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DE3865129D1 - Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden. - Google Patents

Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden.

Info

Publication number
DE3865129D1
DE3865129D1 DE8888201276T DE3865129T DE3865129D1 DE 3865129 D1 DE3865129 D1 DE 3865129D1 DE 8888201276 T DE8888201276 T DE 8888201276T DE 3865129 T DE3865129 T DE 3865129T DE 3865129 D1 DE3865129 D1 DE 3865129D1
Authority
DE
Germany
Prior art keywords
articulated joint
group
hollow shafts
industrial robot
freedom
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
Application number
DE8888201276T
Other languages
English (en)
Inventor
Bruno Bisiach
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Application granted granted Critical
Publication of DE3865129D1 publication Critical patent/DE3865129D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J19/0025—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-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
    • 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
    • Y10T74/19633—Yieldability in gear trains
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/19698—Spiral
    • Y10T74/19828—Worm
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE8888201276T 1987-07-10 1988-06-21 Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden. Expired - Lifetime DE3865129D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT8767593A IT1211195B (it) 1987-07-10 1987-07-10 Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento

Publications (1)

Publication Number Publication Date
DE3865129D1 true DE3865129D1 (de) 1991-10-31

Family

ID=11303707

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8888201276T Expired - Lifetime DE3865129D1 (de) 1987-07-10 1988-06-21 Mehrfach gelenkter industrieroboter mit mehreren freiheitsgraden.

Country Status (5)

Country Link
US (1) US4854808A (de)
EP (1) EP0299551B1 (de)
AT (1) ATE67709T1 (de)
DE (1) DE3865129D1 (de)
IT (1) IT1211195B (de)

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US4972824A (en) * 1988-12-02 1990-11-27 Welbilt Corporation Commercial hot air impingement cooking apparatus
US5142932A (en) * 1991-09-04 1992-09-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Flexible robotic arm
US5661387A (en) * 1992-02-29 1997-08-26 Stadele, Deceased; Erhard Device for manipulating objects in a gripper or the like
DE59305404D1 (de) * 1992-02-29 1997-03-20 Staedele Berta Vorrichtung zum manipulieren von gegenständen
DE4219370A1 (de) * 1992-06-13 1993-12-16 Krupp Industrietech Hubeinrichtung für Lasten
SE513348C2 (sv) * 1993-07-02 2000-08-28 Abb Ab Industrirobot
DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US6554844B2 (en) 1998-02-24 2003-04-29 Endovia Medical, Inc. Surgical instrument
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US7713190B2 (en) 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US6692485B1 (en) * 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US8414598B2 (en) 1998-02-24 2013-04-09 Hansen Medical, Inc. Flexible instrument
FR2783451B1 (fr) * 1998-09-17 2000-12-01 Gb Tronic Robot de manipulation d'un objet
NL1010446C2 (nl) * 1998-11-02 2000-05-03 Exact Dynamics B V Manipulator.
US6263755B1 (en) * 1999-02-10 2001-07-24 New York University Robotic manipulator and method
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
US20080121343A1 (en) 2003-12-31 2008-05-29 Microfabrica Inc. Electrochemical Fabrication Methods Incorporating Dielectric Materials and/or Using Dielectric Substrates
US8007511B2 (en) 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
US7857773B2 (en) * 2003-12-30 2010-12-28 Medicis Technologies Corporation Apparatus and methods for the destruction of adipose tissue
US20050193451A1 (en) * 2003-12-30 2005-09-01 Liposonix, Inc. Articulating arm for medical procedures
AU2004311419B2 (en) * 2003-12-30 2010-09-16 Medicis Technologies Corporation Systems and methods for the destruction of adipose tissue
US8337407B2 (en) * 2003-12-30 2012-12-25 Liposonix, Inc. Articulating arm for medical procedures
DE102005038976B4 (de) * 2004-02-17 2016-08-04 Josef Moser Bewegungseinrichtung mit sinusförmigem Bewegungsablauf
US20050247155A1 (en) * 2004-05-04 2005-11-10 Kuo-Chen Liu Bending structure of bendable opener
JP4520268B2 (ja) * 2004-09-28 2010-08-04 川崎重工業株式会社 ロボット
US20060122509A1 (en) * 2004-11-24 2006-06-08 Liposonix, Inc. System and methods for destroying adipose tissue
US8030873B2 (en) * 2007-08-09 2011-10-04 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Walk and roll robot
AU2013200713B2 (en) * 2007-11-16 2014-12-18 Delaval Holding Ab A milking parlour and method for operating the same
US7791465B1 (en) 2008-02-01 2010-09-07 El-Massry Amr S Graphical taillight system
US8795278B2 (en) 2008-06-23 2014-08-05 Microfabrica Inc. Selective tissue removal tool for use in medical applications and methods for making and using
US9814484B2 (en) 2012-11-29 2017-11-14 Microfabrica Inc. Micro debrider devices and methods of tissue removal
US8475458B2 (en) 2008-06-23 2013-07-02 Microfabrica Inc. Miniature shredding tool for use in medical applications and methods for making
US10939934B2 (en) 2008-06-23 2021-03-09 Microfabrica Inc. Miniature shredding tools for use in medical applications, methods for making, and procedures for using
US20140100558A1 (en) * 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation
US9451977B2 (en) 2008-06-23 2016-09-27 Microfabrica Inc. MEMS micro debrider devices and methods of tissue removal
US20100126293A1 (en) * 2008-11-21 2010-05-27 Comau Inc. Robotic radial tool positioning system
EP3175803A1 (de) 2009-08-18 2017-06-07 Microfabrica Inc. Konzentrische schneidvorrichtungen zur verwendung in minimalinvasiven medizinischen verfahren
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
CN102811843A (zh) * 2010-09-03 2012-12-05 Abb研究有限公司 工业机器人、用于该工业机器人的组件系统以及用于组装该工业机器人的方法
CN102441894A (zh) * 2010-10-11 2012-05-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
WO2012104785A1 (en) * 2011-01-31 2012-08-09 Csir Drive apparatus
US9089353B2 (en) 2011-07-11 2015-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US10582973B2 (en) 2012-08-08 2020-03-10 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP6502848B2 (ja) 2011-10-03 2019-04-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式手術用ロボットシステム
CN103121215A (zh) * 2011-11-18 2013-05-29 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP2015531608A (ja) 2012-05-01 2015-11-05 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 単孔式ロボット機器および関連システムと方法
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
WO2015009874A1 (en) 2013-07-16 2015-01-22 Microfabrica Inc. Counterfeiting deterent and security devices systems and methods
JP6479790B2 (ja) 2013-07-17 2019-03-06 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システムおよび関連する方法
KR101558375B1 (ko) * 2013-12-17 2015-10-07 현대자동차 주식회사 조립 기기용 마운팅 위치 변환장치
WO2016077478A1 (en) 2014-11-11 2016-05-19 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
EP3331453A4 (de) 2015-08-03 2019-04-24 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
JP7090615B2 (ja) 2016-08-30 2022-06-24 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボットデバイス
JP6407945B2 (ja) * 2016-12-06 2018-10-17 ファナック株式会社 ロボットの導電路構造
EP4473932A3 (de) 2017-09-27 2025-02-19 Virtual Incision Corporation Robotische chirurgische vorrichtungen mit verfolgungskameratechnologie und verwandte systeme
WO2019136360A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
NL2021133B1 (nl) * 2018-06-15 2019-12-20 Exact Dynamics B V Vertragingsunit, Armgewricht voorzien van twee respectievelijk drie vertragingsunits, alsmede een robotarm
US11576738B2 (en) * 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
CN109465813A (zh) * 2018-12-07 2019-03-15 曾林旺 一种机械手臂
CN114302665A (zh) 2019-01-07 2022-04-08 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法
KR102670215B1 (ko) * 2022-05-11 2024-05-30 주식회사 엠앤디 베벨 기어 조인트 모듈 및 이를 구비하는 로봇 장치
DE102022134703B3 (de) 2022-12-23 2024-05-02 Kuka Deutschland Gmbh Verbindungsvorrichtung mit mehreren auf einem Umfang angeordneten Eingriffselementen und Roboterarm

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Also Published As

Publication number Publication date
IT1211195B (it) 1989-10-12
ATE67709T1 (de) 1991-10-15
EP0299551B1 (de) 1991-09-25
US4854808A (en) 1989-08-08
IT8767593A0 (it) 1987-07-10
EP0299551A1 (de) 1989-01-18

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee