ES2000697A6 - Cabeza de transmision para manipuladores - Google Patents
Cabeza de transmision para manipuladoresInfo
- 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
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.
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)
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)
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 |
-
1985
- 1985-07-19 DE DE19853525806 patent/DE3525806A1/de active Granted
-
1986
- 1986-07-15 DE DE8686109666T patent/DE3663345D1/de not_active Expired
- 1986-07-15 DD DD86292515A patent/DD248316A5/de not_active IP Right Cessation
- 1986-07-15 AT AT86109666T patent/ATE43089T1/de not_active IP Right Cessation
- 1986-07-15 EP EP86109666A patent/EP0209111B1/de not_active Expired
- 1986-07-17 CA CA000514088A patent/CA1262062A/en not_active Expired
- 1986-07-18 JP JP61168209A patent/JPH0611474B2/ja not_active Expired - Lifetime
- 1986-07-18 SU SU864027874A patent/SU1421250A3/ru active
- 1986-07-18 AU AU60321/86A patent/AU579300B2/en not_active Ceased
- 1986-07-18 US US06/888,146 patent/US4736645A/en not_active Expired - Lifetime
- 1986-07-18 ES ES8600409A patent/ES2000697A6/es not_active Expired
- 1986-07-19 KR KR1019860005912A patent/KR940001203B1/ko not_active IP Right Cessation
- 1986-07-19 CN CN86105696.5A patent/CN1004617B/zh not_active Expired
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 |