| 摘要 |
An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M theta , MW, MU, M alpha , M beta , M gamma ) provided with absolute position detecting encoders (EC theta , ECW, ECU, EC alpha , EC beta , EC gamma ). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M theta ) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M alpha , M beta , M gamma ) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC theta , ECW, ECU, EC alpha , EC beta , EC gamma ).
|
