| 摘要 |
<p>The invention relates to a robot arm for a portal robot, with a working head (22) which is movable in three linear directions (X,Y,Z) and about two axes of rotation (a, c), and with a tool (A) which is provided on the working head and is intended for grasping bound stacks (K) of flat cardboard blanks by means of a suction device (11, 12) placed on the upper side of the stack and a pivotable underside-gripping device (13), the robot arm having the following distinguishing features: the mechanical coupling between the working head and the tool separable therefrom is effected via a multi-jaw chuck (M) which is provided on the working head and grasps a cylindrical surface of the tool; during the mechanical coupling between the working head and the tool, the connection of the suction device to a low-pressure source is effected by means of plug-in couplings (3) which are connected to said suction device via flexible lines (4); a pushing device (33) provided on the working head actuates the underside-gripping device of the tool via a lever arrangement (16, 6, 7, 34). <IMAGE></p> |
