| 摘要 |
An industrial robot (1) is provided with a main body section (3), a first arm (4), a second arm (5), a third arm (6), a first speed reducer (21) which connects the main body section (3) and the first arm (4) to each other, a second speed reducer (22) which connects the first arm (4) and the second arm (5) to each other, and a connecting mechanism (23) which connects the input shaft (25) of the first speed reducer (21) and the input shaft (32) of the second speed reducer (22) to each other, and a second drive motor (40) which drives the third arm (6) into rotation. The speed reduction ratio of the first speed reducer (21) and that of the second speed reducer (22) are set in such a way that the movement loci of a third articulation section which connects the second arm (5) to the third arm (6) to each other are rectilinear. Furthermore, the connecting mechanism (23) connects the input shaft (25) to the input shaft (32) to each other at a predetermined speed ratio. Moreover, the second drive motor (40) is mounted on the second arm (5) at a location closer to the tip of the second arm (5) than a location where a third articulation section is located, in such a way as to protrude toward the first arm (4). |
