Hand axle for industrial robot, has case that is rotated relative to another case, where cases include reference marks that are adjusted in reference positions in rotational direction between cases, respectively

摘要

The axle has a case (5) i.e. upper arm, which is rotated relative to another case (1). The cases include reference marks that are adjusted in reference positions in a rotational direction between the cases, respectively. One mark having slotted holes is fixed at the case (1) by a mounting screw. An intermediate piece (3) i.e. elbow joint, is provided between the cases and is rotated relative to the cases. Rotary motions of the case (5) and the piece are coupled with each other by a gear. The marks have respective grooves that run parallel to rotational axes (7, 19).