| 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 of an industrial robot; a wrist unit (30) attached to the free end of the robot forearm; three rotary shafts (52, 54, 56), i.e., an outer shaft, an intermediate shaft and an inner shaft, which are coaxially arranged within the robot forearm; an outer wrist unit (34) connected to the end of the outer shaft (52) so as to be able to rotate therewith; an inner wrist unit (36) connected to the intermediate shaft (54) by a bevel gear mechanism (80) so as to be able to swivel within the outer wrist unit (34) about an axis of rotation substantially perpendicular to the axis of rotation of the outer shaft; and a hand retainer (38) connected to the inner shaft by two pairs of bevel gear mechanisms (90, 94) so as to be rotatable about an axis of rotation substantially the same as the axis of rotation of the outer wrist unit. |
