DE3750332D1 - Kompaktes robotpulsgelenk. - Google Patents
Kompaktes robotpulsgelenk.Info
- Publication number
- DE3750332D1 DE3750332D1 DE3750332T DE3750332T DE3750332D1 DE 3750332 D1 DE3750332 D1 DE 3750332D1 DE 3750332 T DE3750332 T DE 3750332T DE 3750332 T DE3750332 T DE 3750332T DE 3750332 D1 DE3750332 D1 DE 3750332D1
- Authority
- DE
- Germany
- Prior art keywords
- housing
- gimbal
- movement
- assembly
- compact robotic
- 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.)
- Expired - Lifetime
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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
-
- 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
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/820,678 US4686866A (en) | 1986-01-21 | 1986-01-21 | Compact robot wrist acuator |
PCT/US1987/000060 WO1987004539A1 (en) | 1986-01-21 | 1987-01-20 | Compact robot wrist actuator |
Publications (1)
Publication Number | Publication Date |
---|---|
DE3750332D1 true DE3750332D1 (de) | 1994-09-08 |
Family
ID=25231454
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE3750332T Expired - Lifetime DE3750332D1 (de) | 1986-01-21 | 1987-01-20 | Kompaktes robotpulsgelenk. |
Country Status (6)
Country | Link |
---|---|
US (1) | US4686866A (de) |
EP (1) | EP0295244B1 (de) |
AT (1) | ATE109575T1 (de) |
CA (1) | CA1273666A (de) |
DE (1) | DE3750332D1 (de) |
WO (1) | WO1987004539A1 (de) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0394225A4 (en) * | 1984-04-12 | 1991-10-30 | Mark E. Rosheim | Wrist actuator |
SE469823B (sv) * | 1987-02-23 | 1993-09-27 | Univ Western Australia | Ledmekanism för robotarmar |
ATE120681T1 (de) * | 1987-11-30 | 1995-04-15 | Mark E Rosheim | Handgelenkroboter. |
US4878393A (en) * | 1988-05-27 | 1989-11-07 | Oprea Duta | Dextrous spherical robot wrist |
US4821594A (en) * | 1988-06-10 | 1989-04-18 | Mark E. Rosheim | Robot joints |
US4911033A (en) * | 1989-01-03 | 1990-03-27 | Ross-Hime Designs, Incorporated | Robotic manipulator |
US5239883A (en) * | 1991-09-26 | 1993-08-31 | Rosheim Mark E | Modular robot wrist |
US5243873A (en) * | 1992-01-23 | 1993-09-14 | Honeywell Inc. | Two-axis motion mechanism |
US5255571A (en) * | 1992-06-25 | 1993-10-26 | United Parcel Service Of America, Inc. | Three degree of freedom actuator system |
US5710870A (en) * | 1995-09-07 | 1998-01-20 | California Institute Of Technology | Decoupled six degree-of-freedom robot manipulator |
US5789890A (en) * | 1996-03-22 | 1998-08-04 | Genmark Automation | Robot having multiple degrees of freedom |
US6121743A (en) * | 1996-03-22 | 2000-09-19 | Genmark Automation, Inc. | Dual robotic arm end effectors having independent yaw motion |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5954840A (en) * | 1996-06-13 | 1999-09-21 | Genmark Automation | Universally tiltable Z axis drive arm |
US6026703A (en) * | 1997-08-14 | 2000-02-22 | Stanisic; Michael M. | Dexterous split equator joint |
US6116966A (en) * | 1998-04-17 | 2000-09-12 | Ati Industrial Automation, Inc. | High power electrical contacts for robotic tool changer |
US6489741B1 (en) | 1998-08-25 | 2002-12-03 | Genmark Automation, Inc. | Robot motion compensation system |
US7204168B2 (en) * | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
US7770857B2 (en) | 2006-06-02 | 2010-08-10 | Francis Ruddy | Universal joint lock |
US7495409B2 (en) * | 2006-10-30 | 2009-02-24 | David Coutu | Method and apparatus for eliminating stall and cogging in multi-phase stepping motors |
CN101229440B (zh) * | 2007-12-28 | 2010-08-11 | 燕山大学 | 一种机器人的颈关节 |
US8245595B2 (en) * | 2009-04-30 | 2012-08-21 | Wisconsin Alumni Research Foundation | Two-axis non-singular robotic wrist |
US9259275B2 (en) | 2009-11-13 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Wrist articulation by linked tension members |
US8876857B2 (en) | 2009-11-13 | 2014-11-04 | Intuitive Surgical Operations, Inc. | End effector with redundant closing mechanisms |
EP3444075B1 (de) * | 2009-11-13 | 2022-05-11 | Intuitive Surgical Operations, Inc. | Chirurgisches instrument mit einem kompakten handgelenk |
EP3381397B1 (de) * | 2009-11-13 | 2020-01-08 | Intuitive Surgical Operations Inc. | Motorschnittstelle für parallele antriebswellen in einem unabhängig rotierenden element |
US8761927B2 (en) | 2010-12-17 | 2014-06-24 | Disney Enterprises, Inc. | Externally actuated figure |
US8844896B2 (en) | 2011-06-07 | 2014-09-30 | Flir Systems, Inc. | Gimbal system with linear mount |
WO2012170673A1 (en) * | 2011-06-07 | 2012-12-13 | Flir Systems, Inc. | Gimbal system with a translational mount |
US8711223B2 (en) | 2011-06-21 | 2014-04-29 | Flir Systems, Inc. | Vehicle-mounted camera stabilized passively by vibration isolators |
GB201400569D0 (en) * | 2014-01-14 | 2014-03-05 | Randle Engineering Solutions Ltd | Articulation |
GB2531994B (en) * | 2014-10-15 | 2020-06-24 | Cmr Surgical Ltd | Surgical articulation |
US10473162B1 (en) * | 2016-07-12 | 2019-11-12 | Advanced Innovative Solutions, LLC | Universal constant velocity joint system and method of use |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB980044A (en) * | 1959-10-15 | 1965-01-13 | Bell Prec Engineering Company | Improvements in and relating to manipulators |
US3246580A (en) * | 1963-07-08 | 1966-04-19 | Huska Paul | Rotary fluid displacement device |
US3405406A (en) * | 1966-07-19 | 1968-10-15 | Nasa Usa | Hard space suit |
JPS5025234B1 (de) * | 1970-02-20 | 1975-08-21 | ||
JPS4921672Y1 (de) * | 1970-08-21 | 1974-06-10 | ||
US3631737A (en) * | 1970-09-18 | 1972-01-04 | Nasa | Remote control manipulator for zero gravity environment |
US3912172A (en) * | 1971-05-07 | 1975-10-14 | Thiokol Corp | Self actuated pressure lubricated swivelled nozzle for rocket motors |
US4009644A (en) * | 1972-07-14 | 1977-03-01 | Chukyo Electric Co., Ltd. | Rotary actuator |
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 |
US3973469A (en) * | 1974-12-16 | 1976-08-10 | John Humen | Floating chamber machine |
SU598749A1 (ru) * | 1975-11-20 | 1978-03-25 | Предприятие П/Я Р-6930 | Кисть манипул тора |
NO137351C (no) * | 1976-01-30 | 1978-02-22 | Trallfa Nils Underhaug As | B¦yelig robotarm. |
US4045958A (en) * | 1976-03-25 | 1977-09-06 | Thomas H. Hudson | Multi-directional positioner |
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 |
US4296681A (en) * | 1978-03-09 | 1981-10-27 | Rosheim Mark E | Fluid driven servomechanism |
US4194437A (en) * | 1978-03-09 | 1980-03-25 | Rosheim Mark E | Hydraulic servo mechanism |
SU704777A2 (ru) * | 1978-06-02 | 1979-12-25 | Предприятие П/Я В-8721 | Шарнирное соединение звеньев манипул тора |
US4353677A (en) * | 1980-03-05 | 1982-10-12 | Thermwood Corporation | Wrist construction for industrial robots |
JPS58132490A (ja) * | 1982-01-29 | 1983-08-06 | 株式会社日立製作所 | 角度伝達機構 |
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 |
US4502347A (en) * | 1982-09-21 | 1985-03-05 | Westinghouse Electric Corp. | Robotic wrist |
US4569627A (en) * | 1983-03-10 | 1986-02-11 | Simunovic Sergio N | Robotic manipulator |
US4574655A (en) * | 1984-07-16 | 1986-03-11 | Kabushiki Kaisha Yasakawa Denki Seisakusho | Wrist mechanism for industrial robot |
-
1986
- 1986-01-21 US US06/820,678 patent/US4686866A/en not_active Expired - Lifetime
-
1987
- 1987-01-20 WO PCT/US1987/000060 patent/WO1987004539A1/en active IP Right Grant
- 1987-01-20 CA CA000527696A patent/CA1273666A/en not_active Expired
- 1987-01-20 EP EP87900953A patent/EP0295244B1/de not_active Expired - Lifetime
- 1987-01-20 AT AT87900953T patent/ATE109575T1/de active
- 1987-01-20 DE DE3750332T patent/DE3750332D1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0295244A1 (de) | 1988-12-21 |
WO1987004539A1 (en) | 1987-07-30 |
EP0295244A4 (en) | 1990-11-28 |
CA1273666A (en) | 1990-09-04 |
US4686866A (en) | 1987-08-18 |
EP0295244B1 (de) | 1994-08-03 |
ATE109575T1 (de) | 1994-08-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE3750332D1 (de) | Kompaktes robotpulsgelenk. | |
DE3751227D1 (de) | Handgelenkroboter. | |
ES8403354A1 (es) | Un aparato de brazo-automata. | |
EP0347846A3 (de) | Antriebssystem | |
DE3585594D1 (de) | Robotbetaetiger. | |
SE8304372L (sv) | Portabel elektrisk skurapparat | |
BR8602101A (pt) | Robo | |
DE69200421D1 (de) | Handgelenk für Industrieroboter. | |
DE3573087D1 (en) | Industrial robots for different applications | |
SE8403099L (sv) | Anordning for omvandling av vridrorelse till linjer rorelse | |
CA2053483A1 (en) | Industrial robot with wrist actuator mechanism | |
CA2042044A1 (en) | Manipulator using plane pulse motor | |
ES8707440A1 (es) | Cabeza articulada para robot industrial | |
SE8800567D0 (sv) | Wrist mechanism for robotic manipulators | |
ATE173801T1 (de) | Vorrichtung zur umwandlung einer dreh- in eine axialbewegung | |
JPH0451312B2 (de) | ||
EP0140659A3 (de) | Roboter-Ausleger | |
ATE123118T1 (de) | Dynamische kupplungsvorrichtung zur übertragung einer drehbewegung zwischen zwei wellen. | |
JPH0985666A (ja) | ロボットの手首構造 | |
SE8402223D0 (sv) | Sett att drivenhet for att driva och lasa element till elektriskt drivna proteser, manipulatorer och liknande | |
CN210678769U (zh) | 一种具有双轴承支撑的机械臂关节及机械臂 | |
SE9000697D0 (sv) | Robothandled | |
DE68926288T2 (de) | Antriebswellenstruktur für industrielle roboter | |
ATE38345T1 (de) | Roboterarm. | |
JPS6288587U (de) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
8332 | No legal effect for de |