ES2000697A6 - Cabeza de transmision para manipuladores - Google Patents

Cabeza de transmision para manipuladores

Info

Publication number
ES2000697A6
ES2000697A6 ES8600409A ES8600409A ES2000697A6 ES 2000697 A6 ES2000697 A6 ES 2000697A6 ES 8600409 A ES8600409 A ES 8600409A ES 8600409 A ES8600409 A ES 8600409A ES 2000697 A6 ES2000697 A6 ES 2000697A6
Authority
ES
Spain
Prior art keywords
segments
drive shafts
manipulator
gear
head unit
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
Application number
ES8600409A
Other languages
English (en)
Inventor
Ernst Zimmer
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6276187&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=ES2000697(A6) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of ES2000697A6 publication Critical patent/ES2000697A6/es
Expired 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • B25J9/00—Programme-controlled manipulators
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Transmission Devices (AREA)
  • Adjustment Of The Magnetic Head Position Track Following On Tapes (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

LA CABEZA DE TRANSMISION DESCRITA COMPRENDE UNA DISPOSICION DE TRANSMISION CON TRES ARBOLES CONCENTRICOS DE ACCIONAMIENTO (13, 18, 26) Y CUATRO MOVIMIENTOS DE GIRO DE LA TRES PARTES (1, 2, 3) DE LA CABEZA, PRESENTANDO DICHA DISPOSICION ARBOLES HUECOS (16, 32) UNIDOS ENTRE SI A LO LARGO DE EJES OBLICUOS (5, 6), CON LO CUAL SE PUEDE INDUCIR DESDE UN MOTOR EL MOVIMIENTO ROTATIVO SIMULTANEO EN SENTIDOS CONTRARIOS DE LAS PARTES CENTRAL Y POSTERIOR (2, 3) DE LA CABEZA. EN DICHA PARTE POSTERIOR (3) HAY UN ARBOL PROPULSOR GIRATORIO (35) QUE VA UNIDO CON EL PORTAHERRAMIENTAS Y QUE RECIBE SU ACCIONAMIENTO DE UN TREN DE TRANSMISION (21, 24) GUIADO A TRAVES DE LOS ARBOLES HUECOS (16, 32). LA CABEZA DE TRANSMISION DEL INVENTO ES PARTICULARMENTE ADECUADA PARA MANIPULADORES DE PIEZAS DEL TIPO DE ROBOTS EN LA INDUSTRIA DEL AUTOMOVIL Y OTRAS.
ES8600409A 1985-07-19 1986-07-18 Cabeza de transmision para manipuladores Expired ES2000697A6 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19853525806 DE3525806A1 (de) 1985-07-19 1985-07-19 Getriebekopf fuer manipulatoren

Publications (1)

Publication Number Publication Date
ES2000697A6 true ES2000697A6 (es) 1988-03-16

Family

ID=6276187

Family Applications (1)

Application Number Title Priority Date Filing Date
ES8600409A Expired ES2000697A6 (es) 1985-07-19 1986-07-18 Cabeza de transmision para manipuladores

Country Status (12)

Country Link
US (1) US4736645A (es)
EP (1) EP0209111B1 (es)
JP (1) JPH0611474B2 (es)
KR (1) KR940001203B1 (es)
CN (1) CN1004617B (es)
AT (1) ATE43089T1 (es)
AU (1) AU579300B2 (es)
CA (1) CA1262062A (es)
DD (1) DD248316A5 (es)
DE (2) DE3525806A1 (es)
ES (1) ES2000697A6 (es)
SU (1) SU1421250A3 (es)

Families Citing this family (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
AU591834B2 (en) * 1987-02-23 1989-12-14 University Of Western Australia, The Wrist mechanism for robotic manipulators
SE9202872L (sv) * 1992-10-02 1993-10-04 Sala Industrireparationer Ab Vinkelväxel
DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
JP2004148449A (ja) * 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
EP2034922B1 (en) 2006-06-22 2017-03-15 Board of Regents of the University of Nebraska Magnetically coupleable robotic devices
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
EP3673855B1 (en) 2007-07-12 2021-09-08 Board of Regents of the University of Nebraska Systems of actuation in robotic devices
CA2695615A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
JP5475662B2 (ja) * 2007-08-15 2014-04-16 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式およびセグメント化医療装置ならびに関連するシステム
US9126332B2 (en) * 2008-10-06 2015-09-08 Kinova Robotic arm with a plurality of motorized joints
EP2512754A4 (en) * 2009-12-17 2016-11-30 Univ Nebraska MODULAR AND COOPERATIVE MEDICAL DEVICES AND CORRESPONDING SYSTEMS AND METHOD
CN102233584A (zh) * 2010-04-27 2011-11-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP2014529414A (ja) 2010-08-06 2014-11-13 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 自然開口部手術用材料の取扱または送達のための方法およびシステム
CN101954639B (zh) * 2010-09-27 2012-07-04 华中科技大学 一种工业机器人空心手腕传动机构
EP4275634A3 (en) 2011-06-10 2024-01-10 Board of Regents of the University of Nebraska Surgical end effector
EP2732344B1 (en) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotic surgical system
US20140058205A1 (en) 2012-01-10 2014-02-27 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices for Surgical Access and Insertion
JP2015531608A (ja) 2012-05-01 2015-11-05 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 単孔式ロボット機器および関連システムと方法
JP5746093B2 (ja) * 2012-05-30 2015-07-08 ファナック株式会社 産業用ロボットの手首装置
WO2013191773A1 (en) 2012-06-22 2013-12-27 Board Of Regents Of The University Of Nebraska Local Control Robotic Surgical Devices and Related Methods
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP6710199B2 (ja) 2014-09-12 2020-06-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ クイックリリースエンドエフェクターおよび関連するシステムおよび方法
EP3689257B1 (en) 2014-11-11 2024-01-03 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
US10806538B2 (en) 2015-08-03 2020-10-20 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
KR20180079323A (ko) * 2015-10-06 2018-07-10 임파서블 인코포레이티드 엘엘씨 스네이크형 로봇
CN109715081B (zh) 2016-05-18 2021-11-09 虚拟切割有限公司 机器人外科装置、系统及相关方法
NL2016878B1 (en) * 2016-06-02 2018-01-25 State Of The Art Ltd Link for an articulated manipulator
JP2019524371A (ja) 2016-08-25 2019-09-05 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ クイックリリースツールカプラ並びに関連するシステム及び方法
CN109890580B (zh) 2016-08-30 2022-06-28 内布拉斯加大学董事会 具有紧凑型关节设计和附加自由度的机器人装置及相关系统和方法
CN115337111A (zh) 2016-11-22 2022-11-15 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
US10675110B2 (en) 2016-11-29 2020-06-09 Virtual Incision Corporation User controller with user presence detection and related systems and methods
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
WO2019012431A1 (en) * 2017-07-11 2019-01-17 Genesis Robotics And Motion Technologies Canada, Ulc ELECTRICAL MACHINE WITH INTEGRATED BOX
CA3076625A1 (en) 2017-09-27 2019-04-04 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
US11013564B2 (en) 2018-01-05 2021-05-25 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
WO2020146348A1 (en) 2019-01-07 2020-07-16 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
DE102020130340B4 (de) 2020-11-17 2024-03-21 imk Management Services GmbH Gehäuse für mechanische Getriebeanordnungen
DE102022129199A1 (de) 2022-11-04 2024-05-08 Schaeffler Technologies AG & Co. KG Gelenkarm

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE837629C (de) * 1950-07-25 1952-04-28 Otto Kuehne Getriebe mit veraenderlichem Winkel von Antriebs- und Abtriebswelle
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4579016A (en) * 1983-03-01 1986-04-01 Westinghouse Electric Corp. Self-contained two-axis wrist module
GB2139593B (en) * 1983-03-10 1986-03-26 Mitsubishi Electric Corp Industrial robot
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
ATE27561T1 (de) * 1983-08-03 1987-06-15 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren.
DE3448526C2 (de) * 1983-08-03 1996-08-22 Kuka Schweissanlagen & Roboter Getriebekopf für Manipulatoren
JPS6039092A (ja) * 1983-08-10 1985-02-28 三菱重工業株式会社 ロボツトの手首装置
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
EP0169942B1 (de) * 1984-08-03 1989-11-02 KUKA Schweissanlagen GmbH Getriebekopf für Manipulatoren

Also Published As

Publication number Publication date
AU6032186A (en) 1987-01-22
CN86105696A (zh) 1987-04-01
DD248316A5 (de) 1987-08-05
DE3525806A1 (de) 1987-01-29
DE3663345D1 (en) 1989-06-22
CA1262062A (en) 1989-10-03
EP0209111B1 (de) 1989-05-17
DE3525806C2 (es) 1987-11-05
KR870001424A (ko) 1987-03-13
US4736645A (en) 1988-04-12
AU579300B2 (en) 1988-11-17
EP0209111A1 (de) 1987-01-21
JPH0611474B2 (ja) 1994-02-16
ATE43089T1 (de) 1989-06-15
KR940001203B1 (ko) 1994-02-17
SU1421250A3 (ru) 1988-08-30
CN1004617B (zh) 1989-06-28
JPS6274591A (ja) 1987-04-06

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Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 20001102