DE3872767D1 - Gelenkeinrichtung zum verbinden von zwei teilen eines roboterarmes. - Google Patents

Gelenkeinrichtung zum verbinden von zwei teilen eines roboterarmes.

Info

Publication number
DE3872767D1
DE3872767D1 DE8888107674T DE3872767T DE3872767D1 DE 3872767 D1 DE3872767 D1 DE 3872767D1 DE 8888107674 T DE8888107674 T DE 8888107674T DE 3872767 T DE3872767 T DE 3872767T DE 3872767 D1 DE3872767 D1 DE 3872767D1
Authority
DE
Germany
Prior art keywords
parts
robot arm
joint device
joint
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 - Fee Related
Application number
DE8888107674T
Other languages
English (en)
Other versions
DE3872767T2 (de
Inventor
Karl-Erik Forslund
Klas Klangeby
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.)
ABB AB
Original Assignee
Asea Brown Boveri AB
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 Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Application granted granted Critical
Publication of DE3872767D1 publication Critical patent/DE3872767D1/de
Publication of DE3872767T2 publication Critical patent/DE3872767T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C23/00—Bearings for exclusively rotary movement adjustable for aligning or positioning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4828—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single rotating pair followed parallelly by a single sliding pair
    • 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
    • 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
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/045—Pivotal connections with at least a pair of arms pivoting relatively to at least one other arm, all arms being mounted on one pin
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/39—General build up of machine tools, e.g. spindles, slides, actuators
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32606—Pivoted
    • Y10T403/32861—T-pivot, e.g., wrist pin, etc.
    • Y10T403/32918—T-pivot, e.g., wrist pin, etc. fork and tongue
    • Y10T403/32926—T-pivot, e.g., wrist pin, etc. fork and tongue with interposed antifriction means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Hand Tools For Fitting Together And Separating, Or Other Hand Tools (AREA)
DE8888107674T 1987-05-20 1988-05-13 Gelenkeinrichtung zum verbinden von zwei teilen eines roboterarmes. Expired - Fee Related DE3872767T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8702082A SE462524B (sv) 1987-05-20 1987-05-20 Anordning foer justering av spel i en armbaagsdel vid en industrirobot

Publications (2)

Publication Number Publication Date
DE3872767D1 true DE3872767D1 (de) 1992-08-20
DE3872767T2 DE3872767T2 (de) 1993-02-25

Family

ID=20368578

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8888107674T Expired - Fee Related DE3872767T2 (de) 1987-05-20 1988-05-13 Gelenkeinrichtung zum verbinden von zwei teilen eines roboterarmes.

Country Status (5)

Country Link
US (1) US4913577A (de)
EP (1) EP0291864B1 (de)
JP (1) JP2643292B2 (de)
DE (1) DE3872767T2 (de)
SE (1) SE462524B (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998058135A1 (en) * 1997-06-19 1998-12-23 Caterpillar Inc. Pin retainer
JP2004034049A (ja) * 2002-06-28 2004-02-05 Koyo Giken:Kk スポット抵抗溶接機
US6805038B2 (en) * 2002-10-16 2004-10-19 Clark Equipment Company Hydraulic cylinder pivot pin
EP2848830B1 (de) * 2013-09-11 2016-06-15 Dinse G.m.b.H. Halterung für eine Schweißpistole zum Anschluss an einen Arm eines Schweißroboters und Gelenk für eine solche Halterung
CN104526713B (zh) * 2014-10-14 2016-04-13 浙江工业大学 刚性驱动、柔顺调控的自适应机器人关节
AU2014414121B2 (en) * 2014-12-19 2020-03-26 Saab Ab Pivot axle arrangement
GB2602160A (en) * 2020-12-21 2022-06-22 Airbus Operations Ltd A pin joint assembly

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR956379A (de) * 1950-01-31
US639415A (en) * 1899-04-06 1899-12-19 George B Lutz Thill-coupling.
US1412058A (en) * 1920-04-10 1922-04-11 Ulysses E G Johnson Wheel puller
US2355723A (en) * 1941-12-11 1944-08-15 Cecil M Griffin Mounting for bearings
US2382679A (en) * 1944-08-14 1945-08-14 Jerry J Tollman Hinge joint for artificial limbs
US2562327A (en) * 1951-01-05 1951-07-31 Moore Jay Clair Mandrel
US3600015A (en) * 1968-08-26 1971-08-17 Deere & Co Pivot pin structure
US3594851A (en) * 1970-05-04 1971-07-27 Boeing Co Fail safe hinge and mounting
US3903754A (en) * 1974-06-07 1975-09-09 Pino International Ltd Bicycle crank hub assembly
US3980321A (en) * 1974-12-23 1976-09-14 Caterpillar Tractor Co. Hitch pin assembly for a tractor-scraper vehicle and the like
US4306466A (en) * 1979-09-04 1981-12-22 Coveney Howard W Wheel security apparatus
US4518308A (en) * 1982-03-01 1985-05-21 Acrobe Technology Inc. Manipulator apparatus
US4507005A (en) * 1983-11-21 1985-03-26 Clark Equipment Company Pivot joint
FR2560546A1 (fr) * 1984-03-01 1985-09-06 Toyoda Machine Works Ltd Robot a articulations a fourches
SE454251B (sv) * 1984-06-06 1988-04-18 Asea Ab Robothandled med anordning for justering av kuggspel
US4743138A (en) * 1986-02-24 1988-05-10 Alsthom Device for coupling two flanged shaft ends

Also Published As

Publication number Publication date
SE8702082D0 (sv) 1987-05-20
SE462524B (sv) 1990-07-09
DE3872767T2 (de) 1993-02-25
US4913577A (en) 1990-04-03
EP0291864B1 (de) 1992-07-15
EP0291864A1 (de) 1988-11-23
JPH01115589A (ja) 1989-05-08
JP2643292B2 (ja) 1997-08-20
SE8702082L (sv) 1988-11-21

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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