| 摘要 |
<p>A robot for handling products in a three-dimensional space is described. The robot comprises a base (1) on which three arms (9) are pivotably supported to pivot around three pivot axes (3) arranged in a common axes plane (4). The three axes form a triangle with three corners. Each arm is mounted on a shaft (2) of a servo motor (6). All motors (6) are connected to a controller (8). Three connecting linkages (19) connect the free ends of the arms (9) to a carrier (22) which is movable in space in all three linear dimensions and prevented from rotation around all three rotative dimensions. A telescopic fourth linkage (43) connects a gripper (30) rotatably supported on the carrier (22) by two joints (42, 46) with a fourth serve motor (48) fixed to the base (1). In the axes plane (4) is an opening (52) through which the fourth linkage (43) extends. The upper joint (46) of the fourth linkage (43) is on an opposite side of the axes plane (4) than the carrier (22). By this measure the range that can be covered by the gripper can be substantially increased for a given arm length.
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