| 摘要 |
<p>An industrial robot for conveying a conveying object comprising:
a hand (3,4) for mounting the conveying object which comprises a mounting part (41,42,43),
the mounting part comprises:
a holding part (42) which is capable of abutting with the conveying object to hold the conveying object; and
an urging member (43) which urges the holding part;
an articulated arm (5) part which comprises at least two arms (7,8) including a hand holding arm (7) that turnably holds the hand (3,4) on its tip end side and which is extended and folded when the conveying object is conveyed;
a main body part (6) which turnably holds the articulated arm part; and
a cam member (83,84) which is provided in the hand holding arm (7) and which is formed with a cam face (83a-j,84a-j) with which the holding part (42) is abutted and which is relatively turned with respect to the hand around a turning center (C) of the hand with respect to the hand holding arm with an extending and folding operation of the articulated arm part;
wherein the cam face is formed so that the holding part is retreated (Fig.13(A)) from the conveying object before the conveying object is conveyed and, with the extending and folding operation of the articulated arm part when the conveying object is conveyed, the holding part is moved in a direction to hold the conveying object (Fig.13(B)).</p> |
