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    • 6. 发明申请
    • GRIPPING OR ACTUATING ARM
    • 握持或致动臂
    • WO0138047A3
    • 2002-04-11
    • PCT/DE0003961
    • 2000-11-15
    • WITTENSTEIN GMBH & CO KGKRUG ANDREASBAYER THOMASMELBER KARL GEORG
    • KRUG ANDREASBAYER THOMASMELBER KARL-GEORG
    • B25J9/00B25J9/16B25J19/00G05B19/414
    • B25J9/1617B25J9/0012B25J19/0029B25J19/0075G05B2219/33196
    • The invention relates to a gripping or actuating arm comprising at least two members which can each be moved, in particular, can be rotated and/or pivoted, in relation to one another and/or in relation to a base by means of an electromotive drive. The drives used to execute defined movements of the members can be controlled separately, and a sensor (22, 26) is provided for determining the relative position of two adjacent members. According to the invention, the drives are configured as drive units (14-19) each equipped with at least one electric motor (21, 25) which, for actuating the electric motor (21, 25), comprise necessary motor control, optionally, a gearing (20, 24), and the sensor (22, 26). In addition, the drives of all members (7-13) are series-connected one behind the other in the manner of a bus configuration so that the energy, which is required for actuating the drives, and the control signals can be transmitted via the bus configuration.
    • 本发明通过电动驱动的装置涉及相对于彼此的夹持致动器臂具有至少两个部件在每种情况下和/或可移动到一个基,特别是可旋转的和/或可枢转,其中所述驱动器是独立可控制的,以执行一个所限定的肢体的运动 并且其中在每种情况下的传感器装置(22,26)还设置用于确定两个相邻链节的相对位置。 根据本发明的致动器被形成为驱动单元(21,25),每个具有至少一个电动马达,这是必要的致动电动机的发动机控制,在适当情况下,齿轮(20,24)和所述传感器装置(22,26)。 此外,所有的成员的驱动器(13)串联连接的一个接一个地在总线布置的方式的背后,可传输通过总线装置来致动的驱动器所需的能量和控制信号。