ES2163031T3 - Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes. - Google Patents

Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes.

Info

Publication number
ES2163031T3
ES2163031T3 ES96923171T ES96923171T ES2163031T3 ES 2163031 T3 ES2163031 T3 ES 2163031T3 ES 96923171 T ES96923171 T ES 96923171T ES 96923171 T ES96923171 T ES 96923171T ES 2163031 T3 ES2163031 T3 ES 2163031T3
Authority
ES
Spain
Prior art keywords
axis
dented
output
compact
doll
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
ES96923171T
Other languages
English (en)
Inventor
Richard Arbrink
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
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 ES2163031T3 publication Critical patent/ES2163031T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
    • 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
    • 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
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/2854—Toothed gearings for conveying rotary motion with gears having orbital motion involving conical gears
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel 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
    • Y10T74/20317—Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Gear Transmission (AREA)
  • Transmission Devices (AREA)
  • Toys (AREA)

Abstract

ESTA INVENCION SE REFIERE A UN SISTEMA DE ENGRANAJE COMPACTO QUE INCLUYE UN EJE DE ENTRADA (28), UN EJE DE SALIDA (1) Y UNA RUEDA DENTADA QUE CONECTA A AMBOS, PROMOVIENDO LA IMPULSION, EN EL QUE EL EJE DE SALIDA (1) ESTA MOVIDO POR UN MUÑON, DENTRO DEL ALOJAMIENTO DEL ENGRANAJE (2). DE ACUERDO CON LA INVENCION, EL EJE DE SALIDA (1) ES HUECO Y TIENE UNAS ESPIGAS (5 A) QUE SE EXTIENDEN RADIALMENTE HACIA FUERA EN UN PLANO NORMAL Y CADA UNA DE LAS CUALES LLEVA UNA RUEDA DENTADA (6). A CADA LADO DE LAS ESPIGAS ESTA PROVISTA, RESPECTIVAMENTE, UNA CORONA DENTADA (11, 12), UNIDA POR UN MUÑON AL EJE DE SALIDA (1) Y QUE POSEE UN ANILLO DENTADO (17, 18) ENGRANADO CON LA RUEDA DENTADA (6). CADA CORONA DENTADA TIENE TAMBIEN UN ARO CILINDRICO DENTADO (19, 20) QUE ACTUA CONJUNTAMENTE, A DIFERENTES RELACIONES DE TRANSMISION, CON SU ARO DENTADO RESPECTIVO (25, 26), QUE ESTA SITUADO EN UN EJE EXCENTRICO (21) QUE SE PROLONGA PARALELAMENTE AL EJE DE SALIDA (1) Y QUE, POR MEDIO DE UN MUÑON, GIRA DENTRO DEL ALOJAMIENTO (2), DE DONDE EL EJE EXCENTRICO (21) ES IMPULSADO POR EL EJE DE ENTRADA (28). A LA VEZ QUE EL EJE DE ENTRADA (28) GIRA, LAS ESPIGAS SON OBLIGADAS A GIRAR ALREDEDOR DEL EJE CENTRAL DEL EJE DE SALIDA (1) Y, EN CONSECUENCIA, ARRASTRAN EL EJE DE SALIDA CON UNA REDUCCION AMPLIA. EL SISTEMA DE ENGRANAJE COMPACTO ES DE ESPECIAL APLICACION PARA EL GIRO DEL BRAZO DE UN ROBOT INDUSTRIAL, EN RELACION CON EL CUERPO DEL ROBOT.
ES96923171T 1995-07-06 1996-07-08 Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes. Expired - Lifetime ES2163031T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9502476A SE504653C2 (sv) 1995-07-06 1995-07-06 Kompaktkuggväxel med stort utväxlingsförhållande

Publications (1)

Publication Number Publication Date
ES2163031T3 true ES2163031T3 (es) 2002-01-16

Family

ID=20398889

Family Applications (1)

Application Number Title Priority Date Filing Date
ES96923171T Expired - Lifetime ES2163031T3 (es) 1995-07-06 1996-07-08 Robot industrial con transmision de ruedas dentadas compacta de gran relacion de engranajes.

Country Status (7)

Country Link
US (2) US5993348A (es)
EP (1) EP0836686B1 (es)
JP (1) JP3858944B2 (es)
DE (1) DE69615687T2 (es)
ES (1) ES2163031T3 (es)
SE (1) SE504653C2 (es)
WO (1) WO1997002442A1 (es)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE504653C2 (sv) * 1995-07-06 1997-03-24 Asea Brown Boveri Kompaktkuggväxel med stort utväxlingsförhållande
EP1244880B1 (de) * 1999-12-28 2004-08-11 Diro Konstruktions GmbH & Co. KG Verstellvorrichtung mit planetengetriebe
JP4755357B2 (ja) * 2001-04-18 2011-08-24 ナブテスコ株式会社 減速機
JP4133188B2 (ja) * 2002-10-07 2008-08-13 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
JP4030011B2 (ja) * 2002-10-07 2008-01-09 株式会社ハーモニック・ドライブ・システムズ ロボットハンド用掌機構
US9879760B2 (en) 2002-11-25 2018-01-30 Delbert Tesar Rotary actuator with shortest force path configuration
DE102005042716B3 (de) * 2005-09-02 2007-03-01 Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge Getriebe, insbesondere Gelenkgetriebe
DE102006046578A1 (de) * 2006-09-30 2008-04-17 Zf Friedrichshafen Ag Mehrstufiges Untersetzungsgetriebe
US10414271B2 (en) 2013-03-01 2019-09-17 Delbert Tesar Multi-speed hub drive wheels
US9862263B2 (en) 2013-03-01 2018-01-09 Delbert Tesar Multi-speed hub drive wheels
US9208449B2 (en) 2013-03-15 2015-12-08 International Business Machines Corporation Process model generated using biased process mining
US9365105B2 (en) 2013-10-11 2016-06-14 Delbert Tesar Gear train and clutch designs for multi-speed hub drives
US10422387B2 (en) 2014-05-16 2019-09-24 Delbert Tesar Quick change interface for low complexity rotary actuator
US9915319B2 (en) 2014-09-29 2018-03-13 Delbert Tesar Compact parallel eccentric rotary actuator
US9657813B2 (en) 2014-06-06 2017-05-23 Delbert Tesar Modified parallel eccentric rotary actuator
US11014658B1 (en) 2015-01-02 2021-05-25 Delbert Tesar Driveline architecture for rotorcraft featuring active response actuators
US10464413B2 (en) 2016-06-24 2019-11-05 Delbert Tesar Electric multi-speed hub drive wheels
EP3481598B1 (en) * 2016-07-07 2020-09-02 ABB Schweiz AG A base for a parallel kinematics robot
DE102017122067A1 (de) * 2017-09-22 2019-03-28 Roschiwal + Partner Ingenieur Gmbh Augsburg Roboterfräsen
CN109751368B (zh) * 2019-02-22 2023-06-02 陕西捷泰智能传动有限公司 一种大速比中空式行星减速机

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US140622A (en) * 1873-07-08 Improvement in horse-powers
US1802112A (en) * 1929-04-29 1931-04-21 Henderson Andrew Reduction speed gear
CH177341A (de) * 1934-06-13 1935-05-31 Schaer Josef Reduktionsgetriebe.
US2019343A (en) * 1934-06-16 1935-10-29 Bradley Eugene Clarkson Speed reducer
GB442462A (en) * 1934-12-04 1936-02-10 Andrew Henderson Improvements in and relating to reduction speed gears
DE718600C (de) * 1937-06-29 1942-03-16 Hermann Kruessmann Untersetzungsgetriebe
US2390742A (en) * 1939-11-03 1945-12-11 A F Dormeyer Mfg Co Food mixer
FR992172A (fr) * 1944-05-22 1951-10-15 Transmetteur de mouvement
IT1013975B (it) * 1974-01-23 1977-03-30 Guardia F Sistema di cambio automatico mediante ruotismo epicicloida le applicabile su autoveicoli ed impianti industriali
FR2310842A1 (fr) * 1975-05-15 1976-12-10 Renault Tete pour robot ou manipulateur comportant au moins un axe de rotation
US5149310A (en) * 1991-05-21 1992-09-22 Damino Cesar U Differential speed reducer
SE500626C2 (sv) * 1992-12-23 1994-07-25 Asea Brown Boveri Kompaktväxel
SE504653C2 (sv) * 1995-07-06 1997-03-24 Asea Brown Boveri Kompaktkuggväxel med stort utväxlingsförhållande

Also Published As

Publication number Publication date
JP3858944B2 (ja) 2006-12-20
US6119542A (en) 2000-09-19
SE9502476D0 (sv) 1995-07-06
DE69615687T2 (de) 2002-08-08
SE9502476L (sv) 1997-01-07
DE69615687D1 (de) 2001-11-08
EP0836686B1 (en) 2001-10-04
SE504653C2 (sv) 1997-03-24
US5993348A (en) 1999-11-30
EP0836686A1 (en) 1998-04-22
WO1997002442A1 (en) 1997-01-23
JPH11508675A (ja) 1999-07-27

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