DE2819976A1 - Enclosed parallelogram movement lever system - has housing formed by one lever accommodating another lever or rope - Google Patents

Enclosed parallelogram movement lever system - has housing formed by one lever accommodating another lever or rope

Info

Publication number
DE2819976A1
DE2819976A1 DE19782819976 DE2819976A DE2819976A1 DE 2819976 A1 DE2819976 A1 DE 2819976A1 DE 19782819976 DE19782819976 DE 19782819976 DE 2819976 A DE2819976 A DE 2819976A DE 2819976 A1 DE2819976 A1 DE 2819976A1
Authority
DE
Germany
Prior art keywords
lever
parallelogram
articulated arm
wrapped
rope
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.)
Granted
Application number
DE19782819976
Other languages
German (de)
Other versions
DE2819976C2 (en
Inventor
Fritz Straeter
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to DE2819976A priority Critical patent/DE2819976C2/en
Publication of DE2819976A1 publication Critical patent/DE2819976A1/en
Application granted granted Critical
Publication of DE2819976C2 publication Critical patent/DE2819976C2/en
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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
    • F16H37/126—Guiding mechanism using levers combined with gearings for straight line output movement, e.g. by using gears or pulleys with ratio 2:1
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/04—Guiding mechanisms, e.g. for straight-line guidance
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms

Abstract

The lever arm system provides parallelogram movement and is enclosed for protection against damage. The parallelogram is arranged in a fully closed housing. The housing represents a lever of the parallelogram system. The second lever element is formed by an internal connection lever pair connecting the pivoting plates. The second lever element can be formed of an internal wire rope guided around the pivot plate.

Description

Beschreibung und Schutzansprüche zur Patentanmeldung vom 2. mai 1978Description and protection claims for the patent application dated May 2, 1978

Gelenkarm mit umhüllter Parallelaqrammfunktion.Articulated arm with wrapped parallel aqramm function.

Parallele Kraft-und Bewegungsübertragungen werden in der Technik mittels Schienensystemen erreicht, die sich in ihrem Aufbau auf die geometrischen Grundgesetze eines Parallelogrammes stützen. Diese Parallelogrammfunktion (Zeichnung 1) besteht in der Regel aus parallel angeordneten, auf Zug und Druck beanspruchten Schienenelementen (A+S), bei denen jede Schiene in den Knoten-punkten (C) drehbar gelagert ist und die sich bei Betätigung mehr oder weniger in unterschiedlichen Abständen (D) zueinander bewegen.Parallel power and motion transmissions are used in technology Rail systems achieved, which are based on the basic geometric laws in their structure support a parallelogram. This parallelogram function (drawing 1) exists As a rule, rail elements arranged in parallel and subjected to tension and compression (A + S), where each rail is rotatably mounted in the nodes (C) and which are more or less at different distances (D) from one another when actuated move.

Ein erheblicher Nachteil dieser Konstruktion ist die offene Bauweise, die u.a. infolge der unterschiedlichen Schienenabstände eine erhebliche Verletzungsgefahr darstellt. Außerdem ist die Verwendung dieser Parallelogrammkonstruktion auf vielen Gebieten optisch unschön.A significant disadvantage of this construction is the open design, which, among other things, pose a considerable risk of injury as a result of the different rail spacings represents. Also, the use of this parallelogram construction is on many Areas visually unattractive.

Die vorliegende Erfindung enthält demgegenüber folgende Vorteile: 1. Das Parallelogrammsystem ist völlig geschlossen und infolgedessen sind Elemente, die sich gegeneinander bewegen, nicht zugänglich und können daher keine Uerletzungen hervorrufen.In contrast, the present invention has the following advantages: 1. The parallelogram system is completely closed and consequently elements are which move against each other, inaccessible and therefore cannot hurt cause.

2. Die geschlossene Bauweise ermöglicht es dem System ein bestimmtes Design zu verleihen. 2. The closed design allows the system to do a certain To give design.

Der Gelenkarm mit umhüllter Parallelogramifunktion wird einmal gebildet durch die das System umschließenden Halbschalen und damit einen Teil des Parallelogramm-Schienenpaares darstellen und zum anderen durch die innen liegenden Verbindungsschienen bzw. umlaufenden Drahtseile, die die Fubktion des zweiten Parallelogramm-Schienenpaares übernehmen.The articulated arm with wrapped parallelogram function is formed once through the half-shells surrounding the system and thus part of the pair of parallelogram rails represent and on the other hand by the internal connecting rails or circumferential Wire ropes that take over the function of the second pair of parallelogram rails.

Die vorbeschriebene Neuerung ist in der Zeichnung 2 dargestell: Sie besteht aus 2 Halbschalen (al+a2), an deren Schalenenden die Achsen (bl+b2) zur Aufnahme der Gelenkarme (cl+c2) angebracht sind. Das Parallelogramm-Schienensystem (d) verbindet drehbar gelagert die Gelenkarmscheiben;jel+e2) miteinander. Statt des Parallelcgramm-Schienenelementes (d) ist es möglich ein umlaufendes Drahtseil (f) anzubringen, welches mit den Gelenkarmecheiben (el+e2) an den Punkten (91+92) fest verbunden ist. Es entsteht zwischen rien Drehpunkten M1-M2 und ml-m2 ein Parallelogramm, wodurch die bekannte Parallelogrammfunktion bei Betätigung der Gelenkarme erreicht wird.The innovation described above is shown in drawing 2: You consists of 2 half-shells (al + a2), at the shell ends of which the axes (bl + b2) for Recording of the articulated arms (cl + c2) are attached. The parallelogram rail system (d) connects the hinged arm disks in a rotatable manner; jel + e2) with each other. Instead of of the parallelcgramm rail element (d) it is possible to use a rotating wire rope (f) to be attached, which with the articulated arm discs (el + e2) at points (91 + 92) is firmly connected. A parallelogram is created between rien pivot points M1-M2 and ml-m2, whereby the well-known parallelogram function is achieved when the articulated arms are actuated will.

L e e r s e i t eL e r s e i t e

Claims (1)

Schutzansprüche Anspruch z Gelenkarm mit umhüllter Parallelogrammfunktion dadurch gekennzeichnet, daß sich das Parallelogramm-System in einem vollkommen geschlossenen Gehäuse befindet. Protection claims claim z articulated arm with wrapped parallelogram function characterized in that the parallelogram system is in a completely closed Housing is located. Anspruch 2 Gelenkarm mit umhüllter Parallelogrammfunktion nach Anspruch 1 dadurch gekennzeichnet, daß das Gehäuse ein Schienenelement des Parallelogramm-Systems darstellt und das zweite Schienenelement von einem innenliegenden Uerbindungsschienenpaar gebildet wird, welches die Gelenkscheiben miteinander verbindet.Claim 2 articulated arm with wrapped parallelogram function according to claim 1 characterized in that the housing is a rail element of the parallelogram system represents and the second rail element from an inner pair of connecting rails is formed, which connects the joint discs with each other. Anspruch 3 Gelenkarm mit umhüllter Parallelogrammfunktion nach Anspruch 1 dadurch gekennzeichnet, daß das zweite Schienenelement von einem innen liegenden Drahtseil gebildet wird, welches um die Gelenkscheiben herumgeführt wird, mit diesen an zwei Punkten befestigt ist und dadurch die Gelenkscheiben miteinander verbindet.Claim 3 articulated arm with wrapped parallelogram function according to claim 1 characterized in that the second rail element from an inside Wire rope is formed, which is guided around the joint discs, with these is attached at two points and thereby connects the joint discs with one another. Anspruch 4 Gelenkarm mit umhüllter Parallelogrammfunktion nach Anspruch 1, 2 und 3 dadurch gekennzeichnet, daß die Schalenenden mit Gelenkachsen ausgestattet sind und damit die Gelenkarmscheiben der Trägerarme aufnehmen können.Claim 4 articulated arm with a wrapped parallelogram function according to claim 1, 2 and 3 characterized in that the shell ends are equipped with hinge axes and so can accommodate the articulated arm disks of the support arms.
DE2819976A 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function Expired DE2819976C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2819976A DE2819976C2 (en) 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2819976A DE2819976C2 (en) 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function

Publications (2)

Publication Number Publication Date
DE2819976A1 true DE2819976A1 (en) 1979-11-15
DE2819976C2 DE2819976C2 (en) 1984-03-08

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE2819976A Expired DE2819976C2 (en) 1978-05-08 1978-05-08 Articulated arm with wrapped parallelogram function

Country Status (1)

Country Link
DE (1) DE2819976C2 (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0401479A2 (en) * 1989-06-03 1990-12-12 Fritz Sträter Support for telephone or similar apparatus
EP0494565A1 (en) * 1991-01-11 1992-07-15 Ecole Centrale Des Arts Et Manufactures Device for moving an object in a translational way in space, especially for a mechanical robot
EP0668130A1 (en) * 1994-02-22 1995-08-23 Office National d'Etudes et de Recherches Aérospatiales (O.N.E.R.A.) Manipulator device with a parallel structure for moving and orienting an object in a cylindrical workspace
EP0699053A1 (en) * 1993-05-14 1996-03-06 Sri International Remote center positioner
FR2754206A1 (en) * 1996-10-09 1998-04-10 Commissariat Energie Atomique Mechanical linked robot arm
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US5810880A (en) * 1995-06-07 1998-09-22 Sri International System and method for releasably holding a surgical instrument
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6772053B2 (en) 1998-12-08 2004-08-03 Visx, Incorporated Aspects of a control system of a minimally invasive surgical apparatus
US7107124B2 (en) 1992-01-21 2006-09-12 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US9068628B2 (en) 2004-09-30 2015-06-30 Intuitive Surgical Operations, Inc. Robotic arms with strap drive trains
US9585641B2 (en) 2002-12-06 2017-03-07 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9717486B2 (en) 2001-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9730572B2 (en) 2001-06-29 2017-08-15 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US10595948B2 (en) 2004-09-30 2020-03-24 Intuitive Surgical Operations, Inc. Methods and apparatus for stacked electro-mechancial straps in robotic arms

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
CN108098747B (en) * 2017-12-27 2020-09-01 华南智能机器人创新研究院 Five-axis robot with electric clamping jaw

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Publication number Priority date Publication date Assignee Title
DE7722585U1 (en) * 1900-01-01 Straeter, Fritz, 5882 Meinerzhagen
DE864223C (en) * 1951-02-18 1953-01-22 Alfred Dipl-Ing Schubkegel Device for parallel guidance of a device
DE1281631B (en) * 1962-05-05 1968-10-31 Medizintechnik Leipzig Veb Dental unit
DE1941303A1 (en) * 1969-08-14 1971-02-18 Siemens Ag Dental treatment chair
US3566713A (en) * 1969-07-16 1971-03-02 Sybron Corp Link for control linkage

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE7722585U1 (en) * 1900-01-01 Straeter, Fritz, 5882 Meinerzhagen
DE864223C (en) * 1951-02-18 1953-01-22 Alfred Dipl-Ing Schubkegel Device for parallel guidance of a device
DE1281631B (en) * 1962-05-05 1968-10-31 Medizintechnik Leipzig Veb Dental unit
US3566713A (en) * 1969-07-16 1971-03-02 Sybron Corp Link for control linkage
DE1941303A1 (en) * 1969-08-14 1971-02-18 Siemens Ag Dental treatment chair

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Dr.R.FRANKE "Vom Aufbau der Getriebe", Deutscher Ingenieurverlag GmbH Düsseldorf 1951, S.22 *
KNAB "Übersicht über Kinematik/Getriebelehre", 1930, S.136 *
Röntgengerät D9E mit elektronischem Zeit- schalter, Typen M,W,U, Montage, Bedienung, Wartung, Instruktionsbuch Nr. 251 8/73, Ersatzteilliste Bl.6506 *

Cited By (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0401479A2 (en) * 1989-06-03 1990-12-12 Fritz Sträter Support for telephone or similar apparatus
EP0401479A3 (en) * 1989-06-03 1991-01-16 Fritz Sträter Support for telephone or similar apparatus
US5033707A (en) * 1989-06-03 1991-07-23 Straeter Fritz Holder for office equipment
EP0494565A1 (en) * 1991-01-11 1992-07-15 Ecole Centrale Des Arts Et Manufactures Device for moving an object in a translational way in space, especially for a mechanical robot
FR2671505A1 (en) * 1991-01-11 1992-07-17 Ecole Centrale Arts Manufactur DEVICE FOR THE SPACE TRANSLATION MOVEMENT OF AN ELEMENT INTO SPACE, PARTICULARLY FOR A MECHANICAL ROBOT.
US6223100B1 (en) 1992-01-21 2001-04-24 Sri, International Apparatus and method for performing computer enhanced surgery with articulated instrument
US7107124B2 (en) 1992-01-21 2006-09-12 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US5931832A (en) * 1993-05-14 1999-08-03 Sri International Methods for positioning a surgical instrument about a remote spherical center of rotation
EP0699053A4 (en) * 1993-05-14 1996-07-24 Stanford Res Inst Int Remote center positioner
US5800423A (en) * 1993-05-14 1998-09-01 Sri International Remote center positioner with channel shaped linkage element
EP0699053A1 (en) * 1993-05-14 1996-03-06 Sri International Remote center positioner
US5817084A (en) * 1993-05-14 1998-10-06 Sri International Remote center positioning device with flexible drive
US6106511A (en) * 1993-05-14 2000-08-22 Sri International Methods and devices for positioning a surgical instrument at a surgical site
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6758843B2 (en) 1993-05-14 2004-07-06 Sri International, Inc. Remote center positioner
US5539291A (en) * 1994-02-22 1996-07-23 Office National D'etudes Et De Recherches Aerospatiales Parallel-structure manipulator device for displacing and orienting an object in a cylindrical work space
FR2716400A1 (en) * 1994-02-22 1995-08-25 Onera (Off Nat Aerospatiale) Manipulator device, with parallel structure, for moving an object in a cylindrical workspace.
EP0668130A1 (en) * 1994-02-22 1995-08-23 Office National d'Etudes et de Recherches Aérospatiales (O.N.E.R.A.) Manipulator device with a parallel structure for moving and orienting an object in a cylindrical workspace
US5810880A (en) * 1995-06-07 1998-09-22 Sri International System and method for releasably holding a surgical instrument
US6080181A (en) * 1995-06-07 2000-06-27 Sri International System and method for releasably holding a surgical instrument
FR2754206A1 (en) * 1996-10-09 1998-04-10 Commissariat Energie Atomique Mechanical linked robot arm
US6772053B2 (en) 1998-12-08 2004-08-03 Visx, Incorporated Aspects of a control system of a minimally invasive surgical apparatus
US9730572B2 (en) 2001-06-29 2017-08-15 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US11051794B2 (en) 2001-06-29 2021-07-06 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US10506920B2 (en) 2001-06-29 2019-12-17 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US10105128B2 (en) 2001-06-29 2018-10-23 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9717486B2 (en) 2001-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US11633241B2 (en) 2002-12-06 2023-04-25 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US10524868B2 (en) 2002-12-06 2020-01-07 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9585641B2 (en) 2002-12-06 2017-03-07 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9068628B2 (en) 2004-09-30 2015-06-30 Intuitive Surgical Operations, Inc. Robotic arms with strap drive trains
US9797484B2 (en) 2004-09-30 2017-10-24 Intuitive Surgical Operations, Inc. Methods for robotic arms with strap drive trains
US9803727B2 (en) 2004-09-30 2017-10-31 Intuitive Surgical Operations, Inc. Strap guide system and methods thereof for robotic surgical arms
US9261172B2 (en) 2004-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Multi-ply strap drive trains for surgical robotic arms
US10449011B2 (en) 2004-09-30 2019-10-22 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US8562594B2 (en) 2004-09-30 2013-10-22 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US8256319B2 (en) 2004-09-30 2012-09-04 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US10595948B2 (en) 2004-09-30 2020-03-24 Intuitive Surgical Operations, Inc. Methods and apparatus for stacked electro-mechancial straps in robotic arms
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
US8062288B2 (en) 2004-09-30 2011-11-22 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US11160626B2 (en) 2004-09-30 2021-11-02 Intuitive Surgical Operations, Inc. Offset remote center manipulator for robotic surgery
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery

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