| 摘要 |
PROBLEM TO BE SOLVED: To automatically adjust fluid pressure by detecting load of a motor for driving a movable part, by a load detecting means, and controlling fluid pressure supplied to a hydraulic cylinder mechanism, to be the pressure corresponding to the load detected by the load detecting means. SOLUTION: In the case of a robot body being in action, a control device holds an air charging solenoid valve 37 and an exhaust solenoid valve 38 in a current cut-off state. In the case of a motor being rotated counterclockwise, a spline rod is moved by a rack and pinion mechanism. In association with the descent of a wrist part, a piston 26 of a pneumatic cylinder mechanism moves and acts to compress air in a chamber of a cylinder tube 25. An exhaust valve of a pressure regulating valve 30 is pushed up to open a valve port 31g, and the air in the chamber of the cylinder 25 escapes from an exhaust port 31c of the pressure regulating valve 30. Pneumatic pressure can thereby be adjusted automatically by controlling current carrying and cut-off of the air charging and exhaust solenoid valves 37, 38.
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