DE69603709T2 - Handgelenk für industrieroboter - Google Patents
Handgelenk für industrieroboterInfo
- Publication number
- DE69603709T2 DE69603709T2 DE69603709T DE69603709T DE69603709T2 DE 69603709 T2 DE69603709 T2 DE 69603709T2 DE 69603709 T DE69603709 T DE 69603709T DE 69603709 T DE69603709 T DE 69603709T DE 69603709 T2 DE69603709 T2 DE 69603709T2
- Authority
- DE
- Germany
- Prior art keywords
- wrist
- industrial robots
- robots
- industrial
- 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
- 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
-
- 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
- B25J17/0258—Two-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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
-
- 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
- Y10T74/1956—Adjustable
- Y10T74/19565—Relative movable axes
-
- 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
-
- 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
-
- 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
- Y10T74/21—Elements
- Y10T74/2186—Gear casings
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9500296A SE508735C2 (sv) | 1995-01-27 | 1995-01-27 | Handledsenhet till en industrirobot |
PCT/SE1996/000086 WO1996022861A1 (en) | 1995-01-27 | 1996-01-26 | An industrial robot wrist unit |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69603709D1 DE69603709D1 (de) | 1999-09-16 |
DE69603709T2 true DE69603709T2 (de) | 2000-03-02 |
Family
ID=20396989
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69601213T Expired - Lifetime DE69601213T2 (de) | 1995-01-27 | 1996-01-26 | Handgelenk für industrieroboter |
DE69603709T Expired - Lifetime DE69603709T2 (de) | 1995-01-27 | 1996-01-26 | Handgelenk für industrieroboter |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69601213T Expired - Lifetime DE69601213T2 (de) | 1995-01-27 | 1996-01-26 | Handgelenk für industrieroboter |
Country Status (7)
Country | Link |
---|---|
US (2) | US5894761A (de) |
EP (2) | EP0805739B1 (de) |
JP (2) | JPH10512814A (de) |
DE (2) | DE69601213T2 (de) |
ES (2) | ES2136972T3 (de) |
SE (1) | SE508735C2 (de) |
WO (2) | WO1996022861A1 (de) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003305682A (ja) * | 2002-04-11 | 2003-10-28 | Fanuc Ltd | ロボット手首駆動機構 |
SE0303539D0 (sv) | 2003-12-22 | 2003-12-22 | Abb Ab | Anordning för en industrirobot |
WO2007122598A2 (en) * | 2006-04-21 | 2007-11-01 | Abb Ab | Backlash adjusting device of bevel gearing for an industrial robot |
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 |
CN102049787B (zh) | 2009-11-06 | 2014-02-19 | 鸿富锦精密工业(深圳)有限公司 | 采用齿轮侧隙调整装置的工业机器人 |
CN102069504B (zh) * | 2009-11-23 | 2014-01-22 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
CN102259337B (zh) * | 2010-05-28 | 2013-11-06 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
TWI458613B (zh) * | 2010-06-01 | 2014-11-01 | Hon Hai Prec Ind Co Ltd | 機器人臂部件 |
CN102338197B (zh) * | 2010-07-20 | 2014-01-15 | 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 |
CN102398270B (zh) * | 2010-09-16 | 2014-03-26 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
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 |
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 |
CN103121216A (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 |
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 |
JP6177837B2 (ja) | 2015-06-30 | 2017-08-09 | ファナック株式会社 | 視覚センサを用いたロボットシステム |
GB201512966D0 (en) | 2015-07-22 | 2015-09-02 | Cambridge Medical Robotics Ltd | Drive arrangements for robot arms |
JP6088605B1 (ja) * | 2015-08-31 | 2017-03-01 | ファナック株式会社 | 視覚センサを用いたロボットシステム |
CN105082171B (zh) * | 2015-09-10 | 2016-10-19 | 哈尔滨工业大学 | 一种可更换末端执行器的多功能机器人手腕 |
JP6426646B2 (ja) | 2016-03-23 | 2018-11-21 | ファナック株式会社 | ロボットの手首構造 |
JP6378238B2 (ja) * | 2016-04-04 | 2018-08-22 | ファナック株式会社 | ロボットの旋回軸構造 |
GB2552383B (en) * | 2016-07-22 | 2022-08-24 | Cmr Surgical Ltd | Gear packaging for robotic joints |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5378554A (en) * | 1976-12-20 | 1978-07-12 | Toshiba Corp | Wrist mechanism for industrial robot |
SE454659B (sv) * | 1983-09-01 | 1988-05-24 | Asea Ab | Robothandled |
US4823279A (en) * | 1986-02-27 | 1989-04-18 | Unimation, Inc. | Coordinate conversion system and method for controlling an industrial robot |
JPS62287991A (ja) * | 1986-06-09 | 1987-12-14 | ファナック株式会社 | 産業用ロボツトの手首駆動機構 |
JPS63109994A (ja) * | 1986-10-27 | 1988-05-14 | 株式会社日立製作所 | 工業用ロボツトの手首機構 |
US4807486A (en) * | 1987-11-09 | 1989-02-28 | Gmf Robotics Corporation | Three-axes wrist mechanism |
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 |
JPH03287392A (ja) * | 1990-03-30 | 1991-12-18 | Toyoda Mach Works Ltd | 多関節ロボット |
JP2921132B2 (ja) * | 1991-01-31 | 1999-07-19 | 株式会社安川電機 | 産業用ロボットの手首機構 |
JP3465850B2 (ja) * | 1993-04-28 | 2003-11-10 | 株式会社安川電機 | 産業用ロボットの手首機構 |
DE4428488C1 (de) * | 1994-08-12 | 1995-10-26 | Hans Richter | Handgelenk für die Arbeitshand eines Roboters |
-
1995
- 1995-01-27 SE SE9500296A patent/SE508735C2/sv not_active IP Right Cessation
-
1996
- 1996-01-26 JP JP8522817A patent/JPH10512814A/ja not_active Ceased
- 1996-01-26 WO PCT/SE1996/000086 patent/WO1996022861A1/en active IP Right Grant
- 1996-01-26 US US08/875,213 patent/US5894761A/en not_active Expired - Fee Related
- 1996-01-26 WO PCT/SE1996/000085 patent/WO1996022860A1/en active IP Right Grant
- 1996-01-26 ES ES96901606T patent/ES2136972T3/es not_active Expired - Lifetime
- 1996-01-26 DE DE69601213T patent/DE69601213T2/de not_active Expired - Lifetime
- 1996-01-26 ES ES96901605T patent/ES2126381T3/es not_active Expired - Lifetime
- 1996-01-26 US US08/875,687 patent/US5924330A/en not_active Expired - Fee Related
- 1996-01-26 JP JP8522816A patent/JPH10512813A/ja not_active Ceased
- 1996-01-26 EP EP96901606A patent/EP0805739B1/de not_active Expired - Lifetime
- 1996-01-26 EP EP96901605A patent/EP0805738B1/de not_active Expired - Lifetime
- 1996-01-26 DE DE69603709T patent/DE69603709T2/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US5924330A (en) | 1999-07-20 |
EP0805738A1 (de) | 1997-11-12 |
SE508735C2 (sv) | 1998-11-02 |
EP0805739A1 (de) | 1997-11-12 |
WO1996022860A1 (en) | 1996-08-01 |
EP0805739B1 (de) | 1999-08-11 |
SE9500296D0 (sv) | 1995-01-27 |
DE69603709D1 (de) | 1999-09-16 |
JPH10512814A (ja) | 1998-12-08 |
US5894761A (en) | 1999-04-20 |
ES2126381T3 (es) | 1999-03-16 |
DE69601213D1 (de) | 1999-02-04 |
DE69601213T2 (de) | 1999-08-19 |
EP0805738B1 (de) | 1998-12-23 |
JPH10512813A (ja) | 1998-12-08 |
ES2136972T3 (es) | 1999-12-01 |
WO1996022861A1 (en) | 1996-08-01 |
SE9500296L (sv) | 1996-07-28 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |