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1. 发明授权

US4780047A Advanced servo manipulator 失效
标题翻译：高级伺服机械手
公开(公告)号：US4780047A
公开(公告)日：1988-10-25
申请号：US720449
申请日：1985-04-05
申请人： William E. Holt , Daniel P. Kuban , H. Lee Martin
发明人： William E. Holt , Daniel P. Kuban , H. Lee Martin
IPC分类号： B25J3/04 , B25J9/08 , B25J17/02 , B25J19/00 , B25J9/06
CPC分类号： B25J9/0087 , B25J17/0283 , B25J19/002 , B25J19/0025 , B25J3/04 , B25J9/08
摘要： An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.
摘要翻译：先进的伺服机械手具有模块化部件。模块化的电机部件驱动单个输入齿轮，以控制肩胛骨，肩胛骨间距，肘节距，手腕偏转，腕节距，腕带和钳间距。模块包括支撑构件，用于控制肩部辊的肩部模块以及以固定关系附接到肩部模块的套筒模块。肩部辊筒模块具有可相对于外部圆柱形构件旋转的内部圆柱形构件，并且安装齿轮箱组件。多个轴由齿轮驱动，齿轮又由单独的电动机模块驱动，以传递旋转动力以控制弯头间距，并且跨越可弯曲的弯头接头提供四个不同的旋转轴，以向腕部件提供旋转动力和成员。

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