The manipulator robot which includes the device, and that device where it centers the vertical axis, support the shaking arm like the arm of the manipulator robot, turn

摘要

(57) Abstract The robot arm revolution the support (14) can be supported possibly the vertical axis (A) as the center, can turn the reciprocal revolution electric motor (88) due to. The motor (88) the output axis (90) the support (14) it is connected planetary deceleration unit of pair (62,64) by the mechanical deceleration unit which consists of. Both deceleration unit (62,64) the drive component (68,70) the motor (88) the output axis (90) being angular, it is fixed. When the device is on stream, both deceleration unit (62,64) the marginal ring (72,74), the support (14) the structure which is supported (42) it is locked. The marginal ring (72) at least one angular position deceleration unit (62,64), in order to be able to offset play in the internal tooth car device, the vertical axis (A) can be adjusted the center the other ring (74) to in regard.