ES2000733A6 - Mecanismo de mano accionado a distancia para la orientacion del organo activo de un robot industrial - Google Patents

Mecanismo de mano accionado a distancia para la orientacion del organo activo de un robot industrial

Info

Publication number
ES2000733A6
ES2000733A6 ES8600523A ES8600523A ES2000733A6 ES 2000733 A6 ES2000733 A6 ES 2000733A6 ES 8600523 A ES8600523 A ES 8600523A ES 8600523 A ES8600523 A ES 8600523A ES 2000733 A6 ES2000733 A6 ES 2000733A6
Authority
ES
Spain
Prior art keywords
axis
housing
gear train
freedom
degrees
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
ES8600523A
Other languages
English (en)
Inventor
Thomas Andrew Colimitra
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.)
CBS Corp
Original Assignee
Westinghouse Electric Corp
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 Westinghouse Electric Corp filed Critical Westinghouse Electric Corp
Publication of ES2000733A6 publication Critical patent/ES2000733A6/es
Expired 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19051—Single driven plural drives
    • Y10T74/1906—Nonparallel
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)

Abstract

MECANISMO DE MANO ACCIONADO A DISTANCIA PARA LA ORIENTACION DEL ORGANO ACTIVO DE UN ROBOT INDUSTRIAL. LA INVENCION SE REFIERE A UN MECANISMO DE MANO DESTINADO A SER UTILIZADO CON UN MANIPULADOR INDUSTRIAL, PREENTANDO DICHO MECANISMO DE MANO UN POSICIONAMIENTO MAS PRECISO CON TRES GRADOS DE LIBERTAD ADAPTANDOSE FACILMENTE A ROBOTS Y A SISTEMAS ROBOTICOS EXISTENTES, UTILIZANDO ESTE MECANISMO TRES EJES DE SISTEMA DE ACCIONAMIENTO. ESTE MECANISMO INCLUYE TAMBIEN UNA ENVOLTURA EXTERNA QUE A SU VEZ INCLUYE UNA PRIMERA, SEGUNDA Y TERCERA ENVOLTURAS CON SUS MEDIOS CORRESPONDIENTES DE ACCIONAMIENTO. EL MECANISMO OBJETO DE LA INVENCION UTILIZA UNA UBICACION UNICA DE LOS COJINETES PARA PROPORCIONAR UN MECANISMO DE MANO DE DIMENSIONES MAS PEQUEÑAS QUE PUEDE SER FACILMENTE, TANTO AMPLIADO COMO REDUCIDO.
ES8600523A 1985-07-25 1986-07-23 Mecanismo de mano accionado a distancia para la orientacion del organo activo de un robot industrial Expired ES2000733A6 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/758,931 US4683772A (en) 1985-07-25 1985-07-25 Hand gear train with three degrees of freedom

Publications (1)

Publication Number Publication Date
ES2000733A6 true ES2000733A6 (es) 1988-03-16

Family

ID=25053705

Family Applications (1)

Application Number Title Priority Date Filing Date
ES8600523A Expired ES2000733A6 (es) 1985-07-25 1986-07-23 Mecanismo de mano accionado a distancia para la orientacion del organo activo de un robot industrial

Country Status (6)

Country Link
US (1) US4683772A (es)
EP (1) EP0210490B1 (es)
JP (1) JPS6228145A (es)
CA (1) CA1263128A (es)
DE (1) DE3683880D1 (es)
ES (1) ES2000733A6 (es)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE453579B (sv) * 1986-06-12 1988-02-15 Asea Ab Robothandled bestaende av tva handledshalvor
JPS63219943A (ja) * 1987-03-09 1988-09-13 Imano Tekkosho:Kk 回転式動力伝達装置
JPH0544610Y2 (es) * 1987-04-02 1993-11-12
JPH01108439A (ja) * 1987-10-21 1989-04-25 Konno Tekkosho:Kk 回転式動力伝達装置
US4807486A (en) * 1987-11-09 1989-02-28 Gmf Robotics Corporation Three-axes wrist mechanism
JPH02190288A (ja) * 1989-01-20 1990-07-26 Kobe Steel Ltd 工業用ロボット等の手首機構
IT1261026B (it) * 1992-07-22 1996-04-29 Jobs Spa Testa operatrice per macchine utensili automatiche, in cui si utilizzano coppie coniche ipoidali per trasmettere il moto per il posizionamento del mandrino
US5813283A (en) * 1996-06-20 1998-09-29 Industrial Technology Research Institute Vertical/horizontal spindle head for machine tools
JP3975959B2 (ja) * 2003-04-23 2007-09-12 トヨタ自動車株式会社 ロボット動作規制方法とその装置およびそれを備えたロボット
JP5025222B2 (ja) * 2005-11-21 2012-09-12 株式会社エンプラス 歯車装置
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
CN102198658A (zh) * 2010-03-25 2011-09-28 鸿富锦精密工业（深圳）有限公司 机器人臂部件
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
CN110448377A (zh) * 2013-12-12 2019-11-15 柯惠Lp公司 用于机器人手术系统的齿轮系组件
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
CA3022164A1 (en) 2016-05-26 2017-11-30 Covidien Lp Robotic surgical assemblies
CN111132629B (zh) 2017-09-06 2024-04-16 柯惠Lp公司 手术机器人的边界缩放
EP3773265A4 (en) 2018-03-29 2022-04-13 Covidien LP ROBOTIC SURGICAL SYSTEMS AND INSTRUMENT DRIVE SETS

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH458002A (de) * 1967-02-21 1968-06-15 Unimation Inc Greifgerät mit programmgesteuerten Betätigungsvorrichtungen
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
US4362978A (en) * 1980-10-27 1982-12-07 Unimation, Inc. Control system for manipulator apparatus
DE3048067C2 (de) * 1980-12-19 1984-08-09 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Getriebeanordnung für den Gelenkkopf eines Manipulators
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
EP0108569B1 (en) * 1982-11-02 1987-03-18 Westinghouse Electric Corporation Robot wrist and arm
JPS60127989A (ja) * 1983-12-14 1985-07-08 ファナック株式会社 産業用ロボットの手首駆動機構

Also Published As

Publication number Publication date
EP0210490A2 (en) 1987-02-04
EP0210490B1 (en) 1992-02-12
DE3683880D1 (de) 1992-03-26
US4683772A (en) 1987-08-04
EP0210490A3 (en) 1988-04-13
JPS6228145A (ja) 1987-02-06
CA1263128A (en) 1989-11-21

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Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 19980601