PURPOSE: To provide an industrial robot having a wrist mechanism which can make operation in three degrees of feedom by constituting a swiveling mechanism between the wrist of the robot and a working tool and adding a non-continuous swiveling function, if necessary, to the wrist part.
CONSTITUTION: An electromagnetic attracting device 16 in a wrist 3 is first excited to disengage an engaging part 12 from 7 in an industrial robot for automatic welding consisting of an operating arm 1, the wrist 3 and a torch 2. Only the driving flange 9 is moved upward by (l), by which the surface inclined in accordance with the driving transmission surface 4a of a rotating and driving part 4 is pressed to a rubber ring 8. The wrist 3 is rotated in this state toward an arrow B and the flange 9 is rotated by friction with the ring 8. When the flange rotates by a desired angle, the exciting current to the device 16 is turned off, then the engaging part 7 in a bearing support part 5 is engaged with the engaging part 12 of a swiveling shaft 10 by means of a spring 14 to revolve the shaft 10 attached with a welding torch 2 in an arrow C direction. The operation of the arm 1 at three degrees of freedom A, B, C including the bending A thereof is made possible.
TOUNAI SHIYUUICHI
NONAKA HIROMASA
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