| 摘要 |
PURPOSE:To make small and light a robot moved by operating alternately two sets of clamp shafts which engage removably with a number of openings formed at prescribed intervals on a vertical wall surface, by using a spring balancer to suspend the robot. CONSTITUTION:A transverse motion clamp shaft holder is supported on a disc- shaped main body 15 in such a manner that it can reciprocate in the horizontal direction, and a longitudinal motion clamp shaft holder 13 which can be reciprocated in the vertical direction by the operation of a cylinder 18 is also supported thereon, while each holder is made to support three clamp shafts 11. Each clamp shaft 11 is provided with a clamp cylinder 21 fixed to the base end of an outside tube 19 so that a cotter pawl 22 can be extended and withdrawn, while a piston 24 of a cylinder 23 for engaging and removing the clamp shafts is fitted to the other end of the tube 19. The main body 15 of the robot is connected to a carriage 39 capable of running along a horizontal guide rail 36, by means of a metal suspension 41 provided integrally with the main body and a wire 43, through the intermediary of a spring balancer 42. |
