PURPOSE: To hold an attitude of a wrist shaft with high accuracy by a simple mechanism so that the number of part items is reduced and workability at maintenance-inspection time is improved.

CONSTITUTION: A wrist attitude holding device is provided in an industrial robot having plural free shafts where a wrist shaft of a wrist arm 5 is formed as the final stage. A speed reducer 22 for the wrist arm is arranged on the wrist shaft, and driving force of a motor 10 fro a sub-arm is transmitted to the speed reducer 22 for the wrist arm through a driving transmitting means such as a first timing belt 13 and a second timing belt 17 or the like arranged along the respective free shafts, and even if the free shafts except the wrist shaft are driven, the wrist shaft can be held in a constant attitude.