JPS5946714B

PURPOSE:To improve working efficiency relatively easily by giving forward and backward movements to a supporting arm, rotation to a wrist member, and extention and contraction movements to an arm member projecting from the wrist member respectively properly. CONSTITUTION:A supporting arm 2 which is freely movable forward and backward by way of a cylinder 3 is provided to the bottom surface of a robot body 1, and a wrist mechanism 5 is provided to the leading end of the arm 2. The wrist mechanism 5 consists of a wrist body 7 fitted pivotally by means of a horizontal shaft 6 to the leading end of the arm 2, and a wrist member 9 fixed to the leading end of a revolving shaft 8 in the forward and backward directions of an extending wrist body 7. The body 7 makes a shaft 6 freely tiltable with a cylinder 10 between said body and the arm 2, and the member 9 is constituted freely rotatably by a lower cylinder 11 with the shaft 8. Further, an arm member 12 extending in the direction approximately at a right angle to the shaft 8 is projected to the member 9 and a welding gun 13 is provided to the leading end thereof. The member 12 is constituted freely extensibly forward and backward by means of a cylinder 14. The gun 13 is made movable over the entire circumference of materials to be welded by combining these properly.