To provide a scalar robot facilitating the position control of an arm part and reduced in less deviation between an arranged position and a target position of a robot tip.
The scalar robot 1 is composed of a base part 2, the arm part 3 and a conveying part 4. The base part 2 has a base 10 installed on a floor face or the like. The arm part 3 comprises a first arm 11 rotatable with respect to the base 10; a second arm 12 turnable relative to the first arm 11; and a third arm 13 turnable relative to the second arm 12 and mountable with a tool at the tip 13B. The conveying part 4 has an outer cylinder 10C, to which a supporting arm 21 is fixed, turning in a direction perpendicular to the turning direction of the arm part 3. A driving shaft 22 is protrusively formed at the supporting arm 21 so as to be turnable relative to the supporting arm 21. The driving shaft 22 has a workpiece holding device 23 for holding a workpiece. The conveying part 4 can thereby arrange the workpiece held by the workpiece holding device 23 into a predetermined target position of a conveying surface (an XY plane).
Osamu Suzawa
Kazuhiko Miyasaka