| 摘要 |
<p>OUTER ARM ASSEMBLY FOR INDUSTRIAL ROBOT An industrial robot is disclosed which includes three primary drive units (21, 22, 23) defining three separately controlled axes of movement, and an outer arm assembly (16) having three additional drive units (90, 91, 92) for providing three additional axes of movement. The three primary drive units each include an electrical motor which has its rotor and stator each coaxially disposed about the axis of movement, so as to eliminate the need for any torque converting drive train between the motor and output components. The three drive units of the outer arm assembly comprise three electrical motors, and these three motors are serially mounted, with the rotors and stators thereof being coaxially disposed about a common axis, and with the rotors being fixed to respective ones of three coaxially mounted tubular members (98, 99, 100), which serve to transmit movement to the workpiece engaging gripper (19) of the robot.</p> |
