ROBOT DEVICE, AND TRANSFER DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a robot device 21 for specifying a critical line of an operational range A of a tip of a robot arm 25 by a mechanical regulation to facilitate the space saving. SOLUTION: This robot device has a robot body 23 and a robot arm 25. The robot arm 25 is a parallel link structure 24 having a first arm 27, a second arm 28 and parallel links 31 and 32. A pin 51 is provided on the parallel link 32 side. A regulating body 53 to specify the critical line of an operational range B of the pin 51 corresponding to the critical line of the operational range A of the tip of the second arm 28 is provided on the robot body 23 side. The critical line of the operational range A of the tip of the second arm 28 is specified by specifying the critical line of the operational range B of the base end side of the robot arm 25. The critical line of the operational range A of the tip of the robot arm 25 is specified by the mechanical regulation to facilitate the space saving. COPYRIGHT: (C)2003,JPO