| 摘要 |
PROBLEM TO BE SOLVED: To simplify both of hardware and software and reduce cost, size and weight of the whole device. SOLUTION: A first rear pulley 11, a first front pulley 12, a second rear pulley 13, and a second front pulley 14 are arranged in a rear end part 3r of a first arm part 3, a front end part 3f of the first arm part 3, a rear end part 5r of a second arm part 5, and a front end part 5f of the second arm part 5, respectively, the first front pulley 12 is fixed on a support basic part 2, and a chuck part 7 is fixed on the second front pulley 14. The first front pulley 12 and the second rear pulley 13 are mutually connected by a connection shaft 15, the first rear pulley 11 and the first front pulley 12 are mutually connected by a first rotation transmission part 16, and the second rear pulley 13 and the second front pulley 14 are mutually connected by a second rotation transmission part 17.
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