| 摘要 |
PROBLEM TO BE SOLVED: To reduce risk of an arm part falling from an injection part, in a robot arm mechanism having a linear motion joint.SOLUTION: A robot arm mechanism having a linear motion telescopic joint includes: a linear motion joint part J3 having an arm part 2 and a mechanism for linearly expanding/contracting the arm part 2; a stepping motor 301 for generating power for linearly expanding/contracting the arm part 2; a driver unit 401 for driving the stepping motor 301; an encoder 303 for outputting an encoder pulse every time a drive shaft of the stepping motor 301 rotates by a predetermined angle; and a control unit 41 for controlling the driver unit 401 for generating a static torque when length of the arm 2 corresponding to the count of the encoder pulse has reached a threshold value set for fall prevention of the arm 2.SELECTED DRAWING: Figure 3A |
