| 摘要 |
An industrial robot includes a plurality of motors provided at an end of a hollow link, torque transmission units provided within said link for transmitting rotational torques of the plurality of motors, and rotary units for a plurality of independent rotational motions in response to each of the motors. The rotary units provided at the other end of the hollow link and are drivingly connected to the torque transmission units. The rotary units comprise a first rotary device having a first box and rotating about an axis of the hollow link, a second rotary device having a second box and rotating about a rotary axis which obliquely intersects with a rotary axis of the first device, and a third rotary device having an output shaft and rotating about a rotary axis which intersects obliquely with the rotary axis of the second rotary device. The second rotary device includes a first transmission shaft (43a) one end portion of which is directly connected to the second box (66) and the other end portion of which is drivingly connected to one of the torque transmission units. The second rotary device substantially surrounds the third rotary device. Thus, the industrial robot may be made compact in size, light in weight and superior in performance. |
