DE69512525T2 - Antriebseinheit für einen industrieroboter - Google Patents

Antriebseinheit für einen industrieroboter

Info

Publication number
DE69512525T2
DE69512525T2 DE69512525T DE69512525T DE69512525T2 DE 69512525 T2 DE69512525 T2 DE 69512525T2 DE 69512525 T DE69512525 T DE 69512525T DE 69512525 T DE69512525 T DE 69512525T DE 69512525 T2 DE69512525 T2 DE 69512525T2
Authority
DE
Germany
Prior art keywords
drive unit
industrial robot
robot
industrial
drive
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
DE69512525T
Other languages
English (en)
Other versions
DE69512525D1 (de
Inventor
Ove Kullborg
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
Publication of DE69512525D1 publication Critical patent/DE69512525D1/de
Application granted granted Critical
Publication of DE69512525T2 publication Critical patent/DE69512525T2/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
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/025—Support of gearboxes, e.g. torque arms, or attachment to other devices
    • 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
    • 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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • F16H1/08—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes the members having helical, herringbone, or like teeth
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/19674—Spur and bevel
    • 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
    • Y10T74/19679—Spur
    • Y10T74/19684—Motor and gearing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
DE69512525T 1994-05-13 1995-05-12 Antriebseinheit für einen industrieroboter Expired - Fee Related DE69512525T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9401654A SE502608C2 (sv) 1994-05-13 1994-05-13 Drivenhet för industrirobot
PCT/SE1995/000529 WO1995031657A1 (en) 1994-05-13 1995-05-12 Driving unit for an industrial robot

Publications (2)

Publication Number Publication Date
DE69512525D1 DE69512525D1 (de) 1999-11-04
DE69512525T2 true DE69512525T2 (de) 2000-05-18

Family

ID=20393992

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69512525T Expired - Fee Related DE69512525T2 (de) 1994-05-13 1995-05-12 Antriebseinheit für einen industrieroboter

Country Status (7)

Country Link
US (1) US5782133A (de)
EP (1) EP0781383B1 (de)
JP (1) JP3477208B2 (de)
DE (1) DE69512525T2 (de)
ES (1) ES2141353T3 (de)
SE (1) SE502608C2 (de)
WO (1) WO1995031657A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019202865B4 (de) 2018-03-06 2022-04-28 Fanuc Corporation Gelenkwellenstruktur eines Roboters sowie Roboter

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19733546C1 (de) * 1997-08-02 1999-04-22 Lenze Gmbh & Co Kg Aerzen Getriebebaukasten
GB0022649D0 (en) * 2000-09-14 2000-11-01 Mcdonald George W Improvements in and relating to folded sheets
US6679326B2 (en) * 2002-01-15 2004-01-20 Bohdan Zakiewicz Pro-ecological mining system
TWI223036B (en) * 2002-03-22 2004-11-01 Sumitomo Heavy Industries Speed reduction device for gear reduction motor, gear reduction motor and products thereof
US6617726B1 (en) * 2002-05-02 2003-09-09 Molon Motor & Coil Corporation Motor gear box
US7198130B2 (en) * 2004-09-28 2007-04-03 Oshkosh Truck Corporation V-drive motor arrangement
JP4326558B2 (ja) * 2006-08-24 2009-09-09 ファナック株式会社 産業用ロボットアームの駆動機構
JP4280295B2 (ja) 2007-06-20 2009-06-17 ファナック株式会社 産業用ロボット
CN101337505B (zh) * 2008-08-06 2011-05-18 永济新时速电机电器有限责任公司 45吨窄轨工矿电机车减速装置
US8201478B2 (en) 2009-04-29 2012-06-19 Molon Motor And Coil Corp. Gear box for ice dispenser
CN103817686A (zh) * 2012-11-19 2014-05-28 青岛理工大学琴岛学院 一种用于灾难救援机器人机械臂
JP5655877B2 (ja) * 2013-02-12 2015-01-21 株式会社安川電機 関節機構およびロボット
CN103956855A (zh) * 2014-05-21 2014-07-30 哈尔滨工业大学 一种丝母丝杠式双行程电动缸
US9812923B2 (en) 2014-05-23 2017-11-07 Aero Industries, Inc. Gear motor
US10190810B2 (en) 2014-05-28 2019-01-29 Molon Motor & Coil Corporation Miniaturized motor assembly
JP6333879B2 (ja) * 2016-04-04 2018-05-30 ファナック株式会社 ロボットアーム
US10252420B2 (en) 2017-06-09 2019-04-09 Precise Automation, Inc. Collaborative robot
US10173323B2 (en) * 2017-06-09 2019-01-08 Precise Automation, Inc. Collaborative robot
JP7424816B2 (ja) * 2019-12-13 2024-01-30 ファナック株式会社 ロボットの関節構造

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1894927A (en) * 1929-09-14 1933-01-17 Falk Corp Gear set
CH158157A (de) * 1931-06-16 1932-11-15 Aebi & Co Ag Getriebe für Mähmaschinen.
US2221292A (en) * 1936-01-25 1940-11-12 Lufkin Foundry & Machine Compa Pumping power
DE2612937C3 (de) * 1976-03-26 1978-10-05 Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen Gehäuse für ein mechanisches Getriebe
US4270783A (en) * 1979-01-24 1981-06-02 Lake Center Industries Door lock actuator
JPS5656395A (en) * 1979-10-12 1981-05-18 Hitachi Ltd Industrial multiple joint type robot
WO1982000309A1 (en) * 1980-07-14 1982-02-04 Moss R Drive mechanism
JP2582189B2 (ja) * 1991-01-31 1997-02-19 住友重機械工業株式会社 モータ付直交歯車装置
JP2866247B2 (ja) * 1992-02-25 1999-03-08 住友重機械工業株式会社 モータ付直交歯車減速機のシリーズ及びシリーズ群
US5558174A (en) * 1994-01-26 1996-09-24 Schaeff, Incorporated Drive train assembly

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019202865B4 (de) 2018-03-06 2022-04-28 Fanuc Corporation Gelenkwellenstruktur eines Roboters sowie Roboter

Also Published As

Publication number Publication date
SE9401654D0 (sv) 1994-05-13
US5782133A (en) 1998-07-21
EP0781383A1 (de) 1997-07-02
WO1995031657A1 (en) 1995-11-23
DE69512525D1 (de) 1999-11-04
EP0781383B1 (de) 1999-09-29
JPH10500470A (ja) 1998-01-13
JP3477208B2 (ja) 2003-12-10
SE9401654L (sv) 1995-11-14
ES2141353T3 (es) 2000-03-16
SE502608C2 (sv) 1995-11-20

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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