| 摘要 |
PURPOSE:To miniaturize the capacity of driving source of the strut of an industial robot by mounting a welding transformer to a strut or a link to position the center of gravity lower than the supporting point of the strut and link. CONSTITUTION:The second link 2 provided with a wrist mechanism driven in plural degree of freedom is supported by a first link 1 attached rotatably to a stand 3. A welding gum 31 is connected to the wrist mechanism, and a welding transformer 30 is mounted to the link 1 or 2 to bring the position of center of gravity lower than the supporting point 1a of the two links 1, 2, and current is applied to the welding gun 31. This industrial robot can make action of 6 degree of freedom by the wrist action, turning of links 1, 2 and rotation of the stand 3. At this time, the second link 2 is shifted corresponding to turning of the first link 1 and the welding transformer 30 is shifted together. As the position of center of gravity A of the welding transformer 30 is lower than the supporting point 1a, the first link 1 is driven by small rotational moment. |
