| 摘要 |
The invention relates to a hollow industrial robot which is especially suitable for process work such as spot and arc welding, sealing, painting, glueing, laser machining, etc. The robot comprises a tubular lower robot arm (2), the lower end of which is pivotably journalled in a robot stand around a preferably horizontal first axis and rotatably journalled around a second axis (B) coinciding with the longitudinal axis of the arm (2). A tubular upper robot arm (5) is articulately connected to the upper end of the lower robot arm (2) via an articulated joint member (6) in the form of a tubular sleeve obliquely cut off at both ends. The articulated joint member (6) is journalled in the lower robot arm (2) and is rotatable about a third axis (C) which intersects said second axis (B). The upper robot arm (5) is journalled in or on said articulated joint member (6) and is rotatable about a fourth axis (D), which intersects said third axis (C). The upper end of the lower robot arm (2) is secured to a first conical toothed wheel (9), which engages with a second conical toothed wheel (10) secured to the rear end of the upper robot arm (5). <IMAGE> |
