| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an industrial robot which reduces burdens of a plurality of joints of a robot, by a single elastic structure.SOLUTION: An industrial robot includes: a base 1; a swiveling body 2 coupled to the base so as to rotate about a swiveling axis Lr1 extending in a vertical direction; a first arm 3 coupled to the swiveling body at a base end portion 3a so as ro rotate about a first axis Lr2 extending in a horizontal direction; a second arm 4 coupled to the first arm at a first predetermined part 4c so as to rotate about a second axis Lr3 extending in the horizontal direction; and an elastic structure 5 which couples the second arm and the base or the swiveling body, and generates torque about the second axis in the opposite direction to torque about the second axis applied on the second arm by gravity and torque about the first axis in the opposite direction to torque about the first axis applied on the first arm by gravity.</p> |
