Drive unit and joint for articulated robot and handling equipment, has toothed rack and toothed wheel converting linear movement into rotation movement to obtain backlash by elastic and radial pressing of toothed rack and toothed wheel

摘要

The drive unit and joint have a toothed rack (40) and a toothed wheel (60) converting a linear movement into a rotation movement to obtain backlash by elastic and radial pressing of the toothed rack and the toothed wheel. The linear movement is produced by a position-controlled linear drive that consists of a ball screw drive (30), an electric motor and a hydraulic- or pneumatic cylinder. The linear drive is characterized by an electromechanical direct drive. Forces for pressing the toothed rack are transferred over a metal roller and/or a metal ball. An independent claim is also included for a rotary unit or a servo drive for a handling equipment or a manipulator.