GB1236006A - Improvements in or relating to wrist joints for remote control master-slave manipulators - Google Patents

Improvements in or relating to wrist joints for remote control master-slave manipulators

Info

Publication number
GB1236006A
GB1236006A GB53865/69A GB5386569A GB1236006A GB 1236006 A GB1236006 A GB 1236006A GB 53865/69 A GB53865/69 A GB 53865/69A GB 5386569 A GB5386569 A GB 5386569A GB 1236006 A GB1236006 A GB 1236006A
Authority
GB
United Kingdom
Prior art keywords
gear
gears
shaft
housing portion
tapes
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
Application number
GB53865/69A
Other languages
English (en)
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.)
CENTRAL RES LAB Inc
Original Assignee
CENTRAL RES LAB Inc
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 CENTRAL RES LAB Inc filed Critical CENTRAL RES LAB Inc
Publication of GB1236006A publication Critical patent/GB1236006A/en
Expired 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F7/00—Shielded cells or rooms
    • G21F7/06—Structural combination with remotely-controlled apparatus, e.g. with manipulators
    • G21F7/061—Integrated manipulators
    • 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
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/188—Reciprocating or oscillating to or from alternating rotary including spur gear
    • 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
    • Y10T74/19023—Plural power paths to and/or from 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
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19074—Single drive plural driven
    • Y10T74/19112—Aligned
    • 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
    • Y10T74/19023—Plural power paths to and/or from gearing
    • Y10T74/19074—Single drive plural driven
    • Y10T74/19121—Concentric
    • 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
    • Y10T74/20396—Hand operated
    • 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)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Earth Drilling (AREA)
  • Sealing Devices (AREA)
  • Quick-Acting Or Multi-Walled Pipe Joints (AREA)
GB53865/69A 1968-11-08 1969-11-03 Improvements in or relating to wrist joints for remote control master-slave manipulators Expired GB1236006A (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US77446868A 1968-11-08 1968-11-08
US77446768A 1968-11-08 1968-11-08
US81426569A 1969-04-08 1969-04-08
US83027169A 1969-06-04 1969-06-04

Publications (1)

Publication Number Publication Date
GB1236006A true GB1236006A (en) 1971-06-16

Family

ID=27505732

Family Applications (2)

Application Number Title Priority Date Filing Date
GB53865/69A Expired GB1236006A (en) 1968-11-08 1969-11-03 Improvements in or relating to wrist joints for remote control master-slave manipulators
GB1226690D Expired GB1226690A (cg-RX-API-DMAC10.html) 1968-11-08 1969-11-03

Family Applications After (1)

Application Number Title Priority Date Filing Date
GB1226690D Expired GB1226690A (cg-RX-API-DMAC10.html) 1968-11-08 1969-11-03

Country Status (4)

Country Link
US (4) US3503273A (cg-RX-API-DMAC10.html)
DE (2) DE1954015C3 (cg-RX-API-DMAC10.html)
FR (2) FR2022851A1 (cg-RX-API-DMAC10.html)
GB (2) GB1236006A (cg-RX-API-DMAC10.html)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526713A (zh) * 2014-10-14 2015-04-22 浙江工业大学 刚性驱动、柔顺调控的自适应机器人关节

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3572807A (en) * 1969-06-06 1971-03-30 Central Research Lab Inc Rotary tong squeeze system
US4033552A (en) * 1975-09-23 1977-07-05 Warn Industries, Inc. Winch and method of assembling the same
LU76066A1 (cg-RX-API-DMAC10.html) * 1976-10-25 1977-05-18
DE3272546D1 (en) * 1981-05-18 1986-09-18 British Nuclear Fuels Plc Shielded cells having manipulators comprising a master arm and a slave arm
DE3228945A1 (de) * 1982-08-03 1984-02-16 GdA Gesellschaft für digitale Automation mbH, 8000 München Vorrichtung zum antrieb der beiden achsen des handgliedes eines industrieroboters
FR2533159A1 (fr) * 1982-09-20 1984-03-23 Calhene Dispositif de raccordement deconnectable d'une genouillere sur un bras esclave de telemanipulateur et support de deconnexion correspondant
JPS59142088A (ja) * 1983-01-26 1984-08-15 三菱電機株式会社 ア−ク溶接ロボツトの関節機構
US4515039A (en) * 1983-08-18 1985-05-07 Ex-Cell-O Corporation Robot joint
JPS60127996A (ja) * 1983-12-15 1985-07-08 松下電器産業株式会社 工業用ロボツトの塵埃飛散防止装置
US4831531A (en) * 1987-02-20 1989-05-16 Sargent Industries, Inc. System for the performance of activity in space
FR2615431B1 (fr) * 1987-05-20 1989-08-18 Calhene Ste Nle Expl Dispositif de verrouillage automatique des mecanismes commandant les differents mouvements d'une pince de prehension d'un telemanipulateur, lors du demontage de la genouillere portant cette pince
DE3802533A1 (de) * 1988-01-28 1989-08-10 Behr Industrieanlagen Gelenkmechanismus fuer die selbsttaetige lageeinstellung eines arbeitsgeraetes, insbesondere handgelenkmechanismus eines industrieroboters
US5125759A (en) * 1991-02-04 1992-06-30 Chun Wendell H Adjustable compliant robotic wrist using an electro-rheological fluid
FR2797412B1 (fr) * 1999-08-13 2001-10-19 Sit Soc Innovations Tech Telemanipulateur
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
DE202010012232U1 (de) * 2010-09-06 2011-12-08 Wälischmiller Engineering GmbH Vorrichtung mit einer Antriebseinheit zum Antrieb eines Manipulatorarms eines Manipulators und Manipulator
JP7587439B2 (ja) * 2021-02-24 2024-11-20 株式会社ソニー・インタラクティブエンタテインメント 回転装置
NL2029186B1 (en) 2021-09-15 2023-03-23 Univ Delft Tech Compliant closed cell universal joint

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2951448A (en) * 1945-11-13 1960-09-06 Frank C Rushing Centrifugal pump and shaft sealing means
NL111065C (cg-RX-API-DMAC10.html) * 1959-08-31
NL291905A (cg-RX-API-DMAC10.html) * 1962-04-25

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104526713A (zh) * 2014-10-14 2015-04-22 浙江工业大学 刚性驱动、柔顺调控的自适应机器人关节

Also Published As

Publication number Publication date
US3543593A (en) 1970-12-01
FR2022889A1 (cg-RX-API-DMAC10.html) 1970-08-07
DE1954016B2 (de) 1974-02-14
US3543592A (en) 1970-12-01
DE1954015C3 (de) 1978-09-07
DE1954016C3 (de) 1974-10-10
GB1226690A (cg-RX-API-DMAC10.html) 1971-03-31
DE1954016A1 (de) 1970-06-04
DE1954015B2 (de) 1978-01-12
US3503273A (en) 1970-03-31
US3507163A (en) 1970-04-21
DE1954015A1 (de) 1970-06-04
FR2022851A1 (cg-RX-API-DMAC10.html) 1970-08-07

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