| 摘要 |
PROBLEM TO BE SOLVED: To prevent a large load from being applied to a robot arm by mounting a motor which is a drive source of an end effector on a robot body side. SOLUTION: A spot welding gun 8 is mounted on a wrist 7 of a welding robot 1. The spot welding gun 8 has a lower welding tip 14 mounted on a gun arm 12, and an upper welding tip 13 to be displaced in an approaching/ retracting manner to/from the welding tip 14. The welding tip 13 is vertically moved by a ball screw 20. A drive source of the ball screw 20 is a motor 21 mounted on the robot body side, and the rotational drive force of the motor 21 is transmitted to the ball screw 20 by a flexible wire 22.
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