Robot arm

A robot arm, comprising:

• a plurality of configuration joints determining the configuration of the robot arm, a base frame, a carousel rotatably mounted on the base frame around a first axis of rotation by a first joint of the configuration joints, a link arm pivotably mounted on the carousel around a second axis of rotation by a second joint of the configuration joints, and an arm boom pivotably mounted on the link arm around a third axis of rotation by a third joint of the configuration joints;
• wherein the link arm comprises mechanically separate first and second pivot coupling rods designed to position the third joint in a working space of the robot arm;
• the first pivot coupling rod pivotably mounted on the carousel by a first base bearing;
• the second pivot coupling rod pivotably mounted on the carousel by a second base bearing;
• the arm boom pivotably mounted on the first pivot coupling rod by a first head bearing;
• the arm boom mounted on the second pivot coupling rod by a second head bearing;
• a first drive apparatus configured and arranged to pivotably drive the first and second pivot coupling rods, whereby the first drive apparatus distributes drive energy to be conducted via the link arm for positioning the third joint in the working space to the two pivot coupling rods in order to adjust the arm boom relative to the carousel;
• a second drive apparatus configured to pivotably drive the arm boom on the link arm by transmitting drive energy to the arm boom, thereby adjusting the arm boom relative to the link arm;
• wherein at least one of:
• the first drive apparatus comprises at least one pre-stage gearbox, or
• the second drive apparatus comprises at least one pre-stage gearbox;
• wherein:
• the first drive apparatus comprises:
• a first gear unit designed to transmit part of the drive energy to the first pivot coupling rod, and
• a second gear unit independent of the first gear unit and designed to transmit part of the drive energy to the second pivot coupling rod,
• wherein the first gear unit and the second gear unit are operatively coupled with the at least one pre-stage gearbox;
• or
• the second drive apparatus comprises:
• a first swivel head gear unit designed to transmit part of the drive energy to the arm boom, and
• a second swivel head gear-unit designed to transmit part of the drive energy to the arm boom,
• wherein the first swivel head gear unit and the second swivel head gear unit are operatively coupled with the at least one pre-stage gearbox.