| 摘要 |
PURPOSE:To realize a simple and a light weight structure by giving a form memory alloy springs to actuators to open and close the lefthand and the righthand arms, and making it possible to rotate the front and the rear parts of a main body and to displace them relatively. CONSTITUTION:This robot has arm units 31 and 32 with arms 33 and 34 to close and open, fastens a piping, and advances in an intermittent movement by the extension and contraction of th main body 30 and the changing of holding the arms. The movement in the peripheral direction is carried out by furnishing a sliding rail 35 responding to the center axis of the piping, which is twisted in the peripheral direction at the front and the rear parts of the main body 30, and moving in an intermittent movement. And between the arm units 31 and 32, and the main body 30, a rotary device is furnished to make it possible to rotate the front and the rear parts of the main body 30. Moreover, a sensor unit 41 is furnished at the front side to detect an obstacle or the like. Therefore, it is made possible to reduce the weight of the robot and to simplify the structure, and the closing and the opening of the arms are speeded up more by the form memory alloy springs. |
