| 摘要 |
The invention concerns a robot (1) whereof the manipulating arm (5) is fixed to a hub (9) by axial tapping wherein is engaged screwed the threaded part of a driving shaft (8) coupled with the output shaft of a motor (6) controlled by a command and control unit (7). A braking mechanism linked to the hub (9) and the driving shaft (8) ensures that one is locked with respect to the other as long as the moment of resistance exerted on the hub (9) is less than a predetermined value, and enables the rotation of one with respect to the other when said moment is equal to said value. A mechanism (10) for rotation locking, capable of being activated by the unit (7), is further provided to lock in rotation the hub (9) and the arm (5), when said mechanism is activated to block the hub and/or the arm, the latter is capable of being vertically translated by activating the motor (6).
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