DE602008000028D1 - Roboterhandgelenk - Google Patents

Roboterhandgelenk

Info

Publication number
DE602008000028D1
DE602008000028D1 DE602008000028T DE602008000028T DE602008000028D1 DE 602008000028 D1 DE602008000028 D1 DE 602008000028D1 DE 602008000028 T DE602008000028 T DE 602008000028T DE 602008000028 T DE602008000028 T DE 602008000028T DE 602008000028 D1 DE602008000028 D1 DE 602008000028D1
Authority
DE
Germany
Prior art keywords
hollow body
axis
turn
robot wrist
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
DE602008000028T
Other languages
English (en)
Inventor
Igor Tealdi
Mauro Amparore
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Publication of DE602008000028D1 publication Critical patent/DE602008000028D1/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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/005—Arms having a curved shape
    • 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
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20311—Robotic arm including power cable or connector
    • 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
    • Y10T74/20317—Robotic arm including electric motor
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE602008000028T 2007-03-12 2008-03-11 Roboterhandgelenk Active DE602008000028D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07425140 2007-03-12

Publications (1)

Publication Number Publication Date
DE602008000028D1 true DE602008000028D1 (de) 2009-08-06

Family

ID=38216857

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602008000028T Active DE602008000028D1 (de) 2007-03-12 2008-03-11 Roboterhandgelenk

Country Status (9)

Country Link
US (1) US8006586B2 (de)
EP (1) EP1970171B1 (de)
JP (1) JP5073536B2 (de)
CN (1) CN101264604B (de)
AT (1) ATE434505T1 (de)
DE (1) DE602008000028D1 (de)
ES (1) ES2327472T3 (de)
PL (1) PL1970171T3 (de)
RU (1) RU2412045C2 (de)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101774179B (zh) * 2009-01-10 2012-09-19 鸿富锦精密工业（深圳）有限公司 机器人连接轴
AT508792B1 (de) * 2009-09-10 2011-08-15 Fronius Int Gmbh Kollisionsschutzeinrichtung
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
WO2011107143A1 (en) 2010-03-02 2011-09-09 Abb Research Ltd A robot wrist
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
CN102310404A (zh) * 2010-06-29 2012-01-11 鸿富锦精密工业（深圳）有限公司 机器人
TWI454627B (zh) * 2010-09-29 2014-10-01 Hon Hai Prec Ind Co Ltd 多軸齒輪箱結構
CN102527560A (zh) * 2010-12-27 2012-07-04 鸿富锦精密工业（深圳）有限公司 喷涂机器人臂部件及喷涂机器人
IT1404529B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404528B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404527B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
WO2012143816A1 (en) 2011-04-18 2012-10-26 Koninklijke Philips Electronics N.V. Classification of tumor tissue with a personalized threshold
JP5833836B2 (ja) * 2011-05-13 2015-12-16 川崎重工業株式会社 多関節型産業用ロボット
US9180595B2 (en) * 2011-05-13 2015-11-10 Kawasaki Jukogyo Kabushiki Kaisha Multiple-joint industrial robot
CN102950593A (zh) * 2011-08-25 2013-03-06 鸿富锦精密工业（深圳）有限公司 机器人
JP5965128B2 (ja) * 2011-10-28 2016-08-03 川崎重工業株式会社 産業用ロボットの手首構造、及びその組付け方法
CN103120992A (zh) * 2011-11-18 2013-05-29 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5383846B2 (ja) * 2012-03-27 2014-01-08 ファナック株式会社 産業用ロボットの手首先端部における線条体案内機構部
PL2664422T3 (pl) 2012-05-15 2015-11-30 Comau Spa Wieloosiowy robot przemysłowy ze zintegrowanym narzędziem
RS53875B1 (en) * 2012-05-15 2015-08-31 Comau S.P.A. HEAD FOR ELECTRIC DOT WELDING INTENDED FOR APPLICATION WITH MULTISHAFT INDUSTRIAL ROBOTS AND A ROBOT WITH THIS HEAD
CN103769332B (zh) 2012-09-10 2017-12-01 发纳科机器人美国公司 冗余机器人及机器人喷漆系统
JP2014100749A (ja) * 2012-11-19 2014-06-05 Yaskawa Electric Corp ロボット
US9044865B2 (en) * 2013-03-07 2015-06-02 Engineering Services Inc. Two joint module
JP5729410B2 (ja) * 2013-03-19 2015-06-03 株式会社安川電機 ロボット
JP5949693B2 (ja) * 2013-07-30 2016-07-13 株式会社安川電機 ロボット
US10780586B2 (en) * 2013-08-09 2020-09-22 Nidec Sankyo Corporation Horizontal articulated robot with bevel gears
KR101558375B1 (ko) * 2013-12-17 2015-10-07 현대자동차 주식회사 조립 기기용 마운팅 위치 변환장치
CN104608146A (zh) * 2015-01-27 2015-05-13 中国科学技术大学 基于双斜面偏转关节的新型机械臂
CN105150239B (zh) * 2015-08-26 2017-02-01 希美埃（芜湖）机器人技术有限公司 一种工业机器人腕部中空偏置结构
DE102015116582B4 (de) * 2015-09-30 2021-08-05 Walter Maschinenbau Gmbh Transportvorrichtung zum Transportieren eines Werkstücks
DE102016003966A1 (de) 2016-04-01 2017-10-05 Dürr Systems Ag Beschichtungsroboter
CN105945980A (zh) * 2016-07-11 2016-09-21 常州艾恩替机械科技有限公司 一种机器人手爪机构
EP3305431B1 (de) 2016-10-10 2023-09-27 Comau S.p.A. Walzenfalzvorrichtung und -verfahren
CN106426264B (zh) * 2016-11-09 2018-10-02 常州机电职业技术学院 一种具有内置传动轴的机器人手腕
PT3366409T (pt) 2017-02-23 2019-10-25 Comau Spa Robô articulado que transporta uma cabeça de soldadura de resistência elétrica com elétrodos localizados no mesmo lado; método correspondente de soldadura elétrica de resistência num componente a ser soldado
JP2018187748A (ja) * 2017-05-11 2018-11-29 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
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
JP6923572B2 (ja) * 2019-01-24 2021-08-18 ファナック株式会社 取付ブラケット
US11433534B2 (en) 2019-03-07 2022-09-06 Abb Schweiz Ag Robotic arm including edge computer and cabling arrangement facilitating flexible function advanced distal arm end tooling
IT201900009081A1 (it) * 2019-06-14 2020-12-14 Free Energy Tech S R L Modulo per giunto di collegamento e giunto di collegamento modulare comprendente detto modulo
EP4003671A4 (de) * 2019-07-24 2023-04-26 Abb Schweiz Ag Roboter und montageverfahren dafür
CN112743518A (zh) * 2020-12-28 2021-05-04 国工信(沧州)机器人有限公司 手腕中空多用途工业机器人

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
JP2865348B2 (ja) * 1990-01-16 1999-03-08 川崎重工業株式会社 産業用ロボツト
IT1245433B (it) 1991-03-04 1994-09-20 Comau Spa Polso di robot industriale
CN1178495A (zh) * 1995-11-17 1998-04-08 株式会社安川电机 多关节机器人的手腕机构
SE508817C2 (sv) 1996-06-12 1998-11-09 Asea Brown Boveri Anordning vid en robotarm
IT1292275B1 (it) 1997-04-23 1999-01-29 Comau Spa Polso di robot industriale, e robot comprendente tale polso.
JPH10166292A (ja) 1997-12-26 1998-06-23 Fanuc Ltd 垂直多関節型ロボットの手首構造
JP3326472B2 (ja) * 1999-11-10 2002-09-24 独立行政法人 航空宇宙技術研究所 多関節ロボット
JP2002079487A (ja) * 2000-09-05 2002-03-19 Nachi Fujikoshi Corp 産業用ロボットの手首装置
JP2004148449A (ja) 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ
JP3952955B2 (ja) * 2003-01-17 2007-08-01 トヨタ自動車株式会社 多関節ロボット
JP4742496B2 (ja) 2003-12-15 2011-08-10 トヨタ自動車株式会社 溶接システム
KR101323918B1 (ko) 2005-09-27 2013-10-31 가부시키가이샤 야스카와덴키 다관절 머니퓰레이터

Also Published As

Publication number Publication date
JP5073536B2 (ja) 2012-11-14
US8006586B2 (en) 2011-08-30
ES2327472T3 (es) 2009-10-29
RU2412045C2 (ru) 2011-02-20
ATE434505T1 (de) 2009-07-15
EP1970171A1 (de) 2008-09-17
RU2008109259A (ru) 2009-09-20
JP2008221457A (ja) 2008-09-25
PL1970171T3 (pl) 2009-09-30
US20080223170A1 (en) 2008-09-18
CN101264604B (zh) 2012-07-11
CN101264604A (zh) 2008-09-17
EP1970171B1 (de) 2009-06-24

Similar Documents

Publication Publication Date Title
ATE434505T1 (de) Roboterhandgelenk
US8839689B2 (en) Robot arm assembly
DE602006019892D1 (de) Industrieroboter mit Rohrelement für einen Kabelbaum
WO2012016904A3 (en) Implant assembly having an angled head
TW200730309A (en) Parallel link mechanism and industrial robot
ATE449672T1 (de) Industrieroboter mit sensormitteln im bereich eines werkzeugflansches
WO2006085818A3 (en) An industrial robot and a drive package for the third axis, with a multistage gear transmission
WO2009081036A3 (fr) Appareil nettoyeur de surface immergee comprenant un dispositif de brossage entraine par les organes d'entraînement de l'appareil sur la surface immergee
DE502007001118D1 (de) Bodenabtragsvorrichtung
DK2135588T3 (da) Proteser med mekanisk fungerende digitus-elementer
ATE546668T1 (de) Betätiger für hebevorrichtung
ATE554310T1 (de) Exzentrisches untersetzungsgetriebe
WO2006033899A3 (en) Chuck with nutating gear reduction
FR3014143B1 (fr) Unite de soupape, telle qu'une unite de clapet d'echappement pour vehicules automobiles
WO2007122598A3 (en) Backlash adjusting device of bevel gearing for an industrial robot
CN203726481U (zh) 一种机器人头部
DE502005000669D1 (de) Massageschlitten
US10673303B2 (en) Robotic arm
ATE411941T1 (de) Vorrichtung zum entnehmen, transportieren, aufrichten und einsetzen von faltschachteln
ATE448048T1 (de) Werkzeugrevolver mit riemen
ATE510792T1 (de) Antrieb für ein flurförderzeug
ATE415227T1 (de) Werkzeugkopf mit verstellmotor
ATE389089T1 (de) Getriebe zum verschwenken einer fahrzeugt r oder fahrzeugkla ppe
WO2009077139A3 (de) Gleitkeilgetriebe, angewendet in einer sensoranordnung
DE502008000312D1 (de) Elektromechanische Greifeinrichtung

Legal Events

Date Code Title Description
8364 No opposition during term of opposition