US3826383A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Automatic handling apparatus
Assignee: KUKA Systems GmbH
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Filing: 1973-05-25
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Granted: 1974-07-30
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Expires: 1993-05-25
Abstract
Abstract A mechanical handling apparatus controlled by a recorded but variable program has a rotatable base. An upper arm is pivoted on the base. A forearm is pivoted on the upper arm, and a wrist movement and gripper are pivoted on the end of the forearm. Each part subject to rotary motion is driven by an epicyclic gear located as near as possible to the part to reduce slack or backlash. Each gear is driven through belts and bevel gears by an electric motor located in the base. The program is pre-recorded and all movements of the apparatus when in use generate signals which are compared with the program, which thus controls the motor drives.
Inventors
- 👤 H Richter
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 13:49
CPC Classifications
F; F16; F16H; F16H49/00; F16H49/001; B; B25; B25J; B25J17/00; B25J17/02; B25J17/0283; B25J19/00; B25J19/0008; B25J19/0012; B25J9/00; B25J9/02; B25J9/04; B25J9/046; B25J9/10; B25J9/102; B25J9/1025; B25J9/1035
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
236 words
An Automatic mechanical handling apparatus responsive to automatic control from a variable program comprising in combination: a frame including pivot means; a rotatable base coupled to said pivot means and including a pair of parallel spaced apart support members, said pivot means capable of rotating said base about a vertical axis; a pair of upper arms on one end pivotable about and supported on a horizontal axis defined between the support members; a lower arm on one end pivotable between the free end of said upper arms so as to form an elbow joint, said lower arm including shaft means independently rotatable therein; holder means rotatably journaled at the free end of said lower arm, said holder means coupled with and driven by said shaft means, said holder means containing gear means, the latter means being driven by said shaft means; slide means journaled about said shaft means; a link member on one end coupled to said slide means while on the other end is pivotably connected between said pair of upper arms, said other end of the link member including belt drive means for rotating said link about said other end thereby causing said lower arm to pivot about the elbow joint; and drive means including a plurality of reduction gear means and belt and pully means for independently rotating said shaft means to cause said holder means to move and pivot in all directions.
Claim 2
Dependent Claim
236 words
An Automatic mechanical handling apparatus responsive to automatic control from a variable program comprising in combination: a frame including pivot means; a rotatable base coupled to said pivot means and including a pair of parallel spaced apart support members, said pivot means capable of rotating said base about a vertical axis; a pair of upper arms on one end pivotable about and supported on a horizontal axis defined between the support members; a lower arm on one end pivotable between the free end of said upper arms so as to form an elbow joint, said lower arm including shaft means independently rotatable therein; holder means rotatably journaled at the free end of said lower arm, said holder means coupled with and driven by said shaft means, said holder means containing gear means, the latter means being driven by said shaft means; slide means journaled about said shaft means; a link member on one end coupled to said slide means while on the other end is pivotably connected between said pair of upper arms, said other end of the link member including belt drive means for rotating said link about said other end thereby causing said lower arm to pivot about the elbow joint; and drive means including a plurality of reduction gear means and belt and pully means for independently rotating said shaft means to cause said holder means to move and pivot in all directions.
Claim 3
Dependent Claim
40 words
The combination as recited in claim 1 wherein said shaft means comprises a hollow tube, and a pair of coaxial shafts concentrically confined within said hollow tube, said hollow tube and co-axial shafts each independently rotatable by said drive means.
Claim 4
Dependent Claim
112 words
The combination as in claim 2 wherein said holder means comprises a wrist member having reduction and bevel gears, said reduction and bevel gears of said wrist member driven by the reduction gears of said co-axial shafts, a first hand member containing reduction and bevel gears, said reduction and bevel gears of said first hand member being driven by said reduction and bevel gears of said wrist member, a second hand member having reduction and bevel gears, said reduction and bevel gears of said second hand member being driven by said reduction and bevel gears of said first hand member thereby allowing said second hand member to pivot about three perpendicular axes.
Claim 5
Dependent Claim
118 words
The combination as in claim 3 wherein said pivot means comprises an elliptical disc, a ball bearing race on said disc, a resilient externally toothed steel bush running on the periphery said race, and internally toothed rigid circular steel ring of identical pitch with said bush teeth said ring having a greater number of teeth than said bush, said bush and said ring being so dimensioned that the teeth of said bush in the region of the larger elliptical axis of said bush are in constant engagement with the teeth of said ring, said base being connected to said disc so that as motive power is supplied to said bush, said base may pivot to any desired position.
Claim 6
Dependent Claim
63 words
The combination as in claim 4 wherein said drive means comprises a plurality of electric motors each coupling and driving one of said plurality reduction gear means with one of the belt and pulley means for independently driving each of said hollow tube and said pair of co-axial shafts thereby allowing independent rotation of said wrist, said first hand, and said second hand.
Claim 7
Dependent Claim
44 words
The combination as in claim 5 wherein a plurality of adjustable wire ball bearings is rotatably supporting said second hand, said bearings including races that are held against one another by a plurality of bolts so as to allow for pretensioning of said bearings.
Claim 8
Dependent Claim
17 words
The combination as in claim 5 wherein said plurality of electric motors are contained in said frame.
Claim 9
Dependent Claim
68 words
The combination as in claim 4 wherein each of the ends of said co-axial shafts and said hollow tube located in the elbow joint contain one of said plurality of reduction gear means so that one of said plurality of belt and pulley means when each is Independently driven by one of said plurality of electric motors will cause said holder means to rotate about three perpendicular axes.
Claim 10
Dependent Claim
30 words
The combination as in claim 7 further including hydraulic means for actuating said link in conjunction with the belt drive means thereby pivoting said lower arm about said elbow joint.
Claim 11
Dependent Claim
51 words
The combination as in claim 9 wherein the reduction and bevel gears for said second hand, the reduction and bevel gears of said first hand, and the reduction and bevel gears of said wrist are supported by an enclosed bush member integrally formed at the free end of said hollow tube.
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1977-07-29 | 1978-01-28 | 1978-07-30 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1981-07-29 | 1982-01-28 | 1982-07-30 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1985-07-29 | 1986-01-28 | 1986-07-30 | $7700.00 | Window Closed / Lapsed |