SE515340C2 - En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp - Google Patents

En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp

Info

Publication number
SE515340C2
SE515340C2 SE9804215A SE9804215A SE515340C2 SE 515340 C2 SE515340 C2 SE 515340C2 SE 9804215 A SE9804215 A SE 9804215A SE 9804215 A SE9804215 A SE 9804215A SE 515340 C2 SE515340 C2 SE 515340C2
Authority
SE
Sweden
Prior art keywords
bearing
seat
joint
cup
joints
Prior art date
Application number
SE9804215A
Other languages
English (en)
Swedish (sv)
Other versions
SE9804215D0 (sv
SE9804215L (sv
Inventor
Fredrik Persson
Pierre Mikaelsson
Haakan Hvittfeldt
Jan Larsson
Original Assignee
Abb 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 Abb Ab filed Critical Abb Ab
Priority to SE9804215A priority Critical patent/SE515340C2/sv
Publication of SE9804215D0 publication Critical patent/SE9804215D0/xx
Priority to EP99963795A priority patent/EP1146998B1/de
Priority to ES99963795T priority patent/ES2259243T3/es
Priority to AU20164/00A priority patent/AU2016400A/en
Priority to PCT/SE1999/002255 priority patent/WO2000032363A1/en
Priority to JP2000585038A priority patent/JP2002531778A/ja
Priority to DE69930009T priority patent/DE69930009T2/de
Publication of SE9804215L publication Critical patent/SE9804215L/
Publication of SE515340C2 publication Critical patent/SE515340C2/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
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/02—Trunnions; Crank-pins
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/045—Pivotal connections with at least a pair of arms pivoting relatively to at least one other arm, all arms being mounted on one pin
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0619—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints the female part comprising a blind socket receiving the male part
    • F16C11/0623—Construction or details of the socket member
    • F16C11/0628—Construction or details of the socket member with linings
    • F16C11/0633—Construction or details of the socket member with linings the linings being made of plastics
    • F16C11/0638—Construction or details of the socket member with linings the linings being made of plastics characterised by geometrical details
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/02—Parts of sliding-contact bearings
    • F16C33/04—Brasses; Bushes; Linings
    • F16C33/06—Sliding surface mainly made of metal
    • F16C33/08—Attachment of brasses, bushes or linings to the bearing housing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Robotics (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Manipulator (AREA)
  • Rolling Contact Bearings (AREA)
SE9804215A 1998-12-03 1998-12-03 En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp SE515340C2 (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE9804215A SE515340C2 (sv) 1998-12-03 1998-12-03 En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp
EP99963795A EP1146998B1 (de) 1998-12-03 1999-12-02 Robotervorrichtung
ES99963795T ES2259243T3 (es) 1998-12-03 1999-12-02 Dispositivo de robot.
AU20164/00A AU2016400A (en) 1998-12-03 1999-12-02 Robot device
PCT/SE1999/002255 WO2000032363A1 (en) 1998-12-03 1999-12-02 Robot device
JP2000585038A JP2002531778A (ja) 1998-12-03 1999-12-02 ロボット装置
DE69930009T DE69930009T2 (de) 1998-12-03 1999-12-02 Robotervorrichtung

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9804215A SE515340C2 (sv) 1998-12-03 1998-12-03 En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp

Publications (3)

Publication Number Publication Date
SE9804215D0 SE9804215D0 (sv) 1998-12-03
SE9804215L SE9804215L (sv) 2000-06-04
SE515340C2 true SE515340C2 (sv) 2001-07-16

Family

ID=20413561

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9804215A SE515340C2 (sv) 1998-12-03 1998-12-03 En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp

Country Status (7)

Country Link
EP (1) EP1146998B1 (de)
JP (1) JP2002531778A (de)
AU (1) AU2016400A (de)
DE (1) DE69930009T2 (de)
ES (1) ES2259243T3 (de)
SE (1) SE515340C2 (de)
WO (1) WO2000032363A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2098339B1 (de) * 2006-11-15 2015-06-10 Murata Machinery, Ltd. Parallelmechanismus
JP4850863B2 (ja) * 2008-04-10 2012-01-11 村田機械株式会社 パラレルメカニズム
JP4420959B2 (ja) 2008-04-10 2010-02-24 村田機械株式会社 パラレルメカニズム
JP2009248288A (ja) * 2008-04-10 2009-10-29 Murata Mach Ltd パラレルメカニズム
JP4803841B2 (ja) * 2008-04-14 2011-10-26 村田機械株式会社 パラレルメカニズム
JP2009255199A (ja) * 2008-04-14 2009-11-05 Murata Mach Ltd パラレルメカニズム
CZ2010246A3 (cs) * 2010-04-01 2011-02-09 CVUT v Praze, Fakulta strojní, Ústav výrobních stroju a zarízení Kulový kloub s alespon dvema stupni volnosti
JP5888988B2 (ja) 2012-01-06 2016-03-22 日本電産サンキョー株式会社 産業用ロボット
DE102017211642A1 (de) 2017-07-07 2019-01-10 Kuka Deutschland Gmbh Delta-Roboter
DE102018200892A1 (de) 2018-01-19 2019-07-25 Kuka Deutschland Gmbh Delta-Roboter mit einem Eingabemittel

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5344620B2 (de) * 1973-02-06 1978-11-30
GB1597495A (en) * 1977-04-12 1981-09-09 Cam Gears Ltd Steering assembly including a ball joint
CH672089A5 (de) * 1985-12-16 1989-10-31 Sogeva Sa
US4695182A (en) * 1986-01-02 1987-09-22 Trw Inc. Ball joint with mechanical interlock
JP3059356B2 (ja) * 1994-09-30 2000-07-04 テイエチケー株式会社 ボールジョイント

Also Published As

Publication number Publication date
AU2016400A (en) 2000-06-19
SE9804215D0 (sv) 1998-12-03
WO2000032363A1 (en) 2000-06-08
ES2259243T3 (es) 2006-09-16
EP1146998B1 (de) 2006-02-22
EP1146998A1 (de) 2001-10-24
SE9804215L (sv) 2000-06-04
JP2002531778A (ja) 2002-09-24
DE69930009D1 (de) 2006-04-27
DE69930009T2 (de) 2006-08-03

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Legal Events

Date Code Title Description
NUG Patent has lapsed