Mantec Gesellschaft Fur Automatisierungs- Und Handhabungssysteme Mbh

Siemens Aktiengesellschaft

Manutec Gesellschaft Fur Automatisierungs- Und Handhabungssysteme Gmbh

Manutec Gesellschaft Fur Automatisierung- Und Handhabungssysteme Gmbh

Manfred Eberle

Rainer Keppler

Robert Kleemann

Bernd Koslich

Roland Kolb

Rudolf-Peter Hartmann

Industrial robot

A robot joint includes an electric drive motor and step-down transmission ilt into the robot joint housing. The output of the transmission drives a gear to which a mounting flange is coupled. A first part of the robot is coupled to the housing and a second robot part is coupled to the mounting flange. The mounting flange is supported axially and radially in the housing by bearings. The bearings preferably include a conical-roller bearing for providing radial and axial support and a needle bearing for providing axial support. Both bearings are maintained under pretension by a spring, thereby providing a robot joint which is free of play.

Robot joint

An industrial robot assembly comprises a support body including a station portion and a vertically translatable portion. A tapered arm member is mounted to the translatable portion of the support for rotation about a first vertically oriented axis, and an angle lever is mounted to the tapered arm member at a point spaced from the first axis for rotation about a second axis parallel to and spaced from the first axis. A first electric motor is operatively connected to the arm member for rotating that member about the first axis, while a second electric motor is operatively connected to the angle lever for rotating that lever about the second axis. A translatable and rotatably component for carrying grippers or another workpiece-manipulating element is mounted to the angle lever at a point spaced from the second axis. A third electric motor and a lifting drive are operatively coupled to the holder component for translating the component and for rotating that component about a third axis, respectively. The electric motors are all mounted to the arm member, the lifting drive being mounted to the angle lever.

Industrial robot assembly

An industrial robot assembly comprises a support body including a station portion and a vertically translatable portion. A tapered arm member is mounted to the translatable portion of the support for rotation about a first vertically oriented axis, and an angle lever is mounted to the tapered arm member at a point spaced from the first axis for rotation about a second axis parallel to and spaced from the first axis. A first electric motor is operatively connected to the arm member for rotating that member about the first axis, while a second electric motor is operatively connected to the angle lever for rotating that lever about the second axis. A translatable and rotatable component for carrying grippers or another workpiece manipulating element is mounted to the angle lever at a point spaced from the second axis. A third electric motor and a lifting drive are operatively coupled to the holder component for translating the component and for rotating that component about a third axis, respectively. The electric motors are all mounted to the arm member, the lifting device being mounted to the angle lever.

An industrial robot having permanently excited three-phase motors driving each robot joint is described. Each motor is coupled to a common intermediate d-c link through an individual controlled inverter. Electric braking energy of the motors is stored in a large capacitor battery coupled to the intermediate d-c link.

Industrial robot having individual electrical three-phase drives

A robot joint includes an electric drive motor and step-down transmission ranged in a tubular inner part. The output of the step-down transmission is coupled to a tubular outer part coaxially surrounding the inner part. The outer part is guided on the inner part by bearings. The joint can be disassembled axially after screw connections holding the tubular parts together are loosened.

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Erlangen, Germany

Manfred Eberle