Industrial robot with arm having four degrees of freedom - uses harmonic drive transmission to control movement of joints

摘要

An industrial robot for handling e.g. crankshafts, is mounted on a turret (1) which can rotate about its vertical axis. The arm (2), which is able to rotate about its horizontal axis (7), houses a ball screw drive (3) which moves the extension (5) in the horizontal direction (III) when driven by the motor (4). The arm (2) also houses the motors and associated harmonic drive transmissions which rotate the extension (6) about the longitudinal horizontal axis (IV) and about the radial axis (V). There is also a motor which rotates the disc (15) which carries the tool or workpiece about the axis which is parallel to the axis of the extension (5). The disc (15) thus has four degrees of freedom.