| 摘要 |
PROBLEM TO BE SOLVED: To provide an articulated type robot easy to maintain equipment and parts in a housing and easy to assemble. SOLUTION: One ends of first and second single arms 3a, 3b of double arm structure constituting a robot arm 3 are installed on a revolving part 2 free to revolve. The first single arm 3a is made in an endoskeletal structure to transmit driving force, and a housing 4a is installed on the other end. The second single arm 3b is made in a structure to store a cable, piping, etc., and a cover 4b is installed on the other end free to revolve. The cover 4b is fixed on the housing 4a by a fixture 6 and forms a second robot arm 4. A wrist is connected to the arm 4. The housing 4a is opened by removing the fixture 6 and relatively the second single arm 3b against the first single arm 3a. The housing 4a is opened large and it becomes easy to access to equipment and parts stored in the housing. |
