| 摘要 |
<p>@ An industrial robot having a first arm (13) pivotable about an axis (A2) and a second arm (14) carried on one end of the first arm for pivot movement about an axis (A3) which is parallel to the pivot axis of the first arm. The second arm is composed of an arm body (25), which carries a rotary member (31) rotatable about an axis (A4) normal to the pivot axis of the second arm. A twist body (55) secured to one axial end of the rotary member carries a bend body (65) rotatable about an oblique axis (A5) which is slanted with respect to the rotational axis of the rotary member, and the bend body carries a swivel body (70) rotatable about an axis (A6) which is slanted with respect to the oblique axis. The twist body is formed at a portion radially offset from the rotational axis of the rotary member with an eccentric cylindrical portion (56), in which a first pair of shafts (58, 62) for transmitting rotational power respectively to the bend and swivel bodies are rotatably carried in approximately coaxial alignment with each other. Further, a second pair of shafts (42, 44) for respectively rotating the first pair of shafts are rotatably carried in the rotary member, with one of them .being in coaxial relation with the rotational axis of the rotary member, but with the other of them being in coaxial relation with one of said first pair of shafts.</p> |
