FR2599290B1 - Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes. - Google Patents

Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes.

Info

Publication number
FR2599290B1
FR2599290B1 FR8607613A FR8607613A FR2599290B1 FR 2599290 B1 FR2599290 B1 FR 2599290B1 FR 8607613 A FR8607613 A FR 8607613A FR 8607613 A FR8607613 A FR 8607613A FR 2599290 B1 FR2599290 B1 FR 2599290B1
Authority
FR
France
Prior art keywords
electro
axis robot
orientation system
system especially
robot wrist
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 - Fee Related
Application number
FR8607613A
Other languages
English (en)
Other versions
FR2599290A1 (fr
Inventor
Joel Malot
Jean Noel Higonenq
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.)
AFMA ROBOTS
Original Assignee
AFMA ROBOTS
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 AFMA ROBOTS filed Critical AFMA ROBOTS
Priority to FR8607613A priority Critical patent/FR2599290B1/fr
Publication of FR2599290A1 publication Critical patent/FR2599290A1/fr
Application granted granted Critical
Publication of FR2599290B1 publication Critical patent/FR2599290B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • 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
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
FR8607613A 1986-05-27 1986-05-27 Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes. Expired - Fee Related FR2599290B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8607613A FR2599290B1 (fr) 1986-05-27 1986-05-27 Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8607613A FR2599290B1 (fr) 1986-05-27 1986-05-27 Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes.

Publications (2)

Publication Number Publication Date
FR2599290A1 FR2599290A1 (fr) 1987-12-04
FR2599290B1 true FR2599290B1 (fr) 1994-07-29

Family

ID=9335721

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8607613A Expired - Fee Related FR2599290B1 (fr) 1986-05-27 1986-05-27 Systeme d'orientation electro-mecanique notamment pour un poignet de robot a trois axes.

Country Status (1)

Country Link
FR (1) FR2599290B1 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01234191A (ja) * 1988-03-10 1989-09-19 Internatl Business Mach Corp <Ibm> マニピユレータ・アセンブリ
US5825980A (en) * 1989-05-26 1998-10-20 Canon Kabushiki Kaisha Robot hand structure, and method of selecting hand structure
DE4004738A1 (de) * 1990-01-25 1991-08-08 Maag Zahnraeder & Maschinen Ag Greiferbaugruppe
DE4030119A1 (de) * 1990-09-24 1992-03-26 Uwe Kochanneck Multiblock-robot
DE69127697T2 (de) * 1991-11-07 1998-03-19 Canon Kk Roboterhandstruktur und Verfahren zum Auswählen der Struktur
DE59206947D1 (de) * 1991-12-14 1996-09-26 Uwe Kochanneck Modularer Roboter
DE19517852A1 (de) * 1995-05-16 1995-12-14 Uwe Kochanneck Multiblock Robot
CN101954593B (zh) * 2010-09-07 2012-06-13 上海工程技术大学 用于虚轴机床和机器人的三转动并联机构
CN102114599B (zh) * 2011-02-11 2012-08-08 上海工程技术大学 用于虚轴机床和机器人的解耦三转动并联机构
CN110000806B (zh) * 2017-04-18 2022-03-01 张州逸 一种旋转驱动机构旋转中心的标定方法
CN108032287A (zh) * 2017-12-30 2018-05-15 楼 一种方便拆卸安装的节能型机械手

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT985962B (it) * 1973-05-25 1974-12-30 Caprioglio L Macchina saldatrice con colonna soomponibile
CH579221A5 (fr) * 1974-12-02 1976-08-31 Landis & Gyr Ag
FR2324407A1 (fr) * 1975-09-22 1977-04-15 Sofermo Robot modulaire de configuration adaptable
JPS5276070U (fr) * 1975-12-04 1977-06-07
CH637563A5 (en) * 1979-02-12 1983-08-15 Rueti Te Strake Bv Set of construction members for producing motion units for a manipulator
CH642296A5 (en) * 1980-01-24 1984-04-13 Rueti Te Strake Bv Manipulator
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
DE3312404A1 (de) * 1983-04-06 1984-10-18 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
GB2143205B (en) * 1983-07-15 1986-07-16 Leicester Polytechnic Robots
CA1245244A (fr) * 1984-04-30 1988-11-22 Richard S. Antoszewski Poignet robotique

Also Published As

Publication number Publication date
FR2599290A1 (fr) 1987-12-04

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Legal Events

Date Code Title Description
ST Notification of lapse
ST Notification of lapse