Title:
GRIPPING OR ACTUATING ARM
Document Type and Number:
WIPO Patent Application WO2001038047
Kind Code:
A3
Abstract:
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.
Inventors:
KRUG ANDREAS (DE)
BAYER THOMAS (DE)
MELBER KARL-GEORG (DE)
BAYER THOMAS (DE)
MELBER KARL-GEORG (DE)
Application Number:
PCT/DE2000/003961
Publication Date:
April 11, 2002
Filing Date:
November 15, 2000
Export Citation:
Assignee:
WITTENSTEIN GMBH & CO KG (DE)
KRUG ANDREAS (DE)
BAYER THOMAS (DE)
MELBER KARL GEORG (DE)
KRUG ANDREAS (DE)
BAYER THOMAS (DE)
MELBER KARL GEORG (DE)
International Classes:
B25J9/00; B25J9/16; B25J19/00; (IPC1-7): G05B19/414; B25J9/00; B25J19/00
Foreign References:
| DE4000348A1 | 1990-09-13 | |||
| DE3410637A1 | 1985-10-03 | |||
| EP0722811A1 | 1996-07-24 | |||
| JPS61103797A | 1986-05-22 | |||
| EP0937551A1 | 1999-08-25 |
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