Patent ID: 7566198
Filing Date: 2009-07-28
Classification: B25J,H01L,Y10T

Abstract:
1. An industrial robot comprising: a main body part; an arm part comprising a first arm, a second arm and a hand arm which are connected in this order from the main body part and which is turnably driven to expand and contract so that the hand arm is moved in a direction; a first turnable shaft which is disposed in the main body part for performing an expansion-contraction operation of the arm part; a second turnable shaft which is disposed within the first turnable shaft for changing an expansion-contraction direction of the hand arm together with the first arm; a first sensor mechanism which is provided in the main body part and which includes a first sensor for detecting a home position of the second turnable shaft; a second sensor mechanism which is provided in the second turnable shaft and which includes a second sensor for detecting a relative home position between the second turnable shaft and the first turnable shaft; and a rotary joint which is connected with the second turnable shaft and is electrically connected with the second sensor.