| 摘要 |
<p>An articulated robot includes a generally cylindrical stationary unit 12 having an outer peripheral surface formed with a circumferential gear 30, and having a cable joint 22 provided adjacent to its bottom to which control cables 24 extending from a control circuit are connected. A generally cylindrical rotary unit 20 is supported rotatably about the stationary unit 12. A rotary unit driving motor 16 is mounted on the rotary unit 20 and the motor is connected to a motor gear 32 meshing with the circumferential gear 30 on the stationary unit 12. When the motor gear 32 is driven by the motor 16 it rotates the rotary unit 20 about the stationary unit 12. An articulated robot arm composed of a plurality of arm elements is connected to the rotary unit 20, and carries at its free end a working member which is movable to a selected working position. The working member may, for example, be a welding torch. A plurality of articulating motors are provided for driving the arm elements, respectively. A plurality of cables extend from the cable joint 22 to the rotary unit 20 along the axis of rotation of the rotary unit to supply electric current to the motors. <IMAGE></p> |
