| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot which can enlarge the effective working range of a robot, and can improve the control characteristic of the robot and also can reduce the loading moment of the robot. SOLUTION: A part of a shock sensor unit 72 (a part positioned in the axial direction of the main body 74) is built in the wrist portion 12 of a manipulator. The torch length (the end effector length) of a welding torch 13 from the portion fixed to the wrist portion 12 to the tip end of the welding torch 13 can be shorten because a gear 62 is arranged in a rocker 24, and a part of the shock sensor unit 72 is fitted in a rotor. COPYRIGHT: (C)2009,JPO&INPIT
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