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1. 发明公开

KR1020130100749A 다중-축 로봇의 관절화된 구조 및 그러한 구조를 포함하는 로봇 审中-实审
标题翻译：多轴机器人的结构和包含这种结构的机器人
公开(公告)号：KR1020130100749A
公开(公告)日：2013-09-11
申请号：KR1020130022450
申请日：2013-02-28
申请人： 스또블리 파베르쥬
发明人： 제라트뱅상 , 콩라르조엘 , 살레에릭
IPC分类号： B25J18/00
CPC分类号： B25J18/00 , B25J9/044 , B25J19/06 , Y10S901/21 , Y10S901/41 , Y10T74/18624 , Y10T74/20317
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.
摘要翻译：目的：提供多轴机器人和包括该多轴机器人的机器人的铰接结构，以确保工具轴承构件的负载的垂直不动，因为联接垫圈确保不需要轴和制动器的联接。构造：多轴机器人的铰接结构包括固定框架，臂，第一电致动器，前臂，第二电致动器，工具固定轴（15），第三电致动器和第四电致动器。滑动插座（14A）可相对于前臂围绕第三轴（Z3）旋转，并且被连接以相对于前臂被平移。滑动插座的接合构件与轴的一个或多个垂直槽（15A）配合。联接装置固定滑动插座和要旋转的螺母插座（14B）。滑动插座和螺母插座布置在前臂的末端。

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