| 摘要 |
PROBLEM TO BE SOLVED: To provide a workpiece transporting robot which prevents occurrence of deviation at a final transporting position by accurately detecting each of respective angles formed among a robot body and arms optically.SOLUTION: The workpiece transporting robot includes the robot body, a plurality of arms connected to the robot body in order via joint sections in a relatively rotatable manner, a wrist block mounted on tip side arms of the plurality of arms in the relatively rotatable manner, a linking means for activating each of the plurality of arms rotatably, and a drive means for driving the linking means in a predefined linked relation. Each of the joint sections among the robot body and the plurality of arms is provided with an angle information display section 42 for displaying information on relative rotational angles among the robot body and arms, and an optical sensor 51 for optically reading the angle information of the angle information display section 42. Therefore, actual rotational angles among the robot body and the arms which relatively rotate with respect to each others via connecting axes of each joint can be detected. |
