Industrial robot

摘要

PCT No. PCT/JP83/00175 Sec. 371 Date Jan. 31, 1984 Sec. 102(e) Date Jan. 31, 1984 PCT Filed May 31, 1983.An industrial robot is constituted by a plurality of series connected arm units each composed of a driving unit from among a plurality of driving units having different driving powers and different driving speeds, a joint unit from among a plurality of joint units having different driving speeds and power transmitting capacities, and an arm from among a plurality of arms having different sizes and load capacities. The joint units, driving units and arms each have connecting surfaces thereon having positioning parts and setting-fixing parts in a predetermined pattern for enabling the joint units, driving units and arms to be detachably connected to other joint units, driving units and arms at corresponding connecting surfaces to form arm units with the desired joint units, driving units and arms. The joint units each have a stationary frame and a follower frame rotatably connected to each other and driving power transmitting mechanism connected between said frames and including reduction gears. The driving units each have a motor and an output member fixed to the motor shaft which, when a driving unit is connected with a joint unit, is engaged with power transmitting mechanism.