DE69115444T2 - Gelenkroboter - Google Patents

Gelenkroboter

Info

Publication number
DE69115444T2
DE69115444T2 DE69115444T DE69115444T DE69115444T2 DE 69115444 T2 DE69115444 T2 DE 69115444T2 DE 69115444 T DE69115444 T DE 69115444T DE 69115444 T DE69115444 T DE 69115444T DE 69115444 T2 DE69115444 T2 DE 69115444T2
Authority
DE
Germany
Prior art keywords
articulated robot
articulated
robot
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 - Fee Related
Application number
DE69115444T
Other languages
English (en)
Other versions
DE69115444D1 (de
Inventor
Mauro Zona
Marco Bettinardi
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 DE69115444D1 publication Critical patent/DE69115444D1/de
Publication of DE69115444T2 publication Critical patent/DE69115444T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-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
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • 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
    • Y10T403/00—Joints and connections
    • Y10T403/70—Interfitted members
    • Y10T403/7062—Clamped members
    • 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
DE69115444T 1990-10-04 1991-10-02 Gelenkroboter Expired - Fee Related DE69115444T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67763A IT1241621B (it) 1990-10-04 1990-10-04 Robot articolato

Publications (2)

Publication Number Publication Date
DE69115444D1 DE69115444D1 (de) 1996-01-25
DE69115444T2 true DE69115444T2 (de) 1996-05-02

Family

ID=11305109

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69115444T Expired - Fee Related DE69115444T2 (de) 1990-10-04 1991-10-02 Gelenkroboter

Country Status (6)

Country Link
US (1) US5195388A (de)
EP (1) EP0484284B1 (de)
JP (1) JPH04226882A (de)
DE (1) DE69115444T2 (de)
ES (1) ES2082184T3 (de)
IT (1) IT1241621B (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012110193A1 (de) * 2012-10-25 2014-04-30 Mis-Robotics Gmbh Haltevorrichtung zum lösbaren Befestigen eines Roboters
DE102019102075A1 (de) * 2019-01-28 2020-07-30 Forward Ttc Gmbh Aktuierte Kinematik zur Montage an einer vertikalen Position
DE102015017220B3 (de) 2015-08-14 2021-09-16 Franka Emika Gmbh Robotersystem

Families Citing this family (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6963792B1 (en) * 1992-01-21 2005-11-08 Sri International Surgical method
JPH07112379A (ja) * 1993-10-20 1995-05-02 Fujitsu Ten Ltd 水平多関節ロボット、アームユニット、および、加工システム
US6507163B1 (en) 1993-12-20 2003-01-14 Mark A. Allen Robotic bridge maintenance system
US5656904A (en) * 1995-09-28 1997-08-12 Lander; Ralph Movement monitoring and control apparatus for body members
DE29619774U1 (de) * 1996-11-14 1997-03-06 Cramer Thomas Dipl Ing Handhabungsvorrichtung
JP4030151B2 (ja) * 1997-05-20 2008-01-09 本田技研工業株式会社 ロボット用複合材リンクの製造方法
US6325808B1 (en) 1998-12-08 2001-12-04 Advanced Realtime Control Systems, Inc. Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
US6557235B1 (en) * 2002-03-06 2003-05-06 The Regents Of The University Of Michigan Bi-axial coplanar apparatus
DE10239978B4 (de) * 2002-08-26 2004-09-02 Wittmann Robot Systeme Gmbh Roboter mit Steuerschrank
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
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
JP4457794B2 (ja) * 2004-07-22 2010-04-28 トヨタ自動車株式会社 ロボット
AT502058B1 (de) * 2005-06-20 2007-11-15 Voest Alpine Ind Anlagen Stranggiessanlage mit mindestens einem multifunktions-roboter
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
US8974440B2 (en) * 2007-08-15 2015-03-10 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
EP2034922B1 (de) 2006-06-22 2017-03-15 Board of Regents of the University of Nebraska Magnetisch koppelbare Robotervorrichtungen
EP3673855B1 (de) * 2007-07-12 2021-09-08 Board of Regents of the University of Nebraska Betätigungssysteme in robotergeräten
WO2009023839A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
US8176808B2 (en) * 2007-09-13 2012-05-15 Foster-Miller, Inc. Robot arm assembly
FR2931092B1 (fr) * 2008-05-19 2010-09-10 Commissariat Energie Atomique Bras manipulateur ayant une extremite amovible incorporant des moteurs
US8414043B2 (en) 2008-10-21 2013-04-09 Foster-Miller, Inc. End effector for mobile remotely controlled robot
US20100101356A1 (en) * 2008-10-24 2010-04-29 Albin Scott R Remotely controlled mobile robot in-line robot arm and end effector mechanism
US8322249B2 (en) * 2008-12-18 2012-12-04 Foster-Miller, Inc. Robot arm assembly
US8141924B2 (en) * 2008-12-29 2012-03-27 Foster-Miller, Inc. Gripper system
JP2013514835A (ja) * 2009-12-17 2013-05-02 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 モジュール式及び協働式医療装置並びにこれに関連するシステム及び方法
EP2600758A1 (de) 2010-08-06 2013-06-12 Board of Regents of the University of Nebraska Verfahren und systeme zur handhabung oder abgabe von materialien für natürliche körperöffnungschirurgie
EP3714821A1 (de) 2011-06-10 2020-09-30 Board of Regents of the University of Nebraska Chirurgisches greifinstrument
CA2841459C (en) 2011-07-11 2020-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
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
GB2502611B (en) * 2012-06-01 2017-03-15 Tidal Generation Ltd Connection systems
EP2864086B1 (de) 2012-06-22 2017-04-19 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
US10372115B2 (en) 2012-10-26 2019-08-06 Board Of Regents, The University Of Texas System Modular and reconfigurable manufacturing systems
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
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
EP2996545B1 (de) 2013-03-15 2021-10-20 Board of Regents of the University of Nebraska Robotische chirurgische systeme
WO2015009949A2 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP6710199B2 (ja) 2014-09-12 2020-06-17 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 クイックリリースエンドエフェクターおよび関連するシステムおよび方法
US10376322B2 (en) 2014-11-11 2019-08-13 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
CN105818160A (zh) * 2015-01-08 2016-08-03 中国科学院上海微系统与信息技术研究所 机器人通用关节及机器人手臂
EP3331453A4 (de) 2015-08-03 2019-04-24 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
WO2017060734A1 (en) * 2015-10-09 2017-04-13 Automata Technologies Limited Robot arm
EP4353182A2 (de) 2016-05-18 2024-04-17 Virtual Incision Corporation Robotische chirurgische vorrichtungen und systeme
CA3034671A1 (en) 2016-08-25 2018-03-01 Shane Farritor Quick-release tool coupler and related systems and methods
CN114872081A (zh) 2016-08-30 2022-08-09 内布拉斯加大学董事会 具有紧凑型关节设计和附加自由度的机器人装置及相关系统和方法
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
EP3548773A4 (de) 2016-11-29 2020-08-05 Virtual Incision Corporation Benutzersteuergerät mit benutzerpräsensdetektion sowie zugehörige systeme und verfahren
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
US10109517B1 (en) * 2018-01-10 2018-10-23 Lam Research Corporation Rotational indexer with additional rotational axes
WO2020042124A1 (en) * 2018-08-30 2020-03-05 Abb Schweiz Ag Structural member of robot, robot, and associated manufacturing method
EP3908171A4 (de) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotisiertes assistiertes chirurgisches system und zugehörige vorrichtungen und verfahren
EP3785863A1 (de) * 2019-08-28 2021-03-03 Horstkemper Maschinenbau GmbH Handhabungsgerät mit zwei gelenkarmteilen

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3149611A (en) * 1963-03-25 1964-09-22 James W Harrison Animal watering nipple and bottle cap combination
US3259958A (en) * 1965-10-22 1966-07-12 Jerome H Lemelson Automatic production machine
IT985962B (it) * 1973-05-25 1974-12-30 Caprioglio L Macchina saldatrice con colonna soomponibile
AT363298B (de) * 1978-12-18 1981-07-27 Igm Ind Geraete Maschf Gmbh Schweissautomat
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
JPS5834789A (ja) * 1981-08-25 1983-03-01 富士通フアナツク株式会社 工業用ロボツトのハンド
US4645409A (en) * 1982-02-05 1987-02-24 American Cimflex Corporation Outer arm assembly for industrial robot
JPS58211892A (ja) * 1982-05-31 1983-12-09 松下電器産業株式会社 工業用ロボツト
DE8310067U1 (de) * 1983-04-06 1985-06-05 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
JPS60131179A (ja) * 1983-12-16 1985-07-12 松下電器産業株式会社 ロボツト装置
SU1268404A1 (ru) * 1985-05-23 1986-11-07 Алтайский Филиал Всесоюзного Проектно-Конструкторского Технологического Института "Атомкотломаш" Захватное устройство
SU1414748A1 (ru) * 1986-02-06 1988-08-07 Предприятие П/Я Г-4780 Грузозахватное устройство
CA1279678C (en) * 1986-02-18 1991-01-29 James P. Karlen Industrial robot with servo
JPS63150180A (ja) * 1986-12-12 1988-06-22 株式会社日立製作所 モジユ−ル型マニピユレ−タの着脱機構
KR880008495A (ko) * 1986-12-23 1988-08-31 시끼 모리야 케이블 접속기를 부착한 전동기
US4787813A (en) * 1987-08-26 1988-11-29 Watkins-Johnson Company Industrial robot for use in clean room environment
JPH01240291A (ja) * 1988-03-22 1989-09-25 Texas Instr Japan Ltd ロボット
US4955250A (en) * 1989-06-08 1990-09-11 The United States Of America As Represented By The United States Department Of Energy Multiple forearm robotic elbow configuration

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012110193A1 (de) * 2012-10-25 2014-04-30 Mis-Robotics Gmbh Haltevorrichtung zum lösbaren Befestigen eines Roboters
DE102012110193B4 (de) 2012-10-25 2023-03-30 Abb Schweiz Ag Haltevorrichtung zum lösbaren Befestigen eines Roboters
DE102015017220B3 (de) 2015-08-14 2021-09-16 Franka Emika Gmbh Robotersystem
DE102019102075A1 (de) * 2019-01-28 2020-07-30 Forward Ttc Gmbh Aktuierte Kinematik zur Montage an einer vertikalen Position
DE102019102075B4 (de) 2019-01-28 2022-08-18 Avateramedical Digital Solutions Gmbh Aktuierte Kinematik zur Montage an einer vertikalen Position

Also Published As

Publication number Publication date
EP0484284A2 (de) 1992-05-06
EP0484284B1 (de) 1995-12-13
JPH04226882A (ja) 1992-08-17
US5195388A (en) 1993-03-23
IT9067763A0 (it) 1990-10-04
ES2082184T3 (es) 1996-03-16
IT9067763A1 (it) 1992-04-04
DE69115444D1 (de) 1996-01-25
IT1241621B (it) 1994-01-25
EP0484284A3 (en) 1992-07-01

Similar Documents

Publication Publication Date Title
DE69115444T2 (de) Gelenkroboter
DK0453826T3 (da) Robotled
KR900701480A (ko) 수평 관절형 로보트
DE69509689D1 (de) Gelenkroboter
IT1241622B (it) Polso di robot
DE69116901T2 (de) Robotersteuerung
KR900011545A (ko) 다관절형 로보트
GB9106560D0 (en) Articulated robot
ITTO910112A0 (it) Robot articolato di doppio avambraccio
DE69229005D1 (de) Manipulator
DE69302022D1 (de) Gelenkverbindung
KR920019703U (ko) 로보트 준설기
KR940007327U (ko) 다관절 로보트
KR910020454U (ko) 이음관
BR7001500U (pt) Varal articulado
KR920006441U (ko) 로보트 준설기
BR7000296U (pt) Cobertura articulada
FI932884A0 (fi) Nivelöintilaite
KR940009595U (ko) 수평 다관절형 로보트
ES1019327Y (es) Muneco articulado
DE9018071U1 (de) Schwenkarmroboter
KR930019511U (ko) 로보트용 핸드
BR7200335U (pt) Soquete articulado
DE9117285U1 (de) Manipulator
KR910014131U (ko) 집 게

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee