ES2052292T3 - Accionamiento de por lo menos dos arboles concentricos para el movimiento de un dispositivo de salida de fuerza de un robot. - Google Patents

Accionamiento de por lo menos dos arboles concentricos para el movimiento de un dispositivo de salida de fuerza de un robot.

Info

Publication number
ES2052292T3
ES2052292T3 ES91102537T ES91102537T ES2052292T3 ES 2052292 T3 ES2052292 T3 ES 2052292T3 ES 91102537 T ES91102537 T ES 91102537T ES 91102537 T ES91102537 T ES 91102537T ES 2052292 T3 ES2052292 T3 ES 2052292T3
Authority
ES
Spain
Prior art keywords
drive
robot
shafts
gearing
toothed
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 - Lifetime
Application number
ES91102537T
Other languages
English (en)
Inventor
Stefan Kerpe
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Application granted granted Critical
Publication of ES2052292T3 publication Critical patent/ES2052292T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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

SE TRATA DE UN ACCIONAMIENTO DE AL MENOS DOS EJES CONCENTRICOS PARA EL MOVIMIENTO DE DISPOSITIVO DE SALIDA DE ROBOT, ESPECIALMENTE PARA BRAZOS EN FORMA DE PINZA DE ROBOT, SEGUN SE MUESTRA EN EL DIBUJO. SE DISPONE AL MENOS DE UN REDUCTOR DE VELOCIDAD CIRCULATORIO (13), CUYA CARCASA (17) Y CUYO EJE DE SALIDA (21), ESTAN EQUIPADOS CADA UNO CON UNA CORONA DENTADA (15, 19), QUE CON LOS EJES (5, 7) ACTUAN CONJUNTAMENTE EN SUS CORONAS DENTADAS (9, 11). LAS CORONAS DENTADAS (15, 19) DE LOS ENGRANAJES (13), MUESTRAN UNA DIFERENTE VELOCIDAD DE GIRO EN COMPARACION CON LOS ENGRANAJES DE ACCIONAMIENTO (23), Y LOS EJES DE LAS CORONAS DENTADAS (15, 19, 9, 11) DE LOS ENGRANAJES (13) Y DE LOS EJES (5, 7) MUESTRAN LA MISMA DISTANCIA.
ES91102537T 1990-02-23 1991-02-21 Accionamiento de por lo menos dos arboles concentricos para el movimiento de un dispositivo de salida de fuerza de un robot. Expired - Lifetime ES2052292T3 (es)

Applications Claiming Priority (1)

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

Publications (1)

Publication Number Publication Date
ES2052292T3 true ES2052292T3 (es) 1994-07-01

Family

ID=6400838

Family Applications (1)

Application Number Title Priority Date Filing Date
ES91102537T Expired - Lifetime ES2052292T3 (es) 1990-02-23 1991-02-21 Accionamiento de por lo menos dos arboles concentricos para el movimiento de un dispositivo de salida de fuerza de un robot.

Country Status (5)

Country Link
EP (1) EP0443576B1 (es)
AT (1) ATE105224T1 (es)
DE (2) DE4105483A1 (es)
DK (1) DK0443576T3 (es)
ES (1) ES2052292T3 (es)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2511894Y2 (ja) * 1991-09-30 1996-09-25 川崎重工業株式会社 産業用ロボット
DE4428488C1 (de) * 1994-08-12 1995-10-26 Hans Richter Handgelenk für die Arbeitshand eines Roboters
JPH106270A (ja) * 1996-06-24 1998-01-13 Fanuc Ltd 産業用ロボット
DE19855478B4 (de) * 1998-12-01 2006-01-12 Steinbichler Optotechnik Gmbh Verfahren und Vorrichtung zur optischen Erfassung einer Kontrastlinie
US6263755B1 (en) * 1999-02-10 2001-07-24 New York University Robotic manipulator and method
FR2853273B1 (fr) * 2003-04-04 2006-03-10 Commissariat Energie Atomique Dispositif d'actionnement, notamment pour un bras articule
US20110130212A1 (en) * 2008-07-28 2011-06-02 Mordehai Sholev Variable Axial-Angle Coupling
JP5387611B2 (ja) * 2011-04-19 2014-01-15 株式会社安川電機 駆動機構およびロボット
JP2012223849A (ja) * 2011-04-19 2012-11-15 Yaskawa Electric Corp ロボット
EP3079609B1 (en) * 2013-12-12 2019-07-17 Covidien LP Gear train assemblies for robotic surgical systems
AU2017269261B2 (en) 2016-05-26 2021-12-09 Covidien Lp Robotic surgical assemblies
US11583358B2 (en) 2017-09-06 2023-02-21 Covidien Lp Boundary scaling of surgical robots
EP3678579A4 (en) 2017-09-08 2021-06-16 Covidien LP ENERGY DISCONNECTION FOR ROBOTIC SURGICAL SETS
EP3737328B1 (en) 2018-01-09 2025-04-30 Covidien LP STERILE INTERFACE MODULE FOR ROBOTIC SURGICAL ASSEMBLIES
WO2019139941A1 (en) 2018-01-10 2019-07-18 Covidien Lp Robotic surgical assemblies and adapter assemblies thereof
WO2019191015A1 (en) 2018-03-29 2019-10-03 Covidien Lp Robotic surgical systems and instrument drive assemblies
CN108608447A (zh) * 2018-05-02 2018-10-02 阜阳盛东智能制造技术研发有限公司 一种用于上料机械手的连接机构
EP3826566B1 (en) 2018-07-26 2024-11-20 Covidien LP Surgical robotic systems
CN109253232A (zh) * 2018-09-21 2019-01-22 上海飞珀机器人科技有限公司 一种双自由度齿轮箱模组
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 (zh) * 2020-09-25 2023-11-28 成都易慧家科技有限公司 一种双电机驱动推拉门窗的控制系统及其方法
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 (es) * 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 (ru) * 1977-07-01 1980-09-15 Предприятие П/Я Р-6930 Манипул тор модульного типа
DE3626610A1 (de) * 1986-08-06 1988-02-18 Fibro Gmbh Portalsystem
FR2620837B1 (fr) * 1987-09-21 1990-11-30 Commissariat Energie Atomique Dispositif d'orientation d'un objet autour de deux axes de rotation

Also Published As

Publication number Publication date
EP0443576A1 (de) 1991-08-28
EP0443576B1 (de) 1994-05-04
ATE105224T1 (de) 1994-05-15
DE59101525D1 (de) 1994-06-09
DK0443576T3 (da) 1994-09-19
DE4105483A1 (de) 1991-08-29

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