| 摘要 |
A joint device has each of its arms jointed at joint sections 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 are rotatably attached to support member of each of arm by pins 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 structure 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 the guide member is attached. When the guide member is driven by means of the driving structure, the support member on which the driving structure is arranged is rotated relative to the guide member. As the result, the whole of the arm is rotated. Since the guide members are fixed substantially perpendicular to each other in each of the joint sections, the adjacent arms are allowed to freely move taking as their rotating axes two directions perpendicular to each other. The rotating position of each arm is detected by potentiometers. Limit switches are arranged to prevent the adjacent arms from being rotated relative to each other over a maximum swinging angle. A plurality of the arms are jointed with one another at their joint sections to enhance freedom of movement at the foremost end of the joint device. |
