VERTICAL MULTI-JOINT ROBOT

摘要

A vertical multi-joint robot in which a drive motor can be replaced in a short time, in which mechanical misalignment in position can be simply corrected, and that can manage operation even in an area near the robot. The vertical multi-joint robot has a base 1, a rotation base 2 provided on the base 1 so as to be rotatable about a first rotation axis (1), a first upper arm 5 provided on the rotation base 2 so as to be pivotable about a second rotation axis (2) in a plane perpendicular to the first rotation axis (1), a second upper arm 8 provided on the head end of the first upper arm 5 so as to be rotatable about a third rotation axis (3) perpendicular to the second rotation axis (2), a front arm provided on the head end of the second upper arm 8 so as to be pivotable about a fourth rotation axis (4) in a plane perpendicular to the third rotation axis (3), a wrist assembly 14 mounted on the head end of the front arm, and motors for respectively rotationally driving the first upper arm 5, the second upper arm 8, and the front arm about their respective pivot axes. The motor 10 for pivoting the second upper arm 8 is mounted on a frame of the second upper arm 8.