| 摘要 |
PURPOSE:To simplify mechanism and facilitate control, by connecting a movable link to respective free end of a driving link and an auxiliary link ends of which are supported rotatably at specified position to form a four nodal link, and providing a plate holding device at the free end of the movable link. CONSTITUTION:A rotary actuator 17 is supported by a bracket 16 fixed to the lower face of a mounting stand 8. A gear 18 is fixed to the rotation shaft. A gear 20 that engages with the gear 18 is fixed to an end of a shaft 19 supported rotatably to the mounting stand 8, and a link 21 is fixed to another end. A link 23 is supported rotatably to a shaft 22 erected at specified position of the stand 8. Pins 24, 25 are erected at free ends of links 21, 23. A link 26 is connected rotatably to pins 24, 25 and a four nodal link mechanism is formed by the stand 8, links 21, 23 and a link 26. A chuck 5 is attached to the free end of the link 26. |
