| 摘要 |
PURPOSE:To lessen the space of occupation by providing an industrial robot capable of performing spot welding, constituting therein a parallelogram from a lower arm, mounting member, transverse link, and longitudinal link, mounting No.1 and No.2 shaft drive motors on a base, installing No.3 shaft drive motor on the mounting member, and transmitting rotation of the drive motors to the input shaft of a speed reduction gear through a belt. CONSTITUTION:A lower arm 22 can make angle displacement fore and aft over an angle theta11, while an upper arm 24 can angle displacement to left and right within a certain angle round a revolving shaft 26 and up and down over an angle theta12. A wrist 55 is furnished at the tip of the upper arm 24. Among a shaft to make angle displacement fore and aft, a shaft to make angle displacement up and down, and revolving shaft, namely, the revolving shaft shall be situated in the third place from below. |
