FR2315629B1 - - Google Patents
Info
- Publication number
- FR2315629B1 FR2315629B1 FR7519646A FR7519646A FR2315629B1 FR 2315629 B1 FR2315629 B1 FR 2315629B1 FR 7519646 A FR7519646 A FR 7519646A FR 7519646 A FR7519646 A FR 7519646A FR 2315629 B1 FR2315629 B1 FR 2315629B1
- 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.)
- Expired
Links
Classifications
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- 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
- B25J17/0241—One-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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- 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
- Y10T74/19—Gearing
- Y10T74/19502—Pivotally supported
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7519646A FR2315629A1 (fr) | 1975-06-24 | 1975-06-24 | Pivot modulaire autonome pour mecanismes divers en particulier pour robot |
US05/698,890 US4062601A (en) | 1975-06-24 | 1976-06-23 | Self-contained modular pivot, notably for robots |
DE7619985U DE7619985U1 (de) | 1975-06-24 | 1976-06-24 | Selbstaendiger modularer drehzapfen zum verbinden zweier maschinenelemente |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7519646A FR2315629A1 (fr) | 1975-06-24 | 1975-06-24 | Pivot modulaire autonome pour mecanismes divers en particulier pour robot |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2315629A1 FR2315629A1 (fr) | 1977-01-21 |
FR2315629B1 true FR2315629B1 (fr) | 1981-03-20 |
Family
ID=9156904
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR7519646A Granted FR2315629A1 (fr) | 1975-06-24 | 1975-06-24 | Pivot modulaire autonome pour mecanismes divers en particulier pour robot |
Country Status (3)
Country | Link |
---|---|
US (1) | US4062601A (fr) |
DE (1) | DE7619985U1 (fr) |
FR (1) | FR2315629A1 (fr) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2725557A1 (de) * | 1977-06-07 | 1978-12-21 | Volkswagenwerk Ag | Drehantrieb fuer einen bestandteil eines handhabungsgeraets |
FR2512727A1 (fr) * | 1981-09-15 | 1983-03-18 | Renault | Poignet orientable a trois axes de rotation pour robot industriel |
DE3310068A1 (de) * | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenk |
DE3310210C2 (de) * | 1983-03-21 | 1986-12-04 | Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Industrierobotergelenk |
DE8310054U1 (de) * | 1983-04-06 | 1986-02-27 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Robotergelenk |
JPS6036192U (ja) * | 1983-08-18 | 1985-03-12 | シルバー精工株式会社 | 産業用ロボット |
US4585387A (en) * | 1983-10-11 | 1986-04-29 | William Jayne | Robot arm |
JPS60161083A (ja) * | 1984-01-30 | 1985-08-22 | 三菱電機株式会社 | ア−ク溶接ロボツトの旋回軸バツクラツシユ補正装置 |
US4635985A (en) * | 1984-05-29 | 1987-01-13 | International Business Machines Corporation | Self-pivoting robotic gripper tool |
DE3441332A1 (de) * | 1984-11-12 | 1986-05-22 | Forschungsinstitut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen in der Institutsgemeinschaft Stuttgart e.V., 7000 Stuttgart | Gelenkantrieb, insbesondere fuer industrieroboter |
DE3518104A1 (de) * | 1985-05-21 | 1986-11-27 | Arnold Müller GmbH & Co KG, 7312 Kirchheim | Antriebsvorrichtung zur erzeugung von schwenkbewegungen und weiteren bewegungen |
DE3522336A1 (de) * | 1985-06-22 | 1987-01-02 | Bosch Gmbh Robert | Robotergelenk mit einem elektrischen antriebsmotor |
JPH0630853B2 (ja) * | 1985-09-10 | 1994-04-27 | 株式会社三協精機製作所 | 回動ア−ムの関節構造 |
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 |
IT1220733B (it) * | 1988-03-09 | 1990-06-21 | Jobs Spa | Testa operatrice per macchine utensili automatiche atta ad aumentare il numero degli assi di lavoro della macchina |
JP3988768B2 (ja) * | 2004-12-16 | 2007-10-10 | セイコーエプソン株式会社 | リンク駆動機構およびこれを用いた産業用ロボット |
JP4148280B2 (ja) * | 2005-10-18 | 2008-09-10 | セイコーエプソン株式会社 | 平行リンク機構及び産業用ロボット |
JP4232795B2 (ja) * | 2005-10-19 | 2009-03-04 | セイコーエプソン株式会社 | 平行リンク機構及び産業用ロボット |
CN103128746A (zh) * | 2011-11-24 | 2013-06-05 | 上海电气集团股份有限公司 | 一种机械臂模块化关节 |
CN104416579B (zh) * | 2013-09-03 | 2016-08-17 | 中国科学院沈阳自动化研究所 | 一种中空式智能模块化关节 |
CN107953361A (zh) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | 一种机器人关节驱动机构及机器人 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3246890A (en) * | 1963-10-25 | 1966-04-19 | Alfred N Ormond | Universal flexure devices |
US3253671A (en) * | 1964-01-27 | 1966-05-31 | Mixermobile Manufacturers Inc | Close-coupled articulated vehicle |
US3514141A (en) * | 1964-07-01 | 1970-05-26 | Coburn Mfg Co Inc | Universal joint |
-
1975
- 1975-06-24 FR FR7519646A patent/FR2315629A1/fr active Granted
-
1976
- 1976-06-23 US US05/698,890 patent/US4062601A/en not_active Expired - Lifetime
- 1976-06-24 DE DE7619985U patent/DE7619985U1/de not_active Expired
Also Published As
Publication number | Publication date |
---|---|
DE7619985U1 (de) | 1976-10-14 |
US4062601A (en) | 1977-12-13 |
FR2315629A1 (fr) | 1977-01-21 |
Similar Documents
Legal Events
Date | Code | Title | Description |
---|---|---|---|
TP | Transmission of property | ||
CL | Concession to grant licences | ||
ST | Notification of lapse |