| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an industrial robot which is simple in structure, allows shortening of wires and pipes for an end effector to the minimum, and facilitates the maintenance of the wires and pipes. <P>SOLUTION: The industrial robot has a wrist mechanism (10) having three axial units (11, 12, 13) and a robot arm (8) bearing the wrist mechanism. The wrist mechanism has axial units which are driven by reduction gear-integrated motors (7, 4, 2), respectively, which each have a reduction gear mechanism built therein in one body. The motor (7) of the first axial motor closer to the robot arm, and the motor (2) of the third axial unit closer to the tip of the wrist have hollow passages (20, 21) formed therein along axial lines, respectively, and the wires and pipes (1) for the end effector mounted at the tip of the wrist bypass the second axial unit (12) and pass through the hollow passages. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
