Industrial robot for safe handling of heavy load, has robot arm moved relative to lifting mechanism in horizontal plane by joints, and resilient clutch arranged in joint so as to ensure actuator decoupled motion of robot arm segment

摘要

The robot has a lifting mechanism (10) which positions a support (11) in vertical direction, and a robot arm (20) connected with support of lifting mechanism. The robot arm has arm segments (21) supported at the support over a joint (32) which has actuator for moving the arm segment. The robot arm is moved relative to the lifting mechanism in a horizontal plane (2) by the joints, so that all vertical forces are received by the joints and lifting mechanism. A resilient clutch is arranged in the joint so as to ensure actuator decoupled motion of respective arm segment.