| 摘要 |
<P>PROBLEM TO BE SOLVED: To obtain a multijoint robot for making its apical end perform up-and-down translatory movement while reducing a space occupied by the multijoint robot. <P>SOLUTION: The multijoint robot 50 includes a first arm 21 allowed to rotate on a first rotating shaft 13a, a sliding portion 6 traveling along the first arm, a first link 3 coupled to the sliding portion via a second rotating shaft 13b, a first apical end 10 coupled to the first link 3 via a third rotating shaft 13c, and a second link 4 which is coupled to the first arm via a fourth rotating shaft 13d and besides is coupled to the first link via a fifth rotating shaft 13e. The second rotating shaft is provided nearly perpendicularly to an extending direction of the first rotating shaft and first arm, while the fourth rotating shaft is provided at a nearly central portion between the second and third rotating shafts. The fifth rotating shaft is located on an extended line on which the sliding portion travels. The distance between the fourth and fifth rotating shafts is approximately half of the distance between the second and third rotating shafts, while the third, fourth and fifth rotating shafts are provided nearly parallel to the second rotating shaft. <P>COPYRIGHT: (C)2013,JPO&INPIT |
