| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of restricting the amount of air mixed into hydraulic fluid.SOLUTION: A robot includes a fluid pressure source which varies fluid pressure by supplying or sucking hydraulic fluid, and a fluid pressure drive device 10 which operates according to the variation of fluid pressure and drives an end effector (a hand). The fluid pressure drive device 10 comprises a first cylinder 11, a first piston 12 which reciprocates in the first cylinder 11 according to the variation of the fluid pressure, a rod 13 one end of which (a contact part 13A) comes into contact with the first piston 12 and the other end of which is connected with the end effector, and a torsion spring 14 which urges the rod 13 in the direction where the one end of the rod 13 and the first piston 12 come into contact with each other. The one end of the rod 13 and the first piston 12 are constituted to be separable from their contact state. |
