| 摘要 |
<p>The driving source of the final wrist shaft of a robot is also used as the driving source of a servo tool. When a command E1 is outputted from a robot controller, another command E2 is not outputted and only the coil of a first hollow clutch is excited to fix a first arm (18) to the housing of a speed reducer. Consequently, the rotation of a servo motor M6 is transmitted only to a second arm (20) through the speed reducer, and the second arm (20) is rotationally displaced from the first arm (18). As a result, the front ends of the arms (18 and 20) are brought closer to or separated from each other and the hands of the robot are opened or closed. When the command E2 is outputted, the command E1 is not outputted and only a second hollow clutch is turned on. As a result, the arms (18 and 20) are coupled with each other and integrally driven by means of the motor M6 to change the attitude of the hands of the robot.</p> |
