| 摘要 |
There is provided an indusrial robot having a hollow arm (42) rotatable in a plane perpendicular to the longitudinal axis of a spindle of a machine tool, a wrist mechanism (44) attached for rotation at one end of the arm (42), the wrist mechanism having a rotary shaft, and a gripper connected to the rotary shaft of the wrist mechanism for being rotated thereby. There are provided first and second air cylinders (51a, 51d) colinearly disposed within the arm (42), the first cylinder (51a) being fixed and the second cylinder (51d) being movable longitudinally of the arm (42). A piston rod (51f) interconnects the first and second of cylinders (51a, 51d) the piston rod (51f) having a piston (51g) at one end received in the first cylinder (51a) and a piston (51h) at the other end received in the second cylinder (51d). The piston rod (51f) is moved longitudinally of the arm (42) by introducing air selectively into the first and second air cylinders (51a, 51d). A pulley (51b) is affixed to the first cylinder (51a), and a tension member such as a wire (44e, 44e min ) or belt is connected between the rotary shaft (44d) of the wrist mechanism (44) and the pulley (51b). The second cylinder (51d) is connected to the tension member (44e, 44e min ). The tension member (44e, 44e min ) is pulled by driving the second cylinder (51d), thereby rotating the rotary shaft (44d), which is capable of being stopped at 0 DEG , +/-90 DEG , and 180 DEG positions. |
