| 摘要 |
Provided is an industrial robot in which an eccentric oscillation type decelerator or a planetary gear decelerator and a motor are arranged in a joint portion and which is capable of appropriately transmitting power from the motor to the eccentric oscillation type decelerator or the planetary gear decelerator. In this industrial robot, a motor (14) and a decelerator (31) that decelerates the speed of rotation of the motor (14) for transmission are arranged in a joint portion (13) that connects a pivoting frame (3) to a first arm (4). The decelerator (31) is an eccentric oscillation type decelerator or a planetary gear decelerator that has a plurality of input gears (31a) which are arranged on a concentric circle about the axial center of the decelerator (31). The motor (14) is fixed to one of the pivoting frame (3) and the first arm (4), and an output side of the decelerator (31) is fixed to the other one of the pivoting frame (3) and the first arm (4). In addition, output shaft gears (14b) that are engaged with the input gears (31a) are directly formed in an output shaft (14a) of the motor (14). |
