| 摘要 |
PURPOSE: To omit the stretching of wires for power supply and the like, concentrating each arm and a turning drive source of a robot hand on a base unit in a horizontal articulated robot, and to make a lightweight movable part. CONSTITUTION: Turning driving force from turning drive source motors 6, 7, 8 arranged in a base unit 1 is transmitted to arms 2, 3, 4 and a robot hand 5 through drive transmission mechanisms provided in arms 2, 3, 4 and a connecting part. Hence, the requirement to stretch wires for power supply and the like in a movable part can be omitted. Accordingly, the lowering of reliability can be prevented by the turning action of arms and the robot hand, and the moment of inertia can be decreased by the use of the lightweight movable part.
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