DE602007010133D1 - Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters - Google Patents

Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters

Info

Publication number
DE602007010133D1
DE602007010133D1 DE602007010133T DE602007010133T DE602007010133D1 DE 602007010133 D1 DE602007010133 D1 DE 602007010133D1 DE 602007010133 T DE602007010133 T DE 602007010133T DE 602007010133 T DE602007010133 T DE 602007010133T DE 602007010133 D1 DE602007010133 D1 DE 602007010133D1
Authority
DE
Germany
Prior art keywords
industrial robot
setting device
game setting
conveyor gear
rotation
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.)
Active
Application number
DE602007010133T
Other languages
English (en)
Inventor
Jan Larsson
Stefan Danielsson
Mats Olsson
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
ABB 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 ABB AB filed Critical ABB AB
Publication of DE602007010133D1 publication Critical patent/DE602007010133D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing 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
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H55/18—Special devices for taking up backlash
    • F16H55/20—Special devices for taking up backlash for bevel 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
    • Y10T74/19623—Backlash take-up
    • 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
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/1966—Intersecting axes
    • Y10T74/19665—Bevel gear type
    • 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
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist
DE602007010133T 2006-04-21 2007-04-23 Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters Active DE602007010133D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US79372406P 2006-04-21 2006-04-21
PCT/IB2007/052398 WO2007122598A2 (en) 2006-04-21 2007-04-23 Backlash adjusting device of bevel gearing for an industrial robot

Publications (1)

Publication Number Publication Date
DE602007010133D1 true DE602007010133D1 (de) 2010-12-09

Family

ID=38625403

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602007010133T Active DE602007010133D1 (de) 2006-04-21 2007-04-23 Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters

Country Status (6)

Country Link
US (1) US7926377B2 (de)
EP (1) EP2024142B1 (de)
CN (2) CN101426621B (de)
AT (1) ATE485924T1 (de)
DE (1) DE602007010133D1 (de)
WO (1) WO2007122598A2 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWM382891U (en) * 2010-01-07 2010-06-21 Everprec Tech Co Ltd Angle adjustment structure of right-angle robot arm
CN102198665A (zh) * 2010-03-24 2011-09-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102233584A (zh) * 2010-04-27 2011-11-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5547007B2 (ja) * 2010-09-14 2014-07-09 住友重機械工業株式会社 歯車装置及び軸部材の製造方法
DE102011082406A1 (de) * 2011-09-09 2013-03-14 Zf Friedrichshafen Ag Kegelradgetriebe
JP5423750B2 (ja) * 2011-09-27 2014-02-19 株式会社安川電機 ギヤユニットおよびロボット
CN103133604A (zh) * 2011-11-22 2013-06-05 鸿富锦精密工业（深圳）有限公司 齿轮传动装置及具有该齿轮传动装置的机械手臂
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
CN102966701A (zh) * 2012-11-21 2013-03-13 中国船舶重工集团公司第七一六研究所 一种准双曲面锥齿轮传动装置
CN103216603B (zh) * 2013-04-16 2015-07-22 沈阳理工大学 一种锥形锁紧套调整斜齿轮啮合间隙机构
DE102015200741A1 (de) * 2015-01-19 2016-07-21 Lenze Drives Gmbh Getriebe und Verfahren zur Einstellung des Verdrehspiels dieses Getriebes
WO2017041821A1 (en) * 2015-09-07 2017-03-16 Abb Schweiz Ag A joint for an industrial robot
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
CN108397520A (zh) * 2017-02-08 2018-08-14 鞍钢股份有限公司 一种螺旋锥齿轮快速调整方法
EP3784446B1 (de) * 2018-04-24 2023-09-27 ABB Schweiz AG Parallelkinematikroboter
CN108626379B (zh) * 2018-05-10 2023-10-20 杭州新松机器人自动化有限公司 一种工业机器人的腕部齿轮传动侧隙的调整结构及其使用方法
JP6875364B2 (ja) * 2018-12-27 2021-05-26 ファナック株式会社 ギヤ機構、ギヤ調整方法およびロボット
CN110064909B (zh) * 2019-04-30 2020-09-18 中国航发南方工业有限公司 定位工装、定位试验装置和测量锥齿轮圆周侧隙方法
CN113400340B (zh) * 2021-06-24 2022-08-26 库卡机器人制造（上海）有限公司 齿轮组件、人工关节和机器人
DE202021104559U1 (de) 2021-08-25 2021-09-08 Lewa Gmbh Kronenradgetriebe

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US1815450A (en) * 1930-05-24 1931-07-21 Int Motor Co Steering gear adjusting device
US2996929A (en) * 1959-11-20 1961-08-22 Orenda Engines Ltd Bevel gear transmission with back-lash control
US3826151A (en) * 1973-02-27 1974-07-30 Us Army Power train
US3977268A (en) * 1975-04-04 1976-08-31 Seabrook William B Feed roll drive
JPS585556A (ja) * 1981-06-30 1983-01-12 Hino Motors Ltd 自動車の終減速機
JPS58160091A (ja) * 1982-03-12 1983-09-22 富士通フアナツク株式会社 ロボツトのバツクラツシユ調整機構
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
US4580460A (en) * 1984-07-30 1986-04-08 The Singer Company Bevel gear backlash adjusting mechanism
JPS6430965A (en) * 1987-07-24 1989-02-01 Tsubakimoto Chain Co Intermittent motion device
US4976165A (en) * 1989-07-14 1990-12-11 Kabushiki Kaisha Kobe Seiko Sho Backlash removing mechanism for industrial robot
JPH0639161Y2 (ja) * 1989-11-06 1994-10-12 株式会社椿本チエイン 間欠駆動装置の入力軸取付構造
JPH08177984A (ja) * 1994-12-28 1996-07-12 Fanuc Ltd バックラッシを調整可能に構成した歯車装置
SE508735C2 (sv) * 1995-01-27 1998-11-02 Asea Brown Boveri Handledsenhet till en industrirobot
JP3661888B2 (ja) * 1995-10-31 2005-06-22 アイシン精機株式会社 マガリバ状の歯部を備えたかさ歯車のラッピング方法
JPH10202519A (ja) * 1997-01-23 1998-08-04 Seiko Seiki Co Ltd 溝研削用スピンドル
JP3562948B2 (ja) * 1997-10-13 2004-09-08 トヨタ自動車株式会社 ハイポイドギヤ構造
DE19952869A1 (de) * 1999-11-03 2001-05-10 Flender A F & Co Lagerbuchse
FR2808759B1 (fr) * 2000-05-10 2005-08-26 Koyo Seiko Co Appareil de direction assistee electrique
US6651522B2 (en) * 2001-09-05 2003-11-25 Xerox Corporation Gear alignment

Also Published As

Publication number Publication date
CN103085066A (zh) 2013-05-08
ATE485924T1 (de) 2010-11-15
CN103085066B (zh) 2015-09-09
CN101426621A (zh) 2009-05-06
EP2024142A2 (de) 2009-02-18
US20090095104A1 (en) 2009-04-16
CN101426621B (zh) 2013-10-02
US7926377B2 (en) 2011-04-19
WO2007122598A3 (en) 2008-02-21
WO2007122598A2 (en) 2007-11-01
EP2024142B1 (de) 2010-10-27

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