| 摘要 |
PURPOSE: To provide a tough and compact articulated robot and to facilitate maintenance of it by composing a casing to compose an arm of the robot as a shell structure, and containing a module including a drive unit and a power transmission device in it. CONSTITUTION: A load support structure of a forearm 13 is composed of a shell structure outer casing 20 having a cavity 21 and an inlet port for a module 22 at one end. The module 22 to be inserted into the cavity 21 in the outer casing 20 comprises a wrist 16 and a drive motor, and it is partially assembled to be inserted into the outer casing 20 by one-time operation. This module 22 is composed of a cylindrical casing 23 having a terminal plug 24 to be quickly connected to a socket 25 connected to an electricity supply means through a conductor 26. The terminal plug 24 has plural terminals, and each is connected to an electric motor included in the module 22 through a corresponding conductor. |
