| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot arm with a structure capable of obtaining buffering action by a relatively simple structure. <P>SOLUTION: An XθZ type wire-driven robot arm includes a first arm 1 which turns by a θ-axis rotating means 7 and a second arm 2 coupled with a tip of the first arm 1 and capable of swinging vertically and laterally. The robot arm includes a working area at the tip of the second arm 2, supports a laterally swinging axis 4 at the tip of the first arm 1, supports a vertically swinging axis 5 supported by a base of the second arm 2 on the laterally swinging axis 4, and includes a buffering means 6 between the first arm 1 and the second arm. The buffering means 6 includes a posture keeping means for guiding the second arm 2 to a regular posture with respect to the first arm 1 and a retreat means capable of guiding the second arm 2 so that the tip of the second arm 2 can move to the right and left and upward from the regular posture with respect to the first arm 1. <P>COPYRIGHT: (C)2012,JPO&INPIT |
