SE8604046L - Handledsanordning for industrirobotarm - Google Patents
Handledsanordning for industrirobotarmInfo
- Publication number
- SE8604046L SE8604046L SE8604046A SE8604046A SE8604046L SE 8604046 L SE8604046 L SE 8604046L SE 8604046 A SE8604046 A SE 8604046A SE 8604046 A SE8604046 A SE 8604046A SE 8604046 L SE8604046 L SE 8604046L
- Authority
- SE
- Sweden
- Prior art keywords
- rotation
- knuckle portion
- journalled
- torque tube
- hollow
- Prior art date
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
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- 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
- Y10T74/19023—Plural power paths to and/or from gearing
- Y10T74/19051—Single driven plural drives
- Y10T74/1906—Nonparallel
-
- 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)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/779,899 US4703668A (en) | 1985-09-25 | 1985-09-25 | Wrist mechanism for a robot arm |
Publications (3)
Publication Number | Publication Date |
---|---|
SE8604046D0 SE8604046D0 (sv) | 1986-09-24 |
SE8604046L true SE8604046L (sv) | 1987-03-26 |
SE460837B SE460837B (sv) | 1989-11-27 |
Family
ID=25117933
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE8604046A SE460837B (sv) | 1985-09-25 | 1986-09-24 | Handledsanordning foer industrirobotarm |
Country Status (7)
Country | Link |
---|---|
US (1) | US4703668A (sv) |
JP (1) | JPS6274592A (sv) |
DE (1) | DE3630190A1 (sv) |
GB (1) | GB2182017B (sv) |
IT (1) | IT1213347B (sv) |
NO (1) | NO163175C (sv) |
SE (1) | SE460837B (sv) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE466994B (sv) * | 1988-04-13 | 1992-05-11 | Asea Brown Boveri | Robothandled |
US5141165A (en) * | 1989-03-03 | 1992-08-25 | Nordson Corporation | Spray gun with five axis movement |
US5316219A (en) * | 1992-07-08 | 1994-05-31 | Nordson Corporation | Coating apparatus with pattern width control |
JP3465850B2 (ja) * | 1993-04-28 | 2003-11-10 | 株式会社安川電機 | 産業用ロボットの手首機構 |
SE513348C2 (sv) * | 1993-07-02 | 2000-08-28 | Abb Ab | Industrirobot |
JP2746543B2 (ja) * | 1995-02-21 | 1998-05-06 | 株式会社神戸製鋼所 | 産業用ロボットの手首装置 |
IT1292275B1 (it) * | 1997-04-23 | 1999-01-29 | Comau Spa | Polso di robot industriale, e robot comprendente tale polso. |
SE513371C2 (sv) * | 1998-10-16 | 2000-09-04 | Abb Ab | Anordning och förfarande för styrning av ett kablage samt användning av sagda anordning och förfarande |
DE10010615A1 (de) * | 2000-03-03 | 2001-09-06 | Duerr Systems Gmbh | Roboter zum Beschichten oder Behandeln von Werkstücken |
US6871563B2 (en) * | 2001-02-26 | 2005-03-29 | Howie Choset | Orientation preserving angular swivel joint |
DE10205593A1 (de) * | 2002-02-11 | 2003-08-21 | Duerr Systems Gmbh | Beschichtungsmaschine mit einem Zerstäuber und einem Zerstäuber und einem Drehgelenk |
JP3746244B2 (ja) * | 2002-04-10 | 2006-02-15 | ファナック株式会社 | ロボットの手首における線条体の敷設構造 |
JP4520268B2 (ja) * | 2004-09-28 | 2010-08-04 | 川崎重工業株式会社 | ロボット |
US7870807B2 (en) * | 2005-09-26 | 2011-01-18 | Durr Systems Inc. | Multi axis robot wrist and method of operation |
EP1932630A1 (en) * | 2006-12-11 | 2008-06-18 | Abb As | Wrist of an industrial robot |
US8498741B2 (en) * | 2009-09-22 | 2013-07-30 | Gm Global Technology Operations | Dexterous humanoid robotic wrist |
CN102029608A (zh) * | 2009-09-24 | 2011-04-27 | 鸿富锦精密工业(深圳)有限公司 | 机器人 |
DE102009049483A1 (de) * | 2009-10-15 | 2011-04-21 | Modine Manufacturing Co., Racine | Wärmetauscher und Dichtungsanordnung dafür |
CN102049784A (zh) * | 2009-10-30 | 2011-05-11 | 鸿富锦精密工业(深圳)有限公司 | 工业机器人 |
CN102079089A (zh) * | 2009-11-30 | 2011-06-01 | 鸿富锦精密工业(深圳)有限公司 | 机器人 |
CN102198665A (zh) * | 2010-03-24 | 2011-09-28 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
WO2012028197A1 (en) * | 2010-09-03 | 2012-03-08 | Abb Research Ltd | An industrial robot, a component system for a such and a method for assembling a such |
CN103101057B (zh) * | 2011-11-10 | 2015-10-14 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
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 |
CN102837321B (zh) * | 2012-09-19 | 2015-10-07 | 浙江万丰科技开发有限公司 | 一种自动化通用机械臂 |
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 |
CN103056878B (zh) * | 2012-12-25 | 2016-04-27 | 无锡夏至自动化有限公司 | 一种仿生结构机械传动机器人 |
DE102016003966A1 (de) * | 2016-04-01 | 2017-10-05 | Dürr Systems Ag | Beschichtungsroboter |
CN111086017B (zh) * | 2018-10-24 | 2024-09-13 | 发那科株式会社 | 机器人系统 |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE629719C (de) * | 1934-08-14 | 1936-05-09 | J M Voith Fa | Kegelraedergetriebe |
US2101631A (en) * | 1937-02-06 | 1937-12-07 | Evert O Sarff | Tractor construction |
US3375727A (en) * | 1966-02-17 | 1968-04-02 | Trw Inc | Transversely oriented reduction drive |
DE2435156C2 (de) * | 1974-07-22 | 1983-09-01 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Programmgesteuerter Manipulator |
US3871248A (en) * | 1974-08-13 | 1975-03-18 | Thomas Barish | Two-power-path bevel gearing for high loads and high speeds |
US3922930A (en) * | 1974-12-23 | 1975-12-02 | Nasa | Remotely operable articulated manipulator |
US4068536A (en) * | 1976-12-23 | 1978-01-17 | Cincinnati Milacron Inc. | Manipulator |
SU624788A1 (ru) * | 1977-04-22 | 1978-09-25 | Кировоградский институт сельскохозяйственного машиностроения | Привод робота |
US4151390A (en) * | 1977-08-04 | 1979-04-24 | Luciano Bisiach | Tool holder head, particularly for welding yokes and guns |
SU688328A1 (ru) * | 1978-04-03 | 1979-09-30 | Предприятие П/Я В-8721 | Привод захвата манипул тора |
SU704777A2 (ru) * | 1978-06-02 | 1979-12-25 | Предприятие П/Я В-8721 | Шарнирное соединение звеньев манипул тора |
BE870306A (nl) * | 1978-09-08 | 1979-01-02 | Legrand M G J | Windvaanstuurinrichting en koppelings-inrichting toe te passen in zulke windvaanstuurinrichting |
US4218166A (en) * | 1978-11-24 | 1980-08-19 | General Motors Corporation | Guide device for multi-axis manipulator |
SU770780A1 (ru) * | 1979-01-25 | 1980-10-18 | Проектно-Конструкторско-Технологическое Бюро По Вагонам Главного Управления По Ремонту Подвижного Состава И Производству Запасных Частей Мпс Ссср | Манипул тор |
US4250927A (en) * | 1979-08-24 | 1981-02-17 | Piper Aircraft Corporation | Duct spacer clip and duct assembly |
US4353677A (en) * | 1980-03-05 | 1982-10-12 | Thermwood Corporation | Wrist construction for industrial robots |
US4356554A (en) * | 1980-09-12 | 1982-10-26 | Thermwood Corporation | Method and apparatus for compensating for system error in an industrial robot control |
US4354657A (en) * | 1980-12-29 | 1982-10-19 | Karlberg John E | Supports for coaxial conduits |
US4365928A (en) * | 1981-05-04 | 1982-12-28 | Cincinnati Milacron Inc. | Fluid power connector system for manipulator |
US4402234A (en) * | 1981-08-13 | 1983-09-06 | General Motors Corporation | Three-axis wrist mechanism |
US4499784A (en) * | 1981-11-20 | 1985-02-19 | Westinghouse Electric Corp. | Split-ball type wrist and manipulating assembly for robot |
DE3219292C2 (de) * | 1982-05-22 | 1986-01-02 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Gelenkkopf für Industrieroboter |
US4456058A (en) * | 1982-11-30 | 1984-06-26 | Brown Fintube Company | Heat exchanger tube support |
US4642021A (en) * | 1983-06-27 | 1987-02-10 | Toyoda Koki Kabushiki Kaisha | Manipulation arm mechanism for an industrial robot |
SE454659B (sv) * | 1983-09-01 | 1988-05-24 | Asea Ab | Robothandled |
JPS60135196A (ja) * | 1983-12-22 | 1985-07-18 | 株式会社安川電機 | 産業用ロボツトの手首機構 |
US4574655A (en) * | 1984-07-16 | 1986-03-11 | Kabushiki Kaisha Yasakawa Denki Seisakusho | Wrist mechanism for industrial robot |
JPS61252093A (ja) * | 1985-04-30 | 1986-11-10 | 株式会社日立製作所 | 産業用ロボツトの手首機構 |
-
1985
- 1985-09-25 US US06/779,899 patent/US4703668A/en not_active Expired - Fee Related
-
1986
- 1986-09-04 DE DE19863630190 patent/DE3630190A1/de not_active Withdrawn
- 1986-09-08 GB GB08621564A patent/GB2182017B/en not_active Expired
- 1986-09-18 JP JP61220831A patent/JPS6274592A/ja active Pending
- 1986-09-23 IT IT8621783A patent/IT1213347B/it active
- 1986-09-24 NO NO863802A patent/NO163175C/no unknown
- 1986-09-24 SE SE8604046A patent/SE460837B/sv not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
US4703668A (en) | 1987-11-03 |
DE3630190A1 (de) | 1987-03-26 |
IT8621783A0 (it) | 1986-09-23 |
NO163175C (no) | 1990-04-18 |
JPS6274592A (ja) | 1987-04-06 |
NO863802D0 (no) | 1986-09-24 |
GB8621564D0 (en) | 1986-10-15 |
SE460837B (sv) | 1989-11-27 |
GB2182017A (en) | 1987-05-07 |
SE8604046D0 (sv) | 1986-09-24 |
GB2182017B (en) | 1988-08-17 |
NO863802L (no) | 1987-03-26 |
IT1213347B (it) | 1989-12-20 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NAV | Patent application has lapsed |
Ref document number: 8604046-6 Effective date: 19910301 Format of ref document f/p: F |