Delta robot for packing lightweight foodstuff, has spring comprising hooks at both ends attached to pins in pivot connectors, and bracket formed at each pivot connector and connected with rods at both side pieces of bracket

摘要

The robot has a goods sensor (41) mounted at a movable parallel plate (4), and ball joints (5) adjacent to parallel rods (32) and aligned mirror-symmetric to each other. Each ball joint has a complementary ball scraper (52) impressed on an associated spherical segment head (51), in which a tension spring (7) is clamped between the rods. The spring has hooks at both ends attached to pins in pivot connectors. A bracket is formed at each pivot connector, and connected with the rods at both side pieces of the bracket. An independent claim is also included for a method for assembly of a tension spring, pivot connectors and a housing in a delta robot.