| 摘要 |
<p>PURPOSE:To prevent an unexpected hindrance from being incurred even in the case where a manipulator comes into contact with other mechanical equipment during operation and/or it rocks according to a holding state of plant equipment by installing plural pieces of springs in a working arm in a parallel manner. CONSTITUTION:A working arm 5 is divided into a front part 5a and a rear part 5b, while two flanges 21, 22 at the end part are held between two superposed coil springs 24 and 24, and both these front and rear parts 5a and 5b of the working arm 5 are connected to each other. In addition, two power transmission shafts 13, 14 divided into two front and rear parts likewise are connected to each other by a universal coupling 15 provided with a connecting pin 19 shiftable in the axial direction, installing them in the working arm 5. In consequence, if external force due to contact or the like is made to act on this working arm 5, the springs 24 are elastically deformed, absorbing any impact to a manipulator for easement.</p> |
