PITCH AND ROLL ROBOT JOINT AND INDUSTRIAL ROBOT

摘要

A pitch and roll robot joint (10) including a differential gear, comprising a base structure (20), a pitch housing (60) rotationally supported in the base structure (20), a roll shaft (70) rotationally supported in the pitch housing (60) and including a planet gear wheel (76) of said differential gear wheel, left and right transversally oriented drive shafts (80) rotationally supported in the pitch housing (60), each drive shaft including a side gear wheel (82) of said differential gear in engagement with the planet gear wheel (76) for providing pitch movement to the pitch housing (60) and roll movement to the roll shaft (70). According to the invention, the joint has left and right drive transmissions (100), each transmission being in operative engagement between a respective pair of a motor shaft (92) and one of said drive shafts (80).