| 摘要 |
PROBLEM TO BE SOLVED: To eliminate deterioration of positioning accuracy in a power transmission system of a motor unit and generation of vibration due to torsional deformation, etc. SOLUTION: Arms 7a and 7b are fixed on the outside of a plurality of ring- like bosses 10a and 10b, respectively, concentrically provided with their position shifted from each other in vertical direction while rotation is allowed, and transporting pedestals 8a and 8b are connected to each arm with a link in between. By rotating each ring-like boss in a direction reverse to each other, the transporting pedestal reciprocates in a direction vertical to an axis, and, by rotating them in the same direction, the transporting pedestal rotates. In such a robot for handling, a plurality of motor units 24a and 24b are concentrically disposed at the position of the inside of each of the ring-like bosses and lower than an operating position of the transporting pedestal, with their positions shifted from each other in vertical direction. Connecting parts 32a and 32b whose sectional form is dish-like shape are fixed to output members 28 of each motor unit, and each of the connecting members is connected to each of the ring-like bosses. |
