Articulated structure for a multi-axis robot and robot with such a structure

摘要

The structure has an electric actuator commanding pivoting of an arm around an axis. A nut-socket (14B) is rotated relative to a forearm around another axis (Z3) and connected in translation relative to the forearm. The nut-socket is provided with engaging elements e.g. balls, that are arranged helically around a movement axis. The balls cooperate with a helical groove (15B) that is arranged on a shaft (15). A coupling device is adapted to rotatably attach the nut-socket and a slide-socket (14A). The slide-socket and the nut-socket are arranged at an end of the forearm.