Source: https://patents.justia.com/patent/4662815
Timestamp: 2019-10-14 00:50:35
Document Index: 496002864

Matched Legal Cases: ['arts 1', 'arts 1', 'art 3', 'art 2', 'art 1', 'art 3', 'arts 1']

US Patent for Manipulator head assembly Patent (Patent # 4,662,815 issued May 5, 1987) - Justia Patents Search
Justia Patents Grab Has Swinging Movement In Plural PlanesUS Patent for Manipulator head assembly Patent (Patent # 4,662,815)
Jul 26, 1984 - Kuka Schweissanlagen+Roboter GmbH
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As seen in FIGS. 1 through 5 the head assembly according to this invention basically comprises inner, intermediate, and outer parts 1, 2, and 3 of external cylindrical shape and centered on respective axes 1A, 2A, and 3A. The parts 1, 2, and 3 abut each other flatly at planes P and P' extending at an angle a of 60.degree. to each other and at angles a/2 of 30.degree. to the respective axes 1A and 3A.
More specifically, when the outer part 3 is rotated through 180.degree. about the axis 6 relative to the intermediate part 2 as shown in FIG. 2, the tool 11 will be swiveled in a spiral from a position aligned with the axis 2A to a position offset therefrom by the angle a. Once in this position it is possible as shown in FIG. 3 to rotate the part 1 relative to the arm 4 about the axis 1A and thereby rotate the tool 11 through a circular arc centered on the axis 2A. Obviously the radius of this arc can be changed by rotating the outer part 3 about the axis 6 through less than 180.degree..
Similarly, as shown in FIG. 4, it is possible to rotate the parts 1 and 2 relative to each other through 180.degree. about the axis 5, leaving the tool 11 offset relatively far from the axis 1A. Thus the system of this invention can move the tool 11 smoothly about virtually any diameter arc centered on a given point that is in fact traversed by the axis 1A.
4502347 March 5, 1985 Norris et al.
2435156 February 1976 DEX
2402829 May 1979 DEX
2745932 May 1980 DEX
2619336 August 1980 DEX
2927485 January 1981 DEX
2094160 September 1982 JPX
905065 February 1982 SUX
Assignee: Kuka Schweissanlagen+Roboter GmbH (Augsburg)
Inventor: Ernst Zimmer (Friedberg)
Application Number: 6/634,753
Current U.S. Class: Grab Has Swinging Movement In Plural Planes (414/735); Wrist (901/29); Including Bevel Gear (901/26)