| 摘要 |
PROBLEM TO BE SOLVED: To carry out positional change in the omnidirection of 360 deg. around a work central position as its standard only by a positioner on an articulated robot. SOLUTION: A flange F provided on a fixed part 13 and constituted of a positioner first arm 25 extending in the axial direction to cross a first shaft 19a and to revolve around the first shaft 19a, a positioner second arm connected to the positioner first arm 25 free to revolve around a second shaft 22a and a work gripping member to rotate around a third shaft 21a on the positioner second arm is provided, the second shaft 22a is arranged on an axis having an angle of 45 deg. with the first shaft 19a, and the third shaft 21 is arranged on an axis passing through an intersection P of the first shaft 19a and the second shaft 22a and having an angle of 45 deg. with the second shaft 22a.
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