| 摘要 |
PROBLEM TO BE SOLVED: To prevent a smooth operation from being hindered by catching foreign matter between an upper arm part and a lower arm part at a part of an elbow joint of a human type robot. SOLUTION: The upper arm part 16 and the lower arm part 17 are connected together by a nearly cylindrical elbow joint 20, and can be bent between an extended position nearly linearly extended and a bent position bent frontward. The position of the axis L of the elbow joint 20 is displaced more frontward than the center of the width W of the upper arm part 16 and the lower arm part 17, and tilting surfaces 16a and 17a tilting toward the elbow joint 20 are formed on the rear faces of the upper arm part 16 and the lower arm part 17 continuing to the elbow joint 20. By shifting the position of the axis L of the elbow joint 20 frontward, the foreign matter is prevented from being caught on the front side of the elbow joint 20 when the lower arm part 17 is rotated forward toward the bent position, and by forming the tilting surfaces 16a and 17a, the foreign matter is prevented from being caught on the rear side of the elbow joint 20 when the lower arm part 17 is rotated backward toward the extended position.
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