DE69617825D1 - Handgelenk für industrieroboter - Google Patents

Handgelenk für industrieroboter

Info

Publication number
DE69617825D1
DE69617825D1 DE69617825T DE69617825T DE69617825D1 DE 69617825 D1 DE69617825 D1 DE 69617825D1 DE 69617825 T DE69617825 T DE 69617825T DE 69617825 T DE69617825 T DE 69617825T DE 69617825 D1 DE69617825 D1 DE 69617825D1
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 - Fee Related
Application number
DE69617825T
Other languages
English (en)
Other versions
DE69617825T2 (de
Inventor
Mitsuyoshi Obata
Yoshikuni Tsukahara
Satoru Nakamura
Toshihiro Nagatani
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.)
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
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 Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Publication of DE69617825D1 publication Critical patent/DE69617825D1/de
Application granted granted Critical
Publication of DE69617825T2 publication Critical patent/DE69617825T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
DE69617825T 1995-02-21 1996-02-19 Handgelenk für industrieroboter Expired - Fee Related DE69617825T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7058107A JP2746543B2 (ja) 1995-02-21 1995-02-21 産業用ロボットの手首装置
PCT/JP1996/000370 WO1996026045A1 (fr) 1995-02-21 1996-02-19 Dispositif de poignet pour robots industriels

Publications (2)

Publication Number Publication Date
DE69617825D1 true DE69617825D1 (de) 2002-01-24
DE69617825T2 DE69617825T2 (de) 2002-06-27

Family

ID=13074755

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69617825T Expired - Fee Related DE69617825T2 (de) 1995-02-21 1996-02-19 Handgelenk für industrieroboter

Country Status (8)

Country Link
US (1) US5816108A (de)
EP (1) EP0756918B1 (de)
JP (1) JP2746543B2 (de)
KR (1) KR100217555B1 (de)
CA (1) CA2188303C (de)
DE (1) DE69617825T2 (de)
ES (1) ES2164866T3 (de)
WO (1) WO1996026045A1 (de)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1292275B1 (it) * 1997-04-23 1999-01-29 Comau Spa Polso di robot industriale, e robot comprendente tale polso.
SE513371C2 (sv) * 1998-10-16 2000-09-04 Abb Ab Anordning och förfarande för styrning av ett kablage samt användning av sagda anordning och förfarande
US6455799B1 (en) * 1998-12-18 2002-09-24 Abb Ab Robot device
JP3734135B2 (ja) 1999-08-03 2006-01-11 株式会社不二越 産業用ロボットの手首装置
SE516877C2 (sv) * 1999-12-01 2002-03-19 Abb Ab Ett förfarande och ett vridorgan för dragning av ett kablage för en industrirobot
DE20005551U1 (de) * 2000-03-24 2000-07-20 Kuka Roboter Gmbh Hochflexibles Schlauchendstück
DE10304652A1 (de) * 2003-02-05 2004-08-19 Dürr Systems GmbH Roboter
WO2004069493A1 (ja) * 2003-02-07 2004-08-19 Kawasaki Jukogyo Kabushiki Kaisha 多関節マニピュレータ
SE527313C2 (sv) * 2003-06-13 2006-02-07 Abb Ab Armeringshölje som omsluter och fixerar internt kablage i radiell led vid en industrirobot
EP1491299A1 (de) * 2003-06-26 2004-12-29 Abb Ab Robotisches Handgelenk mit mehreren seriell angeordneten und von Kegelzahnrädern angetriebenen Teilen
SE0303539D0 (sv) * 2003-12-22 2003-12-22 Abb Ab Anordning för en industrirobot
DE102004026573A1 (de) * 2004-06-01 2005-12-29 Dürr Systems GmbH Schlauchführungselement für einen Lackierroboter
DE102004043014A1 (de) * 2004-09-06 2006-03-23 Dürr Systems GmbH Roboterhandachse für einen Lackierrobotor und zugehöriges Betriebsverfahren
US7870807B2 (en) 2005-09-26 2011-01-18 Durr Systems Inc. Multi axis robot wrist and method of operation
JP4261598B2 (ja) * 2007-07-30 2009-04-30 ファナック株式会社 産業用ロボットの線条体処理構造
JP5327312B2 (ja) * 2009-03-06 2013-10-30 株式会社安川電機 ロボットの関節ユニット及びロボット
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
CN102441894A (zh) * 2010-10-11 2012-05-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
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
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
JP5539454B2 (ja) * 2012-07-20 2014-07-02 ファナック株式会社 中空部材を備えた産業用ロボットの線条体処理構造
CN103770125B (zh) * 2012-10-26 2016-12-21 鸿富锦精密工业（深圳）有限公司 机器人臂部件
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
US10173330B2 (en) * 2015-07-28 2019-01-08 Kabushiki Kaisha Yaskawa Denki Robot arm
CN108638120A (zh) * 2018-06-15 2018-10-12 广州启帆工业机器人有限公司 多工位喷涂机械手腕
JP6946247B2 (ja) * 2018-09-19 2021-10-06 株式会社東芝 保持機構、移載装置、及びハンドリングロボットシステム
CN113397904B (zh) * 2021-02-08 2022-05-03 长春工业大学 一种柔性并联绳驱动前臂及腕关节康复装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5859785A (ja) * 1981-10-05 1983-04-08 株式会社日立製作所 柔軟性腕機構
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot
US4688983A (en) * 1984-05-21 1987-08-25 Unimation Inc. Low cost robot
JPS6133887A (ja) * 1984-07-27 1986-02-17 フアナツク株式会社 工業用ロボツトの中空腕構造
CA1245691A (en) * 1985-01-22 1988-11-29 Gmf Robotics Corporation Mechanical wrist mechanism
US4708580A (en) * 1985-01-22 1987-11-24 Gmf Robotics Corporation Mechanical wrist mechanism
JPH0411030Y2 (de) * 1985-09-11 1992-03-18
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
JPS6357882U (de) * 1986-10-04 1988-04-18
JPS63256387A (ja) * 1987-04-13 1988-10-24 三菱電機株式会社 産業用ロボツトの関節機構
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
JPH0446720A (ja) * 1990-06-15 1992-02-17 Matsushita Electric Ind Co Ltd ねじ締め機
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

Also Published As

Publication number Publication date
WO1996026045A1 (fr) 1996-08-29
CA2188303C (en) 1998-11-17
US5816108A (en) 1998-10-06
ES2164866T3 (es) 2002-03-01
CA2188303A1 (en) 1996-08-29
KR100217555B1 (ko) 1999-09-01
KR970702128A (ko) 1997-05-13
EP0756918B1 (de) 2001-12-12
JPH08229874A (ja) 1996-09-10
EP0756918A4 (de) 1998-05-06
JP2746543B2 (ja) 1998-05-06
EP0756918A1 (de) 1997-02-05
DE69617825T2 (de) 2002-06-27

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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