Patent ID: 8006586

Claim:
An articulated industrial robot comprising: a robot base structure ( 12 ), a robot wrist ( 20 ) ending in a flange (F) for attachment of an apparatus to be carried by the robot, and a plurality of mutually articulated components ( 13 , 14 , 16 , 18 ) linking said robot base structure ( 12 ) to said robot wrist ( 20 ), wherein said robot wrist ( 20 ) includes: a first support ( 22 ) mounted on one ( 18 ) of said robot components that is rotatable about a first axis (IV); a second support ( 24 ), rotatably mounted on said first support ( 22 ) about a second axis (V) which is inclined with respect to said first axis (IV); a third support ( 26 ) rotatably mounted on said second support ( 24 ) about a third axis (VI) inclined with respect to said second axis, said third support ( 24 ) carrying said flange (F) for attachment of said apparatus to be carried by the robot, and means for controlling rotation of said second support ( 24 ) and said third support ( 26 ) around said second axis (V) and said third axis (VI) respectively, wherein said first, second, and third axes (IV, V, VI), when located in the same plane, define a Z-like arrangement, with said first axis (IV) and said third axis (VI) being parallel to, and spaced apart from, each other, wherein said first, second and third support ( 22 , 24 , 26 ) define a continuous inner cavity for passage of a bundle (C) of cables and/or ducts for supplying the apparatus to be carried by said flange (F), and wherein said means for controlling rotation of said second support ( 24 ) and said third support ( 26 ) include: a first motor and reducer unit ( 28 , 40 ), carried by said first support ( 22 ), and a first gear pair ( 42 , 44 ; 42 , 50 ) for transmitting rotation of the output shaft of said first motor and reducer unit ( 28 , 40 ) to said second support ( 24 ); a second motor and reducer unit ( 30 , 40 ) carried by said second support ( 24 ), and a second gear pair ( 46 , 48 ) for transmitting rotation of the output shaft of said second motor and reducer unit ( 30 , 40 ) to said third support ( 26 ).