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ES2126381T3 - Unidad de muñon robotico industrial. - Google Patents

Unidad de muñon robotico industrial.

Info

Publication number
ES2126381T3
ES2126381T3 ES96901605T ES96901605T ES2126381T3 ES 2126381 T3 ES2126381 T3 ES 2126381T3 ES 96901605 T ES96901605 T ES 96901605T ES 96901605 T ES96901605 T ES 96901605T ES 2126381 T3 ES2126381 T3 ES 2126381T3
Authority
ES
Spain
Prior art keywords
gears
drive
articulated unit
robot
housing
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
ES96901605T
Other languages
English (en)
Inventor
Stefan Danielsson
Jan Gepertz
Jan Larsson
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.)
ABB AB
Original Assignee
Asea Brown Boveri 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 Asea Brown Boveri AB filed Critical Asea Brown Boveri AB
Application granted granted Critical
Publication of ES2126381T3 publication Critical patent/ES2126381T3/es
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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • 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
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • 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
    • Y10T74/1956—Adjustable
    • Y10T74/19565—Relative movable axes
    • 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
    • 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
    • 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
    • Y10T74/21—Elements
    • Y10T74/2186—Gear casings

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

LA INVENCION SE REFIERE A UNA UNIDAD ARTICULADA PARA UN ROBOT INDUSTRIAL QUE CONSTA DE UN ALOJAMIENTO DE LA UNIDAD ARTICULADA (12) DISEÑADO PARA QUEDAR FIJADO DE FORMA DESMONTABLE AL EXTREMO DISTAL DEL BRAZO DE UN ROBOT (24). EN EL ALOJAMIENTO DE LA UNIDAD ARTICULADA (12) HAY MONTADOS DE FORMA ROTATIVA UN PRIMER Y UN SEGUNDO EJES DE ACCIONAMIENTO SECUNDARIOS (36, 56), PREFERENTEMENTE PARALELOS, SOBRE CUYOS EXTREMOS DE ENTRADA (40, 60) HAY MONTADOS UNOS ENGRANAJES PREFERENTEMENTE CILINDRICOS (42, 64) PARA ACOPLARSE A UN ENGRANAJE DE ACCIONAMIENTO CILINDRICO CORRESPONDIENTE (44, 64) QUE HAY SOBRE UN EJE DE ACCIONAMIENTO PRIMARIO CORRESPONDIENTE (46, 66) DEL BRAZO DEL ROBOT (24). VISTO DESDE UNA PROYECCION FINAL, LOS ENGRANAJES (42, 62) Y LOS ENGRANAJES DE ACCIONAMIENTO (44, 64) SE ENCUENTRAN COLOCADOS DE TAL MODO QUE UN LINEA IMAGINARIA (L), QUE SE EXTIENDE A TRAVES DE LOS CENTROS (D, E) DE LOS ENGRANAJES, SE DESCENTRE DEL EJE CENTRAL (C) DE LOS ENGRANAJES DE ACCIONAMIENTO COAXIALES (44, 64),PUDIENDOSE FIJAR DE MANERA AJUSTABLE RADIALMENTE EL ALOJAMIENTO DE LA UNIDAD ARTICULADA (12) SOBRE EL EXTREMO DEL BRAZO DEL ROBOT (24) PARA AJUSTAR LA HOLGURA DE LOS ENGRANAJES ENTRE, PRO UN LADO, LOS ENGRANAJES DE ACCIONAMIENTO (44, 64) Y, POR OTRO, LOS ENGRANAJES (42, 62).
ES96901605T 1995-01-27 1996-01-26 Unidad de muñon robotico industrial. Expired - Lifetime ES2126381T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9500296A SE508735C2 (sv) 1995-01-27 1995-01-27 Handledsenhet till en industrirobot

Publications (1)

Publication Number Publication Date
ES2126381T3 true ES2126381T3 (es) 1999-03-16

Family

ID=20396989

Family Applications (2)

Application Number Title Priority Date Filing Date
ES96901605T Expired - Lifetime ES2126381T3 (es) 1995-01-27 1996-01-26 Unidad de muñon robotico industrial.
ES96901606T Expired - Lifetime ES2136972T3 (es) 1995-01-27 1996-01-26 Unidad de muñeca para robot industrial.

Family Applications After (1)

Application Number Title Priority Date Filing Date
ES96901606T Expired - Lifetime ES2136972T3 (es) 1995-01-27 1996-01-26 Unidad de muñeca para robot industrial.

Country Status (7)

Country Link
US (2) US5924330A (es)
EP (2) EP0805739B1 (es)
JP (2) JPH10512814A (es)
DE (2) DE69603709T2 (es)
ES (2) ES2126381T3 (es)
SE (1) SE508735C2 (es)
WO (2) WO1996022860A1 (es)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003305682A (ja) * 2002-04-11 2003-10-28 Fanuc Ltd ロボット手首駆動機構
SE0303539D0 (sv) 2003-12-22 2003-12-22 Abb Ab Anordning för en industrirobot
EP2024142B1 (en) * 2006-04-21 2010-10-27 Abb Ab Backlash adjusting device of bevel gearing for an industrial robot
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
CN102049787B (zh) 2009-11-06 2014-02-19 鸿富锦精密工业（深圳）有限公司 采用齿轮侧隙调整装置的工业机器人
CN102069504B (zh) * 2009-11-23 2014-01-22 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102259337B (zh) * 2010-05-28 2013-11-06 鸿富锦精密工业（深圳）有限公司 机器人臂部件
TWI458613B (zh) * 2010-06-01 2014-11-01 Hon Hai Prec Ind Co Ltd 機器人臂部件
CN102338197B (zh) * 2010-07-20 2014-01-15 鸿富锦精密工业（深圳）有限公司 齿轮传动装置及具有该齿轮传动装置的机械手臂
CN102398270B (zh) * 2010-09-16 2014-03-26 鸿富锦精密工业（深圳）有限公司 机器人臂部件
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
JP5423750B2 (ja) * 2011-09-27 2014-02-19 株式会社安川電機 ギヤユニットおよびロボット
CN103121216A (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
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
JP6177837B2 (ja) * 2015-06-30 2017-08-09 ファナック株式会社 視覚センサを用いたロボットシステム
GB201512966D0 (en) * 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
JP6088605B1 (ja) * 2015-08-31 2017-03-01 ファナック株式会社 視覚センサを用いたロボットシステム
CN105082171B (zh) * 2015-09-10 2016-10-19 哈尔滨工业大学 一种可更换末端执行器的多功能机器人手腕
JP6426646B2 (ja) 2016-03-23 2018-11-21 ファナック株式会社 ロボットの手首構造
JP6378238B2 (ja) * 2016-04-04 2018-08-22 ファナック株式会社 ロボットの旋回軸構造
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5378554A (en) * 1976-12-20 1978-07-12 Toshiba Corp Wrist mechanism for industrial robot
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
US4823279A (en) * 1986-02-27 1989-04-18 Unimation, Inc. Coordinate conversion system and method for controlling an industrial robot
JPS62287991A (ja) * 1986-06-09 1987-12-14 ファナック株式会社 産業用ロボツトの手首駆動機構
JPS63109994A (ja) * 1986-10-27 1988-05-14 株式会社日立製作所 工業用ロボツトの手首機構
US4807486A (en) * 1987-11-09 1989-02-28 Gmf Robotics Corporation Three-axes wrist mechanism
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
JPH03287392A (ja) * 1990-03-30 1991-12-18 Toyoda Mach Works Ltd 多関節ロボット
JP2921132B2 (ja) * 1991-01-31 1999-07-19 株式会社安川電機 産業用ロボットの手首機構
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
DE4428488C1 (de) * 1994-08-12 1995-10-26 Hans Richter Handgelenk für die Arbeitshand eines Roboters

Also Published As

Publication number Publication date
SE508735C2 (sv) 1998-11-02
EP0805738B1 (en) 1998-12-23
SE9500296D0 (sv) 1995-01-27
SE9500296L (sv) 1996-07-28
EP0805739A1 (en) 1997-11-12
JPH10512813A (ja) 1998-12-08
EP0805738A1 (en) 1997-11-12
DE69603709D1 (de) 1999-09-16
ES2136972T3 (es) 1999-12-01
US5924330A (en) 1999-07-20
DE69603709T2 (de) 2000-03-02
JPH10512814A (ja) 1998-12-08
DE69601213D1 (de) 1999-02-04
EP0805739B1 (en) 1999-08-11
WO1996022860A1 (en) 1996-08-01
US5894761A (en) 1999-04-20
WO1996022861A1 (en) 1996-08-01
DE69601213T2 (de) 1999-08-19

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