| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot with a width of a first arm to be compact when carrying or transferring heavy work and with a speed reducer for holding a wrist part thereof to be reduced in size. SOLUTION: A first parallelogrammic link mechanism is formed of a second arm 3, an arm link 20, a first link 6 and a second link 7. A second parallelogrammic link mechanism is formed of a third arm 4, a third link 9, a fourth link 10 and a fifth link 11. The second link 7 of the first parallelogrammic link mechanism is fixed to a body of the speed reducer 8, and an output shaft 29 of the speed reducer 8 is fixed to the third link 9 of the second parallelogrammic mechanism. When the speed reducer 8 is not rotated, the wrist part 5 maintains the same posture regardless of the movement of the second arm 3 and the third arm 4. When the speed reducer 8 is rotated, only the wrist part 5 is tilted corresponding to the amount of rotation of the output shaft 29 of the speed reducer 8. COPYRIGHT: (C)2004,JPO
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