JP2004195592A - Arm type robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simple arm type robot for reducing a width directional space, and quick in arm operation. <P>SOLUTION: This arm type robot has a pair of upper-lower first lifting body 20 and second lifting body 30 vertically movably arranged on a front face of a column 11, a parallel link arm part 40 having two parallel arms 41 extending forward from the first lifting body 20 and a driving arm 50 having both end parts connected to the second lifting body 30 and the parallel link arm part 40. This arm type robot lifts the corresponding lifting bodies 20 and 30 by a first driving means 60 and a second driving means 70 arranged on both side surfaces of the column 11. This arm type robot horizontally moves the parallel link arm part 40 and a nut runner 47 on the tip by rotatably rocking the driving arm 50 in the horizontal direction by a third driving means 80 arranged in the second lifting body 30. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an arm-type robot that freely moves an automatic working machine such as a nut runner in a vertical direction substantially vertical to a horizontal direction.
[0002]
[Prior art]
Robots that freely move a nut runner in a horizontal direction and a vertical direction used in a manufacturing assembly line of an automobile are generally orthogonal robots or scalar arm type robots. The former orthogonal robot uses a table that moves in two horizontal orthogonal directions, and thus requires a large space in the horizontal width direction. Further, the latter SCARA type arm type robot also requires a large space in the width direction as described later.
[0003]
FIG. 7 shows a specific example of a SCARA type arm type robot (for example, see Patent Document 1). This robot 1 can rotate a rear end of a first horizontal arm 3 on an upper end of a substantially vertical main shaft 2. , The rear end of the second horizontal arm 4 is rotatably connected to the front end of the first horizontal arm 3, and the vertical shaft 6 is vertically movably connected by the bearing 5 at the front end of the second horizontal arm 4. are doing. For example, a nut runner 7 is fixed to the vertical shaft 6, and each of the horizontal arms 3 and 4 independently rotates in the horizontal direction, so that the robot work head 8 including the bearing 5 and the vertical shaft 6 and the nut runner 7 are horizontally rotated. Move in the direction. The work 9 on the manufacturing assembly line L shown in FIG. 8 has, for example, four points P1 to P4 screwed portions at four corners on the front, rear, left and right, and a nut runner just above the four points P1 to P4 of the work 9. The first horizontal arm 3 and the second horizontal arm 4 independently rotate so that 7 moves in order.
[0004]
[Patent Document 1]
JP-A-2000-141257 (FIGS. 3 and 5)
[0005]
[Problems to be solved by the invention]
As shown by a chain line in FIG. 8, when the first horizontal arm 3 and the second horizontal arm 4 are in, for example, a linear connection state, the head unit 8 sequentially moves to two points P2 and P3 to perform a screw tightening operation. Further, if the first horizontal arm 3 and the second horizontal arm 4 are bent in a rectangular shape in the horizontal direction with respect to each other, and the head portion 8 moves to another two points P1 and P4 in order and performs a screw tightening operation, The arm type robot 1 shown in FIG. 7 requires a large width direction space S ′ on each of the left and right sides in front of the robot so that the horizontal arms 3 and 4 bend and protrude. The installation space on the floor of the robot 1 has been increased. When a plurality of arm type robots 1 are installed on the floor, the distance between the pair of adjacent robots 1 and 1 needs to be twice or more the space S ′ in the width direction. It is difficult to add in.
[0006]
Further, the horizontal arms 3, 4 and the head 8 of the arm type robot 1 tend to be large and heavy with a large width, thickness, and diameter for their required functions, so that they move quickly. It is difficult to let. In particular, the head section 8 has a large diameter structure such as a power source for moving the vertical shaft 6 up and down. For example, two screw tightened sections at two points P5 and P6 on the work 9 shown in FIG. When trying to fasten screws with the same arm type robot at the same time, the heads of the two robots may interfere with each other, and the screws may not be fastened simultaneously. In such a case, the two points P5 and P6 are screwed in order by one robot, or the two robots are alternately operated to sequentially screw in the two points P5 and P6. It is difficult to improve the screw tightening workability at points P5 and P6.
[0007]
An object of the present invention is to reduce the space in the width direction of the robot required for the installation of the robot to a necessary minimum level, and to reduce the size and weight of the arm so that it can be moved quickly to perform a task such as a screw tightening operation. An object of the present invention is to provide an arm-type robot that facilitates improvement in efficiency.
[0008]
[Means for Solving the Problems]
The first aspect of the present invention, which achieves the above object of the present invention, comprises a first elevating body 20 that moves up and down a substantially vertical constant trajectory, a second elevating body 30 that moves up and down the constant trajectory separately from the first elevating body 20, The rear end is rotatably connected to the first elevating body 20 in the horizontal and vertical directions, and the front end is rotatably connected to the robot working head 42 in the vertical direction. Link arm section 40 having a plurality of parallel arms 41 performing parallel link motion in a parallel plane, and a rear end portion rotatably connected to the second lifting / lowering body 30 in a horizontal direction and a vertical direction, and a tip end portion of the parallel link arm portion. A drive arm 50 rotatably connected to the vertical link 40 and swinging up and down on the same substantially vertical plane as the parallel link arm section 40; a first vertical body 20 and a second vertical First drive means for independently moving the body 30 up and down 0 and the second drive means 70, characterized by comprising a third drive means 80 for rotating the swing of the drive arm 50 is installed to the second vertically movable body 30 in the horizontal direction.
[0009]
Here, the substantially vertical constant track can be constituted by a substantially vertical column, a guide rail fixed to this column, a guide groove formed in a similar column, and the like. A pair of the first lifting / lowering body 20 and the second lifting / lowering body 30 are independently divided into upper and lower stages along the fixed trajectory, and independently move up and down. The plurality of parallel arms 41 whose rear ends are connected to the first lifting / lowering body 20 are two or two or more arms of the same length that move up and down simultaneously along a substantially vertical plane. The rear end of each parallel arm 41 is connected to the first lifting / lowering body 20, and the front end is connected to the robot working head 42 to form a parallelogram parallel link arm 40. The drive arm 50 installed on the second elevating body 30 is connected to one of the parallel link arms 40. The drive arm 50 is connected to the second lifting / lowering body 30 such that the drive arm 50 swings up and down on a substantially vertical plane in which the parallel link arm 40 moves in parallel. Such a drive arm 50 reinforces the parallel link arm section 40 to enable the use of a simple and lightweight structure for each of the parallel arm 41 and the drive arm 50. Is swung up and down on the same substantially vertical plane, so that the space S in the width direction of the arm type robot 10 can be reduced to a necessary minimum. Further, the head portion at the tip of the parallel link arm portion 40 can be a small and light one that is narrow enough to support the automatic working machine, and can quickly move each arm, so that the head portions of the two robots 10 can be used. Interference between each other can be reduced. In addition, each of the first driving unit 60 and the second driving unit 70 that independently raises and lowers the first lifting unit 20 and the second lifting unit 30, and the third driving unit 80 that swings and rotates the driving arm 50 in the horizontal direction. Can be applied to a motor or a cylinder.
[0010]
According to a second aspect of the present invention, a fixed track is disposed on a front surface of a column 11 fixed substantially vertically, and a first driving unit 60 is provided on one of both side surfaces of the column 11 and a second driving unit is provided on the other side. 70 is provided. In this case, the pillar 11 may be a prism or a round pillar, and a fixed track having a guide rail or a guide groove structure is fixedly provided on the front surface of the pillar 11, and the first driving means 60 and the second driving means 70 are provided on both sides. Thereby, the width direction space S around the column is reduced. The first driving means 60 and the second driving means 70 installed on both sides of the column 11 are motors that rotate ball screws vertically installed on both sides of the column 11 so that the periphery of the column is small. It is effective in making a simple structure.
[0011]
Further, the invention of claim 3 of the present invention is characterized in that the robot working head portion 42 detachably supports an automatic working machine including the nut runner 47. That is, the head portion 42 has a general-purpose structure that detachably supports an automatic working machine such as a screw-fastening tool other than the nut runner 47, a clip stand tool, and a visual inspection device, so that various automatic working machines can be replaced. A general-purpose robot can be provided.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0013]
One arm type robot 10 shown in FIG. 1 and FIG. 2 is a pair of upper and lower first elevating bodies 20 and a second elevating body which are vertically movably disposed on a front surface of a column 11 fixed substantially vertically on the floor. Body 30, a parallel link arm section 40 having two parallel arms 41 extending forward from the first lifting body 20, and a drive in which both ends are connected to the second lifting body 30 and the parallel link arm section 40 An arm 50, a first driving means 60 and a second driving means 70 for vertically moving the first elevating body 20 and the second elevating body 30 independently, and a third driving means 80 for rotating and swinging the driving arm 50 in the horizontal direction Is provided.
[0014]
The column 11 is a prism and is fixed substantially vertically on the floor with a pedestal 12 fixed to the lower end. A guide rail 13 is disposed substantially vertically on the front surface of the column 11, and a pair of upper and lower first elevating bodies 20 and second elevating bodies 30 move up and down along the guide rail 13. For example, a first elevating body 20 is disposed in the upper area of the guide rail 13 so as to be vertically movable, and a second elevating body 30 is arranged in the lower area of the guide rail 13 so as to be vertically movable. A plurality of sensors 14 for detecting the vertical position of the first lifting / lowering body 20 are installed on the side of the upper region of the support 11, and a plurality of sensors 14 for detecting the vertical position of the second lifting / lowering body 30 on the side of the lower region of the support 11. A sensor 15 is provided.
[0015]
The first elevating body 20 includes a substantially vertical support plate 21 that moves up and down the front surface of the guide rail 13, a plurality of guide rollers 22 installed on both sides of the back surface of the support plate 21, and upper and lower ends of the front surface of the support plate 21. And a pair of upper and lower bearing plates 23 projecting forward from the front, and a substantially vertical arm connecting rotary shaft 24 rotatably disposed in the horizontal direction between the distal ends of the bearing plates 23. The guide roller 22 of the support plate 21 sandwiches the guide rail 13 from both sides to make the support plate 21 move up and down smoothly. The rear ends of the two parallel arms 41 of the parallel link arm section 40 are connected via a pin 26 to a pair of brackets 25 projecting from the upper and lower ends of the rotating shaft 24 so as to be rotatable in the vertical direction.
[0016]
The respective distal ends of the two parallel arms 41 extending from the first elevating body 20 are connected to the robot working head 42. The two parallel arms 41, the rotating shaft 24 at both ends of the parallel arm 41, and the head 42 constitute a parallel link arm 40 that performs parallel link motion on a substantially vertical plane. The head section 42 has a substantially vertical mounting plate 43 rotatably connected to the distal ends of the two parallel arms 41 in a vertical direction, and an automatic working machine mounting section 44 fixed to the front surface of the mounting plate 43. The front ends of the two parallel arms 41 are connected to the brackets 45 projecting from the upper and lower ends on the rear surface of the mounting plate 43 via pins 46 so as to be rotatable in the vertical direction. The nut runner 47 of the automatic working machine is detachably mounted on the automatic working machine mounting portion 44. A total of four pins 26 and 46 at both ends of the two parallel arms 41 are in a positional relationship of the vertices of a parallelogram arranged in a substantially vertical plane, and are substantially in a vertical plane in which the pins 26 and 46 are arranged. The parallel link arm 40 moves up and down in parallel with the rear end of the parallel arm 41 as a base, and the parallel link arm 40 moves with the rear end of the parallel arm 41 as a base as shown in FIG. Swivels horizontally and horizontally. Then, regardless of which direction the parallel link arm section 40 is displaced, the head section 42 and the nut runner 47 maintain a predetermined substantially vertical posture.
[0017]
The first driving means 60 for vertically moving the first elevating body 20 rotates the substantially vertical ball screw 61 installed in parallel with one side surface of the column 11 as shown in FIG. It has a motor 62. A nut member 63 is screwed on a part of the ball screw 61, and both upper and lower ends of the ball screw 61 are attached to the column 11 by bearing members 64 and 65. The nut member 63 is integral with the support plate 21 of the first elevating body 20, and when the ball screw 61 is in a non-rotating state, the nut member 63 holds the first elevating body 20 at an arbitrary height position of the column 11, When the ball screw 61 is rotated forward and reverse by the motor 62, the nut member 63 and the first lifting / lowering body 20 move up and down integrally.
[0018]
The second elevating body 30 includes a substantially vertical support plate 31 that moves up and down the front surface of the guide rail 13, a plurality of guide rollers 32 installed on both sides of the back surface of the support plate 31, and upper and lower ends of the front surface of the support plate 31. And three bearing plates 33, 34, 35 protruding forward from the middle part, and a substantially vertical shaft rotatably disposed in the horizontal direction between the tip portions of the two bearing plates 33, 34 from the top. It has a rotating shaft 36 for arm connection. The guide roller 32 sandwiches the guide rail 13 from both sides to make the support plate 31 move up and down smoothly. The rear end of one drive arm 50 is connected via a pin 51 to a bracket projecting from an intermediate portion of the rotating shaft 36 so as to be rotatable in the vertical direction. The distal end of the drive arm 50 is connected to a substantially middle portion of one lower parallel arm 41 of the two parallel arms 41 by a pin 52 so as to be vertically rotatable.
[0019]
As shown in FIG. 1, a second driving unit 70 that moves the second lifting / lowering body 30 up and down is provided on one side surface of the column 11, that is, on a side surface opposite to the first driving unit 60. The second driving means 70 has a substantially vertical ball screw 71 installed in parallel with the side surface of the column 11, and a motor 72 for rotating the ball screw 71 forward and backward. A nut member 73 is screwed on a part of the ball screw 71, and both upper and lower ends of the ball screw 71 are attached to the column 11 by bearing members 74 and 75. The nut member 73 is integral with the support plate 31 of the second elevating body 30. When the ball screw 71 is in a non-rotating state, the nut member 73 holds the second elevating body 30 on the column 11, and the ball screw 71 is connected to the motor 72. , The nut member 73 and the second elevating body 30 move up and down.
[0020]
The third driving means 80 is installed on a bearing plate 35 protruding from the lower end of the front surface of the support plate 31 in the second elevating body 30. The third driving means 80 has a motor 81 fixed to the lower surface of the bearing plate 35, and a U-shaped rotary drive frame 82 integrally connecting the rotation output shaft and the rotation shaft 36 of the motor 81. The force is directly transmitted to the rotating shaft 36 via the rotating drive frame 82, and the rotating shaft 36 rotates forward and backward in the horizontal direction. By rotating the rotation shaft 36 forward and reverse in the horizontal direction by the motor 81, the drive arm 50 and the parallel link arm unit 40 simultaneously swing and rotate in the horizontal direction. Since the drive arm 50 and the parallel link arm unit 40 are vertically rotated and oscillated on the same substantially vertical plane, as shown in FIG. 3, when the parallel link arm unit 40 is viewed from directly above, the parallel arm 41 of the parallel link arm unit 40 is The drive arm 50 is always hidden. The parallel arm 41 seen from directly above is displaced in the arm length direction, but is not displaced in the arm width direction. Therefore, in the case of the arm type robot 10, the width direction space required for installation on the floor is reduced to a necessary minimum as described later.
[0021]
The above-mentioned arm type robot 10 operates the first to third driving means 60 to 80 simultaneously by computer control or independently at different time zones, and moves the nut runner 47 up, down, left and right while maintaining a substantially vertical posture. Move back and forth. For example, the nut runner 47 sequentially moves to four points P1 to P4 of the work 9 on the manufacturing assembly line L as shown in FIG.
[0022]
For example, in the stationary state of FIGS. 1 and 2, when only the motor 81 of the third driving means 80 is operated to rotate the rotation shaft 36 of the second lifting / lowering body 30 in either the forward or reverse direction, The drive arm 50 and the parallel link arm section 40 swing and rotate integrally in the horizontal direction, and the nut runner 47 moves horizontally to the left or right.
[0023]
When the ball screw 61 is rotated, for example, in the forward direction by operating only the motor 62 of the first driving means 60 in the stationary state shown in FIGS. 1 and 2, the first elevating body 20 moves upward via the nut member 63. Then, in response to the upward movement, the parallel link arm portion 40 is pulled downward by the drive arm 50 and swings downward, so that the nut runner 47 moves in parallel so as to approach the column 11. Conversely, when the ball screw 61 is rotated in the reverse direction by the motor 62, the first lifting / lowering body 20 moves downward via the nut member 63, and the parallel link arm section 40 is moved upward by the drive arm 50 in accordance with the downward movement. The nut runner 47 is pushed upward and swings upward, so that the nut runner 47 moves parallel to move away from the column 11.
[0024]
When the first driving means 60 and the second driving means 70 are simultaneously operated to raise the first elevating body 20 and the second elevating body 30 simultaneously in the stationary state of FIGS. 1 and 2, the nut runner 47 is also vertically To rise. When the lifting of the second lifting body 30 is stopped in this raised state, the nut runner 47 stops moving vertically and starts moving horizontally. Such a vertical or horizontal movement of the nut runner 47 cannot be linearly moved without a two-axis function calculation in a normal arm type, but the arm type of the present invention can perform a linear movement without a function calculation. This is advantageous for teaching and programming. In addition, the nut runner 47 can also be moved obliquely by providing a rotation difference even in biaxial coaxial drive.
[0025]
Assuming that the work 9 in FIGS. 4 and 8 is the same, the nut runner 47 sequentially moves the threaded tightening portions at the four points P1 to P4 of the work 9. For example, when the nut runner 47 for which the screw tightening operation has been completed at the point P1 is to be lifted directly above at the point P1, the first driving means 60 and the second driving means 70 are simultaneously operated so that the first elevating body 20 and the second elevating The body 30 is simultaneously raised at the same speed. When horizontally moving the nut runner 47 rising directly above the point P1 directly above the point P2, the first driving means 60 and the third driving means 80 are simultaneously operated. By controlling the first to third driving means 60 to 80 by computer, the nut runner 47 moves the four points P1 to P4 of the work 9 at a preset shortest distance and performs the screw tightening operation with high efficiency.
[0026]
As can be seen from FIG. 4, while the nut runner 47 moves the four points P1 to P4 of the work 9, the parallel arm 41 of the parallel link arm section 40 is displaced in the arm length direction when viewed from a plane, but is displaced in the arm width direction. Does not displace. Therefore, the width direction space S required for installation on the floor of the robot 10 is determined by the positions of the four points P1 to P4 of the work 9, so that a minimum necessary space is sufficient.
[0027]
Further, as shown in FIGS. 1 and 2, the drive arm 50 connected from below to the parallel link arm section 40 that moves up and down in a parallel link is used to reinforce the parallel arm 41 of the parallel link arm section 40. Since a light-weight object having a simple structure can be used, the movement of each arm in up, down, left, right, front and back can be easily performed, and the screw tightening operation by the nut runner 47 can be performed with higher efficiency.
[0028]
The lateral movement of the nut runner 47 to the left and right with respect to the robot 10 causes the entire robot including the column 11 to rotate laterally, or moves the arm supporting base such as the elevating bodies 20 and 30 supported by the column 11 horizontally. Although it is also possible to rotate the arm, the fast movement of each arm is realized by rotating only the lightweight arm without rotating the support 11 and the heavy object of the elevating body 20, 30 as in the above embodiment. In addition, a small-sized and inexpensive device having a simple structure can be applied to the third driving means 80 as the arm rotation driving source.
[0029]
Further, the head portion 42 at the tip of the parallel link arm portion 40 may have a function of merely supporting the nut runner 47 in a detachable manner, so that the head portion 42 can have a small and lightweight structure. Such a head section 42 does not hinder the screw tightening operation of the nut runner 47, and simultaneously tightens two narrow screw-tightened sections at short intervals by two arm robots as described later. Make things easier.
[0030]
One or more arm type robots 10 as described above are used in combination. FIGS. 5 and 6 show a case where the same two robots 10 and 10 are used side by side. Since the two robots 10 and 10 need only have a small space in the width direction on the left and right, the two robots can be installed sufficiently close to each other, and the space for the robot equipment can be reduced.
[0031]
FIG. 5 shows a case where two robots 10 and 10 simultaneously tighten the screwed portions at the two left and right points Pa and Pb on the common work 9 ′. Here, assuming that the two points Pa and Pb are the same thread-tightened portions as the two points P5 and P6 approached at a small interval W in the work 9 in FIG. 8, the parallel link arm portions 40 and 40 of the two robots 10 and 10 are provided. Are simultaneously moved to move each nut runner 47, 47 to two points Pa, Pb at the same time, because the respective heads 42, 42 do not interfere because of their small diameters. Are simultaneously screwed by the two robots 10 and 10. When there are a large number of such two points Pa and Pb in one work 9 ', screw tightening is performed simultaneously by two robots 10 and 10 two by two points, and the work efficiency of the screw tightening at many points increases.
[0032]
FIG. 6 shows a case in which two robots 10 and 10 simultaneously tighten two points Pc and Pd before and after approaching one work 9 ′. In other words, since the heads of the two robots 10 and 10 have small diameters and hardly interfere with each other even when approaching from the front and rear directions, the threaded portions at the front and rear two points Pc and Pd are also two robots. 10, 10 can be screwed simultaneously.
[0033]
The arm type robot according to the present invention is not limited to the above embodiment. For example, the positional relationship between the first lifting / lowering body 20 and the second lifting / lowering body 30 disposed on the column 11 is inverted, and the lower first The drive arm 50 of the second elevating body 30 may be connected to the parallel link arm portion 40 extending from the elevating body 20 from above.
[0034]
【The invention's effect】
According to the present invention, since the parallel link arm supporting the automatic working machine and the respective arms of the drive arm for horizontally swinging the same swing up and down on the same substantially vertical plane, the width in the width direction of the arm type robot is reduced. Can be reduced to the minimum necessary, and a plurality of robots can be approached and installed side by side in a space-saving manner. In addition, the drive arm connected to the parallel link arm reinforces the parallel link arm, and a simple and lightweight structure can be applied to each arm, and the head at the tip of the parallel link arm also supports the automatic working machine. As a result, the arm-type robot can be simplified, and each arm can move quickly, so that the efficiency of the robot operation can be improved.
[0035]
In addition, by disposing the first driving means and the second driving means on both sides of the support having the fixed track on the front surface, the space in the width direction around the support can be further reduced. It becomes easy to install an arm type robot in a space-saving manner.
[0036]
In addition, by supporting the automatic work machine including the nut runner detachably at the head at the tip of the parallel link arm, the automatic tool of multiple models other than the nut runner, such as electric tools for screwing, clip stand tools, visual inspection equipment, etc. An arm-type robot with excellent versatility and practicality in which the working machine can be freely replaced can be provided.
[Brief description of the drawings]
FIG. 1 is a perspective view of an arm type robot showing an embodiment of the present invention.
FIG. 2 is a perspective view of the arm-type robot of FIG. 1 from a direction in which the angle is changed.
FIG. 3 is a plan view of the arm type robot shown in FIG. 1;
FIG. 4 is a plan view showing an outline of an arm type robot and a work shown in FIG. 1;
FIG. 5 is a plan view of a robot facility using two arm type robots of FIG. 1;
FIG. 6 is a plan view showing an outline of two arm type robots and a work of FIG. 5;
FIG. 7 is a perspective view of a conventional arm type robot.
FIG. 8 is a plan view showing an outline of an arm type robot and a work shown in FIG. 7;
[Explanation of symbols]
REFERENCE SIGNS LIST 10 arm type robot 11 support 12 pedestal 13 guide rail 14 sensor 15 sensor 20 first elevating body 21 support plate 22 guide roller 23 bearing plate 24 rotating shaft 26 pin 30 second elevating body 31 support plate 32 guide roller 33 bearing plate 36 rotation Shaft 40 Parallel link arm part 41 Parallel arm 42 Head part 43 Mounting plate 44 Automatic work machine mounting part 47 Nut runner 50 Drive arm 60 First drive means 62 Motor 63 Nut member 64 Bearing member 70 Second drive means 72 Motor 73 Nut member 74 bearing member 80 third drive means 81 motor 82 rotation drive frame S width direction space

Claims (3)

A first elevating body that moves up and down on a substantially vertical constant trajectory;
A second elevating body that moves up and down on the fixed track separately from the first elevating body;
A rear end is rotatably connected in the horizontal and vertical directions to the first elevating body, and a front end is rotatably connected to the head for robot operation in the vertical direction. A parallel link arm portion composed of a plurality of parallel arms that perform a vertical parallel link motion in a plane;
A rear end is rotatably connected in the horizontal and vertical directions to the second lifting / lowering body, and a front end is rotatably connected to the parallel link arm in the vertical direction, so that the parallel link arm performs a parallel link motion. A drive arm that swings up and down on a substantially vertical plane,
A first driving unit and a second driving unit that are installed on the constant track and independently lift and lower the first lifting body and the second lifting body,
Third driving means installed on the second lifting / lowering body to rotate and swing the driving arm in a horizontal direction;
An arm-type robot comprising: The said fixed track is arrange | positioned at the front surface of the support | pillar fixed substantially vertically, The said 1st drive means was arrange | positioned at one of the both sides of this support | pillar, and the said 2nd drive means was characterized by the above-mentioned. Item 1. An arm type robot according to item 1. The arm type robot according to claim 1, wherein the robot working head portion detachably supports an automatic working machine including a nut runner.

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