WRIST MECHANISM OF INDUSTRIAL ROBOT

PURPOSE:To check any restriction to the motion of a wrist due to the mounting of a motor, to the minimum even if this motor is directly mounted on a wrist mechanism by attaching this motor, for giving at keast one of the degrees of freedom, to the wrist mechanism so as to have a part contained in a motor body of its rotor shaft opposed to a first turning shaft. CONSTITUTION:A first drive shaft 6 of a wrist WR for a robot front arm 1 and a rotor shaft 18a of a motor 18 are installed so as to be opposed perpendicularly with a part contained in a body 13W of this motor 18. With this constitution, any work at the external part of the motor 18 due to an attitude variation in the wrist WR can be checked to the minimum, so that any interference with external things including a work is hard to occur and, what is more, any restriction against the motion of the wrist WR is eliminated, thus an attitude of the wrist WR is optionally controllable.