| 摘要 |
<p>PURPOSE:To reduce the size and weight, to improve the responsiveness, and to facilitate the insulation by driving the joints between a shoulder part, an upper arm part, and a forearm part fitted to a base three-dimensionally with three electric motors, and driving a wrist joint at the tip of the forearm part three-dimensionally with three hydraulic actuators. CONSTITUTION:A shoulder part 2 is rotated horizontally by an electric motor M1 around a vertical axis Al of a base 1. The shoulder joint shaft A2 between the shoulder part 2 and an upper arm part 3 is driven by an electric motor M2. The elbow joint shaft A3 between the upper arm part 3 and a forearm part 4 is driven by an electric motor M3 to move the tip part of the forearm 4 three-dimensionally. Insulating members 6 and 8 endurable to the voltage of a distribution line are fitted to the upper arm part 3 and forearm part 4. A wrist joint part B fitted to the tip part of the forearm part 4 has three wrist joint shafts A4-A6, is driven with hydraulic actuators O4-O6 three-dimensionally, and move tools (notshown in the figure) fitted to a holding part 5 to a desired position. This reduces the size and weight of a product, and makes it possible to perform wiring safely and with good responsiveness.</p> |
