Articulated structure of a multiple-axis robot and robot comprising such a structure

摘要

#CMT# #/CMT# The structure (1) has a forearm (12) hinged to an arm (11) about an axis (Z2). The forearm has a main connecting rod (121) and a secondary connecting rod (122) that are hinged to plates (123, 124). A first electric actuator (21) controls pivoting of the arm. A second electric actuator (22) controls pivoting of the forearm. A third electric actuator (23) i.e. rotary actuator, controls pivoting of the first connecting rod relative to the plates about axes (X14, X24) that are perpendicular to the vertical axis and a vertical axis (Z1). The third actuator is mounted on a base (10) or on the arm. #CMT#USE : #/CMT# Articulated structure for a multi-axis robot (claimed) i.e. selective compliant articulated robot arm (SCARA) type robot. #CMT#ADVANTAGE : #/CMT# The third actuator is mounted on the base or on the arm, so as to avoid a need to move the third actuator by the forearm, when the forearm performs pivoting motion about the vertical axis, thus significantly decreasing the inertia of the forearm, and hence enabling high speed movements for an end of the structure that carries a tool. #CMT#DESCRIPTION OF DRAWINGS : #/CMT# The drawing shows a longitudinal sectional view of an articulated structure in its rectilinear configuration. X14, X24 : Axes Z1, Z2 : Vertical axes 1 : Articulated structure 10 : Base 11 : Arm 12 : Forearm 21-23 : Electric actuators 121 : Main connecting rod 122 : Secondary connecting rod 123, 124 : Plates.