| 摘要 |
PROBLEM TO BE SOLVED: To provide a horizontal articulated robot capable of securing a wide movable range thereof while maintaining response performance and positioning precision.SOLUTION: In a scalar robot, a connecting shaft 12 rotatably supporting a base end of a first arm 13 is arranged at a pedestal 11 and is normally and reversely rotated around its axial core C1 by a first motor M1. A support shaft 14 supporting a base end of a second arm 15 is connected with a distal end of the first arm 13 and is normally and reversely rotated around its axial core C2 by a second motor M2. A main shaft 16 having an axial core C3 is installed at a distal end of the second arm 15. The first arm 13 is eccentric with respect to a center line connecting the axial core C1 with the axial core C2. A recessed portion 13d recessed to the right side is formed on the left side face of the first arm, and namely is formed to have a curved shape to the right side. A distance between the axial core C2 and the axial core C3 is shorter than a distance between the axial core C1 and the axial core C2, and therefore the main shaft 16 can be positioned so as to enter the recessed portion 13d. |
