FR2469260A1 - Perfectionnements aux bras mecaniques - Google Patents

Perfectionnements aux bras mecaniques

Info

Publication number
FR2469260A1
FR2469260A1 FR7928375A FR7928375A FR2469260A1 FR 2469260 A1 FR2469260 A1 FR 2469260A1 FR 7928375 A FR7928375 A FR 7928375A FR 7928375 A FR7928375 A FR 7928375A FR 2469260 A1 FR2469260 A1 FR 2469260A1
Authority
FR
France
Prior art keywords
differentials
elements
outputs
mechanical arms
tensioner element
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.)
Granted
Application number
FR7928375A
Other languages
English (en)
Other versions
FR2469260B1 (fr
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.)
BELYANIN PETR
Original Assignee
BELYANIN PETR
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 BELYANIN PETR filed Critical BELYANIN PETR
Publication of FR2469260A1 publication Critical patent/FR2469260A1/fr
Application granted granted Critical
Publication of FR2469260B1 publication Critical patent/FR2469260B1/fr
Granted 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
    • 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
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

BRAS MECANIQUE AVEC UNE BASE SUPPORTANT DES ELEMENTS ARTICULES ENTRE EUX MUNIS DE LEURS ENTRAINEMENTS INDIVIDUELS RESPECTIFS RELIES AUX ELEMENTS PAR DES CHAINES CINEMATIQUES ET AVEC UN MECANISME DE TENSION COMPORTANT DES ELEMENTS TENDEURS. LE MECANISME DE TENSION EST MUNI DE DIFFERENTIELS 56-61, EN NOMBRE EGAL A CELUI DES CHAINES D'ENTRAINEMENT TENDUES PAR L'ELEMENT TENDEUR 80; UNE SORTIE 62-67 DES DIFFERENTIELS EST RELIEE A L'ENTRAINEMENT INDIVIDUEL 50-55, DEUX AUTRES SORTIES SONT ACCOUPLEES AUX DIFFERENTIELS PRECEDENT ET SUIVANT, ET DEUX SORTIES LIBRES 74-73 DES DIFFERENTIELS EXTREMES 56, 61 SONT RELIEES A LA BASE 1 ET A L'ELEMENT TENDEUR 80. APPLICATION AUX AUTOMATES INDUSTRIELS.
FR7928375A 1979-10-02 1979-11-16 Perfectionnements aux bras mecaniques Granted FR2469260A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/081,254 US4259876A (en) 1979-10-02 1979-10-02 Mechanical arm

Publications (2)

Publication Number Publication Date
FR2469260A1 true FR2469260A1 (fr) 1981-05-22
FR2469260B1 FR2469260B1 (fr) 1981-12-18

Family

ID=22163042

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7928375A Granted FR2469260A1 (fr) 1979-10-02 1979-11-16 Perfectionnements aux bras mecaniques

Country Status (3)

Country Link
US (1) US4259876A (fr)
DE (1) DE2945189C2 (fr)
FR (1) FR2469260A1 (fr)

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JPS5810480A (ja) * 1981-07-04 1983-01-21 ファナック株式会社 工業用ロボツト
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WO1984001740A1 (fr) * 1982-11-01 1984-05-10 Microbot Inc Bras robotique ameliore
EP0118845B1 (fr) * 1983-03-10 1987-07-01 Norbert Schlimm Outillage pour mouvoir des objets
DE3322199A1 (de) * 1983-06-21 1985-01-10 Hans 8900 Augsburg Richter Roboterarm
FR2561972A1 (fr) * 1984-03-30 1985-10-04 Berna Philippe Dispositif pour manoeuvrer un organe rotatif, tel qu'un ecrou ou un boulon, peu accessible
GB2168676A (en) * 1984-10-19 1986-06-25 Robot City Technology Limited Robotic arm
US4768918A (en) * 1986-06-13 1988-09-06 American Cimflex Corporation Industrial robot having counterbalanced arms
US4687243A (en) * 1986-09-26 1987-08-18 Gte Government Systems Corporation Apparatus for holding workpiece
US5207114A (en) * 1988-04-21 1993-05-04 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US4903536A (en) * 1988-04-21 1990-02-27 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US5265667A (en) * 1989-09-14 1993-11-30 Westinghouse Electric Corp. Robotic arm for servicing nuclear steam generators
US5193963A (en) * 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
US5246465A (en) * 1991-04-19 1993-09-21 Richard G. Rincoe Prosthetic knee joint
US5632432A (en) * 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
USRE38708E1 (en) 1995-07-11 2005-03-01 United States Surgical Corporation Disposable loading unit for surgical stapler
US5752644A (en) * 1995-07-11 1998-05-19 United States Surgical Corporation Disposable loading unit for surgical stapler
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
WO1997046923A1 (fr) * 1996-06-04 1997-12-11 Ralph Lander Systeme de retroaction tactile sensoriel
US8414598B2 (en) 1998-02-24 2013-04-09 Hansen Medical, Inc. Flexible instrument
US7713190B2 (en) * 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US20080177285A1 (en) * 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US6692485B1 (en) * 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US6554844B2 (en) 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US9155544B2 (en) * 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
JP3944108B2 (ja) * 2003-03-31 2007-07-11 株式会社東芝 医療用マニピュレータの動力伝達機構およびマニピュレータ
US8007511B2 (en) 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
EP2067581B1 (fr) * 2007-12-05 2011-01-12 Korea Atomic Energy Research Institute Manipulateur commandé par câble avec un dispositif de compensation pour câble
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9259274B2 (en) * 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US20100158641A1 (en) * 2008-12-19 2010-06-24 Delaware Capital Formation, Inc. Manipulator System
EP2598075A4 (fr) 2010-07-28 2016-11-30 Medrobotics Corp Positionnement chirurgical et système de support
CN102371590A (zh) * 2010-08-25 2012-03-14 鸿富锦精密工业（深圳）有限公司 机器人的臂结构
JP5711380B2 (ja) 2010-10-22 2015-04-30 メドロボティクス コーポレイション 多関節のロボティックプローブ
US9649163B2 (en) 2010-11-11 2017-05-16 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
US20140064905A1 (en) * 2011-01-10 2014-03-06 Sri International Electroadhesive System for Capturing Objects
CN104010773B (zh) 2011-09-13 2017-01-18 美的洛博迪克斯公司 具有抗扭曲链节配置的高度铰接的探针，形成该探针的方法和进行执行医学手术的方法
US8967548B2 (en) * 2011-12-06 2015-03-03 Altius Space Machines Direct to facility capture and release
US8979034B2 (en) * 2011-12-06 2015-03-17 Altius Space Machines Sticky boom non-cooperative capture device
AU2012358829B2 (en) 2011-12-21 2017-08-03 Medrobotics Corporation Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof
WO2013116632A1 (fr) * 2012-02-02 2013-08-08 United States Of America, As Represented By The Administrator Of The National Aeronautics And Space Administration Manipulateur renforcé par tension et actionné par armature et charnière pour utilisation dans celui-ci
US9675380B2 (en) 2012-08-09 2017-06-13 Medrobotics Corporation Surgical tool positioning system
US20140188128A1 (en) 2012-12-31 2014-07-03 Paul Joseph Weber Systems, apparatus and methods for tissue dissection and modification
US10045761B2 (en) 2012-12-31 2018-08-14 Tdm Surgitech, Inc. Systems, apparatus and methods for tissue dissection
WO2014126482A2 (fr) 2013-02-14 2014-08-21 Paul Weber Systèmes, appareil et procédés pour dissection de tissus
CA2911151A1 (fr) 2013-05-02 2014-11-06 Tom CALEF Systeme robotique comprenant un ensemble interface a cables
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
WO2015023834A1 (fr) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Éléments d'entraînement d'adaptateur stérile d'instrument
JP6426181B2 (ja) 2013-08-15 2018-11-21 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 可変器具予荷重機構コントローラ
CN105611892B (zh) 2013-08-15 2019-02-19 直观外科手术操作公司 机器人器械从动元件
WO2015023730A1 (fr) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Interface d'instrument chirurgical préchargé
EP3056437A4 (fr) * 2013-10-07 2017-06-21 Astroscale Japan Inc. Dispositif de suppression de rotation
US10004568B2 (en) 2013-12-30 2018-06-26 Medrobotics Corporation Articulating robotic probes
US9314934B2 (en) * 2014-02-27 2016-04-19 Disney Enterprises, Inc. Gravity-counterbalanced robot arm
US20150283709A1 (en) * 2014-04-08 2015-10-08 Sergei Dalakian Industrial Robot Arm
US10413708B2 (en) * 2014-08-05 2019-09-17 Jeffrey Thomas Loh Swivel enhanced guidewire and related methods
CN104440904B (zh) * 2014-12-29 2016-11-09 连云港贝斯特机械设备有限公司 一种钢丝绳传动的机械手
CN107735040B (zh) * 2016-06-03 2021-06-18 柯惠Lp公司 用于机器人手术系统的控制臂
WO2018013187A1 (fr) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Libération d'instrument
US10569415B2 (en) 2016-08-31 2020-02-25 United States Of America As Represented By The Administrator Of Nasa Tension stiffened and tendon actuated manipulator
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
US11440685B2 (en) 2018-02-06 2022-09-13 Altius Space Machines Inc. Robotic capture interface
CN108381542B (zh) * 2018-04-04 2024-05-28 中国科学院自动化研究所 基于混合传动的水下机械臂
US11728592B2 (en) 2018-07-16 2023-08-15 Altius Space Machines Modular service interface
US11584023B2 (en) 2018-08-21 2023-02-21 William George Bolton Separable robotic interface
CN110070782B (zh) * 2019-06-10 2021-03-12 黑龙江工程学院 一种英语单词辅助记忆装置
CN112576646B (zh) * 2019-09-29 2022-07-22 广东博智林机器人有限公司 施工机器人的驱动装置和具有其的上料机
CN110788848B (zh) * 2019-11-22 2021-01-15 合肥工业大学 一种节能型驱动单元后置工业机器人
CN114469356B (zh) * 2022-01-24 2023-09-15 重庆金山医疗机器人有限公司 一种主手的驱动方法及手术机器人医生控制台
JP2024123745A (ja) * 2023-03-01 2024-09-12 オムロン株式会社 動力伝達機構、関節機構及び多関節ロボット

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2933205A (en) * 1958-03-14 1960-04-19 Burroughs Corp Mechanical manipulator
FR2155848A1 (fr) * 1971-10-11 1973-05-25 Commissariat Energie Atomique
FR2183584A1 (fr) * 1972-05-10 1973-12-21 Commissariat Energie Atomique
FR2231482A1 (en) * 1973-06-01 1974-12-27 Koenig Automation Sa Automatic robot assembly for machine tools - has jaws on pivoting arm carried by mobile superstructure

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US3212651A (en) * 1962-06-12 1965-10-19 American Mach & Foundry Manipulator
US3631737A (en) * 1970-09-18 1972-01-04 Nasa Remote control manipulator for zero gravity environment
SU444633A1 (ru) * 1972-10-02 1974-09-30 Предприятие П/Я В-8721 Манипул тор
SU547335A1 (ru) * 1973-08-03 1977-02-25 Предприятие П/Я В-8721 Привод захвата манипул тора
SU503709A1 (ru) * 1975-01-22 1976-02-25 Государственный Научно-Исследовательский Институт Машиноведения Манипул тор
SU560746A2 (ru) * 1975-06-13 1977-06-05 Московское Ордена Ленина И Ордена Трудового Красного Знамени Высшее Техническое Училище Им.Н.Э.Баумана Исполнительный орган манипул тора
SU564150A1 (ru) * 1976-03-26 1977-07-05 Научно-Исследовательский Институт Проблем Машиностроения При Московском Высшем Техническом Училище Им. Н.Э. Баумана Задающий орган манипул тора
SU590136A1 (ru) * 1976-10-08 1978-01-30 Предприятие П/Я В-8721 Дистанционный копирующий манипул тор

Patent Citations (4)

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US2933205A (en) * 1958-03-14 1960-04-19 Burroughs Corp Mechanical manipulator
FR2155848A1 (fr) * 1971-10-11 1973-05-25 Commissariat Energie Atomique
FR2183584A1 (fr) * 1972-05-10 1973-12-21 Commissariat Energie Atomique
FR2231482A1 (en) * 1973-06-01 1974-12-27 Koenig Automation Sa Automatic robot assembly for machine tools - has jaws on pivoting arm carried by mobile superstructure

Non-Patent Citations (1)

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Title
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Also Published As

Publication number Publication date
FR2469260B1 (fr) 1981-12-18
DE2945189C2 (de) 1984-01-19
US4259876A (en) 1981-04-07
DE2945189A1 (de) 1981-05-21

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