초록 ▼

A device for torsion-proof connection of a number of elements (11, 12) in direct or indirect rolling contact with each other, which together make a robot arm or the like, whereby the elements are held together and actuated by force transmitting actuators, for example cords. The object of the present

A device for torsion-proof connection of a number of elements (11, 12) in direct or indirect rolling contact with each other, which together make a robot arm or the like, whereby the elements are held together and actuated by force transmitting actuators, for example cords. The object of the present invention is to provide a device with which the individual elements of a robot arm can be torsionally locked so that it can bear significant torsional forces without detoriating the rolling characteristics of the elements. This object has been achieved by the fact that the elements (11, 12; 15) pairwise, with their rolling surfaces (13) turned towards each other, being connected with each other through a torsion member (14) which is flexible and/or joined in the rolling direction of the elements (11, 12) and which has a great stiffness across the rolling direction.

대표청구항 ▼

A robot arm comprising: a plurality of elements having rolling surfaces in cooperating rolling relationship with respect to each other in a rolling direction, at least one element of an adjacent pair of said elements having a curved rolling surface; actuating means operatively related to said elemen

A robot arm comprising: a plurality of elements having rolling surfaces in cooperating rolling relationship with respect to each other in a rolling direction, at least one element of an adjacent pair of said elements having a curved rolling surface; actuating means operatively related to said elements for holding said elements together and actuating said elements for producing cooperating rolling movement of said elements on said curved rolling surfaces in said rolling direction; and at least one torsion member of substantially sheet-like material, said material extending over at least substantially the entire width of at least an adjacent pair of said elements in a direction transverse to said rolling direction, connecting said adjacent pair of elements together, said at least one torsion member being flexible in said rolling direction and being substantially stiff in said transverse direction, so that said at least one torsion member provides a substantially torsion-resistant connection that retains said adjacent pair of elements in said cooperating rolling relationship in any position of rolling in said rolling direction and substantially prevents relative rotation between said adjacent pair of elements in said transverse direction.