| 摘要 |
<p>The invention relates to an industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism, comprising: a base frame having a rotating joint for a robot body; a pivot frame which is coupled to the rotating joint and which has a rotating joint; a column frame which is coupled to the rotating joint of the pivot frame, and which has a straight-line joint; a motor arranged in the pivot frame to rotate the column frame; a decelerator attachably/detachably mounted on the rotating joint of the pivot frame or directly on the pivot frame to receive driving force from the motor; and a four-bar link installed between an output shaft of the decelerator and the column frame.</p> |
