| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a compact industrial robot 10 capable of enlarging an arm rotation range by preventing interference with a frame while securing arm strength, strokes of a motor for driving an arm and a balancer device for reducing a load of a decelerator long in a cantilever state. <P>SOLUTION: An arm 2 includes a base 2c supported to freely rotate on the horizontal rotary shaft a of a frame 1, a cylindrical case 2b having an opening 2a on the base and formed from the base side to the arm tip, and an arm tip 2d. A balancer device 3 includes a rod 3b, a cylinder 3a into which the rod enters and exits. A rod tip engaging part 4 is supported to freely rotate between a pair of first support points of the frame and the rear end 5 of the cylinder is supported to freely rotate between a pair of second support points b in the cylindrical case, and interference between the cylindrical case and the balancer device within a rotational range including both sides of the horizontal rotary shaft of the arm is prevented. A compressive fluid 6 is sealed in a direction where a reactive force is larger according to the pull-in or the pull-out of the rod in the balancer device. <P>COPYRIGHT: (C)2012,JPO&INPIT |
