INDUSTRIAL ROBOT WITH BALANCE TYPE ARM

摘要

An industrial robot is disclosed which includes three primary drive units defining three separately controlled axes of movements, an inner arm connected to the output of one of the drive units, and an outer arm pivotally connected to the inner arm. The outer arm is connected to another of the drive units by a transmission which extends through the inner arm so that the outer arm may be selectively rotated, and both the inner arm and the outer arm are counterbalanced by a pair of torsion coil springs which are operatively connected to their respective drive units.