MODULAR UNIT WITH THREE-STAGE JOINT

摘要

Modular unit with three-stage joint is designed for construction of industrial robots and manipulators, which require lightweight and compact arm construction with ability of movement of the wrist end element in three spatial movement axes. The wrist movements have minimal mutual mechanical dependence, thus enabling to achieve higher speed parameters of their parts in both movement directions and less complicated construction design. The movements of the separate parts of the joint (7) are provided for by three servo drives (3, 5, 11), where the first one is positioned in the rear part of the unit either fixedly or moveably and by means of it, together with the joint (7) the remaining two servo drives (5, 11) are rotating. The drive torque for the joint (7) movement is transferred from them by means of a system of counter gears and transmissions positioned in the tilting body (10) and in the joint (7). The transmission (14) for actuation of the end element (17) can be positioned in a way to actuate the end element (17) directly or via the conical toothed gear assembly (15, 16).<IMAGE>