FR2186331A1 - - Google Patents
Info
- Publication number
- FR2186331A1 FR2186331A1 FR7314523A FR7314523A FR2186331A1 FR 2186331 A1 FR2186331 A1 FR 2186331A1 FR 7314523 A FR7314523 A FR 7314523A FR 7314523 A FR7314523 A FR 7314523A FR 2186331 A1 FR2186331 A1 FR 2186331A1
- Authority
- FR
- France
- 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.)
- Granted
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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0012—Balancing devices using fluidic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/1025—Harmonic drives
-
- 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
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2226407A DE2226407C3 (de) | 1972-05-31 | 1972-05-31 | Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2186331A1 true FR2186331A1 (fr) | 1974-01-11 |
FR2186331B1 FR2186331B1 (fr) | 1978-12-29 |
Family
ID=5846382
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7314523A Expired FR2186331B1 (fr) | 1972-05-31 | 1973-04-20 |
Country Status (12)
Country | Link |
---|---|
US (1) | US3826383A (fr) |
JP (1) | JPS5440822B2 (fr) |
BE (1) | BE798818A (fr) |
CH (1) | CH556224A (fr) |
DE (1) | DE2226407C3 (fr) |
ES (1) | ES415026A1 (fr) |
FR (1) | FR2186331B1 (fr) |
GB (1) | GB1409463A (fr) |
IT (1) | IT988789B (fr) |
NL (1) | NL7307619A (fr) |
SE (1) | SE418820B (fr) |
SU (1) | SU488388A3 (fr) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2328549A1 (fr) * | 1975-10-20 | 1977-05-20 | Voest Ag | Manipulateur capable d'imprimer a une brique des mouvements simultanes de rotation autour d'un axe exterieur, de basculement et de rotation sur elle-meme |
FR2361205A1 (fr) * | 1975-10-28 | 1978-03-10 | Unimation Inc | Installation d'assemblage automatique programmable |
FR2367578A1 (fr) * | 1976-10-13 | 1978-05-12 | Spar Aerospace Products Ltd | Cardan motorise |
FR2375010A1 (fr) * | 1976-12-23 | 1978-07-21 | Cincinnati Milacron Inc | Manipulateur |
FR2393655A1 (fr) * | 1977-06-07 | 1979-01-05 | Volkswagenwerk Ag | Commande de la rotation d'un composant d'un appareil de manipulation |
EP0001686A1 (fr) * | 1977-10-20 | 1979-05-02 | Imperial Chemical Industries Plc | Manipulateur industriel pour l'empilage serré d'articles et méthode d'empilage utilisant ce manipulateur |
FR2426547A1 (fr) * | 1978-05-22 | 1979-12-21 | Nissan Motor | Systeme robot industriel capable d'effectuer des operations d'usinage |
EP0078522A2 (fr) * | 1981-10-30 | 1983-05-11 | Hitachi, Ltd. | Robot industriel |
EP0121576A1 (fr) * | 1982-10-19 | 1984-10-17 | Fanuc Ltd. | Bras articule pour robot industriel |
EP0210490A2 (fr) * | 1985-07-25 | 1987-02-04 | Unimation Inc. | Engrenage pour main de robot à trois degrés de liberté |
EP0255612A1 (fr) * | 1986-08-06 | 1988-02-10 | Fibro GmbH | Portique pour manipulateur |
FR2607914A1 (fr) * | 1986-12-09 | 1988-06-10 | Thomson Csf | Tourelle comportant un joint tournant et un dispositif pour reduction de vitesse angulaire |
EP0552688A1 (fr) * | 1992-01-20 | 1993-07-28 | KUKA Schweissanlagen GmbH | Robot à plusieurs axes |
Families Citing this family (66)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS49124766A (fr) * | 1973-03-31 | 1974-11-29 | ||
DE2435156C2 (de) * | 1974-07-22 | 1983-09-01 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Programmgesteuerter Manipulator |
SE385209B (sv) * | 1974-10-08 | 1976-06-14 | Hiab Foco Ab | Programmerbar hydraulisk lastkran |
US4275986A (en) * | 1975-10-28 | 1981-06-30 | Unimation, Inc. | Programmable automatic assembly system |
US4115684A (en) * | 1976-06-17 | 1978-09-19 | Unimation | Portable, programmable manipulator apparatus |
DE2627490B2 (de) * | 1976-06-18 | 1979-12-20 | H.A. Schlatter Ag, Schlieren (Schweiz) | Manipulator |
DE2630857A1 (de) * | 1976-07-09 | 1978-01-12 | Volkswagenwerk Ag | Handhabungsautomat |
US4062455A (en) * | 1976-11-22 | 1977-12-13 | Flatau Carl R | Remote manipulator |
GB1588315A (en) * | 1977-03-31 | 1981-04-23 | Davy Loewy Ltd | Manipulator |
DE2717870C3 (de) * | 1977-04-22 | 1983-05-19 | Volkswagenwerk Ag, 3180 Wolfsburg | Handhabungsgerät |
IT1083111B (it) * | 1977-05-18 | 1985-05-21 | Bisiach & Carru | Testa portautensile per macchina operatrice particolarmente per pinze di saldatura a resistenza o torce per saldatura in tig mig o mag |
DE2814228A1 (de) * | 1978-04-03 | 1979-10-11 | Grisebach Hans Theodor | Antrieb fuer axial- und rotationsbewegungen, insbesondere fuer handhabungsgeraete |
JPS55131489A (en) * | 1979-03-30 | 1980-10-13 | Hitachi Ltd | Robot |
USRE32794E (en) * | 1979-04-19 | 1988-12-06 | Unimation, Inc. | Programmable automatic assembly system |
US4420812A (en) * | 1979-09-14 | 1983-12-13 | Tokico, Ltd. | Teaching- playback robot |
US4385358A (en) * | 1979-10-19 | 1983-05-24 | Tokico Ltd. | Robot |
JPS5727686A (en) * | 1980-07-21 | 1982-02-15 | Hitachi Ltd | Industrial articular robot |
JPS605432B2 (ja) * | 1980-09-30 | 1985-02-12 | ファナック株式会社 | 工業用ロボット |
JPS6039518B2 (ja) * | 1980-09-30 | 1985-09-06 | ファナック株式会社 | 工業用ロボットの手首機構 |
DE3050870C2 (fr) * | 1980-12-19 | 1988-06-16 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De | |
DE3048067C2 (de) * | 1980-12-19 | 1984-08-09 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Getriebeanordnung für den Gelenkkopf eines Manipulators |
US4365928A (en) * | 1981-05-04 | 1982-12-28 | Cincinnati Milacron Inc. | Fluid power connector system for manipulator |
FR2512727A1 (fr) * | 1981-09-15 | 1983-03-18 | Renault | Poignet orientable a trois axes de rotation pour robot industriel |
JPS58155197A (ja) * | 1982-02-12 | 1983-09-14 | 株式会社日平トヤマ | ロボツトハンド駆動装置 |
JPS58160091A (ja) * | 1982-03-12 | 1983-09-22 | 富士通フアナツク株式会社 | ロボツトのバツクラツシユ調整機構 |
JPS58202790A (ja) * | 1982-05-14 | 1983-11-26 | 豊田工機株式会社 | 関節形ロボツト |
DE8214938U1 (de) * | 1982-05-22 | 1983-07-28 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Gelenkkopf für Industrieroboter |
US4588346A (en) * | 1982-08-25 | 1986-05-13 | Intest Corporation | Positioner for maintaining an object in a substantially weightless condition |
US4527942A (en) * | 1982-08-25 | 1985-07-09 | Intest Corporation | Electronic test head positioner for test systems |
US5149029A (en) * | 1982-08-25 | 1992-09-22 | Intest Corporation | Electronic test head positioner for test systems |
US4705447A (en) * | 1983-08-11 | 1987-11-10 | Intest Corporation | Electronic test head positioner for test systems |
JPS5973297A (ja) * | 1982-10-20 | 1984-04-25 | フアナツク株式会社 | 工業用ロボツトの手首機構 |
US4624621A (en) * | 1982-10-21 | 1986-11-25 | Kabushiki Kaisha Kobe Seiko Sho | Wrist mechanism for industrial robots and the like |
DE3370299D1 (en) * | 1982-11-02 | 1987-04-23 | Westinghouse Electric Corp | Robot wrist and arm |
US4579016A (en) * | 1983-03-01 | 1986-04-01 | Westinghouse Electric Corp. | Self-contained two-axis wrist module |
DE3308413C1 (de) * | 1983-03-09 | 1984-10-04 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Spielfrei einstellbarer Schwenkantrieb fuer mindestens eine Hauptachse von Manipulatoren |
US4588349A (en) * | 1983-07-28 | 1986-05-13 | The United States Of America As Represented By The Secretary Of The Air Force | Robotic order picking |
US4515039A (en) * | 1983-08-18 | 1985-05-07 | Ex-Cell-O Corporation | Robot joint |
JPS60135196A (ja) * | 1983-12-22 | 1985-07-18 | 株式会社安川電機 | 産業用ロボツトの手首機構 |
US4684313A (en) * | 1984-01-13 | 1987-08-04 | Mitsubishi Denki Kabushiki Kaisha | Wrist device of industrial robot |
GB2168676A (en) * | 1984-10-19 | 1986-06-25 | Robot City Technology Limited | Robotic arm |
US4685861A (en) * | 1984-10-30 | 1987-08-11 | Michael Madock | Continuous shaft-driven industrial robot |
US4984745A (en) * | 1985-01-22 | 1991-01-15 | Gmf Robotics Corporation | Electric robot for use in a hazardous location |
US6477913B1 (en) | 1985-01-22 | 2002-11-12 | Fanuc Robotics North America, Inc. | Electric robot for use in a hazardous location |
US4668146A (en) * | 1985-10-25 | 1987-05-26 | Kabushiki Kaisha Kobe Seiko Sho | Explosion proof construction of motor robot |
US4973215A (en) * | 1986-02-18 | 1990-11-27 | Robotics Research Corporation | Industrial robot with servo |
SE462323B (sv) * | 1987-04-29 | 1990-06-11 | Asea Ab | Industrirobot med glappfri lagring av stativet i bottenplattan medelst axelkoppling |
US5142211A (en) * | 1990-04-16 | 1992-08-25 | Progressive Blasting Systems, Inc. | Five-axis robot |
US5497674A (en) * | 1991-06-04 | 1996-03-12 | Kawasaki Jukogyo Kabushiki Kaisha | Industrial robot |
US5600258A (en) * | 1993-09-15 | 1997-02-04 | Intest Corporation | Method and apparatus for automated docking of a test head to a device handler |
US5440943A (en) * | 1993-09-15 | 1995-08-15 | Intest Corporation | Electronic test head manipulator |
US5587637A (en) * | 1994-01-10 | 1996-12-24 | Tatsumo Kabushiki Kaisha | Robot arm device capable of conveying an article in circumferential and radial directions |
WO1996026446A1 (fr) * | 1995-02-23 | 1996-08-29 | Aesop, Inc. | Manipulateur pour une tete d'essai d'un equipement d'essai automatique |
US5606262A (en) * | 1995-06-07 | 1997-02-25 | Teradyne, Inc. | Manipulator for automatic test equipment test head |
SE528389C2 (sv) | 2005-03-11 | 2006-10-31 | Atlas Copco Rock Drills Ab | Vridanordning för en bom till en gruv- eller entreprenadrigg jämte rigg |
DE102007019753A1 (de) * | 2007-04-20 | 2008-11-27 | Tschakarow, Sawa, Dr. | Elektromechanische Greifeinrichtung |
US8893578B2 (en) | 2009-02-13 | 2014-11-25 | Fanuc Corporation | Parallel robot provided with wrist section having three degrees of freedom |
JP4659098B2 (ja) * | 2009-02-13 | 2011-03-30 | ファナック株式会社 | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット |
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 |
CN105619419A (zh) * | 2016-03-17 | 2016-06-01 | 北京贝虎机器人技术有限公司 | 机器人 |
JP6670454B2 (ja) * | 2017-08-18 | 2020-03-25 | 株式会社安川電機 | ロボット及びロボットシステム |
JP7009929B2 (ja) * | 2017-11-02 | 2022-01-26 | セイコーエプソン株式会社 | ロボット |
CN108715395B (zh) * | 2018-07-30 | 2024-03-22 | 华业钢构有限公司 | 一种屋顶平台模块吊装装置及其吊装方法 |
CN111742810B (zh) * | 2020-07-31 | 2022-10-11 | 奉节县铭恒农业科技有限公司 | 一种樱桃树种植设备 |
CN112548998A (zh) * | 2020-12-16 | 2021-03-26 | 湖南三易精工科技有限公司 | 一种机器人用移动底盘及其使用方法 |
CN112809738A (zh) * | 2020-12-31 | 2021-05-18 | 成都诚楠都荟商贸有限公司 | 一种基于智能制造的人工智能机器人辅助平衡装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US25889A (en) * | 1859-10-25 | Improvement in seed-planters | ||
US3306442A (en) * | 1964-11-02 | 1967-02-28 | George C Devol | Multi-program apparatus |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD26706A (fr) * | ||||
DE898669C (de) * | 1949-10-21 | 1954-10-11 | Helmut Dr-Ing Domke | Geraet zum Handhaben und Bewegen von Lasten |
-
1972
- 1972-05-31 DE DE2226407A patent/DE2226407C3/de not_active Expired
-
1973
- 1973-04-19 CH CH567473A patent/CH556224A/xx not_active IP Right Cessation
- 1973-04-20 FR FR7314523A patent/FR2186331B1/fr not_active Expired
- 1973-04-25 GB GB1971673A patent/GB1409463A/en not_active Expired
- 1973-04-27 BE BE130496A patent/BE798818A/fr not_active IP Right Cessation
- 1973-05-22 ES ES415026A patent/ES415026A1/es not_active Expired
- 1973-05-24 SE SE7307283A patent/SE418820B/xx unknown
- 1973-05-25 US US00365641A patent/US3826383A/en not_active Expired - Lifetime
- 1973-05-30 IT IT24808/73A patent/IT988789B/it active
- 1973-05-30 NL NL7307619A patent/NL7307619A/xx not_active Application Discontinuation
- 1973-05-31 SU SU1921580A patent/SU488388A3/ru active
- 1973-05-31 JP JP6140073A patent/JPS5440822B2/ja not_active Expired
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US25889A (en) * | 1859-10-25 | Improvement in seed-planters | ||
US3306442A (en) * | 1964-11-02 | 1967-02-28 | George C Devol | Multi-program apparatus |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2328549A1 (fr) * | 1975-10-20 | 1977-05-20 | Voest Ag | Manipulateur capable d'imprimer a une brique des mouvements simultanes de rotation autour d'un axe exterieur, de basculement et de rotation sur elle-meme |
FR2361205A1 (fr) * | 1975-10-28 | 1978-03-10 | Unimation Inc | Installation d'assemblage automatique programmable |
FR2367578A1 (fr) * | 1976-10-13 | 1978-05-12 | Spar Aerospace Products Ltd | Cardan motorise |
FR2375010A1 (fr) * | 1976-12-23 | 1978-07-21 | Cincinnati Milacron Inc | Manipulateur |
FR2393655A1 (fr) * | 1977-06-07 | 1979-01-05 | Volkswagenwerk Ag | Commande de la rotation d'un composant d'un appareil de manipulation |
EP0001686A1 (fr) * | 1977-10-20 | 1979-05-02 | Imperial Chemical Industries Plc | Manipulateur industriel pour l'empilage serré d'articles et méthode d'empilage utilisant ce manipulateur |
FR2426547A1 (fr) * | 1978-05-22 | 1979-12-21 | Nissan Motor | Systeme robot industriel capable d'effectuer des operations d'usinage |
EP0078522A3 (en) * | 1981-10-30 | 1984-11-28 | Hitachi, Ltd. | Industrial robot |
EP0078522A2 (fr) * | 1981-10-30 | 1983-05-11 | Hitachi, Ltd. | Robot industriel |
EP0121576A1 (fr) * | 1982-10-19 | 1984-10-17 | Fanuc Ltd. | Bras articule pour robot industriel |
EP0121576A4 (fr) * | 1982-10-19 | 1986-02-20 | Fanuc Ltd | Bras articule pour robot industriel. |
EP0210490A2 (fr) * | 1985-07-25 | 1987-02-04 | Unimation Inc. | Engrenage pour main de robot à trois degrés de liberté |
EP0210490A3 (en) * | 1985-07-25 | 1988-04-13 | Unimation Inc. | Hand gear train with three degrees of freedom |
EP0255612A1 (fr) * | 1986-08-06 | 1988-02-10 | Fibro GmbH | Portique pour manipulateur |
FR2607914A1 (fr) * | 1986-12-09 | 1988-06-10 | Thomson Csf | Tourelle comportant un joint tournant et un dispositif pour reduction de vitesse angulaire |
EP0275731A1 (fr) * | 1986-12-09 | 1988-07-27 | Thomson-Csf | Tourelle comportant un joint tournant et un dispositif pour réduction de vitesse angulaire |
US5078044A (en) * | 1986-12-09 | 1992-01-07 | Thomson-Csf | Turret comprising a rotating joint and an angular velocity reduction device |
EP0552688A1 (fr) * | 1992-01-20 | 1993-07-28 | KUKA Schweissanlagen GmbH | Robot à plusieurs axes |
Also Published As
Publication number | Publication date |
---|---|
JPS5440822B2 (fr) | 1979-12-05 |
GB1409463A (en) | 1975-10-08 |
SU488388A3 (ru) | 1975-10-15 |
DE2226407B2 (de) | 1975-09-04 |
DE2226407A1 (de) | 1973-12-13 |
DE2226407C3 (de) | 1978-10-12 |
FR2186331B1 (fr) | 1978-12-29 |
IT988789B (it) | 1975-04-30 |
JPS4961856A (fr) | 1974-06-15 |
SE418820B (sv) | 1981-06-29 |
US3826383A (en) | 1974-07-30 |
BE798818A (fr) | 1973-08-16 |
NL7307619A (fr) | 1973-12-04 |
ES415026A1 (es) | 1976-02-01 |
CH556224A (de) | 1974-11-29 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
TP | Transmission of property | ||
ST | Notification of lapse |