| 摘要 |
<p>A small pass machining apparatus which is fitted to the distal end of a wrist of a robot and is operated independently of a robot main body. First and second driving units (M1, M2) are fixed to a base (8) with their output shafts in parallel with each other. First and second rotary arms (11, 12) are fitted to output shafts (15, 16) of reduction gears (D1, D2) directly coupled to these driving units (M1, M2) and rotate on a plane orthogonally crossing the output shafts. These rotary arms (11, 12) and links (13, 14) connecting these rotary arms constitute a link mechanism having five joints, for example. A tool (2) is fitted to this link mechanism and the rotating quantities of the first and second rotary arms (11, 12) are detected. In this way, the position of the coordinates of the tool (2) can be computed.</p> |
