| 摘要 |
PROBLEM TO BE SOLVED: To prevent an arm mechanism from coming off while a robot is in operation, and make the arm mechanism to be easily attached or detached when necessary, so as to make the robot easily operable.SOLUTION: The arm mechanism 7 of the robot 1 is provided with a biasing unit 24 laid over between a pair of links 21, 22 connected to an arm 20. Each link 21, 22 has a locked portion 81, 82. The biasing unit 24 has a housing 60 housing a biasing member 66, and a pair of locking portions 61, 62 each locking with the locked portion 81, 82 of each link 21, 22. Each locking portion 61, 62 has an installation hole 73, 78 into which the locked portion 81, 82 is inserted, and a cutout portion 75, 80 formed by cutting out a part of a peripheral portion 74, 79 surrounding the installation hole 73, 78. The installation hole 73, 78 opens outward from the locked portion 61, 62 via the cutout portion 75, 80. |
