To provide a manipulator device achieving both speedy operation and slow operation within an operating range of an attachment and having high reliability of switching of operating speed without using a positioning sensor and a position detection switch etc.
In this concrete spray machine (manipulator device) 1, a second arm part 4 is connected to an end side of a first arm part 3 so as to be rotatable by a hydraulic cylinder 2, and an injection head device 10 (attachment) is fitted in an arm end side of the second arm part 4. The hydraulic cylinder 2 is a composite hydraulic cylinder in which first and second cylinder rods 24, 27 are provided in a cylinder tube 9 so as to be expanded/contracted in the axial direction of the cylinder tube 9. A hydraulic circuit for driving the hydraulic cylinder 2 controls the speeds of the respective first and second cylinder rods 24, 27 individually.
| WO/2015/020952 | POP-UP LAMINATE STRUCTURES WITH INTEGRATED ELECTRONICS |
| WO/2019/014978 | WEARABLE ROBOT |
MARUYAMA HARUKI
SAEKI HIROMI
FUJISHIRO YOSHINOBU
FURUKAWA ROCK DRILL CO LTD
| JP2005196612A | 2005-07-21 | |||
| JPH01261503A | 1989-10-18 |
Yoshiaki Naito
Cui Shu Tetsu