| 摘要 |
1. Gear head for manipulators, consisting of three head parts (1, 2, 3) disposed one behind the other and mounted about axes (5, 6) inclined with respect to each other, the inclined axes (5, 6) of which head parts, in the elongated position of the gear head, respectively form an acute angle (alpha), opening in opposite directions, with the longitudinal axis (4) of the gear head and intersect so that the angle legs formed by the inclined axes (5, 6) point towards a common side of the longitudinal axis (4), a surface (12) for the flange-mounting of a tool, extending in the elongated position at right angles to the longitudinal axis (4), being disposed on the front gear head part (3) and three drive shafts (13, 18, 26), extending concentrically to the longitudinal axis (4), being provided for driving the gear head parts (1, 2, 3), of which drive shafts one of the inner drive shafts (18) is connected by way of an angle drive (19, 20) and an intermediate shaft (21) rotating about the inclined axis of rotation (5) to the front head part (3) supporting the tool and the other of the inner drive shafts is connected by an angle drive (14, 15), whereof the output gear (15) surrounds the intermediate shaft (21) concentrically with play, to the central gear head part (2) and that disposed in the central gear head part (2) is at least one reduction gear (25) having a high reduction ratio, for the drive of the front gear head part (3), preferably also a reduction gear (17) of this type for the drive of the central gear head part (2). |
