| 摘要 |
PROBLEM TO BE SOLVED: To provide a parallel link mechanism and an industrial robot, that eliminate the need for making a driving motor as a hollow motor, that is easy to constitute internal wirings, and facilitating assembling. SOLUTION: This parallel link mechanism includes a first arm 3, the lower end of which is connected rotatably to a fixed base 2, with the upper end being connected to a body cover K of a harmonic drive gear reducer 20; and a second arm 30, the lower end of which is rotatably connected to a second output shaft 29 of the harmonic drive gear reducer 20, with the upper end being connected rotatably to a movable base 40. The mechanism further includes a connecting base 50, arranged outside (on the left of) the first arm 3 and the second arm 30 and is connected to a first output shaft of the harmonic drive gear reducer 20. Furthermore, the drive motor 10 is fixed to the lower end of the first arm 3 so that the central axis M1 of the motor shaft is deflected to the upper side from the central axis L1 of a first connecting shaft 5. COPYRIGHT: (C)2007,JPO&INPIT |
