Industrial robot for automatic handling and/or processing of objects, has force storage devices connected with piston, which comprises two guiding devices supported on inner raceways in radial direction in axially displaced manner

摘要

The robot has a robotic arm comprising axles, and a weight balancing device (10) for the axles, where the weight balancing device comprises force storage devices (35, 35'). The force storage devices stay in connection with a piston (24). The piston is coupled with the robotic arm by a piston rod (18). The piston comprises two guiding devices (25), which are supported together on inner raceways (23) in a radial direction in an axially displaced manner. The guiding devices comprise guiding paths that are aligned at right angle together, and two running bodies e.g. roller bearings (26, 27). The running bodies are designed as sliding bearings.