| 摘要 |
<p>The invention relates to an industrial robot with two lower robot arms (15, 16) directed upwards from a fixed robot stand (10), said robot arms at their lower end being pivotably journalled in the stand (10) around horizontal axes (A1, A2) and at their upper end being pivotably interconnected by a yoke (17) in such a way that a four-bar linkage is formed. The linkage (15, 16, 17) is provided with a first driving unit (18). An upper robot arm (23) is journalled around a fifth axis (D) in a fixing member (20) which is supported by the yoke (17) and which is rotatably journalled around a sixth axis (C). The upper robot arm (23) and its fixing member (20) are provided with a second and a third driving unit (24 and 26), respectively.</p> |
