| 摘要 |
<p>PROBLEM TO BE SOLVED: To solve the problem in which: load to a robot is increased and an operation device attached to an end effector causes work interference when the size of the operation device is increased.SOLUTION: A manipulator M includes an upper arm 14 with an axis line 18 oscillating a torch support arm 17 at a tip. The manipulator M includes a tilt base 15 rotatably supporting the upper arm 14 around a rotation axis 16. The tilt base 15 is made to support a drive motor 33, and the drive motor 33 and a gear mechanism portion turning a support bracket 45 around a shaft center of a welding torch 19 are connected by a flexible shaft 30. The drive motor 33 to a power source of an operation device attached to the welding torch 19 is moved to the tilt base 15 and the power is transmitted to the operation device, thereby enabling reduction of load to a robot and reduction of work interference regions.</p> |
