To provide a robot arm piping to a work holding means with high pressure air as its driving source of which is not exposed outside, capable of saving a space and capable of keeping its maintaining property favorable.
This robot arm is constituted of an arm shaft 3 on which a large number of magnetic poles are arranged with prescribed pitches along the axial direction, a forcer having a through hole in which this arm shaft 3 is fitted with a play, constituting a linear motor with this arm shaft 3 and to advance and retreat the arm shaft 3 in the axial direction in correspondence with an applied electric signal and the work holding means 4 provided on one end of the arm shaft 3 and to move in correspondence with air pressure. A fluid supplying hole 30 to make the air pressure work on the work holding means 4 is formed to pass through along the axial direction on the arm shaft 3, and this fluid supplying hole 30 is connected to a supplying port of the work holding means 4.
YAMANAKA SHUHEI
KIMURA YOSHIHIRO
Katsuo Naruse
Tomohiro Nakamura
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