| 摘要 |
PROBLEM TO BE SOLVED: To obtain an industrial robot device capable of normally providing required motion even when loading a load of a high inertial moment on a tip working part. SOLUTION: A tip working part 7 moves in a straight line by selection of a speed reduction ratio by driving three revolving systems consisting of the first speed reduction mechanism 20, the second speed reduction mechanism 21 and the third speed reduction mechanism 22 in one driving source by a driving part 8. In such an extensive arm mechanism, rigidity in the rotational direction can be enhanced by forming the revolving systems respectively by the speed reduction mechanisms such as the first speed reduction mechanism 20. Consequently, even when a load of a high inertial moment is loaded on the tip working part 7, the occurrence of vibration and the malfunction such as positioning accuracy failure which is caused by backlash in a transmission mechanism such as the first transmission mechanism 24 can be prevented so as to normalize motion in an industrial robot.
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