| 摘要 |
PURPOSE:To reduce the size of the whole of a 2-way rotation driving device, according to the method wherein first and second contact members are located on a support body, and a driving source, such as motor, is situated in a different place. CONSTITUTION:An arm 1 is coupled at a shoulder part C to a robot body 3 through a 2-way rotation driving device 2, and in an articulation part D, an upper arm part 1a and a front arm part 1b are also intercoupled through the 2-way rotation driving device 12. The driving device 2 has a support body 6, and the support body 6 is rotatable, as shown by an arrow mark E, around a second rotation axis L2 by means of a bracket 5 emerged from a base bed 4 installed to a robot body 3. Two disc-shaped contact members 7 and 8 are situated on the second rotation axis L2 with the support body 6 therebetween, and are rotatable along a first rotation axis L1. The contact members are intercoupled through a wire, and are driven by the motor of the robot body 3.
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