| 摘要 |
<p>A wrist mechanism in an industrial robot comprises a wrist (13), a rotary type actuator (11) which is rotatable in clockwise and counter-clockwise directions, a first positioning board (33) which can define arbitrary angular stopping positions, sensing devices (62), and a second positioning board (35) which is arranged facing the first positioning board (33), wherein the sensing devices (62) detect the angular position of the wrist (13), which is driven by the rotary type actuator (11), the rotary type actuator (11) is stopped by signals produced by the sensing devices (62), and the second positioning board (35) with tapered receptacles (351) is pressed to the first positioning board (33) with tapered pins (331), whereby the positioning of the wrist mechanism is carried out (Fig. 1).</p> |
