ARTICULATED ARM TYPE OF INDUSTRIAL ROBOT.

摘要

An articulated arm type of industrial robot is provided with a wrist-operating mechanism comprising: a robot forearm (20) rotatably attached to the upper end of a robot upper arm (16) which is rotatably attached to a rotary or horizontally movable robot body (10) of an industrial robot; a wrist unit (30) attached to the free end of the robot forearm (20); three rotary shafts, i.e., an outer shaft (52), an intermediate shaft (54) and an inner shaft (56), which are coaxially arranged within the robot forearm; an outer wrist unit (34) connected to the end of the outer shaft (52) and which is adapted to rotate therewith at a reduced speed; and a hand retainer (38) connected to the intermediate shaft (54) by at least a pair of a bevel gear mechanism (80) and a reduction gear (34) within the outer wrist unit and which is adapted to be rotatable about an axis of rotation substantially the same as the axis of rotation of the outer wrist unit.