Multi-articulated industrial robot with several degrees of freedom of movement

Claim 1

A multi-articulated industrial robot with several degrees of freedom of movement, comprising: a first group of n coaxial hollow shafts rotatably supported in respect of each other about their axis in a column, connected at one end to a group of n helical gears coupled to motor driven means for transmitting motion, the outermost one of said hollow shafts being connected at the opposite end to a first rotation support with slanted axis, each of the remaining n-1 inner shafts carrying a bevel gear; a first articulated joint comprising a first group of n-1 coaxial bushes, rotatably mounted in respect of each other about an axis which is slanted in respect of the axis of said first group of n hollow shafts in said first rotation support, and coupled at one end with bevel gears to said n-1 inner hollow shafts of said first group of hollow shafts, and provided at the opposite end, but for the outermost bush, with n-2 bevel gears, the outermost bush carrying instead a second rotation support; a second group of n-2 coaxial hollow shafts rotatably supported in respect of each other about their axis in a third rotation support which is secured to said second rotation support, coupled at one ends to said n-2 bevel gears of said first group of bushes, and at the opposite end the outermost one of said hollow shafts being connected to a fourth rotation support with slanted axis, and each of the n-3 inner hollow shafts carrying a bevel gear; a second articulated joint comprising a second group of n-3 coaxial bushes, rotatably mounted in respect of each other about an axis which is slanted in respect of the axis of said second group of n-2 hollow shafts in said fourth rotation support, and coupled at one end through bevel gears to said n-3 inner hollow shafts of said second group of hollow shafts, and provided at the opposite end, but for the outermost bush, with n-4 bevel gears, the outermost bush carrying instead a fifth rotation support; a third group of n-4 coaxial hollow shafts, rotatably mounted in respect of each other about their axis in a sixth rotation support fastened to said fifth rotation support, and coupled at one end to said n-4 bevel gears of said second group of bushes, and the outermost one of said shafts being connected at the opposite end to a seventh rotation support with slanted axis, and each of the n-5 inner hollow shafts carrying a bevel gear; a third articulated joint comprising a third group of n-5 coaxial bushes, rotatably mounted in respect of each other about an axis slanted in respect of the axis of said third group of n-4 hollow shafts in said seventh rotation support, and coupled at one end through bevel gears to said n-5 inner hollow shafts of said third group of hollow shafts, the outermost bush carrying at the opposite end an eighth rotation support, and the n-6 inner bushes carrying n-6 bevel gears coupled to n-6 end bushes rotating about an axis which is offset but parallel to the axis of said third group of hollow shafts and provided with respective bevel gears for supporting and/or actuating the robot tools.