ATE485924T1 - Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters - Google Patents

Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters

Info

Publication number
ATE485924T1
ATE485924T1 AT07789769T AT07789769T ATE485924T1 AT E485924 T1 ATE485924 T1 AT E485924T1 AT 07789769 T AT07789769 T AT 07789769T AT 07789769 T AT07789769 T AT 07789769T AT E485924 T1 ATE485924 T1 AT E485924T1
Authority
AT
Austria
Prior art keywords
gear
industrial robot
adjustment device
bevel gear
rotation
Prior art date
Application number
AT07789769T
Other languages
English (en)
Inventor
Jan Larsson
Stefan Danielsson
Mats Olsson
Original Assignee
Abb 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 Abb Ab filed Critical Abb Ab
Application granted granted Critical
Publication of ATE485924T1 publication Critical patent/ATE485924T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H55/18—Special devices for taking up backlash
    • F16H55/20—Special devices for taking up backlash for bevel gears
    • 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
    • Y10T74/19623—Backlash take-up
    • 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
    • Y10T74/20—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Gears, Cams (AREA)
  • Gear Transmission (AREA)
  • Spray Control Apparatus (AREA)
AT07789769T 2006-04-21 2007-04-23 Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters ATE485924T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US79372406P 2006-04-21 2006-04-21
PCT/IB2007/052398 WO2007122598A2 (en) 2006-04-21 2007-04-23 Backlash adjusting device of bevel gearing for an industrial robot

Publications (1)

Publication Number Publication Date
ATE485924T1 true ATE485924T1 (de) 2010-11-15

Family

ID=38625403

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07789769T ATE485924T1 (de) 2006-04-21 2007-04-23 Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters

Country Status (6)

Country Link
US (1) US7926377B2 (de)
EP (1) EP2024142B1 (de)
CN (2) CN103085066B (de)
AT (1) ATE485924T1 (de)
DE (1) DE602007010133D1 (de)
WO (1) WO2007122598A2 (de)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWM382891U (en) * 2010-01-07 2010-06-21 Everprec Tech Co Ltd Angle adjustment structure of right-angle robot arm
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
CN102233584A (zh) * 2010-04-27 2011-11-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件
JP5547007B2 (ja) * 2010-09-14 2014-07-09 住友重機械工業株式会社 歯車装置及び軸部材の製造方法
DE102011082406A1 (de) * 2011-09-09 2013-03-14 Zf Friedrichshafen Ag Kegelradgetriebe
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
CN103133604A (zh) * 2011-11-22 2013-06-05 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
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
CN102966701A (zh) * 2012-11-21 2013-03-13 中国船舶重工集团公司第七一六研究所 一种准双曲面锥齿轮传动装置
CN103216603B (zh) * 2013-04-16 2015-07-22 沈阳理工大学 一种锥形锁紧套调整斜齿轮啮合间隙机构
DE102015200741A1 (de) * 2015-01-19 2016-07-21 Lenze Drives Gmbh Getriebe und Verfahren zur Einstellung des Verdrehspiels dieses Getriebes
WO2017041821A1 (en) * 2015-09-07 2017-03-16 Abb Schweiz Ag A joint for an industrial robot
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
CN108397520A (zh) * 2017-02-08 2018-08-14 鞍钢股份有限公司 一种螺旋锥齿轮快速调整方法
WO2019206403A1 (en) * 2018-04-24 2019-10-31 Abb Schweiz Ag A parallel kinematic robot
CN108626379B (zh) * 2018-05-10 2023-10-20 杭州新松机器人自动化有限公司 一种工业机器人的腕部齿轮传动侧隙的调整结构及其使用方法
JP6875364B2 (ja) * 2018-12-27 2021-05-26 ファナック株式会社 ギヤ機構、ギヤ調整方法およびロボット
CN110064909B (zh) * 2019-04-30 2020-09-18 中国航发南方工业有限公司 定位工装、定位试验装置和测量锥齿轮圆周侧隙方法
EP4037875A1 (de) * 2019-10-03 2022-08-10 ABB Schweiz AG Handgelenkvorrichtung, industrieroboter und verfahren
CN113400340B (zh) * 2021-06-24 2022-08-26 库卡机器人制造（上海）有限公司 齿轮组件、人工关节和机器人
DE202021104559U1 (de) 2021-08-25 2021-09-08 Lewa Gmbh Kronenradgetriebe

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1815450A (en) * 1930-05-24 1931-07-21 Int Motor Co Steering gear adjusting device
US2996929A (en) * 1959-11-20 1961-08-22 Orenda Engines Ltd Bevel gear transmission with back-lash control
US3826151A (en) * 1973-02-27 1974-07-30 Us Army Power train
US3977268A (en) * 1975-04-04 1976-08-31 Seabrook William B Feed roll drive
JPS585556A (ja) * 1981-06-30 1983-01-12 Hino Motors Ltd 自動車の終減速機
JPS58160091A (ja) * 1982-03-12 1983-09-22 富士通フアナツク株式会社 ロボツトのバツクラツシユ調整機構
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
US4580460A (en) * 1984-07-30 1986-04-08 The Singer Company Bevel gear backlash adjusting mechanism
JPS6430965A (en) * 1987-07-24 1989-02-01 Tsubakimoto Chain Co Intermittent motion device
US4976165A (en) * 1989-07-14 1990-12-11 Kabushiki Kaisha Kobe Seiko Sho Backlash removing mechanism for industrial robot
JPH0639161Y2 (ja) * 1989-11-06 1994-10-12 株式会社椿本チエイン 間欠駆動装置の入力軸取付構造
JPH08177984A (ja) * 1994-12-28 1996-07-12 Fanuc Ltd バックラッシを調整可能に構成した歯車装置
SE508735C2 (sv) * 1995-01-27 1998-11-02 Asea Brown Boveri Handledsenhet till en industrirobot
JP3661888B2 (ja) * 1995-10-31 2005-06-22 アイシン精機株式会社 マガリバ状の歯部を備えたかさ歯車のラッピング方法
JPH10202519A (ja) * 1997-01-23 1998-08-04 Seiko Seiki Co Ltd 溝研削用スピンドル
JP3562948B2 (ja) * 1997-10-13 2004-09-08 トヨタ自動車株式会社 ハイポイドギヤ構造
DE19952869A1 (de) * 1999-11-03 2001-05-10 Flender A F & Co Lagerbuchse
FR2808759B1 (fr) * 2000-05-10 2005-08-26 Koyo Seiko Co Appareil de direction assistee electrique
US6651522B2 (en) * 2001-09-05 2003-11-25 Xerox Corporation Gear alignment

Also Published As

Publication number Publication date
CN103085066B (zh) 2015-09-09
CN103085066A (zh) 2013-05-08
EP2024142A2 (de) 2009-02-18
DE602007010133D1 (de) 2010-12-09
CN101426621A (zh) 2009-05-06
US20090095104A1 (en) 2009-04-16
WO2007122598A2 (en) 2007-11-01
US7926377B2 (en) 2011-04-19
WO2007122598A3 (en) 2008-02-21
CN101426621B (zh) 2013-10-02
EP2024142B1 (de) 2010-10-27

Similar Documents

Publication Publication Date Title
ATE485924T1 (de) Spieleinstellungsvorrichtung für ein kegelgetriebe eines industrieroboters
GB201309563D0 (en) Reduction gear with epicyclic gear train having roller-bearing-mounted planet spindles
DE502008000797D1 (de) Vorrichtung zum ermitteln eines Verdrehwinkels
ATE506554T1 (de) Planetenradgetriebe
WO2008146748A1 (ja) 減速装置
ATE434505T1 (de) Roboterhandgelenk
EP1884686A3 (de) Konische Evolventenverzahnung und Radpaar
DE602007010244D1 (de) Ausgleichsgetriebegehäuse und verfahren
DE502006008616D1 (de) Verstellbare lenksäule für ein kraftfahrzeug
WO2009068012A3 (de) Kegelreibringgetriebe sowie verfahren zur montage bzw. herstellung eines kegelreibringgetriebes
EP2933534A3 (de) Fahrzeugdifferenzialgetriebe
EP1686287A3 (de) Differential
EP1959164A3 (de) Differentialgetriebe für ein Fahrzeug
DE602005001741D1 (de) Anordnung zur Schmierölversorgung im Planetengetriebe
WO2011062368A3 (en) Driving body acceleration device using elasticity
IN2014KN00947A (de)
EP2169261A3 (de) Zahntriebwerk und Zahnkranz für Präzisionsgetriebemechanismen
DE602006000663D1 (de) Kalibriierungsverfahren für die Steuerung eines Zwischenwellendifferential
WO2009106833A3 (en) Indexer
ATE546280T1 (de) Vorrichtung zum variablen antreiben einer hohlwelle mit einer innenliegenden spindel
EP1970599A3 (de) Differentialgehäuse für ein Fahrzeug und Differentialvorrichtung für ein Fahrzeug mit dem Differentialgehäuse
MY156137A (en) Driving apparatus for movable body
CN203766338U (zh) 一种可变基圆渐开线发生仪
DE602005012495D1 (de) Verzahnung mit Fehlerkompensation für Präzisionsmechanismen
ATE550973T1 (de) Deckel eines küchengerätes

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties