 - Handgelenkseinheit eines industriellen roboters. - Google Patents
Handgelenkseinheit eines industriellen roboters.Info
- Publication number
- DE3777343D1 DE3777343D1 DE8787903747T DE3777343T DE3777343D1 DE 3777343 D1 DE3777343 D1 DE 3777343D1 DE 8787903747 T DE8787903747 T DE 8787903747T DE 3777343 T DE3777343 T DE 3777343T DE 3777343 D1 DE3777343 D1 DE 3777343D1
- Authority
- DE
- Germany
- Prior art keywords
- industrial robot
- wrist unit
- wrist
- unit
- 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 - Lifetime
Links
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
-
- 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
-
- 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
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19126—Plural drivers plural driven
- Y10T74/1913—Bevel
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61131748A JPS62287991A (ja) | 1986-06-09 | 1986-06-09 | 産業用ロボツトの手首駆動機構 |
PCT/JP1987/000360 WO1987007555A1 (en) | 1986-06-09 | 1987-06-09 | Wrist assembly of an industrial robot |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3777343D1 true DE3777343D1 (de) | 1992-04-16 |
Family
ID=15065268
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8787903747T Expired - Lifetime DE3777343D1 (de) | 1986-06-09 | 1987-06-09 | Handgelenkseinheit eines industriellen roboters. |
Country Status (6)
Country | Link |
---|---|
US (1) | US4972735A (de) |
EP (1) | EP0269751B1 (de) |
JP (1) | JPS62287991A (de) |
KR (1) | KR930002623B1 (de) |
DE (1) | DE3777343D1 (de) |
WO (1) | WO1987007555A1 (de) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5155423A (en) * | 1986-02-18 | 1992-10-13 | Robotics Research Corporation | Industrial robot with servo |
JP2591968B2 (ja) * | 1987-12-28 | 1997-03-19 | 株式会社日立製作所 | 産業用ロボットの手首 |
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 |
US5245263A (en) * | 1991-09-13 | 1993-09-14 | University Of Maryland | Anti-backlash drive systems for multi-degree freedom devices |
FI88604C (fi) * | 1991-11-27 | 1993-06-10 | Maillefer Nokia Holding | Anordning foer hantering av cylindriska, med centerhaol foersedda kroppar |
SE508735C2 (sv) * | 1995-01-27 | 1998-11-02 | Asea Brown Boveri | Handledsenhet till en industrirobot |
US5941679A (en) * | 1997-10-27 | 1999-08-24 | Fanuc Robotics North America, Inc. | Automotive door opening robot assembly |
JP2003305682A (ja) * | 2002-04-11 | 2003-10-28 | Fanuc Ltd | ロボット手首駆動機構 |
JP2006523775A (ja) * | 2003-03-18 | 2006-10-19 | ザ ペン ステート リサーチ ファウンデーション | オースフォーミングによって粉末金属製歯車を強靭にする方法および装置 |
JP4614878B2 (ja) * | 2005-12-28 | 2011-01-19 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンドの指ユニットおよび組立方法 |
JP4233578B2 (ja) | 2006-08-10 | 2009-03-04 | ファナック株式会社 | 産業用ロボットの手首駆動構造 |
JP4280295B2 (ja) | 2007-06-20 | 2009-06-17 | ファナック株式会社 | 産業用ロボット |
WO2010127701A1 (en) * | 2009-05-07 | 2010-11-11 | Abb Research Ltd | Pitch and roll robot joint and industrial robot |
US8498741B2 (en) * | 2009-09-22 | 2013-07-30 | Gm Global Technology Operations | Dexterous humanoid robotic wrist |
JP5387611B2 (ja) * | 2011-04-19 | 2014-01-15 | 株式会社安川電機 | 駆動機構およびロボット |
JP5434991B2 (ja) | 2011-09-01 | 2014-03-05 | 株式会社安川電機 | ロボット |
CN102554935A (zh) * | 2012-03-08 | 2012-07-11 | 南京埃斯顿机器人工程有限公司 | 一种低负载工业机器人腕部传动机构 |
JP5702826B2 (ja) * | 2013-04-30 | 2015-04-15 | ファナック株式会社 | 産業用ロボットの手首構造 |
JP6438193B2 (ja) * | 2013-12-16 | 2018-12-12 | 川崎重工業株式会社 | 多関節ロボットの手首構造 |
WO2016084177A1 (ja) * | 2014-11-26 | 2016-06-02 | 株式会社安川電機 | ロボットアーム、ロボットシステム、ギヤユニット、ロボットアームの製造方法 |
JP6498140B2 (ja) * | 2016-03-15 | 2019-04-10 | 平田機工株式会社 | 作業ユニット及び作業装置 |
GB2552383B (en) * | 2016-07-22 | 2022-08-24 | Cmr Surgical Ltd | Gear packaging for robotic joints |
JP7060529B2 (ja) * | 2019-01-23 | 2022-04-26 | ファナック株式会社 | バックラッシ削減機構を備えたロボット関節構造及びロボット |
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 |
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 |
CN114179071B (zh) * | 2021-12-30 | 2024-06-11 | 伯朗特机器人股份有限公司 | 一种工业机器人末端传动装置 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3748031A (en) * | 1970-04-06 | 1973-07-24 | Elco Corp | Projector and cartridge for combination visual and sound apparatus |
JPS5425300B2 (de) * | 1973-01-25 | 1979-08-27 | ||
US3901098A (en) * | 1973-12-17 | 1975-08-26 | Dotco Inc | Angle drive unit |
US4036076A (en) * | 1976-02-25 | 1977-07-19 | International Harvester Company | Gear adjusting, locking, and pre-loading means |
US4149278A (en) * | 1977-09-27 | 1979-04-17 | Nasa | Compact artificial hand |
DE2829895C2 (de) * | 1978-07-07 | 1983-10-06 | Volkswagenwerk Ag, 3180 Wolfsburg | Winkelgetriebe für eine Fahrzeuglenkung |
US4246661A (en) * | 1979-03-15 | 1981-01-27 | The Boeing Company | Digitally-controlled artificial hand |
JPS5727686A (en) * | 1980-07-21 | 1982-02-15 | Hitachi Ltd | Industrial articular robot |
US4376401A (en) * | 1980-12-05 | 1983-03-15 | Borzym John J | Bevel gear drive with means to control backlash for flying ram cutoff machine |
FR2512727A1 (fr) * | 1981-09-15 | 1983-03-18 | Renault | Poignet orientable a trois axes de rotation pour robot industriel |
JPS58177291A (ja) * | 1982-04-05 | 1983-10-17 | ヤマハ発動機株式会社 | 工業用ロボツトの作業ア−ム駆動装置 |
JPS5953176A (ja) * | 1982-09-21 | 1984-03-27 | フアナツク株式会社 | 工業用ロボツト |
JPS5973298A (ja) * | 1982-10-20 | 1984-04-25 | ファナック株式会社 | 工業用ロボツトの手首機構 |
US4642021A (en) * | 1983-06-27 | 1987-02-10 | Toyoda Koki Kabushiki Kaisha | Manipulation arm mechanism for an industrial robot |
US4557657A (en) * | 1983-10-05 | 1985-12-10 | Advanced Semiconductor Materials America, Inc. | Article handling apparatus and method |
JPS60127989A (ja) * | 1983-12-14 | 1985-07-08 | ファナック株式会社 | 産業用ロボットの手首駆動機構 |
DE8511948U1 (de) * | 1985-04-22 | 1985-07-11 | GdA Gesellschaft für digitale Automation mbH, 8000 München | Getriebeanordnung für eine Industrieroboterhand |
US4733578A (en) * | 1986-12-31 | 1988-03-29 | Dana Corporation | Bevel gear differential with conical spherical gear seats |
EP0559274A3 (en) * | 1992-03-03 | 1994-06-29 | Philips Nv | Probe apparatus and method for measuring high-frequency signals |
-
1986
- 1986-06-09 JP JP61131748A patent/JPS62287991A/ja active Pending
-
1987
- 1987-06-09 KR KR1019880700107A patent/KR930002623B1/ko not_active IP Right Cessation
- 1987-06-09 EP EP87903747A patent/EP0269751B1/de not_active Expired - Lifetime
- 1987-06-09 DE DE8787903747T patent/DE3777343D1/de not_active Expired - Lifetime
- 1987-06-09 US US07/356,658 patent/US4972735A/en not_active Expired - Fee Related
- 1987-06-09 WO PCT/JP1987/000360 patent/WO1987007555A1/ja active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
WO1987007555A1 (en) | 1987-12-17 |
EP0269751A4 (de) | 1989-02-07 |
US4972735A (en) | 1990-11-27 |
JPS62287991A (ja) | 1987-12-14 |
EP0269751A1 (de) | 1988-06-08 |
EP0269751B1 (de) | 1992-03-11 |
KR930002623B1 (ko) | 1993-04-06 |
KR880701164A (ko) | 1988-07-26 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8328 | Change in the person/name/address of the agent |
Free format text: BLUMBACH, KRAMER & PARTNER, 81245 MUENCHEN |
|
8339 | Ceased/non-payment of the annual fee |