[go: up one dir, main page]

WO2001051259A3 - Modular robot manipulator apparatus - Google Patents

Modular robot manipulator apparatus Download PDF

Info

Publication number
WO2001051259A3
WO2001051259A3 PCT/SG2000/000002 SG0000002W WO0151259A3 WO 2001051259 A3 WO2001051259 A3 WO 2001051259A3 SG 0000002 W SG0000002 W SG 0000002W WO 0151259 A3 WO0151259 A3 WO 0151259A3
Authority
WO
WIPO (PCT)
Prior art keywords
motion
enabling
series
motion transmission
flexible 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.)
Ceased
Application number
PCT/SG2000/000002
Other languages
French (fr)
Other versions
WO2001051259A2 (en
WO2001051259B1 (en
Inventor
Hai Hong Zhu
Ming Xie
Mong King Lim
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
Priority to PCT/SG2000/000002 priority Critical patent/WO2001051259A2/en
Publication of WO2001051259A2 publication Critical patent/WO2001051259A2/en
Publication of WO2001051259A3 publication Critical patent/WO2001051259A3/en
Publication of WO2001051259B1 publication Critical patent/WO2001051259B1/en
Anticipated expiration legal-status Critical
Ceased 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated 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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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

Landscapes

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

Abstract

The present invention provides an apparatus (1) for carrying various types of tools (12) for the purpose of undertaking welding, painting, manipulation, assembly, material handling, inspection and any desired motions. The apparatus includes a base system (2) having a standardized mechanical and electric interface and providing the output of motion with sufficient power (3), a series of serially connected flexible housing frames (4) enabling the apparatus to execute various configurations (ie, motions), a series of independent motion transmission units (5) enabling the transmission of the single motor"s motion along all the motion transmission units, and a series of serially connected motion distribution units (6) enabling the output of motion from a motion transmission unit to its corresponding link. Each flexible housing frame (4) has two degrees of freedom (DOF): one for twisting rotation (7) and the other for pivoting rotation (8). Each motion transmission unit includes two shafts (20 and 25) and a special bevel-gear mechanism (10). The triple (flexible housing frame, motion transmission unit, motion distribution unit) forms a modular entity (11) of the apparatus enabling the apparatus to be easily scaleable (ie, to add or remove modular entities according to the requirement of tasks).
PCT/SG2000/000002 2000-01-11 2000-01-11 Modular robot manipulator apparatus Ceased WO2001051259A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SG2000/000002 WO2001051259A2 (en) 2000-01-11 2000-01-11 Modular robot manipulator apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SG2000/000002 WO2001051259A2 (en) 2000-01-11 2000-01-11 Modular robot manipulator apparatus

Publications (3)

Publication Number Publication Date
WO2001051259A2 WO2001051259A2 (en) 2001-07-19
WO2001051259A3 true WO2001051259A3 (en) 2001-11-08
WO2001051259B1 WO2001051259B1 (en) 2002-05-30

Family

ID=20428782

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2000/000002 Ceased WO2001051259A2 (en) 2000-01-11 2000-01-11 Modular robot manipulator apparatus

Country Status (1)

Country Link
WO (1) WO2001051259A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102166750A (en) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 Positioning beam and robot linear motion unit with same

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3952955B2 (en) * 2003-01-17 2007-08-01 トヨタ自動車株式会社 Articulated robot
US7747352B2 (en) * 2004-04-20 2010-06-29 Massachusetts Institute Of Technology Physical modeling system for constructing and controlling articulated forms with motorized joints
CN100348380C (en) * 2005-06-30 2007-11-14 上海交通大学 Self-reconstructed self-repair robot basic analogue space transmission
WO2007037131A1 (en) * 2005-09-27 2007-04-05 Kabushiki Kaisha Yaskawa Denki Multi-joint manipulator
WO2011003451A1 (en) * 2009-07-09 2011-01-13 Abb Research Ltd A robot arm system and a robot arm
IT1400536B1 (en) * 2010-05-26 2013-06-11 Oto Melara Spa ROBOT ARM FOR A VEHICLE.
CN102528806A (en) * 2010-12-20 2012-07-04 财团法人精密机械研究发展中心 Server capable of being serially connected with other servers and switching structure of server
ITMI20111920A1 (en) * 2011-10-24 2013-04-25 Milano Politecnico ROBOT ARCHITECTURE ARTICULATED FOR MEDICAL USE.
CN102431038A (en) * 2011-10-28 2012-05-02 武汉需要智能技术有限公司 Modular joint combination of mechanical arm with multiple degrees of freedom
DE102013013114A1 (en) * 2012-08-17 2014-02-20 Liebherr-Verzahntechnik Gmbh Device for the automated removal of workpieces arranged in a container
CN103884484B (en) * 2012-12-21 2016-08-10 中国直升机设计研究所 A kind of automatic release device
CN103144102A (en) * 2013-03-28 2013-06-12 南京妙手机电科技有限公司 Mechanical arm with connecting module with two degrees of freedom
CN103286775A (en) * 2013-05-21 2013-09-11 华南理工大学 Nondestructive testing robot for excavator
GB201504843D0 (en) 2015-03-23 2015-05-06 Rolls Royce Plc Flexible tools and apparatus for machining objects
CN105171722B (en) * 2015-10-26 2017-08-25 冯亿坤 Imitative eel multi-freedom robot under water
CN106926227A (en) * 2015-12-31 2017-07-07 中国科学院沈阳自动化研究所 A kind of open-ended modularity mechanical arm
JP6402318B2 (en) * 2016-07-26 2018-10-10 Ｇｒｏｏｖｅ Ｘ株式会社 Articulated robot
CN106272387B (en) * 2016-09-27 2017-07-25 安徽大学 Modularized reconfigurable robot
CN106737627A (en) * 2017-01-12 2017-05-31 河海大学常州校区 A kind of imitative trunk mechanical arm
CN108312140A (en) * 2018-03-28 2018-07-24 陕西蓝智机器人有限公司 A single-machine shaft-coupled multi-degree-of-freedom articulated manipulator
CN113968482B (en) * 2021-09-29 2022-05-17 四川大学华西医院 A passive clamping mechanism coupled with gears and pulleys
DE102022102347A1 (en) * 2022-02-01 2023-08-03 Neura Robotics GmbH Arm section for a robotic arm and robotic arm

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531884A (en) * 1982-11-15 1985-07-30 Russell Richard H Automated machine
EP0153884A1 (en) * 1984-02-07 1985-09-04 Maurice Gabillet Modular manipulator arm
US4856178A (en) * 1987-06-09 1989-08-15 Sz S.R.L. Machine tool for turning, milling, boring, drilling, and washing with independent means for clamping the part to be machined
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531884A (en) * 1982-11-15 1985-07-30 Russell Richard H Automated machine
EP0153884A1 (en) * 1984-02-07 1985-09-04 Maurice Gabillet Modular manipulator arm
US4856178A (en) * 1987-06-09 1989-08-15 Sz S.R.L. Machine tool for turning, milling, boring, drilling, and washing with independent means for clamping the part to be machined
US5355743A (en) * 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102166750A (en) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 Positioning beam and robot linear motion unit with same

Also Published As

Publication number Publication date
WO2001051259A2 (en) 2001-07-19
WO2001051259B1 (en) 2002-05-30

Similar Documents

Publication Publication Date Title
WO2001051259A3 (en) Modular robot manipulator apparatus
JP2919172B2 (en) Industrial robot cable processing equipment
JP2598137B2 (en) Industrial robot
US20210114235A1 (en) Modular system for constructing robots
RU94044522A (en) Industrial robot to transfer workpieces from one pressing machine to the other in pressing production line
US20080016979A1 (en) Arm structure of industrial robot
EP1598153A4 (en) MANIPULATOR WITH MULTIPLE JOINTS
ATE111797T1 (en) WRIST FOR INDUSTRIAL ROBOTS.
SE9400226L (en) Industrial robot
EP2113343A3 (en) Multi-joint manipulator
WO2004028753A3 (en) Intelligent, self-contained robotic hand
CN110434844A (en) Quick-changing type restructural desktop grade robot and its inverse kinetics solution general calculation method
CA2188303A1 (en) Assembled Wrist for Industrial Robot
JP2004148449A (en) Articulated manipulator
US4972731A (en) Robot for clean room use having contaminant particle-removal system incorporated therein
CN1042606C (en) Industrial manipulator
ATE450348T1 (en) INDUSTRIAL ROBOTS
TW376356B (en) Carrying robot
WO2011003451A1 (en) A robot arm system and a robot arm
US20050016313A1 (en) Manipulator
CN114833814A (en) Light mechanical arm
TW454612U (en) Selective compliance assembly robot arm (SCARA) robot
US11020851B2 (en) Robot and bag used for the robot
AU1189100A (en) Manipulator
CN206326600U (en) A modular combined multi-axis robot

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): CA CN JP KR SG US

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
AK Designated states

Kind code of ref document: A3

Designated state(s): CA CN JP KR SG US

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
AK Designated states

Kind code of ref document: B1

Designated state(s): CA CN JP KR SG US

AL Designated countries for regional patents

Kind code of ref document: B1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

122 Ep: pct application non-entry in european phase