| 摘要 |
PROBLEM TO BE SOLVED: To provide a closed link robot device having a wide movable range for a hand, having the small size, hardly causing dust, and suitable for a clean work environment. SOLUTION: This closed link robot device is provided with a motor supporting part 3 laterally provided with a second motor 4 and a third motor 5, a first arm 7 coupled by a gear with the driving side of the second motor 4, a second arm 9 rotatably connected to the tip of the first arm 7 through a pin 8, a third arm 10 coupled by a gear with the driving side of the third motor 5, a fourth arm 12 rotatably connected to the tip of the third arm 10 through a pin 11 and having the tip rotatably connected to the intermediate part of the second arm 9 through a pin 13, a fourth motor 14 provided on the tip of the second arm 9, a hand 6 connected to the driving side of the fourth motor 14, and a first motor 2 for horizontally rotating the motor supporting part 3. The motor supporting part 3, the first arm 7, the second arm 9, the third arm 10 and the fourth arm 12 form a closed link, and the second arm 9 and the fourth arm 12 are bent inward into the V shape. |
