| 摘要 |
<p>An industrial robot comprising a robot chain of elements (12, 13, 14, 16, 18), mutually articulated between themselves and ending with a robot wrist (20) bearing a tool (100). Through the robot chain of elements and through the robot wrist (20) a continuous internal passage is defined, in which one or more cables and/or pipes for the power supply and/or the fluid supply to the tool (100) are received. The cables and pipes continue without interruption in a passage (Fl) through the flange of the robot up to respective connections of said tool, whereby the cables and pipes are arranged completely inside the robot and inside the tool, without the need to provide separate cables and pipes of the tool connected to the cables and the pipes of the robot at the flange of the robot. In the case that the tool is an electric spot welding head it is arranged with an electrical transformer having its output poles (118, 119) arranged respectively on a front wall of the body of the transformer and on an end wall of the body of the transformer, for connection to the electrode-holding arms (103, 104) of the head. In this way the size of the head in the longitudinal direction which goes from the flange of the robot towards the electrodes results in being more compact. The structure of the welding head is completely covered by a casing (105) having a rear opening for connection to the robot wrist and a front opening from which the electrode -holding arms (103, 104) of the welding head protrude.</p> |
