| 摘要 |
The invention relates to an arrangement in an industrial robot for driving translatory motion of a unit (7), which in turn is mounted in a gimbal-type suspension having two mutually perpendicular axes (I,II). A motor (9) with associated resolver is mounted in the pivotable frame of the gimbal-type suspension, this frame being capable of being swung in one direction (I), and the motor drives a pinion (10) which meshes with a rack (11) via a shaft (5) which also constitutes the one journal means of the machine part (4) in which the translatorily movable machine part is movably arranged. To this end the shaft (5) is rotatably journalled to both the frame (1) and the machine part (4) through each of its bearings (19,20). |
