ROBOT UNIT HAVING SEPARATE ACTUATORS AND A COMMON COUNTER ACTUATOR DEVICE FOR MULTIPLE MEMBERS

The invention relates to a robot unit (1) for a technical apparatus, having: a base (2) via which the robot unit (1) can be arranged on the technical apparatus, a first member (10) which is mounted pivotably on the base (2), and a second member (11) which is mounted pivotably on the base (2) or on the first member (10), the first member (10) and the second member (11) each being movable in one direction (53) relative to a degree of freedom (50) by means of a separate actuator (5). According to the invention, to reduce the number of drive units in comparison with full actuation, the first member (10) and the second member (11) are only movable together counter to the direction (53) relative to the degree of freedom (52) by means of a single counter actuator device (6). 本发明涉及一种用于技术设备的机器人单元(1)，机器人单元具有：基座(2)，机器人单元(1)可以通过基座布置在技术设备上；第一节(10)，第一节以可转动的方式支承在基座(2)上；以及第二节(11)，第二节以可转动的方式支承在基座(2)或者第一节(10)上，其中，第一节(10)和第二节(11)可以分别借助单独的致动器(5)关于一个自由度(50)在一个方向(53)上移动。现在，为了相对于完全致动减少驱动单元的数量，根据本发明设置为，第一节(10)和第二节(11)可以借助一个反向致动器装置(6