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DE3777343D1 - Handgelenkseinheit eines industriellen roboters. - Google Patents

Handgelenkseinheit eines industriellen roboters.

Info

Publication number
DE3777343D1
DE3777343D1 DE8787903747T DE3777343T DE3777343D1 DE 3777343 D1 DE3777343 D1 DE 3777343D1 DE 8787903747 T DE8787903747 T DE 8787903747T DE 3777343 T DE3777343 T DE 3777343T DE 3777343 D1 DE3777343 D1 DE 3777343D1
Authority
DE
Germany
Prior art keywords
industrial robot
wrist unit
wrist
unit
robot
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
DE8787903747T
Other languages
English (en)
Inventor
Nobutoshi Torii
Hitoshi Mizuno
Kyoji Iwasaki
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE3777343D1 publication Critical patent/DE3777343D1/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
    • B25J17/00—Joints
    • B25J17/02—Wrist 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • Y10T74/19126—Plural drivers plural driven
    • Y10T74/1913—Bevel

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE8787903747T 1986-06-09 1987-06-09 Handgelenkseinheit eines industriellen roboters. Expired - Lifetime DE3777343D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP61131748A JPS62287991A (ja) 1986-06-09 1986-06-09 産業用ロボツトの手首駆動機構
PCT/JP1987/000360 WO1987007555A1 (en) 1986-06-09 1987-06-09 Wrist assembly of an industrial robot

Publications (1)

Publication Number Publication Date
DE3777343D1 true DE3777343D1 (de) 1992-04-16

Family

ID=15065268

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8787903747T Expired - Lifetime DE3777343D1 (de) 1986-06-09 1987-06-09 Handgelenkseinheit eines industriellen roboters.

Country Status (6)

Country Link
US (1) US4972735A (de)
EP (1) EP0269751B1 (de)
JP (1) JPS62287991A (de)
KR (1) KR930002623B1 (de)
DE (1) DE3777343D1 (de)
WO (1) WO1987007555A1 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5155423A (en) * 1986-02-18 1992-10-13 Robotics Research Corporation Industrial robot with servo
JP2591968B2 (ja) * 1987-12-28 1997-03-19 株式会社日立製作所 産業用ロボットの手首
JP2572483B2 (ja) * 1990-10-16 1997-01-16 本田技研工業株式会社 産業用ロボット装置
US5245263A (en) * 1991-09-13 1993-09-14 University Of Maryland Anti-backlash drive systems for multi-degree freedom devices
FI88604C (fi) * 1991-11-27 1993-06-10 Maillefer Nokia Holding Anordning foer hantering av cylindriska, med centerhaol foersedda kroppar
SE508735C2 (sv) * 1995-01-27 1998-11-02 Asea Brown Boveri Handledsenhet till en industrirobot
US5941679A (en) * 1997-10-27 1999-08-24 Fanuc Robotics North America, Inc. Automotive door opening robot assembly
JP2003305682A (ja) * 2002-04-11 2003-10-28 Fanuc Ltd ロボット手首駆動機構
AU2004221846A1 (en) * 2003-03-18 2004-09-30 The Penn State Research Foundation Method and apparatus for strengthening of powder metal gears by ausforming
JP4614878B2 (ja) * 2005-12-28 2011-01-19 株式会社ハーモニック・ドライブ・システムズ ロボットハンドの指ユニットおよび組立方法
JP4233578B2 (ja) 2006-08-10 2009-03-04 ファナック株式会社 産業用ロボットの手首駆動構造
JP4280295B2 (ja) 2007-06-20 2009-06-17 ファナック株式会社 産業用ロボット
WO2010127701A1 (en) * 2009-05-07 2010-11-11 Abb Research Ltd Pitch and roll robot joint and industrial robot
US8498741B2 (en) * 2009-09-22 2013-07-30 Gm Global Technology Operations Dexterous humanoid robotic wrist
JP5387611B2 (ja) 2011-04-19 2014-01-15 株式会社安川電機 駆動機構およびロボット
JP5434991B2 (ja) * 2011-09-01 2014-03-05 株式会社安川電機 ロボット
CN102554935A (zh) * 2012-03-08 2012-07-11 南京埃斯顿机器人工程有限公司 一种低负载工业机器人腕部传动机构
JP5702826B2 (ja) * 2013-04-30 2015-04-15 ファナック株式会社 産業用ロボットの手首構造
JP6438193B2 (ja) * 2013-12-16 2018-12-12 川崎重工業株式会社 多関節ロボットの手首構造
WO2016084177A1 (ja) * 2014-11-26 2016-06-02 株式会社安川電機 ロボットアーム、ロボットシステム、ギヤユニット、ロボットアームの製造方法
JP6498140B2 (ja) * 2016-03-15 2019-04-10 平田機工株式会社 作業ユニット及び作業装置
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
JP7060529B2 (ja) * 2019-01-23 2022-04-26 ファナック株式会社 バックラッシ削減機構を備えたロボット関節構造及びロボット
CN110977954A (zh) * 2019-11-18 2020-04-10 广东电网有限责任公司 一种长臂机器人
CN114193424B (zh) * 2021-11-26 2023-12-15 浙江大有实业有限公司带电作业分公司 一种人机协同操作的配网带电作业机器人系统
CN114179071B (zh) * 2021-12-30 2024-06-11 伯朗特机器人股份有限公司 一种工业机器人末端传动装置

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3748031A (en) * 1970-04-06 1973-07-24 Elco Corp Projector and cartridge for combination visual and sound apparatus
JPS5425300B2 (de) * 1973-01-25 1979-08-27
US3901098A (en) * 1973-12-17 1975-08-26 Dotco Inc Angle drive unit
US4036076A (en) * 1976-02-25 1977-07-19 International Harvester Company Gear adjusting, locking, and pre-loading means
US4149278A (en) * 1977-09-27 1979-04-17 Nasa Compact artificial hand
DE2829895C2 (de) * 1978-07-07 1983-10-06 Volkswagenwerk Ag, 3180 Wolfsburg Winkelgetriebe für eine Fahrzeuglenkung
US4246661A (en) * 1979-03-15 1981-01-27 The Boeing Company Digitally-controlled artificial hand
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
US4376401A (en) * 1980-12-05 1983-03-15 Borzym John J Bevel gear drive with means to control backlash for flying ram cutoff machine
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
JPS58177291A (ja) * 1982-04-05 1983-10-17 ヤマハ発動機株式会社 工業用ロボツトの作業ア−ム駆動装置
JPS5953176A (ja) * 1982-09-21 1984-03-27 フアナツク株式会社 工業用ロボツト
JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
US4557657A (en) * 1983-10-05 1985-12-10 Advanced Semiconductor Materials America, Inc. Article handling apparatus and method
JPS60127989A (ja) * 1983-12-14 1985-07-08 ファナック株式会社 産業用ロボットの手首駆動機構
DE8511948U1 (de) * 1985-04-22 1985-07-11 GdA Gesellschaft für digitale Automation mbH, 8000 München Getriebeanordnung für eine Industrieroboterhand
US4733578A (en) * 1986-12-31 1988-03-29 Dana Corporation Bevel gear differential with conical spherical gear seats
EP0559274A3 (en) * 1992-03-03 1994-06-29 Philips Nv Probe apparatus and method for measuring high-frequency signals

Also Published As

Publication number Publication date
EP0269751B1 (de) 1992-03-11
KR930002623B1 (ko) 1993-04-06
WO1987007555A1 (en) 1987-12-17
KR880701164A (ko) 1988-07-26
US4972735A (en) 1990-11-27
EP0269751A4 (de) 1989-02-07
JPS62287991A (ja) 1987-12-14
EP0269751A1 (de) 1988-06-08

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8328 Change in the person/name/address of the agent

Free format text: BLUMBACH, KRAMER & PARTNER, 81245 MUENCHEN

8339 Ceased/non-payment of the annual fee