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1. (WO2018158060) ROBOT UNIT HAVING SEPARATE ACTUATORS AND A COMMON COUNTER ACTUATOR DEVICE FOR MULTIPLE MEMBERS

Pub. No.:    WO/2018/158060    International Application No.:    PCT/EP2018/053166
Publication Date: Sat Sep 08 01:59:59 CEST 2018 International Filing Date: Fri Feb 09 00:59:59 CET 2018
IPC: B25J 9/10
B25J 15/00
Applicants: SIEMENS AKTIENGESELLSCHAFT
Inventors: BACHMAIER, Georg
BACHMANN, Christian
PAIS, Guillaume
VITTORIAS, Iason
ZÖLS, Wolfgang
Title: ROBOT UNIT HAVING SEPARATE ACTUATORS AND A COMMON COUNTER ACTUATOR DEVICE FOR MULTIPLE MEMBERS
Abstract:
The invention relates to a robot unit (1) for a technical apparatus, having: a base (2) via which the robot unit (1) can be arranged on the technical apparatus, a first member (10) which is mounted pivotably on the base (2), and a second member (11) which is mounted pivotably on the base (2) or on the first member (10), the first member (10) and the second member (11) each being movable in one direction (53) relative to a degree of freedom (50) by means of a separate actuator (5). According to the invention, to reduce the number of drive units in comparison with full actuation, the first member (10) and the second member (11) are only movable together counter to the direction (53) relative to the degree of freedom (52) by means of a single counter actuator device (6).