| 摘要 |
A conveying apparatus for an industrial robot in which a first arcuate rail is fixed to a ceiling and extends parallel to a turning locus of a robot arm suspended form a ceiling surface. A second linear rail is attached to the first rail and is rotatable therearound while maintaining an orientation normal to the first rail. A gripper mounted on a forward end portion of the robot arm is suspended by a balancer from the second rail, or alternatively by a first link having one end rotatably fixed to the ceiling and connected at its other end to one end of a second link with the gripper suspended by a wire from a balancer mounted on the other end of the second link. With this arrangement, not only is the vertical load due to objects conveyed by the robot reduced, but the horizontal load due to the same is also reduced, even in a horizontal conveying operation.
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