Industrial robot with rotary frame supporting arm system comprising lower and upper arms

摘要

The lower robot arm is located on its side turned away from its drive unit on an intermediate ring, which outwardly is connected with the outgoing shaft in the upper arm drive unit, and inwardly is connected with a crank arm articulately coupled to a parallel brace for pivoting the upper arm. The intermediate ring is provided on its periphery with a vane, which in conjunction with two frame stops mechanically limits the movement scope of the upper arm.