Abstract: A joint structure of a robot includes a first member, a second member which is rotatably supported around a horizontal rotation axis line with respect to the first member, and an actuator which rotates the second member with respect to the first member, a through-holes, each of which allows a lubrication space in which a lubricant for the actuator is enclosed to connect with an outer space is provided in at least one of the first member and the second member, and more than three of the through-holes are provided at an interval in a circumferential direction centering around the horizontal rotation axis line.

Abstract: A joint structure of a robot includes a first member, a second member which is rotatably supported around a horizontal rotation axis line with respect to the first member, and an actuator which rotates the second member with respect to the first member, a through-holes, each of which allows a lubrication space in which a lubricant for the actuator is enclosed to connect with an outer space is provided in at least one of the first member and the second member, and more than three of the through-holes are provided at an interval in a circumferential direction centering around the horizontal rotation axis line.

Abstract: A control unit has as agitation mode in which a command is executed for a first switching valve so that the oil supply/discharge direction is switched so as to supply oil to a first oil supply/discharge port located at a low position and discharge oil from a second oil supply/discharge port located at a high position, whereby oil in an oil bath is agitated via a circulation pump from a low position to a high position is the oil bath; and a filter mode in which, after the agitation mode is executed, a command is executed for the first switching valve so that the oil supply/discharge direction is switched so as to discharge oil from the first oil supply/discharge port located at a low position and supply oil to the second oil supply/discharge port located in a high position, whereby impurities in the oil sent to a filter mechanism are filtered.

Abstract: A teach pendant for teaching a robot includes an operation unit disposed on a first surface of the teach pendant, to perform an input operation; a display unit disposed on the first surface; and a camera disposed on a second surface opposite the first surface of the teach pendant. An image captured by the camera is displayed on the display unit.

Abstract: A control unit has as agitation mode in which a command is executed for a first switching valve so that the oil supply/discharge direction is switched so as to supply oil to a first oil supply/discharge port located at a low position and discharge oil from a second oil supply/discharge port located at a high position, whereby oil in an oil bath is agitated via a circulation pump from a low position to a high position is the oil bath; and a filter mode in which, after the agitation mode is executed, a command is executed for the first switching valve so that the oil supply/discharge direction is switched so as to discharge oil from the first oil supply/discharge port located at a low position and supply oil to the second oil supply/discharge port located in a high position, whereby impurities in the oil sent to a filter mechanism are filtered.

Abstract: A teach pendant for teaching a robot includes an operation unit disposed on a first surface of the teach pendant, to perform an input operation; a display unit disposed on the first surface; and a camera disposed on a second surface opposite the first surface of the teach pendant. An image captured by the camera is displayed on the display unit.

Abstract: An air cooling apparatus for a rotatable laser-type weld-line detecting device for an automatic welding machine having a welding torch applying welding to a welded portion of a workpiece to be welded, the air cooling apparatus being provided with a metallic heat-interruption housing enclosing the rotatable laser-type weld-line detecting device, a first air cooling system cooling the laser-type weld-line detecting device from around the outer surface of the device and the inner wall of the heat-interruption housing by the use of a low temperature cooling air under pressure, and a second air cooling system cooling the interior of a laser-type weld-line detecting unit emitting a detection purpose laser beam and a light receiving unit receiving and detecting the detection-purpose laser beam reflected from the welded portion of the workpiece.