ARTICULATED STRUCTURE OF A MULTIPLE-AXIS ROBOT AND ROBOT COMPRISING SUCH A STRUCTURE

摘要

PURPOSE: An articulated structure of a multi-shaft robot and a robot including the same are provided to ensure vertical immobility of the load by a tool bearing member because a coupling washer ensures the coupling of a shaft and a brake is not required. CONSTITUTION: An articulated structure of a multi-shaft robot comprises a fixed frame, an arm, a first electric actuator, a forearm, a second electric actuator, a tool fixing shaft (15), a third electric actuator, and a fourth electric actuator. A slide socket (14A) can rotate around a third shaft (Z3) relative to a forearm and is connected to be translated relative to the forearm. An engaging member of the slide socket cooperates with one or more vertical grooves (15A) of the shaft. A coupling device fixes the slide socket and a nut socket (14B) to be rotated. The slide socket and the nut socket are arranged in the end of the forearm.