| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot capable of ensuring high mechanical stiffness, over a wide action range, under a high load condition.SOLUTION: Arm means 5 of a robot 1 has a lower arm mechanism 6 and an upper arm mechanism 7 which have a parallel link structure. The lower arm mechanism 6 has a front link 8 and a rear link 9 having lower ends rotatably connected to a base portion 3. A lower arm driving mechanism 19 has a lower ball screw 21, and a lower bearing portion 22 supporting a shaft 21B so as to rotate about an axis of that. An extending portion 24 extending from a lower end of the rear link 9 is connected to a nut 21A so as to rotate about a nut side rotary axis B2. The lower bearing portion 22 is connected to the base portion 3 so as to rotate about a bearing portion side rotary axis B1.SELECTED DRAWING: Figure 6 |
