| 摘要 |
A robot wrist assembly (26, 126, 226) for an industrial laser robot, attached to the extremity of a robot arm (20, 120, 220) and provided with a laser beam emitting nozzle (28, 128, 228) and a wrist head comprises at least one direct-drive motor (M.alpha., M.beta., M.gamma.) for driving the wrist head, hollow wrist drive shafts (24, 124, 136, 224, 236, 240) driven by the direct-drive motors (M.alpha., M.beta., M.gamma.), and brakes (B.alpha., B.beta., B.gamma.) that are engaged with the respective circumferences of the hollow wrist drive shafts (24, 124, 136, 224, 236, 240), respectively, for breaking. A laser beam transmission pipe (30, 130, 230) is extended internally of the innermost hollow wrist drive shaft (24, 136, 240) to transmit a laser beam through the robot arm (20, 120, 220) to the laser beam emitting nozzle (28, 128, 228) so that the laser beam is emitted through the laser beam emitting nozzle (28, 128, 228).
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