Industrieroboter

摘要

The industrial robot comprises two lower arms arranged parallel to each other and pivotably supported on a lower base (2); an upper base (10) pivotably mounted on upper ends of these two lower arms (6, 7) , respectively so as to form a parallelogram together with the two lower arms; at least one first driving source (8) for driving the parallelogrammic link; an upper arm (11) pivotably supported on one side of the upper base so as not to interfere with the parallelogrammic link and driven by a second driving source. Since the upper arm can be moved horizontally by inclination motion of the parallelogrammic link mechanism and further the upper arm is pivoted on one side of the upper base, the upper arm can be moved frontward, rearward and upward without any interference with the lower arms. Further, since a moment of the lower arm generated when a load is applied to the wrist of the upper arm is not subjected to the influence of the length and pivotal angle of the upper arm, the motor torque and reduction gear capacity for driving the lower arms can be reduced markedly.