Junge, H.H.Junge2022-03-082022-03-081988https://publica.fraunhofer.de/handle/publica/302027Drive module (50) for working joint of industrial robots, having a reduction gearing (19) driven by an electric motor (13) which drives a coupling flange (4) accommodated in a housing (3), and having a further coupling flange (4'') arranged at an angle to the driven coupling flange (4) and having a suitable coupling shape. In order to make the drive module suitable for use with flexible robot wrist joints, it is designed so that the further coupling flange (4', 4'', 4''') is arranged at a constant angle to the driven coupling flange (4) on the housing (3), and so that the coupling flange (4', 4'', 4''') of other drive modules (50', 50'') and/or other tools having a corresponding coupling shape, can be directly connected to the coupling flange (4 to 4''') of the drive module (50).de608patent1987-3704951