INDUSTRIAL ROBOT HAVING JOINTS USING A HOLLOW REDUCTION GEAR.

摘要

An industrial robot having joints (10) each having in turn a joint driving motor (MR) and a reduction gear (40), wherein when a rotational input of said motor (MR) is inputted to said reduction gear (10) via transmission mechanisms (32, 34), an reduced output is transmitted to movable elements of said joint (10), wherein said reduction gear (10) has a hollow cylindrical area (16a) about its central axis (A), wherein void areas (16b, 16c) are formed at upper and lower portions of said reduction gear (10) without structural members and components of said robot being connected to each other, and wherein said hollow cylindrical area and said void areas (16a-16c) are used for wiring and piping passages of cables (50) and hoses (52), whereby said cables and hoses are allowed to pass along said central axis (A) of said joint (10).