| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot to easily prevent damage to a piping and improve productivity. SOLUTION: A through-hole is formed in the power transmission mechanism of the internal part of a wrist part throughout a portion ranging from the tip side of a second arm 5f to the rear end of a coating gun 7. Tubes, such as a paint feed tube from a paint apparatus 6 is arranged and an optical fiber cable connected to a controller 1 is arranged. During a paint work, a signal through the optical fiber cable is checked, and at a point of time when the signal is stopped, the paint injection motion of a coating gun 7 is stopped. Further, during arrangement of a pipe, in addition to various tubes for ordinary use, a preliminary tube 3 and a switch valve to switch a flow passage is arranged thereat. When the number of bending timesθjn of the wrist part exceeds the given limit number jlim of times, a working tube is switched to the preliminary tube side.
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