| 摘要 |
PURPOSE:To make the operation range of an arm following the bending of the arm constant in a state made as small as possible, by constituting a shaking body moving the nozzle mechanism of a robot three-dimensionally of a link connection structure comprising a pipe having high rigidity. CONSTITUTION:When a first shaking body 7 is shaken up and down by alternately rotating the rotary shaft 2 of an actuator 3, the pipes 46, 47 of a first connection pipe 45 respectively generate not only tthe rotations around the axis parallel to te shaking center of the shaking body 7 with respect to a communication member 43 and a connection member 40 but also the rotations opposite to each other at the connection part of both pipes 46, 47 and, therefore, the shaking body 7 is shaken without causing bending or distortion to act on the pipes 46, 47. In the same way, a second shaking body 8 can be shaken left and right by the mutual rotation of the rotary shaft of the second shaking body 8 and, by the like connection of first and second connection pipes 45, 63, the operation range following the bending of the arm becomes always constant.
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