JPS59196182A - 多軸作動ア−ムユニツト - Google Patents

多軸作動ア−ムユニツト

Info

Publication number
JPS59196182A
JPS59196182A JP59071678A JP7167884A JPS59196182A JP S59196182 A JPS59196182 A JP S59196182A JP 59071678 A JP59071678 A JP 59071678A JP 7167884 A JP7167884 A JP 7167884A JP S59196182 A JPS59196182 A JP S59196182A
Authority
JP
Japan
Prior art keywords
brake
arm unit
axis
unit according
shaft
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.)
Pending
Application number
JP59071678A
Other languages
English (en)
Japanese (ja)
Inventor
カ−ル−ハインツ・フリ−ドリツヒス
ギユンタ−・トヴイ−フエル
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.)
Blohm and Voss GmbH
Original Assignee
Blohm and Voss 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
Application filed by Blohm and Voss GmbH filed Critical Blohm and Voss GmbH
Publication of JPS59196182A publication Critical patent/JPS59196182A/ja
Pending 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
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-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—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Program-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Braking Arrangements (AREA)
  • Manipulator (AREA)
JP59071678A 1983-04-09 1984-04-09 多軸作動ア−ムユニツト Pending JPS59196182A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19833312862 DE3312862A1 (de) 1983-04-09 1983-04-09 Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter
DE33128626 1983-04-09

Publications (1)

Publication Number Publication Date
JPS59196182A true JPS59196182A (ja) 1984-11-07

Family

ID=6195901

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59071678A Pending JPS59196182A (ja) 1983-04-09 1984-04-09 多軸作動ア−ムユニツト

Country Status (5)

Country Link
US (1) US4693665A (https=)
JP (1) JPS59196182A (https=)
DE (1) DE3312862A1 (https=)
FR (1) FR2543870B1 (https=)
SE (1) SE8401970L (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988005713A1 (fr) * 1987-01-31 1988-08-11 Fanuc Ltd Robot articule a entrainement direct
JP2017518194A (ja) * 2014-06-05 2017-07-06 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ ヒューマノイドロボットに設けられるモータ駆動式の固定ヒンジ

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63162176A (ja) * 1986-12-24 1988-07-05 フアナツク株式会社 水平関節型ロボツトの第１ア−ム構造
US5261316A (en) * 1987-12-30 1993-11-16 Honda Giken Kogyo Kabushiki Kaisha Angular displacement motor with counterbalance chambers
JPH01252389A (ja) * 1988-03-31 1989-10-09 Agency Of Ind Science & Technol マニピュレータ及びその制御方法
JPH03221395A (ja) * 1989-09-27 1991-09-30 Seiko Instr Inc 関節形産業用ロボットの重力補償機構
SE515119C2 (sv) * 1995-03-30 2001-06-11 Abb Ab Industrirobot
DE19843052C2 (de) * 1998-09-19 2001-08-16 Porsche Ag Meßeinrichtung für Baugruppen, insbesondere Karosseriebaugruppen
DE202010008424U1 (de) * 2010-09-01 2011-12-06 Zasche Sitec Handling Gmbh Handhabungsgerät
US20140064905A1 (en) * 2011-01-10 2014-03-06 Sri International Electroadhesive System for Capturing Objects
JP5552564B1 (ja) * 2013-09-24 2014-07-16 川崎重工業株式会社 多軸ロボットの動力遮断装置及び多軸ロボット
DE102013020697B4 (de) * 2013-12-04 2023-07-06 Kuka Roboter Gmbh Verfahren und Steuermittel zum Steuern eines Roboters
EP3119314B1 (en) * 2014-03-17 2020-05-06 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
WO2016069660A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for monitoring control points during reactive motion
EP3212148B1 (en) 2014-10-27 2025-07-09 Intuitive Surgical Operations, Inc. System for integrated surgical table icons
JP6682512B2 (ja) 2014-10-27 2020-04-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 一体化された手術台のシステム及び方法
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
KR102655083B1 (ko) * 2014-10-27 2024-04-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 브레이크 해제가 능동적으로 제어되는 의료 장치
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
JP6676061B2 (ja) 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 統合された手術台運動のためのシステム及び方法
DE102015211496A1 (de) * 2015-06-22 2016-12-22 Deckel Maho Pfronten Gmbh Werkzeugmaschine zur spanenden Bearbeitung eines Werkstücks
DE202016001163U1 (de) 2016-02-22 2016-04-20 Lakeview Innovation Ltd. Robotergelenkantrieb mit Feststellbremse
WO2017152928A1 (en) * 2016-03-07 2017-09-14 Abb Schweiz Ag A brake for an actuator of an industrial robot
CN107379005A (zh) * 2017-08-31 2017-11-24 国机智能技术研究院有限公司 一种阻尼关节及具有位置保持功能的阻尼主手
DE102018121701B4 (de) * 2018-09-05 2020-06-04 M-Robot OHG Sicherungsvorrichtung und Verfahren zum Betreiben einer Sicherungsvorrichtung

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH139566A (de) * 1929-02-28 1930-04-30 Streuli Gottfr Einrichtung zur Verbindung eines rotierenden Organes mit einem Träger.
US2257610A (en) * 1939-02-16 1941-09-30 Gen Tire & Rubber Co Motor control and brake mechanism
CH256604A (fr) * 1945-02-27 1948-08-31 G S P Guillemin Sergot Pegard Dispositif de blocage de deux organes de machine susceptibles de mouvement relatif, applicable notamment aux machines-outils.
US3166167A (en) * 1962-05-18 1965-01-19 Frank W Kinsman Fluid clutch-brake
DE1293500B (de) * 1962-10-06 1969-04-24 Masing & Co Kg Dr Verfahren und Einrichtung zur Wegmessung fuer die numerische Punktregelung von Werkzeugmaschinen
US3330391A (en) * 1965-03-31 1967-07-11 Borg Warner Friction engaging mechanism
GB1088200A (en) * 1965-11-25 1967-10-25 Emile Claveau Improvements in brake devices for motor vehicles
DE2301423C3 (de) * 1973-01-12 1978-09-28 Fibro Gmbh, 7102 Weinsberg Handhabungsgerät
DE2327387C3 (de) * 1973-05-29 1978-10-12 Pfaff Pietzsch Industrieroboter Gmbh, 7505 Ettlingen Antrieb für Handhabungseinrichtungen
DE2442865C3 (de) * 1974-09-06 1979-07-05 Hagenuk Vormals Neufeldt & Kuhnke Gmbh, 2300 Kiel Vorrichtung, insbesondere Manipulator, zum raschen Bewegen und genauen Positionieren eines Laststellglieds längs eines vorgegebenen Weges
DE2530261C2 (de) * 1974-10-22 1986-10-23 Asea S.p.A., Mailand/Milano Programmiereinrichtung für einen Manipulator
US3995723A (en) * 1975-08-13 1976-12-07 Clark Equipment Company Deformable rigid seal for a hydraulic brake apparatus
FR2324407A1 (fr) * 1975-09-22 1977-04-15 Sofermo Robot modulaire de configuration adaptable
DE2654517B2 (de) * 1976-12-01 1979-09-27 Siemens Ag, 1000 Berlin Und 8000 Muenchen Manipulator
US4150326A (en) * 1977-09-19 1979-04-17 Unimation, Inc. Trajectory correlation and error detection method and apparatus
DE2754609A1 (de) * 1977-12-08 1979-06-13 Karlsruhe Augsburg Iweka Antriebsaggregat fuer die handachsen eines handhabungsgeraetes
DE2912262A1 (de) * 1979-03-26 1980-10-09 Rudolf Betzing Antrieb fuer ausleger von manipulatoren, roboter u.dgl.
DE3046156C2 (de) * 1980-12-06 1983-01-13 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Betätigungsvorrichtung für Scheibenbremsen
JPS57113111A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57180284A (en) * 1981-04-30 1982-11-06 Nippon Telegr & Teleph Corp <Ntt> Picture communication system
US4441854A (en) * 1981-08-05 1984-04-10 Robotic Vision Systems, Inc. Controlling positioning systems upon removal of power
JPS59107897A (ja) * 1982-11-10 1984-06-22 リットン・ユー・ケイ・リミテッド ブレ−キ装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988005713A1 (fr) * 1987-01-31 1988-08-11 Fanuc Ltd Robot articule a entrainement direct
US4903539A (en) * 1987-01-31 1990-02-27 Fanuc Ltd. Direct-drive-type multi-articulated robot
JP2017518194A (ja) * 2014-06-05 2017-07-06 ソフトバンク・ロボティクス・ヨーロッパＳｏｆｔｂａｎｋ Ｒｏｂｏｔｉｃｓ Ｅｕｒｏｐｅ ヒューマノイドロボットに設けられるモータ駆動式の固定ヒンジ

Also Published As

Publication number Publication date
US4693665A (en) 1987-09-15
SE8401970L (sv) 1984-10-24
FR2543870B1 (fr) 1988-11-25
DE3312862A1 (de) 1984-10-11
DE3312862C2 (https=) 1992-06-17
FR2543870A1 (fr) 1984-10-12
SE8401970D0 (sv) 1984-04-09

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