| 摘要 |
An industrial robot (1) comprising a first robot part (3) and a second part (5) arranged to be movable in relation to each other, and a balancing device (8), acting therebetween, comprising at least a first attachment (12, 45, 46) and a second attachment (14, 47) for articulated attachment to the respective robot part (3), (7, 6), and wherein the balancing device (8) comprises a compression spring unit (15) arranged to counteract the gravitational force upon relative rotation of the robot parts (3), (7, 6). |
