| 摘要 |
In a joint mechanism of an industrial robot having a second arm (1) or stationary base rotatably supporting via a bearing (8) a joint shaft (11) integrally attached to a first arm in alignment with the center line of rotation of the first arm (2), the joint shaft (11) is made in the form of a crank and its one half is made in the form of a cylinder, and a cable (3) is passed through inside the cylinder portion of the joint shaft (11). A motor (5) is attached to the second arm (1) or stationary base with its output shaft (13) positioned in alignment with the center line of rotation of the first arm (2), and the motor output shaft (13) is connected directly or via a harmonic drive (6) to the joint shaft (11), whereby sliding portions in a motive power transmission section are reduced, thereby lessening the generation of dust. |
