| 摘要 |
<p>A ceiling-mounted SCARA robot comprises a base (10), a first arm (11) coupled to the base (10) via a first coupling part (14) with a first joint axis (J1) as the center thereof and rotatable within a horizontal plane around the first joint axis (J1), a second arm (12) coupled to the first arm (11) via a second coupling part (15) with a second joint axis (J2) as the center thereof and rotatable within a horizontal plane around the second joint axis (J2), a work shaft (13) attached to the second arm (12), a second joint axis motor (22) and a second joint axis speed reducer (26) both for driving the second arm (12), and a work shaft rotation motor (24) for rotating the work shaft (13), the second joint axis speed reducer (26) is provided in the second coupling part (15), and the work shaft rotation motor (24) is disposed immediately below the second joint axis speed reducer (26).</p> |
