JPH0446720B2 - - Google Patents

Info

Publication number
JPH0446720B2
JPH0446720B2 JP61010951A JP1095186A JPH0446720B2 JP H0446720 B2 JPH0446720 B2 JP H0446720B2 JP 61010951 A JP61010951 A JP 61010951A JP 1095186 A JP1095186 A JP 1095186A JP H0446720 B2 JPH0446720 B2 JP H0446720B2
Authority
JP
Japan
Prior art keywords
axes
housing
wrist mechanism
tool
guide
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
Application number
JP61010951A
Other languages
English (en)
Japanese (ja)
Other versions
JPS61168487A (ja
Inventor
Ei Akiiru Haadei
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.)
JII EMU EFU ROBOTEITSUKUSU CORP
Original Assignee
JII EMU EFU ROBOTEITSUKUSU CORP
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 JII EMU EFU ROBOTEITSUKUSU CORP filed Critical JII EMU EFU ROBOTEITSUKUSU CORP
Publication of JPS61168487A publication Critical patent/JPS61168487A/ja
Publication of JPH0446720B2 publication Critical patent/JPH0446720B2/ja
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
    • B25J19/0025—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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP61010951A 1985-01-22 1986-01-21 機械的手首機構 Granted JPS61168487A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US69299485A 1985-01-22 1985-01-22
US692994 1985-01-22

Publications (2)

Publication Number Publication Date
JPS61168487A JPS61168487A (ja) 1986-07-30
JPH0446720B2 true JPH0446720B2 (US07922777-20110412-C00004.png) 1992-07-30

Family

ID=24782889

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61010951A Granted JPS61168487A (ja) 1985-01-22 1986-01-21 機械的手首機構

Country Status (3)

Country Link
JP (1) JPS61168487A (US07922777-20110412-C00004.png)
CA (1) CA1245691A (US07922777-20110412-C00004.png)
DE (1) DE3601456A1 (US07922777-20110412-C00004.png)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE466994B (sv) * 1988-04-13 1992-05-11 Asea Brown Boveri Robothandled
DE3937706A1 (de) * 1989-11-13 1991-05-16 Niko Maschinen Automation Gmbh Roboter mit mindestens einem roboterarm
JP3467273B2 (ja) * 1992-02-29 2003-11-17 シュテーデレ，ベルタ 対象物体を操作する装置
US5661387A (en) * 1992-02-29 1997-08-26 Stadele, Deceased; Erhard Device for manipulating objects in a gripper or the like
JP2746543B2 (ja) * 1995-02-21 1998-05-06 株式会社神戸製鋼所 産業用ロボットの手首装置
DE59908214D1 (de) * 1999-10-14 2004-02-05 Storz Karl Gmbh & Co Drehgelenk für medizinische instrumente
DE10205593A1 (de) * 2002-02-11 2003-08-21 Duerr Systems Gmbh Beschichtungsmaschine mit einem Zerstäuber und einem Zerstäuber und einem Drehgelenk
CN106142131A (zh) * 2016-08-03 2016-11-23 希美埃（芜湖）机器人技术有限公司 一种喷涂机器人中空手腕结构
CN108638120A (zh) * 2018-06-15 2018-10-12 广州启帆工业机器人有限公司 多工位喷涂机械手腕
EP4137710A1 (de) * 2021-08-20 2023-02-22 maxon international ag Ausgangslageranordnung für einen gelenkantrieb, insbesondere einen robotergelenkantrieb

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6133887A (ja) * 1984-07-27 1986-02-17 フアナツク株式会社 工業用ロボツトの中空腕構造

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1083111B (it) * 1977-05-18 1985-05-21 Bisiach & Carru Testa portautensile per macchina operatrice particolarmente per pinze di saldatura a resistenza o torce per saldatura in tig mig o mag
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4499784A (en) * 1981-11-20 1985-02-19 Westinghouse Electric Corp. Split-ball type wrist and manipulating assembly for robot
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6133887A (ja) * 1984-07-27 1986-02-17 フアナツク株式会社 工業用ロボツトの中空腕構造

Also Published As

Publication number Publication date
DE3601456A1 (de) 1986-07-24
CA1245691A (en) 1988-11-29
DE3601456C2 (US07922777-20110412-C00004.png) 1992-02-27
JPS61168487A (ja) 1986-07-30

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Legal Events

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EXPY Cancellation because of completion of term