Delta robot for increased requirements on dynamics, hygiene and protection against the consequences of collision

1. A delta robot for increased requirements on dynamics, hygiene and protection against the consequences of collision, comprising:

a stationary housing, in which at least three drives are installed;

at least three elongate upper arms, each of which is connected to one of the at least three drives;

at least three pairs of elongate and mutually parallel lower arms, each lower arm comprising a stainless steel tube having a first end connected to a free end of one of the upper arms through a ball joint; and

a movable parallel plate connected to a second end of each of the stainless steel tubes through a ball joint;

wherein each ball joint comprises a ball head and a ball socket, at least one of which is attached to the first or second end of one of the stainless steel tubes.

2. The delta robot according to claim 1 , wherein the ball head or the ball socket of each ball joint is connected to an end face of one of the stainless steel tubes via a weld seam.

3. The delta robot according to claim 2 , wherein the weld seam extends over the entire end face of the stainless steel tube.

4. The delta robot according to claim 3 , wherein each ball head or ball socket includes a centering spigot or three guide lugs that project into the corresponding stainless steel tube.

5. The delta robot according to claim 4 , wherein a ball centre point of the ball head or of the ball socket of at least one of the ball joints is displaced in a radial direction with respect to a centre axis of the stainless steel tube, to which the ball head or the ball socket is attached.

6. The delta robot according to claim 1 , wherein a connection between the ball head or ball socket of at least one of the ball joints to one of the stainless steel tubes comprises at least one of a soldered joint, an adhesive bond, and a shrink fit.

7. The delta robot according to claim 6 , wherein a part of a component defining the ball socket of at least one of the ball joints is telescopically inserted into one of the stainless steel tubes.

8. The delta robot according to claim 1 , wherein at least one of the ball joints includes a ball head that is internally hollow.

9. The delta robot according to claim 1 , wherein at least one of the ball sockets comprises two openings and encloses the corresponding ball head approximately annularly.

10. The delta robot according to claim 1 , wherein at least one of the ball sockets encloses the corresponding ball head over an angle of about 180° relative to a ball centre point of the ball socket.

11. The delta robot according to claim 1 , wherein at least one of the ball joints includes a plastic layer between an interior surface of the ball socket and the ball head.

12. The delta robot according to claim 11 , wherein the plastic layer is a plastic insert mounted in the ball socket.

13. The delta robot according to claim 1 , wherein at least one of the stainless steel tubes has a profile shape selected from the group consisting of a circle, an oval, an ellipse, and a rectangle.

14. The delta robot according to claim 1 , wherein each of the at least three drives is selected from the group consisting of a rotating servo motor, a linear motor, a stepping motor, a hydraulic cylinder, a pneumatic cylinder, and a piezo crystal.

15. The delta robot according to claim 1 , wherein each stainless steel tube includes an inner space that is sealed in a watertight manner by the ball head or ball socket attached to the first and second ends of the stainless steel tube.