ARTICULATED MANIPULATOR

PURPOSE:To make an adaptor freely movable and to make the hold-state of the adaptor, i.e. a working tool in a flexible state by fitting the adaptor with its engaging to the spherical part of a fixed shaft. CONSTITUTION:A work tool 5 fitted to a wrist 12 is pressed to a distribution line and an adaptor 129 rotates freely on the spherical part 122a of a fixed shaft 122 so as to run along the inclination of the distribution line against the inclination of the distribution line, namely the inclination to the work tool 5 and puts the distribution line into the work tool 5, in the case of performing the alignment to the distribution line by operating each joint of an articulated manipulator. Also, in the case of fixing the work tool 5 at an optional inclined position, a rod 130 is pressed upward by the pressure of the driving oil fed by an oil feeding path 134, the end of the rod 130 is pressed to the internal face of the adaptor 129 and the adaptor 129 is fixed in an inclined state with the friction force by the pressure contact face of the rod 130 and the adaptor 129.