| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot which has no limitation for a swiveling angle of an arm, and can be manufactured at a low cost. SOLUTION: The industrial robot comprises: an arm portion 10 which is composed of a first arm 20, a second arm 30, and a hand arm 40 to be connected to a body portion side in this order, and which rotationally drives the hand arm 40 so as to expand and contract in a definite direction; and a body portion 100 having a hollow rotary shaft 3 for carrying out the expanding and contracting movement of the arm portion 10 and a solid rotary shaft 2 which is located in the hollow rotary shaft 3, and is connected to the first arm 10, and changes the direction of the expansion and contraction of the hand arm 40. The body portion 100 comprises: a first sensor mechanism having a first sensor 4 for detecting the zero point position of the solid rotary shaft 2; and a second sensor mechanism which is provided on the solid rotary shaft 2 and has a second sensor 5 for detecting the relative zero point position of the solid rotary shaft 2 and the hollow rotary shaft 3. The solid rotary shaft 2 is provided with a rotary joint 6 electrically connected thereto, and the second sensor 5 is connected to the rotary joint 6. COPYRIGHT: (C)2007,JPO&INPIT |
