SE454659B - Robothandled - Google Patents

Robothandled

Info

Publication number
SE454659B
SE454659B SE8304726A SE8304726A SE454659B SE 454659 B SE454659 B SE 454659B SE 8304726 A SE8304726 A SE 8304726A SE 8304726 A SE8304726 A SE 8304726A SE 454659 B SE454659 B SE 454659B
Authority
SE
Sweden
Prior art keywords
wrist
tool holder
gears
robot
axis
Prior art date
Application number
SE8304726A
Other languages
English (en)
Swedish (sv)
Other versions
SE8304726L (sv
SE8304726D0 (sv
Inventor
H Dahlquist
H Kaufmann
Original Assignee
Asea Ab
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 Asea Ab filed Critical Asea Ab
Priority to SE8304726A priority Critical patent/SE454659B/sv
Publication of SE8304726D0 publication Critical patent/SE8304726D0/xx
Priority to IT8453725U priority patent/IT8453725V0/it
Priority to IT67805/84A priority patent/IT1179038B/it
Priority to DE3431033A priority patent/DE3431033C3/de
Priority to FR848413350A priority patent/FR2551390B1/fr
Priority to JP59179490A priority patent/JPS60150990A/ja
Priority to GB08422086A priority patent/GB2147877B/en
Publication of SE8304726L publication Critical patent/SE8304726L/
Priority to US06/859,239 priority patent/US4690012A/en
Publication of SE454659B publication Critical patent/SE454659B/sv

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
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • 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
    • 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
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
SE8304726A 1983-09-01 1983-09-01 Robothandled SE454659B (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE8304726A SE454659B (sv) 1983-09-01 1983-09-01 Robothandled
IT8453725U IT8453725V0 (it) 1983-09-01 1984-08-10 Polso per robot industriale
IT67805/84A IT1179038B (it) 1983-09-01 1984-08-10 Polso per robot industriale
DE3431033A DE3431033C3 (de) 1983-09-01 1984-08-23 Roboterhandgelenk
FR848413350A FR2551390B1 (fr) 1983-09-01 1984-08-29 Poignet de robot
JP59179490A JPS60150990A (ja) 1983-09-01 1984-08-30 ロボツト腕関節
GB08422086A GB2147877B (en) 1983-09-01 1984-08-31 A robot wrist
US06/859,239 US4690012A (en) 1983-09-01 1986-05-07 Robot wrist

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE8304726A SE454659B (sv) 1983-09-01 1983-09-01 Robothandled

Publications (3)

Publication Number Publication Date
SE8304726D0 SE8304726D0 (sv) 1983-09-01
SE8304726L SE8304726L (sv) 1985-03-02
SE454659B true SE454659B (sv) 1988-05-24

Family

ID=20352365

Family Applications (1)

Application Number Title Priority Date Filing Date
SE8304726A SE454659B (sv) 1983-09-01 1983-09-01 Robothandled

Country Status (7)

Country Link
US (1) US4690012A (de)
JP (1) JPS60150990A (de)
DE (1) DE3431033C3 (de)
FR (1) FR2551390B1 (de)
GB (1) GB2147877B (de)
IT (2) IT8453725V0 (de)
SE (1) SE454659B (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0631853A1 (de) * 1993-07-02 1995-01-04 Asea Brown Boveri Ab Industrieroboter

Families Citing this family (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0169943B1 (de) * 1984-08-03 1989-11-02 KUKA Schweissanlagen GmbH Getriebekopf für Manipulatoren
JPS61168485A (ja) * 1985-01-18 1986-07-30 トキコ株式会社 工業用ロボツト
JPS61121894A (ja) * 1984-11-15 1986-06-09 トキコ株式会社 手首機構
DE3536747A1 (de) * 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Gelenkmechanismus
CA1245691A (en) * 1985-01-22 1988-11-29 Gmf Robotics Corporation Mechanical wrist mechanism
SE455926B (sv) * 1985-07-03 1988-08-22 Asea Ab Industrirobot
SE455925B (sv) * 1985-07-03 1988-08-22 Asea Ab Robothandled
DE3525806A1 (de) * 1985-07-19 1987-01-29 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4695701A (en) * 1986-03-17 1987-09-22 Cincinnati Milacron Inc. Laser wrist
US4698482A (en) * 1986-03-17 1987-10-06 Cincinnati Milacron Inc. Laser robot
US4707585A (en) * 1986-03-17 1987-11-17 Cincinnati Milacron Inc. Laser wrist with sealed beam pathway
EP0242438A1 (de) * 1986-04-17 1987-10-28 Cincinnati Milacron Inc. Manipulator und einen Manipulator enthaltende robotartige Maschine
JPS62188383U (de) * 1986-05-20 1987-11-30
JPH0429996Y2 (de) * 1986-05-20 1992-07-20
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
US4805477A (en) * 1987-10-22 1989-02-21 Gmf Robotics Corporation Multiple joint robot part
SE466994B (sv) * 1988-04-13 1992-05-11 Asea Brown Boveri Robothandled
JP2921132B2 (ja) * 1991-01-31 1999-07-19 株式会社安川電機 産業用ロボットの手首機構
US5305653A (en) * 1991-09-30 1994-04-26 Tokico Ltd. Robot wrist mechanism
DE4137894A1 (de) * 1991-11-18 1992-05-27 Stefan Roth Gelenk fuer maschinenteil
US5236439A (en) * 1992-02-25 1993-08-17 Warner-Lambert Company Razor cartridge with improved rinsability
SE508735C2 (sv) * 1995-01-27 1998-11-02 Asea Brown Boveri Handledsenhet till en industrirobot
JP2756482B2 (ja) * 1995-05-31 1998-05-25 川崎重工業株式会社 自動車塗装ラインにおけるロボットの配置方法および配置構造
GB9612587D0 (en) * 1996-06-15 1996-08-21 Renishaw Plc Rotary bearing and drive mechanisms
US5887800A (en) * 1997-09-03 1999-03-30 Fanuc Robotics North America, Inc. Robot wrist and spray applicator
JP3734135B2 (ja) * 1999-08-03 2006-01-11 株式会社不二越 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
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
EP2679351A1 (de) * 2003-06-26 2014-01-01 Abb As Robotergelenk
DE20321715U1 (de) 2003-06-26 2009-04-09 Abb As Robotisches Handgelenk mit mehreren seriell angeordneten und von Kegelzahnrädern angetriebenen Teilen
US20100015568A1 (en) * 2007-03-07 2010-01-21 Angstrom Manufacturing, Inc. Adjustable angle prophy angle adapter
EP1932630A1 (de) * 2006-12-11 2008-06-18 Abb As Handgelenk eines Industrieroboters
CN102029608A (zh) * 2009-09-24 2011-04-27 鸿富锦精密工业（深圳）有限公司 机器人
CN102079089A (zh) * 2009-11-30 2011-06-01 鸿富锦精密工业（深圳）有限公司 机器人
US9636178B2 (en) * 2011-12-07 2017-05-02 Specialty Surgical Instrumentation, Inc. System and method for an articulating shaft
CN102513997A (zh) * 2011-12-07 2012-06-27 金华职业技术学院 一种机械臂
CN103659833B (zh) * 2012-09-14 2016-03-30 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN103770125B (zh) * 2012-10-26 2016-12-21 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5617900B2 (ja) * 2012-11-19 2014-11-05 株式会社安川電機 ロボット
DE102012223063A1 (de) * 2012-12-13 2014-06-18 Kuka Roboter Gmbh Roboterarm
JP5418704B1 (ja) * 2013-01-17 2014-02-19 株式会社安川電機 ロボット
CA2807287C (en) * 2013-02-26 2018-06-12 Ahmad Kamal Bakir Manipulator arm module
DE102014206941B4 (de) * 2014-04-10 2021-09-02 Richard Wolf Gmbh Endoskopisches Instrument
EP3177437B1 (de) * 2014-08-08 2022-11-23 Valuebiotech S.r.l. Gelenkige vorrichtung für robotersysteme
US9488452B1 (en) * 2015-04-22 2016-11-08 Battelle Energy Alliance, Llc Apparatus for rendering at least a portion of a device inoperable and related methods
FR3040145B1 (fr) * 2015-08-21 2018-02-09 Nimbl'bot Bras de robot articule
US10288458B2 (en) * 2016-06-29 2019-05-14 GM Global Technology Operations LLC Systems and methods for sensor platform
US10175658B2 (en) 2016-06-29 2019-01-08 GM Global Technology Operations LLC Systems and methods for sensor platform
US11104011B2 (en) * 2016-11-10 2021-08-31 Robert Chisena Mechanical robot arm assembly
NL2021133B1 (nl) 2018-06-15 2019-12-20 Exact Dynamics B V Vertragingsunit, Armgewricht voorzien van twee respectievelijk drie vertragingsunits, alsmede een robotarm

Family Cites Families (13)

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US3043448A (en) * 1958-09-19 1962-07-10 Gen Mills Inc Vehicle-mounted manipulator
US3247978A (en) * 1962-12-12 1966-04-26 Programmed & Remote Syst Corp Manipulator hand
US4046262A (en) * 1974-01-24 1977-09-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Anthropomorphic master/slave manipulator system
US3922930A (en) * 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
JPS5841996B2 (ja) * 1976-02-27 1983-09-16 株式会社椿本チエイン 工業用ロボツトの手首機構
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
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
US4151390A (en) * 1977-08-04 1979-04-24 Luciano Bisiach Tool holder head, particularly for welding yokes and guns
SU766856A1 (ru) * 1978-09-28 1980-09-30 Проектно-Конструкторско-Технологическое Бюро По Вагонам Исполнительный орган манипул тора
DE2927485A1 (de) * 1979-07-07 1981-01-22 Daimler Benz Ag Dreiachsgelenk fuer manipulatoren, roboter, handhabungseinrichtungen o.dgl.
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
DE3448526C2 (de) * 1983-08-03 1996-08-22 Kuka Schweissanlagen & Roboter Getriebekopf für Manipulatoren
DE3525806A1 (de) * 1985-07-19 1987-01-29 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0631853A1 (de) * 1993-07-02 1995-01-04 Asea Brown Boveri Ab Industrieroboter

Also Published As

Publication number Publication date
DE3431033C3 (de) 1996-09-05
FR2551390A1 (fr) 1985-03-08
IT8467805A0 (it) 1984-08-10
IT8467805A1 (it) 1986-02-10
GB2147877B (en) 1986-07-30
IT1179038B (it) 1987-09-16
IT8453725V0 (it) 1984-08-10
JPS60150990A (ja) 1985-08-08
SE8304726L (sv) 1985-03-02
JPH0426995B2 (de) 1992-05-08
DE3431033C2 (de) 1992-01-30
FR2551390B1 (fr) 1994-08-05
GB2147877A (en) 1985-05-22
SE8304726D0 (sv) 1983-09-01
US4690012A (en) 1987-09-01
DE3431033A1 (de) 1985-03-21
GB8422086D0 (en) 1984-10-03

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