| 摘要 |
A hollow industrial robot, especially suitable for process work such as spot and arc welding, sealing, painting, glueing, laser machining, etc., has a tubular lower robot arm, the lower end of which is pivotably journalled in a robot stand about a preferably horizontal first axis and is rotatably journalled about a second axis coinciding with the longitudinal axis of the arm. A tubular upper robot arm is articulately connected to the upper end of the lower robot arm via an articulated joint member in the form of a tubular sleeve obliquely cut off at both ends. The articulated joint member is journalled in the lower robot arm and is rotatable about a third axis, which intersects the second axis. The upper robot arm is journalled on the articulated joint member and is rotatable about a fourth axis, which intersects the third axis. The upper end of the lower robot arm is secured to a first conical toothed wheel, which engages with a second conical toothed wheel secured to the rear end of the upper robot arm.
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