| 摘要 |
PURPOSE: An apparatus for operating and rotating a precise robot is provided to promote simple assembling and improvement in reliability by simplifying the structure of a cylindrical coordinate type robot for carrying objects into a three-dimensional space. CONSTITUTION: Rotation of a robot body occurs by delivering power of a rotary shaft motor(8) to an outer wheel(37) of a ball spline nut connected to a rotary shaft reducer(9), pulleys(10,12) and a belt(11). A fixing board(17) of an outer wheel(13) rotates centering on a ball spline nut(7) of an upper fixing board(16). For movement of arms of the robot, power of a motor(23) is delivered to an arm rotary shaft reducer(24) and to a first arm(25) and a pulley(26) connected to the output of the reducer(24). A second arm(29) of the robot acts by moving a belt(31) through each pulley(28,30) with the power.
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