DK0443576T3 - Drive mechanism for at least two coaxial shafts which drive the movements of a robotic device - Google Patents

Drive mechanism for at least two coaxial shafts which drive the movements of a robotic device

Info

Publication number
DK0443576T3
DK0443576T3 DK91102537.7T DK91102537T DK0443576T3 DK 0443576 T3 DK0443576 T3 DK 0443576T3 DK 91102537 T DK91102537 T DK 91102537T DK 0443576 T3 DK0443576 T3 DK 0443576T3
Authority
DK
Denmark
Prior art keywords
drive
shafts
movements
gearing
toothed
Prior art date
Application number
DK91102537.7T
Other languages
Danish (da)
Inventor
Stefan Kerpe
Original Assignee
Stefan Kerpe
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 Stefan Kerpe filed Critical Stefan Kerpe
Application granted granted Critical
Publication of DK0443576T3 publication Critical patent/DK0443576T3/en

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
    • B25J17/0283—Three-dimensional joints
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)

Abstract

A drive of at least two concentric shafts for moving a robot output device, in particular a robot gripping arm, is proposed, which is characterised in that at least one revolving reduction gearing (13) is provided, the casing (17) and the drive (21) of which are each equipped with a toothed ring (15,19) which cooperates with toothed rings (9,11) provided on the shafts (5,7), in that the toothed rings (15,19) of the planetary gearing (13) have a different number of teeth (z) in order to compensate for their different rotational speeds produced with a fixed gearing drive (23), and in that the axes of the toothed wheels (15,19;9,11) of the planetary gearing (13) and of the shafts (5,7) are equidistant. <IMAGE>
DK91102537.7T 1990-02-23 1991-02-21 Drive mechanism for at least two coaxial shafts which drive the movements of a robotic device DK0443576T3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4005765 1990-02-23

Publications (1)

Publication Number Publication Date
DK0443576T3 true DK0443576T3 (en) 1994-09-19

Family

ID=6400838

Family Applications (1)

Application Number Title Priority Date Filing Date
DK91102537.7T DK0443576T3 (en) 1990-02-23 1991-02-21 Drive mechanism for at least two coaxial shafts which drive the movements of a robotic device

Country Status (5)

Country Link
EP (1) EP0443576B1 (en)
AT (1) ATE105224T1 (en)
DE (2) DE59101525D1 (en)
DK (1) DK0443576T3 (en)
ES (1) ES2052292T3 (en)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2511894Y2 (en) * 1991-09-30 1996-09-25 川崎重工業株式会社 Industrial robot
DE4428488C1 (en) * 1994-08-12 1995-10-26 Hans Richter Wrist for the working hand of a robot
JPH106270A (en) * 1996-06-24 1998-01-13 Fanuc Ltd Industrial robot
DE19855478B4 (en) * 1998-12-01 2006-01-12 Steinbichler Optotechnik Gmbh Method and device for optical detection of a contrast line
US6263755B1 (en) * 1999-02-10 2001-07-24 New York University Robotic manipulator and method
FR2853273B1 (en) * 2003-04-04 2006-03-10 Commissariat Energie Atomique ACTUATING DEVICE, IN PARTICULAR FOR AN ARTICULATED ARM
WO2010013234A1 (en) * 2008-07-28 2010-02-04 Mordehai Sholev Variable axial-angle coupling
JP2012223849A (en) * 2011-04-19 2012-11-15 Yaskawa Electric Corp Robot
JP5387611B2 (en) * 2011-04-19 2014-01-15 株式会社安川電機 Drive mechanism and robot
US10220522B2 (en) 2013-12-12 2019-03-05 Covidien Lp Gear train assemblies for robotic surgical systems
CA3022071A1 (en) 2016-05-26 2017-11-30 Covidien Lp Robotic surgical assemblies
CN111132629B (en) 2017-09-06 2024-04-16 柯惠Lp公司 Boundary scaling for surgical robots
AU2019242611A1 (en) 2018-03-29 2020-08-20 Covidien Lp Robotic surgical systems and instrument drive assemblies
CN108608447A (en) * 2018-05-02 2018-10-02 阜阳盛东智能制造技术研发有限公司 A kind of bindiny mechanism for feeding manipulator
US12029507B2 (en) 2018-07-26 2024-07-09 Covidien Lp Surgical robotic systems
CN109253232A (en) * 2018-09-21 2019-01-22 上海飞珀机器人科技有限公司 A kind of double freedom gear-box mould group
US11691270B2 (en) * 2019-07-31 2023-07-04 Sanctuary Cognitive Systems Corporation Mechanism with three degrees-of-freedom (DOF) output to provide independent control over roll, pitch, and yaw of output structure
CN112114539B (en) * 2020-09-25 2023-11-28 成都易慧家科技有限公司 Control system and method for double-motor driven sliding door and window
EP4325086A1 (en) * 2022-08-18 2024-02-21 Volvo Truck Corporation A transmission for a vehicle

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4921672Y1 (en) * 1970-08-21 1974-06-10
US3971266A (en) * 1973-07-17 1976-07-27 Nippondenso Co., Ltd. Power transmission device
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
SU763082A1 (en) * 1977-07-01 1980-09-15 Предприятие П/Я Р-6930 Modular manipulator
DE3626610A1 (en) * 1986-08-06 1988-02-18 Fibro Gmbh PORTAL SYSTEM
FR2620837B1 (en) * 1987-09-21 1990-11-30 Commissariat Energie Atomique DEVICE FOR ORIENTATION OF AN OBJECT AROUND TWO ROTATION AXES

Also Published As

Publication number Publication date
DE4105483A1 (en) 1991-08-29
ES2052292T3 (en) 1994-07-01
DE59101525D1 (en) 1994-06-09
EP0443576B1 (en) 1994-05-04
ATE105224T1 (en) 1994-05-15
EP0443576A1 (en) 1991-08-28

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