| 摘要 |
PURPOSE:To make an arm device compact and to reduce the rotating space of arms to the minimum by dividing a tool grip arm into two so that they can be rotated in synchronism around the same horizontal shaft and in reverse directions respectively. CONSTITUTION:Arms 3, 4 are provided on both sides of the arm base 2 of a tool exchanging arm 1 rotatably around a horizontal axis, and a pair of fingers 5, 6 capable of being freely expanded or narrowed by grip mechanisms 7, 8 of fluid hydraulic cylinders 19, 19 for gripping tools 100 are provided on the tip of individual arms. Individual arms 3, 4 are reversibly rotated from a vertical status to a horizontal status in synchronism and in reverse directions respectively through a fluid hydraulic cylinder 35, a T-type link 34, and L-type links 32, 33. |
