| 摘要 |
An industrial robot (1) includes a base part (2) mounted with motors (3), a head part (4), a plurality of arms (6) provided for the motors, respectively, each arm having a first arm portion (10) connected to the motor, a second arm portion (12) connecting the first arm portion and the head part, a first ball joint (14a) pivotally connecting the first arm portion and the second arm portion, and a second ball joint (14b) pivotally connecting the second arm portion and the head part, and a detector (P1, P2a to P2c, P3, 40, 40a, 50) for detecting a connection failure of a second arm portion. Each of the first ball joints and the second ball joints includes a ball stud (20) having a ball head (22) and a socket (26) holding the ball head. Each ball stud of at least either the first ball joints or the second ball joints includes an internal passage (23) opening on an outside surface of the ball head. The detector includes a pressurizing device (P1, P2a to P2c, P3, 40) for generating a specific pressure in the internal passages, and a determination device (40a, 50) for detecting a pressure in the internal passages and determining based on a detected value whether a connection failure occurs in a second arm portion. |
