PURPOSE: To prevent the damage of both a robot and a piping when the robot interfers with the piping by providing an absorbing means to absorb an impact by an external force except a floor reaction force exerted by a floor during running and providing an impact absorbing means with a portion displaced from an initial position.
CONSTITUTION: An impact absorbing means 70 is arranged to a base body 24 being the most protruding portion of a robot 1. The impact absorbing means 70 is composed of a toroidal balloon 72, and the base body 24 is inserted in the central opening thereof to cover the periphery of the base body 24 therewith. The balloon 72 is formed of an expandable resilient material, such as rubber, and the proper number of valves 76 is mounted in an airtight manner on the end part of an opening part, formed in the balloon 72, by means of resilient pieces. A plate 76b energized by means of a spring 76c is disposed in the balloon 72 and balanced with a compressed air pressure in the balloon 72. When an impact is applied on the balloon 76, the spring 76c is compressed and moved by the plate 76b by means of a force exerted on compressed air to absorb an impact.
NISHIKAWA MASAO
HIROSE MASATO
TAKAHASHI HIDEAKI
MATSUMOTO TAKASHI
