| 摘要 |
<p>A joint device has each of its arms (43), (44), (45) jointed at joint sections (74a), (74b) arranged at front and back ends thereof. The arms are allowed at the joint section to move relatively in two directions perpendicular to each other. Semi-circular guide members (50a), (50b), (51b), (51c) are rotatably attached to support member (43a), (44a), (45a) of each of arm by pins (72a), (72b), (73b), (73c) at each of the joint sections. The guide members of adjacent arms are fixed with their rotation axes directed substantially perpendicular to each other. A driving means (52a, 53a, 55a, 56a), (52b, 53b, 55b, 56b), (58b, 59b, 60b, 61 b), (58c, 59c, 60c, 61 c) for driving one of these guide members around the rotation axis of the other is arranged to the support member of an arm adjacent to the arm to which said guide member is attached. When the guide member is driven by means of said driving means, the support member on which the driving means is arranged is rotated relative to the guide member. As the result, the whole of said arm is rotated.</p> |
