DE3663345D1 - Manipulator gear head - Google Patents

Manipulator gear head

Info

Publication number
DE3663345D1
DE3663345D1 DE8686109666T DE3663345T DE3663345D1 DE 3663345 D1 DE3663345 D1 DE 3663345D1 DE 8686109666 T DE8686109666 T DE 8686109666T DE 3663345 T DE3663345 T DE 3663345T DE 3663345 D1 DE3663345 D1 DE 3663345D1
Authority
DE
Germany
Prior art keywords
segments
drive shafts
manipulator
gear
head unit
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
Application number
DE8686109666T
Other languages
English (en)
Inventor
Ernst Zimmer
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6276187&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DE3663345(D1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Priority to DE8686109666T priority Critical patent/DE3663345D1/de
Application granted granted Critical
Publication of DE3663345D1 publication Critical patent/DE3663345D1/de
Expired 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
DE8686109666T 1985-07-19 1986-07-15 Manipulator gear head Expired DE3663345D1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE8686109666T DE3663345D1 (en) 1985-07-19 1986-07-15 Manipulator gear head

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853525806 DE3525806A1 (de) 1985-07-19 1985-07-19 Getriebekopf fuer manipulatoren
DE8686109666T DE3663345D1 (en) 1985-07-19 1986-07-15 Manipulator gear head

Publications (1)

Publication Number Publication Date
DE3663345D1 true DE3663345D1 (en) 1989-06-22

Family

ID=6276187

Family Applications (2)

Application Number Title Priority Date Filing Date
DE19853525806 Granted DE3525806A1 (de) 1985-07-19 1985-07-19 Getriebekopf fuer manipulatoren
DE8686109666T Expired DE3663345D1 (en) 1985-07-19 1986-07-15 Manipulator gear head

Family Applications Before (1)

Application Number Title Priority Date Filing Date
DE19853525806 Granted DE3525806A1 (de) 1985-07-19 1985-07-19 Getriebekopf fuer manipulatoren

Country Status (12)

Country Link
US (1) US4736645A (de)
EP (1) EP0209111B1 (de)
JP (1) JPH0611474B2 (de)
KR (1) KR940001203B1 (de)
CN (1) CN1004617B (de)
AT (1) ATE43089T1 (de)
AU (1) AU579300B2 (de)
CA (1) CA1262062A (de)
DD (1) DD248316A5 (de)
DE (2) DE3525806A1 (de)
ES (1) ES2000697A6 (de)
SU (1) SU1421250A3 (de)

Families Citing this family (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
US4787270A (en) * 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
AU591834B2 (en) * 1987-02-23 1989-12-14 University Of Western Australia, The Wrist mechanism for robotic manipulators
SE9202872L (sv) * 1992-10-02 1993-10-04 Sala Industrireparationer Ab Vinkelväxel
DE19643702B4 (de) * 1996-10-23 2007-11-29 Ald Vacuum Technologies Ag Vakuumbeschichtungsvorrichtung zum allseitigen Beschichten eines Substrats durch Rotation des Substrats im Materialstrom
JP2004148449A (ja) * 2002-10-30 2004-05-27 Kawasaki Heavy Ind Ltd 多関節マニピュレータ
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
CA3068216C (en) 2006-06-22 2023-03-07 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
EP3078344B1 (de) 2007-07-12 2020-02-26 Board of Regents of the University of Nebraska Betätigung in robotischen vorrichtungen
CA2695619C (en) * 2007-08-15 2015-11-24 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
JP2010536435A (ja) * 2007-08-15 2010-12-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
WO2010040215A1 (en) * 2008-10-06 2010-04-15 Kinova Portable robotic arm
CA2784883A1 (en) * 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
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
US8968267B2 (en) 2010-08-06 2015-03-03 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
CN101954639B (zh) * 2010-09-27 2012-07-04 华中科技大学 一种工业机器人空心手腕传动机构
EP3977951B1 (de) 2011-06-10 2023-11-08 Board of Regents of the University of Nebraska Chirurgische endeffektoren
EP2732344B1 (de) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotisches chirurgisches system
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
EP4357083A2 (de) 2012-05-01 2024-04-24 Board of Regents of the University of Nebraska Robotische einzelstandortvorrichtung sowie entsprechende systeme und verfahren
JP5746093B2 (ja) * 2012-05-30 2015-07-08 ファナック株式会社 産業用ロボットの手首装置
EP3680071B1 (de) 2012-06-22 2021-09-01 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen mit lokaler steuerung
EP2882331A4 (de) 2012-08-08 2016-03-23 Univ Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP6479790B2 (ja) 2013-07-17 2019-03-06 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システムおよび関連する方法
CA2961213A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
EP4286104A3 (de) 2014-11-11 2024-02-14 Board of Regents of the University of Nebraska Robotervorrichtung mit kompaktem gelenkentwurf sowie zugehörige systeme und verfahren
JP6961146B2 (ja) 2015-08-03 2021-11-05 バーチャル インシジョン コーポレイションVirtual Incision Corporation ロボット外科的デバイス、システムおよび関連する方法
JP7138942B2 (ja) * 2015-10-06 2022-09-20 エフエルエックス ソリューションズ， インコーポレーテッド 蛇型ロボット
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
NL2016878B1 (en) * 2016-06-02 2018-01-25 State Of The Art Ltd Link for an articulated manipulator
WO2018039606A1 (en) 2016-08-25 2018-03-01 Virtual Incision Corporation Quick-release tool coupler and related systems and methods
EP3507065A4 (de) 2016-08-30 2020-04-29 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkdesign und einem zusätzlichen freiheitsgrad sowie entsprechende systeme und verfahren
CN115337111A (zh) 2016-11-22 2022-11-15 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
CN110462259B (zh) 2016-11-29 2022-10-28 虚拟切割有限公司 具有用户存在检测的用户控制器及相关系统和方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
WO2019012431A1 (en) * 2017-07-11 2019-01-17 Genesis Robotics And Motion Technologies Canada, Ulc ELECTRICAL MACHINE WITH INTEGRATED BOX
JP7405432B2 (ja) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法
EP3735341A4 (de) 2018-01-05 2021-10-06 Board of Regents of the University of Nebraska Einarmige robotische vorrichtung mit kompaktem gelenkentwurf sowie zugehörige systeme und verfahren
CA3125742A1 (en) 2019-01-07 2020-07-16 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
DE102020130340B4 (de) 2020-11-17 2024-03-21 imk Management Services GmbH Gehäuse für mechanische Getriebeanordnungen

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE837629C (de) * 1950-07-25 1952-04-28 Otto Kuehne Getriebe mit veraenderlichem Winkel von Antriebs- und Abtriebswelle
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
US4353677A (en) * 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4579016A (en) * 1983-03-01 1986-04-01 Westinghouse Electric Corp. Self-contained two-axis wrist module
GB2139593B (en) * 1983-03-10 1986-03-26 Mitsubishi Electric Corp Industrial robot
US4642021A (en) * 1983-06-27 1987-02-10 Toyoda Koki Kabushiki Kaisha Manipulation arm mechanism for an industrial robot
DE3448526C2 (de) * 1983-08-03 1996-08-22 Kuka Schweissanlagen & Roboter Getriebekopf für Manipulatoren
ATE27561T1 (de) * 1983-08-03 1987-06-15 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren.
JPS6039092A (ja) * 1983-08-10 1985-02-28 三菱重工業株式会社 ロボツトの手首装置
SE454659B (sv) * 1983-09-01 1988-05-24 Asea Ab Robothandled
ATE47685T1 (de) * 1984-08-03 1989-11-15 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren.

Also Published As

Publication number Publication date
EP0209111B1 (de) 1989-05-17
JPS6274591A (ja) 1987-04-06
EP0209111A1 (de) 1987-01-21
DE3525806A1 (de) 1987-01-29
AU6032186A (en) 1987-01-22
ES2000697A6 (es) 1988-03-16
US4736645A (en) 1988-04-12
AU579300B2 (en) 1988-11-17
CN86105696A (zh) 1987-04-01
JPH0611474B2 (ja) 1994-02-16
DD248316A5 (de) 1987-08-05
KR940001203B1 (ko) 1994-02-17
DE3525806C2 (de) 1987-11-05
ATE43089T1 (de) 1989-06-15
KR870001424A (ko) 1987-03-13
CA1262062A (en) 1989-10-03
SU1421250A3 (ru) 1988-08-30
CN1004617B (zh) 1989-06-28

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Legal Events

Date Code Title Description
8363 Opposition against the patent
8365 Fully valid after opposition proceedings
8327 Change in the person/name/address of the patent owner

Owner name: KUKA ROBOTER GMBH, 86165 AUGSBURG, DE