ES2002442A6 - Cabeza de transmision para manipuladores - Google Patents

Cabeza de transmision para manipuladores

Info

Publication number
ES2002442A6
ES2002442A6 ES8603385A ES8603385A ES2002442A6 ES 2002442 A6 ES2002442 A6 ES 2002442A6 ES 8603385 A ES8603385 A ES 8603385A ES 8603385 A ES8603385 A ES 8603385A ES 2002442 A6 ES2002442 A6 ES 2002442A6
Authority
ES
Spain
Prior art keywords
segment
axis
shaft
stepdown
rotation
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
ES8603385A
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
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of ES2002442A6 publication Critical patent/ES2002442A6/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
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)

Abstract

EL INVENTO CONCIERNE A LA EJECUCION DE ACCIONAMIENTO DE UNA CABEZA DE TRANSMISION DE VARIAS PARTES DE UN MANIPULADOR, CONOCIDA POR LA FIGURA (7) DE LA DE-OS 34 28 748. SEGUN ELLA, TRES PARTES DE CABEZA (1, 2, 3), DISPUESTAS EN FILA, ESTAN APOYADAS UNA JUNTO A OTRA A LO LARGO DE EJES INCLINADOS (5, 6), ESTANDO PREVISTO EN EL TREN DE ACCIONAMIENTO INDIVIDUAL, EN EL LADO DE SALIDA DE FUERZA, SENDOS ENGRANAJES (25, 26) FUERTEMENTE REDUCTORES, POR EJEMPLO ENGRANAJES DIFERENCIALES DE ACCIONAMIENTO ARMONICO. CON EL FIN DE CONSEGUIR MOVIMIENTOS DE GIRO UNIFORMES Y POR LO TANTO MAS FACILMENTE ANALIZABLES DE LA PARTE CENTRAL Y ANTERIOR DE CABEZA (2, 3), SE PROPONE ELEGIR UNA REDUCCION (X) PARA UNO DE LOS DOS ENGRANAJES REDUCTORES (25, 26) QUE ESTAN ASOCIADOS A LA CABEZA DE TRANSMISION CENTRAL ASI COMO ANTERIOR (2, 3), Y UNA REDUCCION (X-1) PARA EL OTRO DE LOS DOS ENGRANAJES REDUCTORES (25, 26).
ES8603385A 1985-12-19 1986-12-12 Cabeza de transmision para manipuladores Expired ES2002442A6 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19853545068 DE3545068A1 (de) 1985-12-19 1985-12-19 Getriebekopf fuer manipulatoren

Publications (1)

Publication Number Publication Date
ES2002442A6 true ES2002442A6 (es) 1988-08-01

Family

ID=6288934

Family Applications (1)

Application Number Title Priority Date Filing Date
ES8603385A Expired ES2002442A6 (es) 1985-12-19 1986-12-12 Cabeza de transmision para manipuladores

Country Status (12)

Country Link
US (1) US4771652A (es)
EP (1) EP0229941B1 (es)
JP (1) JPS62148183A (es)
KR (1) KR900003641B1 (es)
CN (1) CN1004867B (es)
AT (1) ATE47074T1 (es)
AU (1) AU587749B2 (es)
CA (1) CA1268797A (es)
DD (1) DD252787A5 (es)
DE (2) DE3545068A1 (es)
ES (1) ES2002442A6 (es)
SU (1) SU1524801A3 (es)

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JP3480533B2 (ja) * 1995-08-30 2003-12-22 株式会社安川電機 ロボットの関節機構
DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
DE19901189C1 (de) * 1997-10-28 2000-09-21 Fraunhofer Ges Forschung Spannungswellen-Getriebe
DE19747566C1 (de) * 1997-10-28 1999-04-08 Fraunhofer Ges Forschung Piezoangetriebenes Spannungswellen-Getriebe
EP1227759B1 (de) * 1999-10-14 2004-01-02 Karl Storz GmbH & Co. Drehgelenk für medizinische instrumente
JP2003025269A (ja) * 2001-07-12 2003-01-29 National Aerospace Laboratory Of Japan 回転修正機構付きオフセット回転関節ユニット
JP2004148449A (ja) * 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
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
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US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
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
CA3068216C (en) 2006-06-22 2023-03-07 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US8343171B2 (en) * 2007-07-12 2013-01-01 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
CA2695619C (en) 2007-08-15 2015-11-24 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
EP2178431A4 (en) 2007-08-15 2017-01-18 Board of Regents of the University of Nebraska Medical inflation, attachment, and delivery devices and related methods
CA2739727C (en) * 2008-10-06 2017-06-27 Kinova Portable robotic arm
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
CN101875196B (zh) * 2010-03-15 2011-11-02 中国原子能科学研究院 远距离导轨对中操作机械手
WO2013022423A1 (en) 2010-08-06 2013-02-14 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
CN201840427U (zh) * 2010-10-11 2011-05-25 洋通工业股份有限公司 驱动模块
CN102242794A (zh) * 2011-05-31 2011-11-16 国营红峰机械厂 一种斜交角谐波减速器
EP3714821A1 (en) 2011-06-10 2020-09-30 Board of Regents of the University of Nebraska Surgical end effector
US9089353B2 (en) 2011-07-11 2015-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9636178B2 (en) * 2011-12-07 2017-05-02 Specialty Surgical Instrumentation, Inc. System and method for an articulating shaft
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
EP3845190B1 (en) 2012-05-01 2023-07-12 Board of Regents of the University of Nebraska Single site robotic device and related systems
CA2876846C (en) 2012-06-22 2021-04-06 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
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
CA2906672C (en) 2013-03-14 2022-03-15 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
CN103758932B (zh) * 2014-01-26 2016-05-25 浙江来福谐波传动股份有限公司 大减速比角向谐波减速装置
US10342561B2 (en) 2014-09-12 2019-07-09 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
EP3217890B1 (en) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotic device with compact joint design
CN104608146A (zh) * 2015-01-27 2015-05-13 中国科学技术大学 基于双斜面偏转关节的新型机械臂
CN114027986B (zh) 2015-08-03 2024-06-14 内布拉斯加大学董事会 机器人手术装置系统及相关方法
FR3040145B1 (fr) * 2015-08-21 2018-02-09 Nimbl'bot Bras de robot articule
CN105150239B (zh) * 2015-08-26 2017-02-01 希美埃（芜湖）机器人技术有限公司 一种工业机器人腕部中空偏置结构
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
NL2016878B1 (en) * 2016-06-02 2018-01-25 State Of The Art Ltd Link for an articulated manipulator
US11173617B2 (en) 2016-08-25 2021-11-16 Board Of Regents Of The University Of Nebraska Quick-release end effector tool interface
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
DE112016007253B4 (de) * 2016-09-23 2022-10-13 Yamaha Hatsudoki Kabushiki Kaisha Roboter
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
CN110139620B (zh) 2016-11-22 2022-09-20 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
JP7099728B2 (ja) 2016-11-29 2022-07-12 バーチャル インシジョン コーポレイション ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CN107379004B (zh) * 2017-08-29 2023-02-17 天津大学 一种三自由度中空柔性手腕
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
NL2021133B1 (nl) * 2018-06-15 2019-12-20 Exact Dynamics B V Vertragingsunit, Armgewricht voorzien van twee respectievelijk drie vertragingsunits, alsmede een robotarm
CN108818608B (zh) * 2018-08-24 2024-02-13 上海哲谦应用科技有限公司 一种并联式三自由度人形机器人关节
CN109465813A (zh) * 2018-12-07 2019-03-15 曾林旺 一种机械手臂
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
IT201900009081A1 (it) * 2019-06-14 2020-12-14 Free Energy Tech S R L Modulo per giunto di collegamento e giunto di collegamento modulare comprendente detto modulo
CN110303519A (zh) * 2019-07-09 2019-10-08 郑州科技学院 腕关节及机器人
CN110937102A (zh) * 2019-12-06 2020-03-31 中国航空工业集团公司沈阳飞机设计研究所 一种飞机翼面偏转机构
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Also Published As

Publication number Publication date
ATE47074T1 (de) 1989-10-15
CN1004867B (zh) 1989-07-26
AU587749B2 (en) 1989-08-24
JPH0314594B2 (es) 1991-02-27
DE3545068C2 (es) 1987-09-24
SU1524801A3 (ru) 1989-11-23
CN86108531A (zh) 1987-11-11
JPS62148183A (ja) 1987-07-02
DD252787A5 (de) 1987-12-30
KR870005755A (ko) 1987-07-07
KR900003641B1 (ko) 1990-05-28
AU6671286A (en) 1987-06-25
CA1268797A (en) 1990-05-08
EP0229941A3 (en) 1987-08-12
EP0229941B1 (de) 1989-10-11
DE3666173D1 (en) 1989-11-16
DE3545068A1 (de) 1987-06-25
US4771652A (en) 1988-09-20
EP0229941A2 (de) 1987-07-29

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Legal Events

Date Code Title Description
SA6 Expiration date (snapshot 920101)

Free format text: 2006-12-12