JP3882814B2 - robot - Google Patents

Description

  The present invention relates to a robot capable of moving a moving part at a light weight and moving at high speed and with high accuracy, and in particular, a four-dimensional degree of freedom which can be positioned three-dimensionally and has a degree of freedom of rotation of a tip part. More particularly, the present invention relates to a robot that is used for automobile production equipment and handles relatively small components.

  Currently, robots are used in various fields. Various robots are used in various manufacturing fields, and the production speed of products generally depends on the operation speed of the robot. As described above, one of the important items of the performance of the robot is the operation speed, and a higher operation speed is required in many robot fields. On the other hand, when the operation speed increases, the inertial force increases, and it becomes difficult to maintain the positioning accuracy. The mass of the robot can be cited as an element directly related to the robot operating speed. As the mass of the robot increases, more energy is required to move at the same speed, and the drive for it is generally larger, heavier and more expensive. Therefore, there is a need for weight reduction of the robot at least in the above points.

  In addition, in the manufacturing field, various devices and equipment are arranged, and since the factory space is limited, it is generally advantageous to be compact with respect to any equipment and equipment. There are advantages in terms of layout design, operation / maintenance, and safety with respect to compact equipment and devices. The same applies to the robot, and there is a need for making the robot compact.

  An example of a conventional robot is shown in FIG. The robot 100 of the prior art embodiment of FIG. 4 is movable and positionable in three dimensions (X, Y, Z axes), and further has a degree of freedom of rotation at the end part such as a tool chuck. This is a robot with four degrees of freedom, and such a robot 100 is well known. Such a four-degree-of-freedom robot is the most common and basic form used in various manufacturing sites. The robot 100 can freely move in the XY plane, which is an operation area, and can also freely move in the Z-axis direction perpendicular to the XY plane. The robot 100 has a base 101 that is a structure that supports the whole, and the base 101 has, for example, a linear shape structure supported by a support (not shown). The base 101 forms an X axis 110, and the movement on the base 101 is a movement on the X axis.

  The robot 100 further includes a Y-axis structure 121 that forms a Y-axis 120 orthogonal to the X-axis, a Z-axis structure 131 that forms a Z-axis, and a T-axis structure 141 attached to the tip of the Z-axis structure 131. A chuck unit 60 that holds a tool is attached to the T-axis structure 141. The T-axis structure 141 forms a T-axis 140 that can rotate about the Z-axis and is the fourth degree of freedom of the robot 100.

  The Y-axis structure 121 is movable on the base 101 along the X-axis 110. This is because, for example, the first motor 112 provided at the right end of the base 101 in FIG. The nut-shaped portion movably attached to the rotating shaft is moved, and the nut-shaped portion is fixed to the Y-axis structure 121, whereby the Y-axis structure 121 is linearly driven by the first motor 112. . The Y-axis structure 121 is also a linear structure, forms a Y-axis 120, and the Z-axis structure 131 can move along the Y-axis 120 on the Y-axis structure 121.

  As shown in FIG. 4, a second motor 122 is installed at the end of the Y-axis structure 121, and is similar to the movement method of the Y-axis structure 121 on the X-axis 110 by the first motor 112 described above. In addition, the second motor 122 linearly drives the Z-axis structure 131 via a threaded rotary shaft, a nut-like portion, and the like. The Z-axis structure 131 movably supports the vertical shaft 133, and further includes a third motor 132. The third motor 132 rotationally drives a pinion (not shown), and the pinion The rotation of the pinion drives the rack and is converted into a vertical movement along the Z-axis 130 of the vertical shaft 133.

As shown in FIG. 4, a chuck unit 60 is mounted on the tip of the vertical shaft 133 via a T-axis structure 141, and the T-axis structure 141 and the chuck unit 60 are driven by a fourth motor 142. Rotate. In this way, the robot 100 is configured to be able to perform the motion with the fourth degree of freedom.
In the case of such a configuration, since the second motor 122 linearly moves on the X axis 110, the robot 100 moves the electric wires such as a power supply cable to the second motor 122 and a rotation signal cable therefrom. Since the second cable bear 114 and the third motor 132 move linearly on the Y-axis 120, the third cable bear moves the electric power supply cable to the third motor 132 and the electric wire such as the rotation signal cable therefrom. 124. Similarly, a cable moving device (not shown) such as a cable bear for the fourth motor 142 is also required.

  In such a modified form of the robot 100, the first motor 112 is mounted on the Y-axis structure 121, a rack is attached to the base 101, and the second motor 122 is mounted on the Z-axis structure 131, and the Y-axis structure is mounted. A rack-and-pinion configuration in which a rack is attached to 121 is also possible, but in such a case, accessories such as a Y-axis structure 121 and a cable bear are also necessary.

  As described above, in a conventional robot, a movable body drive unit provided so as to be movable on the movable unit is mounted on each movable unit provided for each degree of freedom. However, in such a robot, when the number of degrees of freedom increases, an auxiliary device such as a structure or a cable bearer that constitutes a moving axis corresponding to the degree of freedom is required, and the number thereof increases proportionally. For this reason, such a robot has a problem that it is difficult to perform high-speed movement and high-accuracy positioning because the weight of the movable part becomes heavy and the inertial force increases. In addition, when the number of structures and attachment devices constituting the moving shaft is large, the dimension is increased. Furthermore, since the driving force increases, the capacity of the driving device increases, and the number of parts also increases, resulting in an increase in manufacturing cost.

In view of the above situation, the present invention provides a robot capable of reducing the weight of a movable part and performing high-speed movement and high-precision positioning.
Another object of the present invention is to provide a robot that can be made compact and can reduce accessories such as cable bearers.

According to a first aspect of the present invention, in order to achieve the above-described object, the robot includes a base serving as a base, a first moving body supported movably on the base, and the first moving body. A first driving body to be moved, a first transmission body for transmitting the movement of the first driving body to move the first moving body, and a movable body supported by the first moving body. A second moving body, a second driving body that moves the second moving body, a second transmission body that transmits the movement of the second driving body and moves the second moving body; A third moving body rotatably supported by the second moving body, a third driving body for rotating the third moving body, and a movement of the third driving body for transmitting the third driving body. A third transmission body for rotating the third moving body; a fourth moving body supported by the third moving body so as to be movable; and the fourth moving body. A fourth driving member for moving a moving body, and a fourth transmission member to move the fourth the fourth to transmit the movement of the driver of the moving body, characterized by at least. In the robot, the first driving body, the second driving body, the third driving body, and the fourth driving body are fixed to the base. By combining the movement of the first moving body and the rotational movement of the third moving body by the third driving body, the movement in the XY plane is provided, and the second driving of the second moving body is performed. The movement movement by the body is a movement in a direction perpendicular to the XY plane. The first driving body (4) and the first transmission body (5) move the first moving body (3) along the X axis. The second movable body (14) has a first vertical axis (31), a second vertical axis (41), and a third vertical axis (51) extending in the Z-axis direction fixed to the second movable body. Connected to form. The second transmission body (10) is a ball spline mechanism that extends along the X axis. A pinion that engages with the ball spline mechanism of the second transmission body and is movable in synchronization with the movement of the first moving body in the X-axis direction, and meshes with the pinion and is fixed to the first vertical axis. The second moving body is linearly movable in the Z-axis direction by the rotation of the pinion. The third moving body (7) includes an arm (42) fixed to the second vertical axis. The third transmission body (8) is a ball spline mechanism extending along the X axis. A first gear (43) that engages with the ball spline mechanism of the third transmission body and is movable in synchronization with the movement of the first moving body in the X-axis direction is provided. The first gear (43) meshes with the second gear (44) fixedly connected to the second vertical shaft. The fourth movable body (11) is rotatably supported at the tip of the arm (42) with the fourth vertical axis (61) extending in the Z-axis direction as an axis. The fourth transmission body (13) is a ball spline mechanism. A third gear (52) that engages with the ball spline mechanism of the fourth transmission body and is movable in synchronization with the movement of the first moving body in the X-axis direction is provided. The third gear (52) meshes with the fourth gear (53) fixedly connected to the third vertical shaft. Due to the rotation of the fourth gear (53), the fourth moving body rotates around the fourth vertical axis (61) via the pulley.

  By configuring in this way, by adopting the above means, that is, in particular, by fixing the first driving body, the second driving body, the third driving body and the fourth driving body to the base. Although the movable body is provided with the transmission body, the driving body is eliminated, thereby reducing the weight and the size. It is possible to reduce the weight of the cable bear for the sensor cable such as the power and the motor rotation number, which is necessary in the conventional example, and to reduce the man-hours for installation and maintenance of the cable bear. Furthermore, a robot capable of reducing the weight of the movable part and performing high-speed movement and high-precision positioning can be provided.

  Hereinafter, a robot according to an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 shows an overall schematic three-dimensional view of one embodiment of a robot according to the present invention. First, referring to FIG. 1, a robot 1 of the present invention includes a base 2 that is supported by two pedestals and serves as a base, and a first moving body 3 to which a chuck unit 60 is attached at the tip. The first moving body 3 is freely movable and positionable in the XY plane. The XY plane forms an operation area of the robot 1.

  The longitudinal direction of the base 2 is defined as the X axis in the present embodiment. The robot 1 further includes a first driving body 4 for moving the first moving body 3 along the X axis, and a first transmission body 5. Since the moving part of the first transmission body 5 is connected to the first moving body 3, the first moving body 3 moves linearly by the rotational movement of the first driving body 4. In the present embodiment, it is preferable that the first driving body 4 is an AC servomotor and the first transmission body 5 is a ball screw mechanism. Since the first driving body 4 is a servo motor, the positioning of the first moving body 3 can be performed with high accuracy and becomes easy. Since the first moving body 3 is supported so as to be suspended from the base 2, the weight of the first moving body 3 is held by the base 2, and the first transmitting body 5 substantially moves the first moving body 3. Necessary force is applied. Here, the 1st drive body 4 is installed so that it may be fixed to the base 2, and the 1st transmission body 5 is rotatably supported by the base 2 by a bearing etc., for example.

  The robot 1 includes a third driving body 7, a third transmission body 8, and a third moving body 6 in order to perform movement in the Y-axis direction. The third moving body 6 is supported by a second moving body 14 described in detail later. As shown in FIG. 1, the third moving body 6 includes a Z-shaped arm 42 and is connected to be fixed to the second vertical shaft 41. It can rotate around the axis Z1. The driving of the third moving body 6 will be described with reference to FIG. FIG. 2 is a part of a side view of the robot 1 (indicated by an arrow A in FIG. 1). In FIG. 1, the third drive body 7 installed on the left side of the base 2 in the same manner as the first drive body 4 rotates the third transmission body 8, and the rotational movement is shown in FIG. The gear 43 that is rotatably engaged with the third transmission body 8 is rotated, and the gear 44 that meshes with the gear 43 is further rotated. In FIG. 2, since the gear 44 is fixedly connected to the second vertical shaft 41, the second vertical shaft 41 rotates, and the arm 42 fixed to the second vertical shaft 41 is further rotated.

  As shown in FIG. 2, a vertical shaft 61 extends in the Z-axis direction and is rotatably supported at the tip of the arm 42, and a tool or the like is placed on the tip of the vertical shaft 61. A chuck unit 60 for holding can be attached. With this configuration, the chuck unit 60, that is, the tool can be freely moved and positioned in the operation area on the XY plane. In the present embodiment, it is preferable that the third driving body 7 is an AC servo motor, the third transmission body 8 is a ball spline mechanism, and the gears 43 and 44 are screw gears. Since the third driving body 7 is a servo motor, the positioning of the third moving body 6 can be performed with high accuracy and becomes easy. Since the third transmission body 8 and the gear 43 are engaged by a ball spline mechanism, the gear 43 can move smoothly in the axial direction (X axis) of the third transmission body 8, and the gear 43 It is supported so as not to rotate relative to the third transmission body 8 around the axial direction (X axis) of the transmission body 8. Therefore, the gear 43 is movable on the X axis in synchronization with the movement of the first, second and third moving bodies 3, 14, 6 in the X axis direction. In the present embodiment, since the third moving body 6 is supported by the second moving body 14, the weight is held by the second moving body 14, and the third transmission body 8 and the gears 43 and 44 are held. The force necessary to move the third moving body 6 substantially acts on the. The third transmission body 8 is rotatably held on the base 2 by, for example, a bearing.

  Next, driving of the moving mechanism in the Z-axis direction and the second moving body 14 will be described with reference to FIG. 3 (indicated by arrow B in FIG. 1). The robot 1 includes a second driving body 9, a second transmission body 10, and a second moving body 14 in order to perform movement in the Z-axis direction. FIG. 3 is a part of a front view of the robot 1. In FIG. 1, the second drive body 9 installed on the left side of the base 2 in the same manner as the first drive body 4 drives the second transmission body 10 to rotate, and the rotational movement is shown in FIG. The pinion 32 that engages with the second transmission body 10 so as to be relatively rotatable is rotated. Since the pinion 32 meshes with a rack 33 fixedly installed on the first vertical shaft 31, the rack 33, that is, the first vertical shaft 31 moves linearly in the Z-axis direction by the rotation of the pinion 32. Here, the first vertical axis 31, the second vertical axis 41, and the third vertical axis 51 are fixedly connected to form the second moving body 14, and move together. Accordingly, since the arm 42 is fixed to the lower part of the second vertical shaft 41 as described above, the third moving body 6 and the chuck unit 60 are also movable in the Z-axis direction. With this configuration, the chuck unit 60, that is, the tool can be freely moved and positioned also in the Z-axis direction. In the present embodiment, it is preferable that the second driving body 9 is an AC servo motor and the second transmission body 10 is a ball spline mechanism. Since the second driving body 9 is a servo motor, the positioning of the second moving body 14 can be performed with high accuracy and becomes easy. Since the second transmission body 10 and the pinion 32 are engaged by the ball spline mechanism, the pinion 32 can move smoothly in the axial direction (X axis) of the second transmission body 10. Therefore, the pinion 32 can move on the X axis in synchronization with the movement of the first moving body 3 in the X axis direction. In the present embodiment, the pinion 32 is rotatably supported by the first moving body 3 via a bearing or the like, and the second moving body 14 is supported by the pinion 32. The shaft 31 and the load acting on the shaft 31 are finally held by the first moving body 3. The second transmission body 10 is rotatably held on the base 2 by, for example, a bearing or the like.

  Next, the movement mechanism in the T-axis direction which is the rotation direction of the tool held by the chuck unit 60 and the driving of the fourth moving body 11 will be described with reference to FIG. In the present embodiment, the movement in the T-axis direction is a rotational movement around the Z2 axis parallel to the Z axis and the Z1 axis. The Z2 axis generally coincides with the axis of the vertical axis 61. The robot 1 includes a fourth driving body 12, a fourth transmission body 13, and a fourth moving body 11 in order to perform movement in the T-axis direction. In FIG. 1, the fourth drive body 12 installed on the left side of the base 2 in the same manner as the first drive body 4 drives the fourth transmission body 13 to rotate, and the rotational movement is the fourth movement shown in FIG. The gear 52 that is rotatably engaged with the transmission body 13 is rotated, and the gear 53 that meshes with the gear 52 is further rotated. The gear 53 is engaged with the third vertical shaft 51 so as to be relatively movable along the axis of the vertical line 51, and the third vertical shaft 51 rotates as the gear 53 rotates. Here, as described above, the third vertical shaft 51 is connected to the second vertical shaft 41 so as to move in conjunction with each other in the vertical direction. As shown in FIG. 2, another gear 55 is attached to the lower part of the third vertical shaft 51 so as to be engaged with the third vertical shaft 51, and rotates with the rotation of the third vertical shaft 51. Since the gear 55 meshes with the gear 54 that is rotatably installed at the lower end of the second vertical shaft 41, the rotation of the gear 52 rotates the gear 54 via the gear 55. In the present embodiment, a pulley 56 is fixedly connected to the gear 54, and the pulley 56 is connected to a pulley 62 fixed to the vertical shaft 61 via a belt 57 (see FIG. 1). Accordingly, the rotation of the gear 54 causes the vertical shaft 61, that is, the chuck unit 60 and the tool to rotate around the Z2 axis via the pulleys 56 and 62. With this configuration, the chuck unit 60, that is, the tool can be freely moved and positioned in the T-axis direction (around the Z2 axis). In the present embodiment, the fourth driver 12 is an AC servo motor, the fourth transmitter 13 is a ball spline mechanism, the gears 52 and 53 are screw gears, and the gears 55 and 54 are spur gears. Preferably there is. Further, the transmission mechanism of the pulleys 56 and 62 and the belt 57 is also a preferable form in terms of arrangement. Since the fourth driving body 12 is an AC servo motor, the positioning of the fourth moving body 11 can be performed with high accuracy and becomes easy. Since the fourth transmission body 13 and the gear 52 are engaged by a ball spline mechanism, the gear 52 can move smoothly in the axial direction (X axis) of the fourth transmission body 13 and the gear 52 It is supported around the axis (X axis) of the transmission body 13 so as not to rotate relative to the fourth transmission body 13. Therefore, the gear 52 can move in the X-axis direction in synchronization with the movement of the first moving body 3 in the X-axis direction. In the present embodiment, since the fourth moving body 11 and the chuck unit 60 are supported by the third moving body 6, the weight of the third moving body 6 is held by the fourth moving body 13 and The gears 52, 53, 54, 55 are substantially subjected to a force necessary to move the fourth moving body 11 and the like. The fourth transmission body 13 is rotatably held on the base 2 by, for example, a bearing.

  In the above embodiment, the first, second, and third vertical shafts 31, 41, 51 are fixedly connected by the structure 35 or the like as shown in FIG. In the present embodiment, the rotating part and the moving part such as the second vertical axis 41 and the third vertical axis 51 are appropriately supported by bearings or the like, but are known to those skilled in the art. Detailed descriptions are omitted, and are not shown in the drawings for convenience of explanation.

  As an embodiment of the present invention, a robot having a width of about 250 mm and a height of about 400 mm can be realized. With such a robot, it is possible to handle tools or parts with a maximum mass of about 5 kg and a maximum plane area of about 50 mm square. Such a robot is suitably used in facilities such as automobile manufacturing and assembly, and exhibits its effect.

Next, effects and operations of the above embodiment will be described.
The following effects can be expected from the robot according to the embodiment of the present invention.
-By adopting the above means, that is, in particular, the first drive body, the second drive body, the third drive body, and the fourth drive body are fixed to the base, so that the movable body has a transmission body. Although provided, the driving body is eliminated and the weight is reduced and the size is reduced.
-It is possible to reduce the weight of the cable bear for the sensor cable such as the power and the motor rotation speed, which is necessary in the conventional example, and to reduce the man-hours for installation and maintenance of the cable bear.
In addition, the fourth moving body is rotatably supported by the second moving body via the third moving body, so that the movement of the driving body is efficiently transmitted to the movable body with a simple structure and moved. Can be made.
In addition, the second transmission body is provided with a rotating shaft and a rack and pinion, and the first transmission body, the second transmission body, and the third transmission are moved by linearly moving the second movement body. The body and the fourth transmission body can be concentrated and arranged in a narrow area, which is effective in reducing the weight of the movable part.
In addition, since the fourth transmission body is provided with the rotation shaft, the gear, and the belt and pulley, the rotation angle can be easily calibrated.
In addition, since the movement axis of the second moving body and the rotation axis of the third moving body are the same, the number of components can be reduced.
-The above-mentioned action is effective, that is, the first driving body, the second driving body, the third driving body, and the fourth driving body are fixed to the base, and the fourth moving body is the second moving body. The second transmission body is provided with a rotating shaft and a rack and pinion, and the second transmission body is moved linearly, and the fourth transmission body is a rotation shaft. Since the gear and the belt and pulley are provided, and the moving shaft and the rotating shaft of the moving body 2 are the same, it is possible to provide a robot capable of reducing the weight of the movable part and performing high-speed movement and high-precision positioning.

In the above description, it is described that the first transmission body 5 is preferably a ball screw mechanism. However, the first transmission body of the present invention is not limited to this, and other than this, which converts rotational motion into linear motion. It may be a mechanism.
In the above description, the third transmission body 8, the second transmission body 10, the fourth transmission body 13 and the like have been described as being suitable for a ball spline mechanism. However, the third transmission body of the present invention is It is not limited to this, For example, mechanisms other than this, such as a key-shaped engagement mechanism, may be sufficient.
In the above description, the first, second, third, and fourth drive bodies 4, 7, 9, and 12 are preferably AC servo motors. However, the first, second, and The third and fourth driving bodies are not limited to this, and may be other driving apparatuses such as a simple electric motor.
In the above description, the movement of the second moving body 14 has been described as being performed by the rack-pinion mechanism, but the mechanism of the present invention is not limited to this, and converts the rotational motion into a linear motion. Other power transmission mechanisms may be used.
In the above description, power transmission from the second transmission body 10 to the second vertical shaft 41 and power transmission from the fourth transmission body 13 to the third vertical shaft 51 are performed by a screw gear mechanism. However, this mechanism of the present invention is not limited to this, and may be another power transmission mechanism that converts rotational motion into rotational motion in a different direction (preferably orthogonal direction). .
In the above description, the power transmission mechanism of the spur gear and the pulley and the belt in the fourth transmission body is not limited to the above-described embodiment, and other known mechanisms may be used.

Although the apparatus of the present invention has been mainly described as a robot used in automobile production facilities, the robot may be a robot used for other purposes.
Further, in the embodiment described above or shown in the accompanying drawings, the robot has been described as a robot having a fourth degree of freedom. However, the present invention is not limited to this, and a plurality of freedoms other than the fourth order are provided. It may be a robot having a degree.
The above-described embodiment is an example of the present invention, and the present invention is not limited by the embodiment, and is defined only by matters described in the claims, and other embodiments are also possible. It can be implemented.

FIG. 1 is a schematic overall three-dimensional view of one embodiment of the robot of the present invention. FIG. 2 is a part of a side sectional view (see arrow A) of the robot of FIG. 1 and shows the configuration of the second moving body, the fourth moving body, and the like. FIG. 3 is a part of a front cross-sectional view (in the direction of arrow B) of the robot of FIG. 1 and shows the configuration of a third moving body and the like. FIG. 4 is a schematic overall three-dimensional view of a conventional robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Robot 2 ... Base 3 ... 1st mobile body 4 ... 1st drive body 5 ... 1st transmission body 6 ... 3rd mobile body 7 ... 3rd drive body 8 ... 3rd transmission body 9 ... 2nd driving body 10 ... 2nd transmission body 11 ... 4th moving body 12 ... 4th driving body 13 ... 4th transmission body 14 ... 2nd moving body 31 ... 1st perpendicular axis 41 ... 1st 2 vertical shafts 51 ... third vertical shaft 60 ... chuck unit

Claims (1)

The basic base,
A first moving body supported movably on the base;
A first driver for moving the first movable body;
A first transmission body for transmitting the movement of the first driving body to move the first moving body;
A second moving body supported by the first moving body in a movable manner;
A second driving body for moving the second moving body;
A second transmission body for transmitting the movement of the second driving body to move the second moving body;
A third moving body rotatably supported by the second moving body;
A third driver for rotating the third movable body;
A third transmitter for transmitting the movement of the third driver to rotate the third movable body;
A fourth moving body supported movably by the third moving body;
A fourth driver for moving the fourth movable body;
A fourth transmission body for transmitting the movement of the fourth driving body and moving the fourth moving body;
In a robot having at least
Fixing the first driver, the second driver, the third driver and the fourth driver to the base ;
By combining the movement of the first moving body and the rotational movement of the third moving body by the third driving body, movement in the XY plane is provided, and the movement of the second moving body is provided. The moving movement by the second driving body is a movement in a direction perpendicular to the XY plane,
The first drive body and the first transmission body move the first moving body along the X-axis,
The second moving body is formed by fixedly connecting a first vertical axis, a second vertical axis, and a third vertical axis extending in the Z-axis direction to the second moving body,
The second transmission body is a ball spline mechanism extending along the X axis;
A pinion that engages with the ball spline mechanism of the second transmission body and is movable in synchronization with the movement of the first moving body in the X-axis direction; and the first vertical axis that is meshed with the pinion and that is engaged with the first vertical axis And the second movable body is linearly movable in the Z-axis direction by the rotation of the pinion,
The third movable body includes an arm fixed to the second vertical axis;
The third transmission body is a ball spline mechanism extending along the X axis;
A first gear that engages with the ball spline mechanism of the third transmission body and is movable in synchronization with the movement of the first moving body in the X-axis direction;
The first gear meshes with a second gear fixedly connected to the second vertical shaft;
The fourth moving body is rotatably supported at the tip of the arm around a fourth vertical axis extending in the Z-axis direction,
The fourth transmission body is a ball spline mechanism;
A third gear that engages with the ball spline mechanism of the fourth transmission body and is movable in synchronization with the movement of the first moving body in the X-axis direction;
The third gear meshes with a fourth gear fixedly connected to the third vertical shaft;
The fourth moving body rotates around the fourth vertical axis through a pulley by the rotation of the fourth gear .
A robot characterized by that.

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