US 11,850,731 B2
Robot unit having separate actuators and a common counter actuator device for multiple members
Georg Bachmaier, Munich (DE); Christian Bachmann, Munich (DE); Guillaume Pais, Munich (DE); Iason Vittorias, Munich (DE); and Wolfgang Zöls, München-Lochhausen (DE)
Assigned to SIEMENS AKTIENGESELLSCHAFT, Munich (DE)
Appl. No. 16/489,116
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Feb. 8, 2018, PCT No. PCT/EP2018/053166
§ 371(c)(1), (2) Date Aug. 27, 2019,
PCT Pub. No. WO2018/158060, PCT Pub. Date Sep. 7, 2018.
Claims priority of application No. 10 2017 203 237.5 (DE), filed on Feb. 28, 2017.
Prior Publication US 2019/0389079 A1, Dec. 26, 2019
Int. Cl. B25J 15/00 (2006.01); B25J 9/10 (2006.01)
CPC B25J 15/0009 (2013.01) [B25J 9/104 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A robot unit for a technical apparatus, the robot unit comprising:
a base connecting the robot unit to the technical apparatus; a first member pivot-mounted on the base; and
a second member pivot-mounted on the base or the first member;
a set of primary actuators, wherein the first member and the second member are each movable in one direction relative to a degree of freedom by a separate actuator of the set of actuators, wherein each one of the separate actuators acts on only one member; and
a shared counter actuator device working on both the first member and the second member, wherein the first member and the second member only move together counter to the direction relative to the degree of freedom and are moved by the shared counter actuator device.