Balance mechanism of an industrial robot.

摘要

A balance mechanism of an industrial robot (1) is provided with a first balance mechanism (Z1) for a first arm (4) which is swingably mounted to stand (3) of the robot (1) and a second balance mechanism (Z2) for a second arm (6) which is swingably mounted to a distal end of the first arm (4). The first balance mechanism (Z1) includes a flexible coupling device such as, for example, a chain (9A), led through a guide, which couples between a coupling element of a coupling member (7, 11) which is mounted to a center of angular movement of a proximal end of the first arm (4) and a spring (8) having one end fixed to the stand (3) and which is moved in the direction of deformation when the first arm (4) is angularly moved. The second balance mechanism (Z2) includes a counterbalancer (30) disposed in the opposite side to an operation side of the second arm (6) and a center of angular movement of the first arm constitutes a fulcrum. The balance mechanisms can be applied to the robot (1) without exchanging parts greatly even if the robot (1) is installed in any position.