INDUSTRIAL ROBOT

PROBLEM TO BE SOLVED: To provide a method to limit mechanically a wrist inclining angle to the robot installation surface for an industrial robot of articulated type having a wrist. SOLUTION: The industrial robot is structured so that the inclination angle of a third arm 5 to the installation surface is decided depending upon the inclination of a prime moving link member 15 swung when a driving mechanism 18 is operated, wherein the third arm 5 has a table 6 where the wrist is attached to a rotational driving mechanism and a projection is provided protruding in a position apart from the center of the rotary shaft, and for restricting the rotating direction of the table 6, the third arm 5 is fitted with stopper members installed in the rotating direction of the projection caused by rotation of the table 6, and also fitted with a plurality of stopper members arranged in such a way as pinching the prime moving link member 15 in order to suppress the swinging rotatable angle of the prime moving link member 15. COPYRIGHT: (C)2007,JPO&INPIT