| 摘要 |
PCT No. PCT/JP84/00435 Sec. 371 Date Mar. 14, 1985 Sec. 102(e) Date Mar. 14, 1985 PCT Filed Sep. 11, 1984 PCT Pub. No. WO85/03024 PCT Pub. Date Jul. 18, 1985.This invention relates to an industrial robot in which a concentric triple shaft is constituted by a first drive shaft (28), a cylindrical, second drive shaft (27) which concentrically encloses the first drive shaft (28), and a cylindrical, third drive shaft (26) which concentrically encloses the second drive shaft (27). There are provided a first box member (65) capable of rotating concentrically with the third drive shaft (26), a second box member (66) which is supported rotatably by the first box member (65) on an axis intersecting the axis of rotation of the first box member (65) perpendicularly or obliquely, and an output member (80b, 100, 105) which is supported rotatably by the second box member (66) on an axis intersecting the axis of rotation of the second box member (66) perpendicularly or obliquely and which is rotated by the first drive shaft (28). A harmonic reduction unit (73, 80, 106) is disposed in at least one of the transmission systems of power to the first and second box members and the output member. A bearing box (126, 137) is provided which is disposed around gears (58, 59) of gear groups constituting transmission systems of power to the first and second box members and the output member and which is mounted within an opening (66d) formed in the box member (66), the opening (66d) of the box member (66) being larger in diameter than the outer peripheral portion of the gears (58, 59).
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