| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot that has an eccentric oscillation type decelerator or a planetary gear decelerator and a motor arranged at a joint site, which can appropriately transmit power from the motor to the eccentric oscillation type decelerator or the planetary gear decelerator.SOLUTION: In an industrial robot, a motor 14 and a decelerator 31 that decelerates and transmits rotation speed of the motor 14 are arranged at a joint site 13 that connects a revolving 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 arranged on a concentric circle centered on a shaft center of the decelerator 31. The motor 14 is fastened to either one of the revolving frame 3 or the first arm 4, and an output side of the decelerator 31 is fastened to either other of the revolving frame 3 or the first arm 4. In an output shaft 14a of the motor 14 is directly formed an output shaft gear 14b engaging the input gear 31a. |
