JPH0611474B2 - マニプレ−タ用の伝動ヘッド - Google Patents

マニプレ−タ用の伝動ヘッド

Info

Publication number
JPH0611474B2
JPH0611474B2 JP61168209A JP16820986A JPH0611474B2 JP H0611474 B2 JPH0611474 B2 JP H0611474B2 JP 61168209 A JP61168209 A JP 61168209A JP 16820986 A JP16820986 A JP 16820986A JP H0611474 B2 JPH0611474 B2 JP H0611474B2
Authority
JP
Japan
Prior art keywords
head
transmission
axis
driven
central
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
JP61168209A
Other languages
English (en)
Japanese (ja)
Other versions
JPS6274591A (ja
Inventor
エルンスト・ツインマー
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6276187&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JPH0611474(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of JPS6274591A publication Critical patent/JPS6274591A/ja
Publication of JPH0611474B2 publication Critical patent/JPH0611474B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • B25J9/00—Programme-controlled 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
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/1966—Intersecting axes
    • Y10T74/19665—Bevel gear type

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Transmission Devices (AREA)
  • Adjustment Of The Magnetic Head Position Track Following On Tapes (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
JP61168209A 1985-07-19 1986-07-18 マニプレ−タ用の伝動ヘッド Expired - Lifetime JPH0611474B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853525806 DE3525806A1 (de) 1985-07-19 1985-07-19 Getriebekopf fuer manipulatoren
DE3525806.3 1985-07-19

Publications (2)

Publication Number Publication Date
JPS6274591A JPS6274591A (ja) 1987-04-06
JPH0611474B2 true JPH0611474B2 (ja) 1994-02-16

Family

ID=6276187

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61168209A Expired - Lifetime JPH0611474B2 (ja) 1985-07-19 1986-07-18 マニプレ−タ用の伝動ヘッド

Country Status (12)

Country Link
US (1) US4736645A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
EP (1) EP0209111B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JPH0611474B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
KR (1) KR940001203B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
CN (1) CN1004617B (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AT (1) ATE43089T1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
AU (1) AU579300B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
CA (1) CA1262062A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DD (1) DD248316A5 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (2) DE3525806A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
ES (1) ES2000697A6 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
SU (1) SU1421250A3 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Families Citing this family (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
AU591834B2 (en) * 1987-02-23 1989-12-14 University Of Western Australia, The Wrist mechanism for robotic manipulators
SE9202872L (sv) * 1992-10-02 1993-10-04 Sala Industrireparationer Ab Vinkelväxel
DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
JP2004148449A (ja) * 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
CA2991346C (en) 2006-06-22 2020-03-10 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
WO2009014917A2 (en) 2007-07-12 2009-01-29 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
WO2009023851A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
WO2009023839A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
CA2739727C (en) * 2008-10-06 2017-06-27 Kinova Portable robotic arm
EP2512754A4 (en) * 2009-12-17 2016-11-30 Univ Nebraska MODULAR AND COOPERATIVE MEDICAL DEVICES AND CORRESPONDING SYSTEMS AND METHOD
CN102233584A (zh) * 2010-04-27 2011-11-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
WO2013022423A1 (en) 2010-08-06 2013-02-14 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
CN101954639B (zh) * 2010-09-27 2012-07-04 华中科技大学 一种工业机器人空心手腕传动机构
JP6174017B2 (ja) 2011-06-10 2017-08-02 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 生体内血管シールエンドエフェクタおよび生体内ロボット装置
CA2841459C (en) 2011-07-11 2020-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
EP3730031A1 (en) 2011-10-03 2020-10-28 Board of Regents of the University of Nebraska Robotic surgical devices and systems
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
WO2014011238A2 (en) 2012-05-01 2014-01-16 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
JP5746093B2 (ja) * 2012-05-30 2015-07-08 ファナック株式会社 産業用ロボットの手首装置
EP3680071B1 (en) 2012-06-22 2021-09-01 Board of Regents of the University of Nebraska Local control robotic surgical devices
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems 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
WO2014025399A1 (en) 2012-08-08 2014-02-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
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
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
EP2996545B1 (en) 2013-03-15 2021-10-20 Board of Regents of the University of Nebraska Robotic surgical systems
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
EP3191009B1 (en) 2014-09-12 2021-03-31 Board of Regents of the University of Nebraska Quick-release end 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
EP3331453B1 (en) 2015-08-03 2025-05-14 Virtual Incision Corporation Robotic surgical devices and systems
US10828771B2 (en) * 2015-10-06 2020-11-10 FLX Solutions, Inc. Snake-like robot
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
CA3034671A1 (en) 2016-08-25 2018-03-01 Shane Farritor Quick-release tool coupler and related systems and methods
CN114872081B (zh) 2016-08-30 2025-01-17 内布拉斯加大学董事会 具有紧凑型关节设计和附加自由度的机器人装置及相关系统和方法
US11357595B2 (en) 2016-11-22 2022-06-14 Board Of Regents Of The University Of Nebraska 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
WO2019012431A1 (en) * 2017-07-11 2019-01-17 Genesis Robotics And Motion Technologies Canada, Ulc ELECTRICAL MACHINE WITH INTEGRATED BOX
JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
CN111770816B (zh) 2018-01-05 2023-11-03 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
JP2023532977A (ja) 2020-07-06 2023-08-01 バーチャル インシジョン コーポレイション 外科用ロボット位置決めシステム並びに関連する装置及び方法
DE102020130340B4 (de) 2020-11-17 2024-03-21 imk Management Services GmbH Gehäuse für mechanische Getriebeanordnungen
DE102022129199A1 (de) * 2022-11-04 2024-05-08 Schaeffler Technologies AG & Co. KG Gelenkarm
EP4389600A1 (en) * 2022-12-23 2024-06-26 Experimental Vehicle Engineering Ltd. Articulating motor mount

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE837629C (de) * 1950-07-25 1952-04-28 Otto Kuehne Getriebe mit veraenderlichem Winkel von Antriebs- und Abtriebswelle
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
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
DE3448526C2 (de) * 1983-08-03 1996-08-22 Kuka Schweissanlagen & Roboter Getriebekopf für Manipulatoren
DE3464021D1 (en) * 1983-08-03 1987-07-09 Kuka Schweissanlagen & Roboter Manipulator gear head
JPS6039092A (ja) * 1983-08-10 1985-02-28 三菱重工業株式会社 ロボツトの手首装置
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
ATE47685T1 (de) * 1984-08-03 1989-11-15 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren.

Also Published As

Publication number Publication date
KR870001424A (ko) 1987-03-13
DD248316A5 (de) 1987-08-05
ES2000697A6 (es) 1988-03-16
DE3663345D1 (en) 1989-06-22
EP0209111A1 (de) 1987-01-21
ATE43089T1 (de) 1989-06-15
EP0209111B1 (de) 1989-05-17
DE3525806C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1987-11-05
AU6032186A (en) 1987-01-22
CA1262062A (en) 1989-10-03
JPS6274591A (ja) 1987-04-06
CN1004617B (zh) 1989-06-28
US4736645A (en) 1988-04-12
DE3525806A1 (de) 1987-01-29
AU579300B2 (en) 1988-11-17
SU1421250A3 (ru) 1988-08-30
CN86105696A (zh) 1987-04-01
KR940001203B1 (ko) 1994-02-17

Similar Documents

Publication Publication Date Title
JPH0611474B2 (ja) マニプレ−タ用の伝動ヘッド
US4662815A (en) Manipulator head assembly
US4990050A (en) Wrist mechanism
JPH0314594B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP2577410B2 (ja) マニピュレータ関節機構
US4657472A (en) Manipulator head assembly
JP2585425B2 (ja) 垂直多関節形ロボット
JPH0276689A (ja) 産業用ロボット
US4710092A (en) Industrial robot having two gimbal-ring type arranged swinging axes
JPH09300269A (ja) 多関節ロボットの手首機構
JPH0530599B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JPS61241081A (ja) 工業用ロボツト
JPH08323663A (ja) 産業用マニプレータ
JPH0746475Y2 (ja) 回動・旋回アーム駆動装置
JPH0259035B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JPS6234463B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JPS61168485A (ja) 工業用ロボツト
JP2680101B2 (ja) レーザ加工ヘッド
JPH08257973A (ja) 双腕伸縮ロボット
JP2576282B2 (ja) 産業用ロボット
JPS6317671Y2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JPS6316865A (ja) 旋回装置
JPS6117816Y2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JPH0453674B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JPH0310475B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)