JPS57121490A - Gearing for hinge head coupled with jib of manipulator - Google Patents

Gearing for hinge head coupled with jib of manipulator

Info

Publication number
JPS57121490A
JPS57121490A JP56201715A JP20171581A JPS57121490A JP S57121490 A JPS57121490 A JP S57121490A JP 56201715 A JP56201715 A JP 56201715A JP 20171581 A JP20171581 A JP 20171581A JP S57121490 A JPS57121490 A JP S57121490A
Authority
JP
Japan
Prior art keywords
head
holder
longitudinal axis
rotatable
housing
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.)
Granted
Application number
JP56201715A
Other languages
English (en)
Other versions
JPS6158277B2 (ja
Inventor
Tsuimaa Erunsuto
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=6119712&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JPS57121490(A) "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 JPS57121490A publication Critical patent/JPS57121490A/ja
Publication of JPS6158277B2 publication Critical patent/JPS6158277B2/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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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
    • 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
    • Y10T74/19126—Plural drivers plural driven
    • Y10T74/1913—Bevel

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Jib Cranes (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Retarders (AREA)
  • Resistance Welding (AREA)
JP56201715A 1980-12-19 1981-12-16 Gearing for hinge head coupled with jib of manipulator Granted JPS57121490A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE3048067A DE3048067C2 (de) 1980-12-19 1980-12-19 Getriebeanordnung für den Gelenkkopf eines Manipulators

Publications (2)

Publication Number Publication Date
JPS57121490A true JPS57121490A (en) 1982-07-28
JPS6158277B2 JPS6158277B2 (ja) 1986-12-10

Family

ID=6119712

Family Applications (1)

Application Number Title Priority Date Filing Date
JP56201715A Granted JPS57121490A (en) 1980-12-19 1981-12-16 Gearing for hinge head coupled with jib of manipulator

Country Status (9)

Country Link
US (1) US4548097A (ja)
EP (1) EP0054763B2 (ja)
JP (1) JPS57121490A (ja)
AT (1) ATE9289T1 (ja)
AU (1) AU551501B2 (ja)
DD (1) DD201988A5 (ja)
DE (2) DE3048067C2 (ja)
ES (1) ES507712A0 (ja)
SU (1) SU1153817A3 (ja)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
WO1984001538A1 (fr) * 1982-10-20 1984-04-26 Fanuc Ltd Mecanisme de poignet pour robot industriel
WO1984001536A1 (en) * 1982-10-19 1984-04-26 Fanuc Ltd Articulated arm type of industrial robot
WO1984001537A1 (fr) * 1982-10-19 1984-04-26 Fanuc Ltd Bras articule pour robot industriel
JPS59169790A (ja) * 1983-03-14 1984-09-25 三菱電機株式会社 産業用ロボツト
JPS59175989A (ja) * 1983-03-19 1984-10-05 日本シスコン株式会社 マニピユレ−タの手首作動装置
JPS6025676A (ja) * 1983-07-21 1985-02-08 神鋼電機株式会社 多関節ロボツトのリミツトスイツチ機構
JPS6044288A (ja) * 1983-08-16 1985-03-09 株式会社東芝 工業用ロボツトの手首装置
JPS6044291A (ja) * 1983-08-22 1985-03-09 株式会社東芝 工業用ロボツトの手首装置
JPS6056894A (ja) * 1983-08-03 1985-04-02 クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング マニプレ−タ用のロボツトハンド
JPS60191783A (ja) * 1984-03-09 1985-09-30 豊田工機株式会社 関節形ロボツト
JPS6144592A (ja) * 1984-08-03 1986-03-04 クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング マニプレ−タ用の伝動ヘツド
JPS6144591A (ja) * 1984-08-07 1986-03-04 株式会社不二越 ロボツト
JPS6168888U (ja) * 1984-10-09 1986-05-12
JPS61142086A (ja) * 1984-12-13 1986-06-28 メドマン株式会社 多関節型学習用ロボツト
JPS61199801A (ja) * 1985-03-04 1986-09-04 花王株式会社 靴底
JPS61159190U (ja) * 1985-03-23 1986-10-02
JPS624586A (ja) * 1985-01-18 1987-01-10 帝人製機株式会社 産業ロボツトの関節装置
JPS62107994A (ja) * 1985-07-05 1987-05-19 株式会社安川電機 産業用ロボツトの手首機構
JPS62218087A (ja) * 1985-01-18 1987-09-25 帝人製機株式会社 産業ロボットの関節駆動用減速装置
JPS62218088A (ja) * 1986-03-18 1987-09-25 帝人製機株式会社 産業ロボットの関節駆動用減速装置
JPS62246496A (ja) * 1986-04-15 1987-10-27 株式会社日立製作所 産業用ロボツト
JPH07299791A (ja) * 1994-12-02 1995-11-14 Teijin Seiki Co Ltd 産業ロボットの関節駆動用減速装置
JPH07308882A (ja) * 1994-10-20 1995-11-28 Teijin Seiki Co Ltd 産業ロボットの関節装置
KR101095690B1 (ko) 2009-07-29 2011-12-20 창원대학교 산학협력단 3축 로봇 및 이를 이용한 갠트리형 공작 시스템

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US4624621A (en) * 1982-10-21 1986-11-25 Kabushiki Kaisha Kobe Seiko Sho Wrist mechanism for industrial robots and the like
DE3370299D1 (en) * 1982-11-02 1987-04-23 Westinghouse Electric Corp Robot wrist and arm
DE3244019C2 (de) * 1982-11-27 1985-10-24 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Industrie-Roboter
DE3247789A1 (de) * 1982-12-23 1984-06-28 GASA-Produktion GmbH, 8752 Hösbach Vorrichtung zum manipulieren eines gegenstandes
GB8327937D0 (en) * 1983-10-19 1983-11-23 Colne Robotics Co Ltd Mechanical handling apparatus
US4637774A (en) * 1984-02-29 1987-01-20 Toyoda Koki Kabushiki Kaisha Industrial robot
FR2560546A1 (fr) * 1984-03-01 1985-09-06 Toyoda Machine Works Ltd Robot a articulations a fourches
SE444531B (sv) * 1984-08-31 1986-04-21 Asea Ab Handled for en industrirobot
DE3447701A1 (de) * 1984-12-28 1986-07-10 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Industrie-roboter fuer unterschiedliche einsatzzwecke
DE8511948U1 (de) * 1985-04-22 1985-07-11 GdA Gesellschaft für digitale Automation mbH, 8000 München Getriebeanordnung für eine Industrieroboterhand
US4683772A (en) * 1985-07-25 1987-08-04 Westinghouse Electric Corp. Hand gear train with three degrees of freedom
DE8525812U1 (ja) * 1985-09-10 1987-02-19 Manutec Gesellschaft Fuer Automatisierungs- Und Handhabungssysteme Mbh, 8510 Fuerth, De
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
SE453579B (sv) * 1986-06-12 1988-02-15 Asea Ab Robothandled bestaende av tva handledshalvor
JPH0641117B2 (ja) * 1986-06-13 1994-06-01 株式会社日立製作所 ロボツトの手首装置
DE3631024A1 (de) * 1986-09-09 1988-03-17 Mannesmann Ag Roboterarm
DE3636514A1 (de) * 1986-10-27 1988-05-05 Fraunhofer Ges Forschung Schraubvorrichtung
JPH04310384A (ja) * 1991-04-09 1992-11-02 Toyota Motor Corp 複腕ロボット
DE3939836A1 (de) * 1988-12-02 1990-06-07 Tokico Ltd Industrieroboter
JPH02190288A (ja) * 1989-01-20 1990-07-26 Kobe Steel Ltd 工業用ロボット等の手首機構
US5102280A (en) * 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
FR2667532B1 (fr) * 1990-10-03 1998-05-15 Commissariat Energie Atomique Element de commande d'un bras de manipulation.
JPH106270A (ja) * 1996-06-24 1998-01-13 Fanuc Ltd 産業用ロボット
DE19817606A1 (de) 1998-04-17 1999-10-21 Kuka Roboter Gmbh Vorrichtung zum Antrieb einer Roboterhand
RU2181669C1 (ru) * 2001-07-02 2002-04-27 Акционерное общество закрытого типа "Концерн Содружество" Способ получения рельефной поверхности и устройство для его осуществления
FR2866826B1 (fr) * 2004-02-26 2006-08-04 Commissariat Energie Atomique Bras de telemanipulation en deux parties
JP4659098B2 (ja) * 2009-02-13 2011-03-30 ファナック株式会社 ３自由度を有する姿勢変更機構を備えたパラレルリンクロボット
US8893578B2 (en) 2009-02-13 2014-11-25 Fanuc Corporation Parallel robot provided with wrist section having three degrees of freedom
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
CN103121217B (zh) * 2011-11-21 2015-11-25 鸿富锦精密工业（深圳）有限公司 机器人臂部件
DE102013225117A1 (de) * 2013-12-06 2015-06-11 Richard Wolf Gmbh Antriebsanordnung für ein endoskopisches Schaftinstrument
DE102021003318A1 (de) 2021-06-29 2022-12-29 Günther Zimmer Industrieroboter mit kompakt aufgebautem Achsantrieb

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US2861699A (en) * 1950-10-16 1958-11-25 Gen Mills Inc Method and apparatus for performing operations at a remote point
US2822094A (en) * 1953-09-29 1958-02-04 Greer Hydraulics Inc Bridge manipulator
NL111065C (ja) * 1959-08-31
BE631545A (ja) * 1962-04-25
US3253995A (en) * 1963-09-17 1966-05-31 Gen Dynamics Corp Rod handling equipment for nuclear reactor
DE2226407C3 (de) * 1972-05-31 1978-10-12 Industrie-Werke Karlsruhe Augsburg Ag, 7500 Karlsruhe Gerät zur maschinellen, durch veränderbare Programme steuerbaren Handreichung
JPS5425300B2 (ja) * 1973-01-25 1979-08-27
JPS49124474U (ja) * 1973-02-28 1974-10-24
DE2330393C3 (de) * 1973-06-15 1975-11-27 Bruker-Physik Ag, 7501 Forchheim Manipulator, insbesondere für Unterwasserfahrzeuge
DE2435156C2 (de) * 1974-07-22 1983-09-01 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Programmgesteuerter Manipulator
FR2310842A1 (fr) * 1975-05-15 1976-12-10 Renault Tete pour robot ou manipulateur comportant au moins un axe de rotation
DE2654517B2 (de) 1976-12-01 1979-09-27 Siemens Ag, 1000 Berlin Und 8000 Muenchen Manipulator
US4068536A (en) 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
DE2717870C3 (de) * 1977-04-22 1983-05-19 Volkswagenwerk Ag, 3180 Wolfsburg Handhabungsgerät
SU624788A1 (ru) * 1977-04-22 1978-09-25 Кировоградский институт сельскохозяйственного машиностроения Привод робота
SU707793A1 (ru) * 1977-07-01 1980-01-05 Предприятие П/Я Р-6930 Устройство дл оринтации захвата манипул тора
DE2908523A1 (de) * 1979-03-05 1981-01-29 Jungheinrich Unternehmensverw Automatisches arbeitsgeraet
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
JPH0547167A (ja) * 1990-09-04 1993-02-26 Canon Inc 塵埃除去装置
JPH05114653A (ja) * 1991-10-23 1993-05-07 Fujitsu Ltd 半導体装置
JPH073958B2 (ja) * 1992-01-31 1995-01-18 インターナショナル・ビジネス・マシーンズ・コーポレイション 終端回路

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1984001536A1 (en) * 1982-10-19 1984-04-26 Fanuc Ltd Articulated arm type of industrial robot
WO1984001537A1 (fr) * 1982-10-19 1984-04-26 Fanuc Ltd Bras articule pour robot industriel
JPH028878B2 (ja) * 1982-10-20 1990-02-27 Fanuc Ltd
WO1984001538A1 (fr) * 1982-10-20 1984-04-26 Fanuc Ltd Mecanisme de poignet pour robot industriel
JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
JPS59169790A (ja) * 1983-03-14 1984-09-25 三菱電機株式会社 産業用ロボツト
JPS59175989A (ja) * 1983-03-19 1984-10-05 日本シスコン株式会社 マニピユレ−タの手首作動装置
JPS6025676A (ja) * 1983-07-21 1985-02-08 神鋼電機株式会社 多関節ロボツトのリミツトスイツチ機構
JPS6056894A (ja) * 1983-08-03 1985-04-02 クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング マニプレ−タ用のロボツトハンド
JPH0583354B2 (ja) * 1983-08-03 1993-11-25 Kuka Shuaisuanraagen Unto Robootaa Gmbh
JPS6044288A (ja) * 1983-08-16 1985-03-09 株式会社東芝 工業用ロボツトの手首装置
JPH0451312B2 (ja) * 1983-08-16 1992-08-18 Tokyo Shibaura Electric Co
JPS6044291A (ja) * 1983-08-22 1985-03-09 株式会社東芝 工業用ロボツトの手首装置
JPH0451313B2 (ja) * 1983-08-22 1992-08-18 Tokyo Shibaura Electric Co
JPS60191783A (ja) * 1984-03-09 1985-09-30 豊田工機株式会社 関節形ロボツト
JPH0530599B2 (ja) * 1984-08-03 1993-05-10 Kuka Shuaisuanraagen Unto Robootaa Gmbh
JPS6144592A (ja) * 1984-08-03 1986-03-04 クカ・シユヴアイスアンラ−ゲン・ウント・ロボ−タ−・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング マニプレ−タ用の伝動ヘツド
JPS6144591A (ja) * 1984-08-07 1986-03-04 株式会社不二越 ロボツト
JPH0411027Y2 (ja) * 1984-10-09 1992-03-18
JPS6168888U (ja) * 1984-10-09 1986-05-12
JPS61142086A (ja) * 1984-12-13 1986-06-28 メドマン株式会社 多関節型学習用ロボツト
JPS62218087A (ja) * 1985-01-18 1987-09-25 帝人製機株式会社 産業ロボットの関節駆動用減速装置
JPH0513794B2 (ja) * 1985-01-18 1993-02-23 Teijin Seiki Co Ltd
JPS624586A (ja) * 1985-01-18 1987-01-10 帝人製機株式会社 産業ロボツトの関節装置
JPS61199801A (ja) * 1985-03-04 1986-09-04 花王株式会社 靴底
JPS61159190U (ja) * 1985-03-23 1986-10-02
JPS62107994A (ja) * 1985-07-05 1987-05-19 株式会社安川電機 産業用ロボツトの手首機構
JPH0513795B2 (ja) * 1986-03-18 1993-02-23 Teijin Seiki Co Ltd
JPS62218088A (ja) * 1986-03-18 1987-09-25 帝人製機株式会社 産業ロボットの関節駆動用減速装置
JPS62246496A (ja) * 1986-04-15 1987-10-27 株式会社日立製作所 産業用ロボツト
JPH07308882A (ja) * 1994-10-20 1995-11-28 Teijin Seiki Co Ltd 産業ロボットの関節装置
JPH07299791A (ja) * 1994-12-02 1995-11-14 Teijin Seiki Co Ltd 産業ロボットの関節駆動用減速装置
KR101095690B1 (ko) 2009-07-29 2011-12-20 창원대학교 산학협력단 3축 로봇 및 이를 이용한 갠트리형 공작 시스템

Also Published As

Publication number Publication date
DE3048067A1 (de) 1982-07-15
ATE9289T1 (de) 1984-09-15
DE3048067C2 (de) 1984-08-09
JPS6158277B2 (ja) 1986-12-10
EP0054763B2 (de) 1989-10-04
EP0054763A1 (de) 1982-06-30
EP0054763B1 (de) 1984-09-12
AU7856181A (en) 1982-09-23
AU551501B2 (en) 1986-05-01
ES8304468A1 (es) 1983-03-01
SU1153817A3 (ru) 1985-04-30
ES507712A0 (es) 1983-03-01
DE3166085D1 (en) 1984-10-18
DD201988A5 (de) 1983-08-24
US4548097A (en) 1985-10-22

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