DE69930009D1 - Robotervorrichtung - Google Patents

Robotervorrichtung

Info

Publication number
DE69930009D1
DE69930009D1 DE69930009T DE69930009T DE69930009D1 DE 69930009 D1 DE69930009 D1 DE 69930009D1 DE 69930009 T DE69930009 T DE 69930009T DE 69930009 T DE69930009 T DE 69930009T DE 69930009 D1 DE69930009 D1 DE 69930009D1
Authority
DE
Germany
Prior art keywords
robotic device
robotic
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
DE69930009T
Other languages
English (en)
Other versions
DE69930009T2 (de
Inventor
Fredrik Persson
Pierre Mikaelsson
H Kan Hvittfeldt
Jan Larsson
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 DE69930009D1 publication Critical patent/DE69930009D1/de
Publication of DE69930009T2 publication Critical patent/DE69930009T2/de
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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/02—Trunnions; Crank-pins
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/045—Pivotal connections with at least a pair of arms pivoting relatively to at least one other arm, all arms being mounted on one pin
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F16C11/0619—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints the female part comprising a blind socket receiving the male part
    • F16C11/0623—Construction or details of the socket member
    • F16C11/0628—Construction or details of the socket member with linings
    • F16C11/0633—Construction or details of the socket member with linings the linings being made of plastics
    • F16C11/0638—Construction or details of the socket member with linings the linings being made of plastics characterised by geometrical details
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/02—Parts of sliding-contact bearings
    • F16C33/04—Brasses; Bushes; Linings
    • F16C33/06—Sliding surface mainly made of metal
    • F16C33/08—Attachment of brasses, bushes or linings to the bearing housing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Manipulator (AREA)
  • Rolling Contact Bearings (AREA)
DE69930009T 1998-12-03 1999-12-02 Robotervorrichtung Expired - Lifetime DE69930009T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
SE9804215 1998-12-03
SE9804215A SE515340C2 (sv) 1998-12-03 1998-12-03 En industrirobot med anordning,användning och förfarande för att i en treaxlig led eliminera risken för glapp
PCT/SE1999/002255 WO2000032363A1 (en) 1998-12-03 1999-12-02 Robot device

Publications (2)

Publication Number Publication Date
DE69930009D1 true DE69930009D1 (de) 2006-04-27
DE69930009T2 DE69930009T2 (de) 2006-08-03

Family

ID=20413561

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69930009T Expired - Lifetime DE69930009T2 (de) 1998-12-03 1999-12-02 Robotervorrichtung

Country Status (7)

Country Link
EP (1) EP1146998B1 (de)
JP (1) JP2002531778A (de)
AU (1) AU2016400A (de)
DE (1) DE69930009T2 (de)
ES (1) ES2259243T3 (de)
SE (1) SE515340C2 (de)
WO (1) WO2000032363A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4877533B2 (ja) * 2006-11-15 2012-02-15 村田機械株式会社 パラレルメカニズム
JP4850863B2 (ja) * 2008-04-10 2012-01-11 村田機械株式会社 パラレルメカニズム
JP4420959B2 (ja) 2008-04-10 2010-02-24 村田機械株式会社 パラレルメカニズム
JP2009248288A (ja) * 2008-04-10 2009-10-29 Murata Mach Ltd パラレルメカニズム
JP2009255199A (ja) * 2008-04-14 2009-11-05 Murata Mach Ltd パラレルメカニズム
JP4803841B2 (ja) * 2008-04-14 2011-10-26 村田機械株式会社 パラレルメカニズム
CZ2010246A3 (cs) * 2010-04-01 2011-02-09 CVUT v Praze, Fakulta strojní, Ústav výrobních stroju a zarízení Kulový kloub s alespon dvema stupni volnosti
JP5888988B2 (ja) 2012-01-06 2016-03-22 日本電産サンキョー株式会社 産業用ロボット
DE102017211642A1 (de) 2017-07-07 2019-01-10 Kuka Deutschland Gmbh Delta-Roboter
DE102018200892A1 (de) * 2018-01-19 2019-07-25 Kuka Deutschland Gmbh Delta-Roboter mit einem Eingabemittel

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5344620B2 (de) * 1973-02-06 1978-11-30
GB1597495A (en) * 1977-04-12 1981-09-09 Cam Gears Ltd Steering assembly including a ball joint
CH672089A5 (de) * 1985-12-16 1989-10-31 Sogeva Sa
US4695182A (en) * 1986-01-02 1987-09-22 Trw Inc. Ball joint with mechanical interlock
JP3059356B2 (ja) * 1994-09-30 2000-07-04 テイエチケー株式会社 ボールジョイント

Also Published As

Publication number Publication date
EP1146998B1 (de) 2006-02-22
JP2002531778A (ja) 2002-09-24
EP1146998A1 (de) 2001-10-24
SE9804215L (sv) 2000-06-04
DE69930009T2 (de) 2006-08-03
SE515340C2 (sv) 2001-07-16
ES2259243T3 (es) 2006-09-16
WO2000032363A1 (en) 2000-06-08
SE9804215D0 (sv) 1998-12-03
AU2016400A (en) 2000-06-19

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition