| 摘要 |
A swivel-jointed robot arm consisting of a plurality of interconnected, rigid links (5,6,7,8) linked together in the fashion of chain links, wherein the links (5,7) are joined to the same intermediate link (6) and adjacent, abutting ends of the links (5,7) are mutually pivotally connected; whereas the flexible robot arm's innermost end link (5) is pivotally supported (1) in relation to a preceding robot arm member (14) having a protruding drive shaft (13) for turning the jointed robot arm about its own axis, and is arranged to be driven by a drive means (16,17,18) in controlled outward swinging movements about said pivotal support (1), while at the same time the inner end of the next successive link (6), which is joined to said end link (5), is pivotally connected to the drive shaft (13) for transmitting a corresponding outward swinging motion to the following links (7,8). The pivotal connection between the mutually abutting ends of two links (5,7 and 6,8 respectively) constitutes a pin (10 ) fixedly attached to one end of one link (7 and 8 respectively), which passes within a hole in a ball (11) that is movably mounted in a bearing (12) attached to the adjacent end of an abutting link (5 and 6 respectively). The pivotal connection between the drive shaft (13) and the next successive link (6) is established in the same manner. |
