| 摘要 |
A multi-axis industrial robot consists of a frame (2), a rocker (3) which can rotate and swivel, a swivelling cantilever (6) and a multi-membered robot hand (8) which can rotate and swivel and whose members are driven by motors (10, 11, 12) arranged on the cantilever (6). The cantilever (6) is mounted (27) on one side on a one-armed rocker (4). At least two motors (10, 11, 12) are arranged side by side on the cantilever in the direction of its swivelling axis (7). In a three-motor arrangement, the motors (10, 11, 12) are arranged with their axles (13) in a short-sided triangle the base of which faces the bearing (27) of the cantilever (6). Alternatively, the motors are arranged with their drive side (15) facing the robot hand (8) and located close to each other and at a distance behind the bearing (27) at the end of the cantilever (6) or, when in the rotated position, with their drive side (15) remote from the robot hand (8) and level with the bearing (27). |
