Robots with shoulder joint assemblies

Abstract

The invention relates to a robot (1) comprising a torso (19) with a first shoulder joint assembly (2) and a second shoulder joint assembly (3), wherein each shoulder joint assembly (2, 3) comprises the following elements: - a housing (20) in which a globoid worm gear (7) with a worm shaft (8) and a worm wheel (9) is arranged, - a drive unit (10), and - a belt drive (11) which effectively connects the globoid worm gear (7) to the drive unit (10) via a belt (12), wherein the elements of the two shoulder joint assemblies (2, 3) are each substantially identical, and wherein the worm wheels (9) of the two shoulder joint assemblies (2, 3) are arranged in reverse orientation in the associated housing (20).

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