ES2136972T3 - Unidad de muñeca para robot industrial. - Google Patents

Unidad de muñeca para robot industrial.

Info

Publication number
ES2136972T3
ES2136972T3 ES96901606T ES96901606T ES2136972T3 ES 2136972 T3 ES2136972 T3 ES 2136972T3 ES 96901606 T ES96901606 T ES 96901606T ES 96901606 T ES96901606 T ES 96901606T ES 2136972 T3 ES2136972 T3 ES 2136972T3
Authority
ES
Spain
Prior art keywords
accommodation
industrial robot
articulated unit
tilting
arm
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
ES96901606T
Other languages
English (en)
Inventor
Stefan Danielsson
Jan Gepertz
Jan Larsson
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.)
ABB AB
Original Assignee
Asea Brown Boveri AB
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 Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Application granted granted Critical
Publication of ES2136972T3 publication Critical patent/ES2136972T3/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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • 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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • 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
    • Y10T74/1956—Adjustable
    • Y10T74/19565—Relative movable axes
    • 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
    • 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
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist
    • 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
    • Y10T74/21—Elements
    • Y10T74/2186—Gear casings

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

LA INVENCION SE REFIERE A UNA UNIDAD ARTICULADA PARA UN ROBOT INDUSTRIAL QUE CONSTA DE UN ALOJAMIENTO DE LA UNIDAD ARTICULADA (12) DISEÑADO PARA QUEDAR FIJADO DE FORMA DESMONTABLE AL EXTREMO DISTAL DEL BRAZO DE UN ROBOT (24). EL ALOJAMIENTO DE LA UNIDAD ARTICULADA (12), QUE TIENE DOS BRAZOS DE HORQUILLA (14, 16), SOPORTA UN ALOJAMIENTO DE INCLINABLE MONTADO DE FORMA PIVOTANTE (30), QUE A SU VEZ SOPORTA UN PLATAFORMA GIRATORIA MONTADA DE FORMA ROTATIVA (32) SOBRE LA QUE SE PUEDE MONTAR UN ELEMENTO EXTERNO. EL ALOJAMIENTO INCLINABLE (30) SE ENCUENTRA CONFINADO DE FORMA POSITIVA ENTRE EL BRAZO DE HORQUILLA (14, 16) PARA IMPEDIR ASI QUE LAS FUERZAS REACTIVAS DERIVADAS DE LOS ENGRANAJES (48, 50; 52, 54; 68, 70) PRESENTES EN EL ALOJAMIENTO FUERCEN A LOS BRAZOS DE HORQUILLA (14, 16) A SEPARARSE.
ES96901606T 1995-01-27 1996-01-26 Unidad de muñeca para robot industrial. Expired - Lifetime ES2136972T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9500296A SE508735C2 (sv) 1995-01-27 1995-01-27 Handledsenhet till en industrirobot

Publications (1)

Publication Number Publication Date
ES2136972T3 true ES2136972T3 (es) 1999-12-01

Family

ID=20396989

Family Applications (2)

Application Number Title Priority Date Filing Date
ES96901605T Expired - Lifetime ES2126381T3 (es) 1995-01-27 1996-01-26 Unidad de muñon robotico industrial.
ES96901606T Expired - Lifetime ES2136972T3 (es) 1995-01-27 1996-01-26 Unidad de muñeca para robot industrial.

Family Applications Before (1)

Application Number Title Priority Date Filing Date
ES96901605T Expired - Lifetime ES2126381T3 (es) 1995-01-27 1996-01-26 Unidad de muñon robotico industrial.

Country Status (7)

Country Link
US (2) US5894761A (es)
EP (2) EP0805739B1 (es)
JP (2) JPH10512814A (es)
DE (2) DE69603709T2 (es)
ES (2) ES2126381T3 (es)
SE (1) SE508735C2 (es)
WO (2) WO1996022861A1 (es)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003305682A (ja) * 2002-04-11 2003-10-28 Fanuc Ltd ロボット手首駆動機構
SE0303539D0 (sv) 2003-12-22 2003-12-22 Abb Ab Anordning för en industrirobot
CN101426621B (zh) * 2006-04-21 2013-10-02 Abb公司 用于工业机器人的锥齿轮装置的侧隙调整装置
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
CN102049787B (zh) 2009-11-06 2014-02-19 鸿富锦精密工业（深圳）有限公司 采用齿轮侧隙调整装置的工业机器人
CN102069504B (zh) * 2009-11-23 2014-01-22 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102259337B (zh) * 2010-05-28 2013-11-06 鸿富锦精密工业（深圳）有限公司 机器人臂部件
TWI458613B (zh) * 2010-06-01 2014-11-01 Hon Hai Prec Ind Co Ltd 機器人臂部件
CN102338197B (zh) * 2010-07-20 2014-01-15 鸿富锦精密工业（深圳）有限公司 齿轮传动装置及具有该齿轮传动装置的机械手臂
CN102398270B (zh) * 2010-09-16 2014-03-26 鸿富锦精密工业（深圳）有限公司 机器人臂部件
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
JP5434991B2 (ja) * 2011-09-01 2014-03-05 株式会社安川電機 ロボット
JP5423750B2 (ja) * 2011-09-27 2014-02-19 株式会社安川電機 ギヤユニットおよびロボット
CN103121216A (zh) * 2011-11-18 2013-05-29 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102554935A (zh) * 2012-03-08 2012-07-11 南京埃斯顿机器人工程有限公司 一种低负载工业机器人腕部传动机构
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
JP6438193B2 (ja) * 2013-12-16 2018-12-12 川崎重工業株式会社 多関節ロボットの手首構造
WO2016084177A1 (ja) * 2014-11-26 2016-06-02 株式会社安川電機 ロボットアーム、ロボットシステム、ギヤユニット、ロボットアームの製造方法
JP6177837B2 (ja) 2015-06-30 2017-08-09 ファナック株式会社 視覚センサを用いたロボットシステム
GB201512966D0 (en) * 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
JP6088605B1 (ja) * 2015-08-31 2017-03-01 ファナック株式会社 視覚センサを用いたロボットシステム
CN105082171B (zh) * 2015-09-10 2016-10-19 哈尔滨工业大学 一种可更换末端执行器的多功能机器人手腕
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
JP6378238B2 (ja) * 2016-04-04 2018-08-22 ファナック株式会社 ロボットの旋回軸構造
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5378554A (en) * 1976-12-20 1978-07-12 Toshiba Corp Wrist mechanism for industrial robot
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
US4823279A (en) * 1986-02-27 1989-04-18 Unimation, Inc. Coordinate conversion system and method for controlling an industrial robot
JPS62287991A (ja) * 1986-06-09 1987-12-14 ファナック株式会社 産業用ロボツトの手首駆動機構
JPS63109994A (ja) * 1986-10-27 1988-05-14 株式会社日立製作所 工業用ロボツトの手首機構
US4807486A (en) * 1987-11-09 1989-02-28 Gmf Robotics Corporation Three-axes wrist mechanism
JP2591968B2 (ja) * 1987-12-28 1997-03-19 株式会社日立製作所 産業用ロボットの手首
JPH03287392A (ja) * 1990-03-30 1991-12-18 Toyoda Mach Works Ltd 多関節ロボット
JP2921132B2 (ja) * 1991-01-31 1999-07-19 株式会社安川電機 産業用ロボットの手首機構
JP3465850B2 (ja) * 1993-04-28 2003-11-10 株式会社安川電機 産業用ロボットの手首機構
DE4428488C1 (de) * 1994-08-12 1995-10-26 Hans Richter Handgelenk für die Arbeitshand eines Roboters

Also Published As

Publication number Publication date
DE69603709T2 (de) 2000-03-02
WO1996022861A1 (en) 1996-08-01
DE69601213D1 (de) 1999-02-04
EP0805739B1 (en) 1999-08-11
SE9500296L (sv) 1996-07-28
ES2126381T3 (es) 1999-03-16
WO1996022860A1 (en) 1996-08-01
JPH10512813A (ja) 1998-12-08
JPH10512814A (ja) 1998-12-08
DE69601213T2 (de) 1999-08-19
SE9500296D0 (sv) 1995-01-27
EP0805738B1 (en) 1998-12-23
US5924330A (en) 1999-07-20
SE508735C2 (sv) 1998-11-02
EP0805739A1 (en) 1997-11-12
EP0805738A1 (en) 1997-11-12
DE69603709D1 (de) 1999-09-16
US5894761A (en) 1999-04-20

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