| 摘要 |
PURPOSE:To provide a memory-reproduced robot appropriate to chiefly perform movement on a horizontal plane, by swingably hanging a vertical arm from a strut set up on a base and vertically swingably coupling a horizontal arm to the vertical arm. CONSTITUTION:The robot can perform downhand horizontal welding etc in a wide range. The robot comprises the strut 3 set up on the turntable 2 rotatably supported on the horizontal top of the base 1, the vertical arm 4 swingably hung from the upper end of the strut, the horizontal arm 5 having a wrist part 6 at its tip vertically swingably coupled to the lower end of the arm 4, a working member 7 such as a welding torch pivoted to the wrist part 6 and having degrees of freedom in a plurality of directions, and a spring balancer 11 which is connected to the arms 4, 5 to absorb the variation in the gravity moment corresponding to the swinging angle of the vertical arm 4 and the vertical swinging angle of the horizontal arm 5. |
