Manner and the device, and has its grip unit the robot which move grip unit, register

摘要

Grip unit (3; 23; 43) being manner and the device which it moves, registers, as for grip unit the cable (9,10,11,12; 29,30,31; 48,49,50) to move due to mediation and be registered, grip unit mechanical to support structure (4; 24; 44) grip unit one degree of freedom is excluded at least by locking. In addition, as for this invention the robot which has the device of this genus (1; 21; 41) it regards.