Robot arm with several kinematic arm units

摘要

The segment housing consists of two half-shells (2,2';13,13') with inner lining plates (4,4';14,14') forming a double-wall construction with a space (5) between the walls. In the gap of the fork end of the lower segment (i) fits the housing of the next segment (12), where it is mounted on the hinge pivot bearing (15). Seals (6) exclude the outside atmosphere from the interior of the segments. Power supply lines to the arm servo motors and the robot tool pass along the space between the half-shells and inner lining plates.