Drive system for driving e.g. delta robot in food industry, has Bowden cables arranged between driving apparatus and joint, where force is exerted on joint through cables for movement of joint with degree of freedom of driving apparatus

摘要

The system has Bowden cables (7a, 7b) arranged between a driving apparatus i.e. axle drive, and a joint, where a force is exerted on the joint through the cables for movement of the joint with degree of freedom of the driving apparatus. A pulley, a rope drum and a lever rotate around a rotational axle and are connected with a part of the joint or with the joint such that rotation of the pulley, the rope drum and the lever causes rotation of the joint around the axle. A rope of the cables is connected with the pulley, the rope drum or the lever. The driving apparatus is arranged at a base (1). The joint is designed as a prismatic joint, pivoting joint or a rotatable prismatic joint. Independent claims are also included for the following: (1) a parallel robot (2) a joint robot.