| 主权项 |
1. An industrial robot comprising:
a main body part; a plurality of levers having base end sides turnably connected with the main body part; a plurality of arm parts having respective base end sides turnably connected with respective tip end sides of the plurality of the levers; a movable part which is turnably connected with the respective tip end sides of the plurality of the arm parts; and a plurality of turning drive mechanisms for respectively turning the plurality of the levers; wherein the plurality of the levers are connected with the main body part so as to substantially radially extend to an outer peripheral side of the main body part at a pitch of substantially equal angle; wherein each of the plurality of arm parts are provided with two arms which are mutually parallel to each other and are formed in a straight shape; wherein respective base end sides of the two arms are turnably connected with the tip end side of the lever and the movable part is turnably connected with tip end sides of the two arms; wherein, in a first joint part which is a connection part of the main body part with the lever, the base end side of the lever is connected with the main body part so that the lever is capable of turning relative to the main body part with a first direction substantially perpendicular to an extending direction of the lever from the main body part as an axial direction of turning; wherein a second joint part which is a connection part of the lever with the arm includes a first rolling bearing, which enables turning of the arm relative to the lever with the first direction as an axial direction of turning, and a second rolling bearing which enables turning of the arm relative to the lever with a second direction substantially perpendicular to a length direction of the arm and the first direction as an axial direction of turning; wherein a third joint part which is a connection part of the arm with the movable part includes a third rolling bearing, which enables turning of the movable part relative to the arm with the first direction as an axial direction of turning, and a fourth rolling bearing which enables turning of the movable part relative to the arm with the second direction as an axial direction of turning, wherein the second joint part includes a first shaft member, which is fixed to the lever and to which an inner ring of the first rolling bearing is fixed, and a second shaft member to which an outer ring of the first rolling bearing and an inner ring of the second rolling bearing are fixed, and an outer ring of the second rolling bearing is fixed to the arm; and wherein the second joint part comprises: a first urging member which urges the inner ring or the outer ring of the first rolling bearing toward an inner side in the first direction to prevent rattling between the inner ring and the outer ring of the first rolling bearing, wherein the first rolling bearing comprises two ball bearings and the first urging member is structured to urge the two ball bearings; a second urging member which urges the inner ring or the outer ring of the second rolling bearing toward an outer side in the second direction to prevent rattling between the inner ring and the outer ring of the second rolling bearing, wherein the second rolling bearing comprises two ball bearings, and the second urging member is structured to urge the two ball bearings; and wherein the first urging member and the second urging member are a disc spring. |
