Device for guiding at least one line of a joint arm robot, and joint arm robot
The technology of a manipulator and an articulated arm is applied in the field of equipment for guiding at least one line of the articulated arm manipulator and the articulated arm manipulator
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[0045] Figure 1A , 1B The articulated arm manipulator is shown in two different positions. The articulated arm manipulator 1 refers to, for example, a multi-axis industrial manipulator, especially a six-axis industrial manipulator or medical manipulator. The articulated arm manipulator has a base 8 , a first segment called rocker 4 , which is connected to the base 8 via a first articulated connection R1 . The rocker arm 4 is pivotable about the first articulated connection R1 about a horizontal axis. In addition, the rocker arm 4 is generally pivotable about a vertical axis relative to the base 8 . The rocker arm 4 generally extends upwards in a vertical direction. On a second articulated connection R2, a second segment, commonly referred to as robot arm part 2, is connected pivotally movable about a so-called "axis 3" to a rocker arm 4. Finally, the manipulator hand 3 as the third segment is connected to the second segment 2 via a third articulated connection R3. Finall...
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