ES2061330T3 - Muñeca para un robot o automata industrial. - Google Patents

Muñeca para un robot o automata industrial.

Info

Publication number
ES2061330T3
ES2061330T3 ES92830099T ES92830099T ES2061330T3 ES 2061330 T3 ES2061330 T3 ES 2061330T3 ES 92830099 T ES92830099 T ES 92830099T ES 92830099 T ES92830099 T ES 92830099T ES 2061330 T3 ES2061330 T3 ES 2061330T3
Authority
ES
Spain
Prior art keywords
axis
robot
supported
doll
automat
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
ES92830099T
Other languages
English (en)
Inventor
Mario Orsi
Mauro Amparore
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Application granted granted Critical
Publication of ES2061330T3 publication Critical patent/ES2061330T3/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—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
    • B25J9/1025—Harmonic drives
    • 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
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • 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)
  • Compressor (AREA)
  • Toys (AREA)

Abstract

UNA MUÑECA DE ROBOT CON DOS EJES DE ARTICULACION (6, 8) QUE TIENE UN PRIMER CUERPO (1) QUE ES TRANSPORTADO AL EXTREMO DISTAL DEL BRAZO DEL ROBOT, UN SEGUNDO CUERPO (7) SOPORTADO POR EL PRIMER CUERPO (1) PARA SU ROTACION ALREDEDOR DEL PRIMER EJE (6) QUE INTERSECTA EL EJE LONGITUDINAL (3) DEL BRAZO DE ROBOT EN ANGULOS RECTOS, Y UN TERCER CUERPO (9) SOSTENIDO POR EL SEGUNDO CUERPO (7) PARA SU ROTACION ALREDEDOR DEL SEGUNDO EJE (8) QUE INTERSECTA EL PRIMER EJE (6) EN ANGULOS RECTOS. LOS DOS CUERPOS (7, 9) SON ROTADOS POR DOS MOTORES ELECTRICOS (20, 10) MONTADOS EN EL PRIMER CUERPO (1) Y EN EL SEGUNDO CUERPO (7) RESPECTIVAMENTE, CON LA INTERPOSICION DE UNIDADES DE REDUCCION DE "TRACCION HARMONICA" DEL TIPO EN EL QUE EL ROTOR DE SALIDA ES SOPORTADO PARA SU ROTACION MEDIANTE UN ELEMENTO DE SOPORTE DE CARGA QUE FORMA PARTE DE LA UNIDAD DE REDUCCION.
ES92830099T 1991-03-04 1992-03-03 Muñeca para un robot o automata industrial. Expired - Lifetime ES2061330T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO910150A IT1245433B (it) 1991-03-04 1991-03-04 Polso di robot industriale

Publications (1)

Publication Number Publication Date
ES2061330T3 true ES2061330T3 (es) 1994-12-01

Family

ID=11409014

Family Applications (1)

Application Number Title Priority Date Filing Date
ES92830099T Expired - Lifetime ES2061330T3 (es) 1991-03-04 1992-03-03 Muñeca para un robot o automata industrial.

Country Status (7)

Country Link
US (1) US5178031A (es)
EP (1) EP0502832B1 (es)
JP (1) JPH0577192A (es)
AT (1) ATE111797T1 (es)
DE (1) DE69200421T2 (es)
ES (1) ES2061330T3 (es)
IT (1) IT1245433B (es)

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SE508817C2 (sv) * 1996-06-12 1998-11-09 Asea Brown Boveri Anordning vid en robotarm
JP2002283275A (ja) 2001-03-21 2002-10-03 Fanuc Ltd ロボットの手首構造
SE0202250D0 (sv) * 2002-07-16 2002-07-16 Abb Ab Industrial robot
EP3045273B1 (en) * 2006-03-03 2018-12-12 Universal Robots A/S Joint for a robot
US8006586B2 (en) 2007-03-12 2011-08-30 Comau S.P.A. Articulated robot wrist
JP5219796B2 (ja) * 2008-12-29 2013-06-26 住友重機械工業株式会社 ケーブル等の取り回し構造及び産業機械の回動装置
CN102001095B (zh) * 2009-09-03 2014-07-09 鸿富锦精密工业（深圳）有限公司 机器人臂部件及机器人
CN102049783A (zh) * 2009-11-10 2011-05-11 鸿富锦精密工业（深圳）有限公司 机器人结构
TWI418452B (zh) * 2009-11-20 2013-12-11 Ind Tech Res Inst 機械手臂之腕關節結構
CN102114634B (zh) * 2009-12-30 2014-03-26 鸿富锦精密工业（深圳）有限公司 多轴机器人及其采用的轴固定座
CN102310404A (zh) * 2010-06-29 2012-01-11 鸿富锦精密工业（深圳）有限公司 机器人
IT1404528B1 (it) 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
IT1404527B1 (it) * 2011-02-24 2013-11-22 Comau Spa Polso di robot articolato.
JP6535976B2 (ja) * 2013-10-31 2019-07-03 セイコーエプソン株式会社 ロボット
CN104552289A (zh) * 2013-10-29 2015-04-29 精工爱普生株式会社 机器人
US10106245B2 (en) 2015-10-19 2018-10-23 Honeywell International Inc. Automatic flight control actuator systems
EP3373836B1 (en) * 2015-11-10 2023-01-04 Eindhoven Medical Robotics B.V. Modular robotic device for precision surgical bone removal and other applications
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
US10030756B2 (en) * 2016-06-02 2018-07-24 Honeywell International Inc. Automatic flight control actuator systems
JP6723657B2 (ja) 2016-12-05 2020-07-15 住友重機械工業株式会社 減速装置
JP7009929B2 (ja) * 2017-11-02 2022-01-26 セイコーエプソン株式会社 ロボット
JP7009935B2 (ja) * 2017-11-06 2022-01-26 セイコーエプソン株式会社 ロボット
JP2019084608A (ja) * 2017-11-06 2019-06-06 セイコーエプソン株式会社 ロボットおよびロボットシステム
US11964389B2 (en) * 2017-11-15 2024-04-23 Universal Robots A/S Strain wave gear with output flange and integrated encoder
JP6730362B2 (ja) * 2018-04-11 2020-07-29 ファナック株式会社 ロボットの手首構造
JP6810102B2 (ja) * 2018-07-04 2021-01-06 ファナック株式会社 ロボットの手首構造
JP7167522B2 (ja) * 2018-07-27 2022-11-09 セイコーエプソン株式会社 ロボットアーム
KR102525041B1 (ko) * 2018-08-06 2023-04-24 삼성전자주식회사 다관절 로봇의 케이블 가이드 장치
JP7328442B2 (ja) * 2020-03-26 2023-08-16 ファナック株式会社 ロボットの線条体処理構造
DK180930B1 (en) 2021-03-25 2022-06-29 Universal Robots As Strain wave gear with encoder integration
WO2023188011A1 (ja) * 2022-03-29 2023-10-05 ファナック株式会社 ロボットとその製造方法
CN119635708B (zh) * 2024-12-17 2025-11-28 珠海格力电器股份有限公司 一种旋转关节限位装置和机器人

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
FR2509654A1 (fr) * 1981-07-17 1983-01-21 Pharemme Pince de prehension rotative pour bras rotatif
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
US4425818A (en) * 1981-09-30 1984-01-17 Carnegie-Mellon University Robotic manipulator
FR2516843B1 (fr) * 1981-11-24 1985-10-25 Calhene Dispositif d'actionnement et son application a un asservissement de position pour un telemanipulateur maitre-esclave
US4518308A (en) * 1982-03-01 1985-05-21 Acrobe Technology Inc. Manipulator apparatus
US4512710A (en) * 1982-09-03 1985-04-23 Textron Inc. Robot forearm
US4507043A (en) * 1982-09-14 1985-03-26 Textron, Inc. Counterbalance robot arm
JPS60162684A (ja) * 1984-02-04 1985-08-24 Sukeo Tsurumi 実用印章器
CA1245244A (en) * 1984-04-30 1988-11-22 Richard S. Antoszewski Robotic wrist
JPS6261342A (ja) * 1985-09-12 1987-03-18 Toshiba Corp 集束イオンビ−ムによるヒユ−ズの切断方法
FR2590337A1 (fr) * 1985-11-20 1987-05-22 Renault Dispositif de guidage d'un flexible au droit d'un pivot, utilisable notamment sur un robot
JPS6322290A (ja) * 1986-07-15 1988-01-29 フアナツク株式会社 クリ−ンル−ム用ロボツトの手首機構
JPS6374581A (ja) * 1986-09-17 1988-04-05 トキコ株式会社 電動ロボツト
JP2539796B2 (ja) * 1986-09-22 1996-10-02 ヤマハ発動機株式会社 関節型ロボット
JPH01177980A (ja) * 1988-01-09 1989-07-14 Fanuc Ltd 設置姿勢に応じた動作条件自動設定機能を備えた産業用ロボット

Also Published As

Publication number Publication date
ITTO910150A0 (it) 1991-03-04
EP0502832A1 (en) 1992-09-09
ATE111797T1 (de) 1994-10-15
JPH0577192A (ja) 1993-03-30
DE69200421T2 (de) 1995-01-19
ITTO910150A1 (it) 1992-09-04
IT1245433B (it) 1994-09-20
US5178031A (en) 1993-01-12
EP0502832B1 (en) 1994-09-21
DE69200421D1 (de) 1994-10-27

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