| 摘要 |
An arm driving device of an industrial robot, wherein one end of a first arm (2) is fixed to a first rotary shaft (21) rotatably supported on a base (1), one end of a second arm (3) is fixed to a second rotary shaft (31) rotatably suported by the other end of the first arm (2), parallel link rotary shafts (44, 54) concentrically rotatably provided with the first rotary shaft (21) and the second rotary shaft (21) are connected to each other through parallel links (4, 5), and wherein follower bars (41, 51) of the two parallel links (4, 5) are respectively fixed to opposite ends of the second rotary shaft (31) with the first arm (2) interposed therebetween, two connecting bars (42, 52) for connecting driving bars (43, 53) fixed to the parallel link rotary shafts (44, 54) to the follower bars (41, 51) are offset to the outsides of the driving bars (43, 53) and of the follower bars (41, 51). With this arrangement, the parallel links (4, 5) are prevented from interferrring with each other and the operating spaces of the arms (2, 3) can be greatly expanded. |
