Robot Base; Outer Arms And Ball Joints - Omron iX4 User Manual

Robot Base

The robot base is an aluminum casting that houses the four drive motors and supports the
iCS-ECAT. It provides four mounting pads for attaching the base to a rigid support frame. The
Status Display panel is mounted on the side of the robot base.

Outer Arms and Ball Joints

The inner arm motion is transmitted to the platform through the outer arms, which are con-
nected between the inner arms and platform with precision ball joints. The outer arms are car-
bon fiber epoxied assemblies with identical ball joint sockets at each end. A bearing insert in
each socket accepts the ball joint studs on the inner arms and platform and allows for approx-
imately ± 60° of relative motion. No ball joint lubrication is required.
Each pair of outer arms is held together with spring assemblies that pre-tension the ball joints
which allows the outer arms to be installed and removed without tools.
The ball joint assembly is shown below.
22793-000 Rev. A
Inner Arm
Ball Stud
Spring
Retainer
Pin
Inner Arm
Figure 1-4. Ball Joint Assembly
Table 1-4. Ball Joint Assembly Descriptions
Key Desctription
A Inner Arm
B Ball Joint Socket
C Ball Joint Stud
D Outer Arm Springs
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Ball Joint
Socket Insert
Outer Arm Spring
Spring Retainer
Key Description
E Outer Arms
F Ball Joint Socket Insert
G Pressed Pin
H Spring Holder
Chapter 1: Introduction
Ball Joint
Socket
15