| 摘要 |
PURPOSE:To always keep the length constant of the wire passing through the joint part of the elbow part, etc., in a wire driving arm, by supporting a wire guide pulley rotatably on the tip side arm member which is rotated and driven by a driving source at the position coming in contact with the wire which is in an extending state at the joint part. CONSTITUTION:When a tip side arm member 2 is rotated in an arrow mark A1 direction centering around a shaft by the driving of a driving source 18, the support shaft 13 of a wire guide pulley 12 is moved with its rotation in an arrow mark A2 direction according to the rotation of the tip side arm member 2. In the case of the support shaft 13 of this pulley 12 being stationary to a base end side arm member 1, a wire 8 becomes to be pulled by the part of its going around the wire guide pulley 12 in accordance with the rotation of the tip side arm member 2. In this case, the length of the wire 8 passing through a joint part 3 is kept about constant irrespective of the degree of the extension and contraction of the joint part 3 thereof by moving the support shaft 13 of the wire guide pulley 12 with its rotation. |
