JPH0314594B2 - - Google Patents
Info
- Publication number
- JPH0314594B2 JPH0314594B2 JP61296861A JP29686186A JPH0314594B2 JP H0314594 B2 JPH0314594 B2 JP H0314594B2 JP 61296861 A JP61296861 A JP 61296861A JP 29686186 A JP29686186 A JP 29686186A JP H0314594 B2 JPH0314594 B2 JP H0314594B2
- Authority
- JP
- Japan
- Prior art keywords
- transmission
- reduction
- segment
- head part
- head
- 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 - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 73
- 230000001154 acute effect Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000008186 active pharmaceutical agent Substances 0.000 claims 2
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- 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
- B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
-
- 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
-
- 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
- Y10T74/20—Control lever and linkage systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
- Supporting Of Heads In Record-Carrier Devices (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3545068.1 | 1985-12-19 | ||
DE19853545068 DE3545068A1 (de) | 1985-12-19 | 1985-12-19 | Getriebekopf fuer manipulatoren |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62148183A JPS62148183A (ja) | 1987-07-02 |
JPH0314594B2 true JPH0314594B2 (US07608600-20091027-C00054.png) | 1991-02-27 |
Family
ID=6288934
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP61296861A Granted JPS62148183A (ja) | 1985-12-19 | 1986-12-15 | マニプレ−タのための伝動装置ヘツド |
Country Status (12)
Families Citing this family (65)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT1211195B (it) * | 1987-07-10 | 1989-10-12 | Bruno Bisiach | Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento |
IT1241622B (it) * | 1990-10-04 | 1994-01-25 | Comau Spa | Polso di robot |
SE9202872L (sv) * | 1992-10-02 | 1993-10-04 | Sala Industrireparationer Ab | Vinkelväxel |
JP3480533B2 (ja) * | 1995-08-30 | 2003-12-22 | 株式会社安川電機 | ロボットの関節機構 |
DE19643702B4 (de) * | 1996-10-23 | 2007-11-29 | Ald Vacuum Technologies Ag | Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom |
DE19747566C1 (de) * | 1997-10-28 | 1999-04-08 | Fraunhofer Ges Forschung | Piezoangetriebenes Spannungswellen-Getriebe |
DE19901189C1 (de) * | 1997-10-28 | 2000-09-21 | Fraunhofer Ges Forschung | Spannungswellen-Getriebe |
EP1227759B1 (de) * | 1999-10-14 | 2004-01-02 | Karl Storz GmbH & Co. | Drehgelenk für medizinische instrumente |
JP2003025269A (ja) * | 2001-07-12 | 2003-01-29 | National Aerospace Laboratory Of Japan | 回転修正機構付きオフセット回転関節ユニット |
JP2004148449A (ja) * | 2002-10-30 | 2004-05-27 | Kawasaki Heavy Ind Ltd | 多関節マニピュレータ |
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EP2178431A4 (en) | 2007-08-15 | 2017-01-18 | Board of Regents of the University of Nebraska | Medical inflation, attachment, and delivery devices and related methods |
CA2695619C (en) | 2007-08-15 | 2015-11-24 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US9126332B2 (en) * | 2008-10-06 | 2015-09-08 | Kinova | Robotic arm with a plurality of motorized joints |
US8894633B2 (en) | 2009-12-17 | 2014-11-25 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
CN101875196B (zh) * | 2010-03-15 | 2011-11-02 | 中国原子能科学研究院 | 远距离导轨对中操作机械手 |
JP2014529414A (ja) | 2010-08-06 | 2014-11-13 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | 自然開口部手術用材料の取扱または送達のための方法およびシステム |
CN201840427U (zh) * | 2010-10-11 | 2011-05-25 | 洋通工业股份有限公司 | 驱动模块 |
CN102242794A (zh) * | 2011-05-31 | 2011-11-16 | 国营红峰机械厂 | 一种斜交角谐波减速器 |
CA2838637C (en) | 2011-06-10 | 2020-11-17 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
EP3588217A1 (en) | 2011-07-11 | 2020-01-01 | Board of Regents of the University of Nebraska | Robotic surgical devices, systems and related methods |
US9636178B2 (en) * | 2011-12-07 | 2017-05-02 | Specialty Surgical Instrumentation, Inc. | System and method for an articulating shaft |
EP2806941B1 (en) | 2012-01-10 | 2021-10-27 | Board of Regents of the University of Nebraska | Systems and devices for surgical access and insertion |
EP3845190B1 (en) | 2012-05-01 | 2023-07-12 | Board of Regents of the University of Nebraska | Single site robotic device and related systems |
US9010214B2 (en) | 2012-06-22 | 2015-04-21 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
JP2015526171A (ja) | 2012-08-08 | 2015-09-10 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボット手術用デバイス、システム及び関連の方法 |
US9888966B2 (en) | 2013-03-14 | 2018-02-13 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
CA2905948C (en) | 2013-03-14 | 2022-01-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
WO2014144220A1 (en) | 2013-03-15 | 2014-09-18 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methdos |
CA2918531A1 (en) | 2013-07-17 | 2015-01-22 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
CN103758932B (zh) * | 2014-01-26 | 2016-05-25 | 浙江来福谐波传动股份有限公司 | 大减速比角向谐波减速装置 |
EP3868322A1 (en) | 2014-09-12 | 2021-08-25 | Board of Regents of the University of Nebraska | Quick-release effectors and related systems |
US10376322B2 (en) | 2014-11-11 | 2019-08-13 | Board Of Regents Of The University Of Nebraska | Robotic device with compact joint design and related systems and methods |
CN104608146A (zh) * | 2015-01-27 | 2015-05-13 | 中国科学技术大学 | 基于双斜面偏转关节的新型机械臂 |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
FR3040145B1 (fr) * | 2015-08-21 | 2018-02-09 | Nimbl'bot | Bras de robot articule |
CN105150239B (zh) * | 2015-08-26 | 2017-02-01 | 希美埃(芜湖)机器人技术有限公司 | 一种工业机器人腕部中空偏置结构 |
US10751136B2 (en) | 2016-05-18 | 2020-08-25 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
NL2016878B1 (en) * | 2016-06-02 | 2018-01-25 | State Of The Art Ltd | Link for an articulated manipulator |
CN116269696A (zh) | 2016-08-25 | 2023-06-23 | 内布拉斯加大学董事会 | 快速释放工具耦接器以及相关系统和方法 |
JP7090615B2 (ja) | 2016-08-30 | 2022-06-24 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボットデバイス |
JP6563607B2 (ja) * | 2016-09-23 | 2019-08-21 | ヤマハ発動機株式会社 | ロボット |
US11104011B2 (en) * | 2016-11-10 | 2021-08-31 | Robert Chisena | Mechanical robot arm assembly |
WO2018098319A1 (en) | 2016-11-22 | 2018-05-31 | Board Of Regents Of The University Of Nebraska | Improved gross positioning device and related systems and methods |
WO2018102430A1 (en) | 2016-11-29 | 2018-06-07 | Virtual Incision Corporation | User controller with user presence detection and related systems and methods |
US10722319B2 (en) | 2016-12-14 | 2020-07-28 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
CN107379004B (zh) * | 2017-08-29 | 2023-02-17 | 天津大学 | 一种三自由度中空柔性手腕 |
CA3076625A1 (en) | 2017-09-27 | 2019-04-04 | Virtual Incision Corporation | Robotic surgical devices with tracking camera technology and related systems and methods |
CA3087672A1 (en) | 2018-01-05 | 2019-07-11 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
NL2021133B1 (nl) | 2018-06-15 | 2019-12-20 | Exact Dynamics B V | Vertragingsunit, Armgewricht voorzien van twee respectievelijk drie vertragingsunits, alsmede een robotarm |
CN108818608B (zh) * | 2018-08-24 | 2024-02-13 | 上海哲谦应用科技有限公司 | 一种并联式三自由度人形机器人关节 |
CN109465813A (zh) * | 2018-12-07 | 2019-03-15 | 曾林旺 | 一种机械手臂 |
EP3908171A4 (en) | 2019-01-07 | 2022-09-14 | Virtual Incision Corporation | ROBOTIZED ASSISTED SURGICAL SYSTEM AND RELATED DEVICES AND PROCEDURES |
IT201900009081A1 (it) * | 2019-06-14 | 2020-12-14 | Free Energy Tech S R L | Modulo per giunto di collegamento e giunto di collegamento modulare comprendente detto modulo |
CN110303519A (zh) * | 2019-07-09 | 2019-10-08 | 郑州科技学院 | 腕关节及机器人 |
CN110937102A (zh) * | 2019-12-06 | 2020-03-31 | 中国航空工业集团公司沈阳飞机设计研究所 | 一种飞机翼面偏转机构 |
DE102020130340B4 (de) | 2020-11-17 | 2024-03-21 | imk Management Services GmbH | Gehäuse für mechanische Getriebeanordnungen |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4068536A (en) * | 1976-12-23 | 1978-01-17 | Cincinnati Milacron Inc. | Manipulator |
JPS54159964A (en) * | 1978-06-06 | 1979-12-18 | Shiroyama Kogyo Kk | Articulated arm type manipulator |
US4376646A (en) * | 1980-03-18 | 1983-03-15 | Ciba-Geigy Corporation | Herbicidal N-[4-(3'-alkoxyphenoxy)-phenyl]-N'-methylureas |
JPS5727686A (en) * | 1980-07-21 | 1982-02-15 | Hitachi Ltd | Industrial articular robot |
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 |
US4426385A (en) * | 1980-10-16 | 1984-01-17 | Union Carbide Corporation | Insecticidal bicyclooxyphenyl ureas |
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 |
US4402234A (en) * | 1981-08-13 | 1983-09-06 | General Motors Corporation | Three-axis wrist mechanism |
AU1395983A (en) * | 1982-05-03 | 1983-11-10 | Uniroyal Inc. | Substituted urea herbicides |
DE3222974A1 (de) * | 1982-06-19 | 1983-12-22 | Basf Ag, 6700 Ludwigshafen | Neue 5-phenoxybenzisothiazol-4'-harnstoffderivate, verfahren zu ihrer herstellung und ihre verwendung als herbizide |
BR8305339A (pt) * | 1982-09-30 | 1984-05-08 | Union Carbide Corp | Composto, composicao herbicida, metodo para controle seletivo de vegetacao indesejavel, processo para a preparacao do composto |
US4579016A (en) * | 1983-03-01 | 1986-04-01 | Westinghouse Electric Corp. | Self-contained two-axis wrist module |
GB2139593B (en) * | 1983-03-10 | 1986-03-26 | Mitsubishi Electric Corp | Industrial robot |
US4642021A (en) * | 1983-06-27 | 1987-02-10 | Toyoda Koki Kabushiki Kaisha | Manipulation arm mechanism for an industrial robot |
EP0133499B1 (de) * | 1983-08-03 | 1987-06-03 | KUKA Schweissanlagen GmbH | Getriebekopf für Manipulatoren |
DE3428748A1 (de) * | 1983-08-03 | 1985-02-28 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Getriebekopf fuer manipulatoren |
SE454659B (sv) * | 1983-09-01 | 1988-05-24 | Asea Ab | Robothandled |
DE3418532A1 (de) * | 1983-12-01 | 1985-06-13 | Basf Ag, 6700 Ludwigshafen | Chinolinoxyphenylharnstoffe, verfahren zu ihrer herstellung und ihre verwendung zur bekaempfung unerwuenschten pflanzenwuchses |
US4574655A (en) * | 1984-07-16 | 1986-03-11 | Kabushiki Kaisha Yasakawa Denki Seisakusho | Wrist mechanism for industrial robot |
DE3480331D1 (en) * | 1984-08-03 | 1989-12-07 | Kuka Schweissanlagen & Roboter | Driven-tool holder head for manipulators |
DE3525806A1 (de) * | 1985-07-19 | 1987-01-29 | Kuka Schweissanlagen & Roboter | Getriebekopf fuer manipulatoren |
-
1985
- 1985-12-19 DE DE19853545068 patent/DE3545068A1/de active Granted
-
1986
- 1986-11-29 EP EP86116616A patent/EP0229941B1/de not_active Expired
- 1986-11-29 DE DE8686116616T patent/DE3666173D1/de not_active Expired
- 1986-11-29 AT AT86116616T patent/ATE47074T1/de active
- 1986-12-08 KR KR1019860010471A patent/KR900003641B1/ko not_active IP Right Cessation
- 1986-12-12 ES ES8603385A patent/ES2002442A6/es not_active Expired
- 1986-12-15 CA CA000525377A patent/CA1268797A/en not_active Expired - Lifetime
- 1986-12-15 DD DD86297633A patent/DD252787A5/de not_active IP Right Cessation
- 1986-12-15 JP JP61296861A patent/JPS62148183A/ja active Granted
- 1986-12-17 CN CN86108531.0A patent/CN1004867B/zh not_active Expired
- 1986-12-18 US US06/944,440 patent/US4771652A/en not_active Expired - Fee Related
- 1986-12-18 SU SU864028673A patent/SU1524801A3/ru active
- 1986-12-18 AU AU66712/86A patent/AU587749B2/en not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
KR870005755A (ko) | 1987-07-07 |
US4771652A (en) | 1988-09-20 |
DE3545068C2 (US07608600-20091027-C00054.png) | 1987-09-24 |
KR900003641B1 (ko) | 1990-05-28 |
DE3545068A1 (de) | 1987-06-25 |
CA1268797A (en) | 1990-05-08 |
AU587749B2 (en) | 1989-08-24 |
EP0229941B1 (de) | 1989-10-11 |
EP0229941A3 (en) | 1987-08-12 |
SU1524801A3 (ru) | 1989-11-23 |
AU6671286A (en) | 1987-06-25 |
JPS62148183A (ja) | 1987-07-02 |
ES2002442A6 (es) | 1988-08-01 |
ATE47074T1 (de) | 1989-10-15 |
CN86108531A (zh) | 1987-11-11 |
DE3666173D1 (en) | 1989-11-16 |
DD252787A5 (de) | 1987-12-30 |
EP0229941A2 (de) | 1987-07-29 |
CN1004867B (zh) | 1989-07-26 |
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