| 摘要 |
PROBLEM TO BE SOLVED: To provide a carrying device capable of reducing load to a wrist of a robot. SOLUTION: The carrying device 1 is mounted on the wrist 6 of the robot 2, and includes a first link 10 and a second link 11. A holding means 13 for sucking and holding a work is provided on a tip end part of the second link 11. The robot 2 reciprocates the arms 4, 5, slides, and expands and retracts the carrying device 1 to carry the work between two points. A balancer 15 is connected to a tip end part of the first link 10 and a tip end part of an upper arm 5. The balancer 15 includes a spring 20, and acts spring force in a shrinking direction in expanding the spring 20. Thereby, when the arms 4, 5 and the carrying device 1 are expanded, the balancer 15 expands and acts force in a direction for lifting up the carrying device 1 so that the load to the wrist 6 can be reduced.
|
