JPH11216692A - Robot for industrial use - Google Patents

Abstract

PROBLEM TO BE SOLVED: To largely expand the operational area of an arm on the installation surface side by providing a rotary shaft in an offset manner to the outer side of an outer circumference of a fixed base, and providing an arm of the structure operable to the position suspended from the rotary shaft in a perpendicular direction to reduce the area where the arm interferes the fixed base. SOLUTION: Because a first arm 5 is operable to the position suspended from a first rotary shaft 4 in a perpendicular direction and shorter than the distance between the first rotary shaft 4 and an installation surface 15, the first arm 5 is not interfered with an installation base 1, a fixed base 2, a turning base 3, and the installation surface 15, and the interference area of the first arm 5 with the fixed base 2 becomes small. Thus, the operational area of the first arm 5 is largely expanded on the installation surface side. Projection of an interference area rearward of a robot when the first and second arms 5, 7 are operated in a folded condition is eliminated behind the robot, and a wasteful space is eliminated as much as possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot having a vertical articulated structure, and more particularly, to the height of a robot body between a plurality of robots so that the robot can be arranged at a position as low as a workpiece and at a high density. The present invention relates to an industrial robot that can maintain a large operating range in the front-rear direction while maintaining a low operating range and having an operating range about the height of the robot even during operation.

[0002]

2. Description of the Related Art The height of a robot body is kept low so that a conventional industrial robot having a vertical articulated structure can be densely arranged between a plurality of robots at a position as low as a workpiece. In order to have a motion range about the height of the robot even at the time, a conventional vertical articulated structure having a lower structure, for example, as shown by a skeleton in FIG. 4, has been proposed. This device has one end of a first arm 44 rotatably mounted on a horizontal rotating shaft 41 arranged at a low position as viewed from an installation surface on a swivel base 43 which is rotatably supported by a base 40. One end of a second arm 45 is rotatably attached to a horizontal rotation shaft 42 arranged at the other end of the arm 44,
A wrist 46 is attached to the other end of the second arm 45.

The robot shown in FIG. 4 has a considerably wide operating range 4A near the front of the robot shown by oblique lines when viewed from the side, but as shown in FIG. 5, the first arm 44 and the second arm 45 are folded. 6, when the first and second arms of the robot of FIG. 4 are operated in the folded state, the interference area indicated by B, which projects backward, is shown in the reduced plan view of FIG. Because it is possible, between multiple robots,
Cannot be arranged at high density. FIG. 6 shows a case where the turning angle is limited to 120 degrees for convenience of description, and 6A shows a forward operation range. Therefore, Japanese Patent Application Laid-Open No. 5-301194 proposes a skeleton shown in FIG. One end of a first arm 73 is rotatably mounted on a horizontal rotating shaft 76 near an outer peripheral surface of the base 71 at an outer upper end of a swivel base 72 rotatably supported by the base 71. 73
One end of a second arm 74 is rotatably attached to a horizontal rotation shaft 77 disposed at the other end of the wrist, and a wrist is attached to the other end of the second arm 74.
75 are installed. In this case, the interference region protruding rearward as shown by B in FIG. 6 is eliminated, but it cannot have a considerably wide operating range in the vicinity of the front surface of the robot as in FIG.

[0004]

Recently, there has been a movement to install a robot at a position as low as a workpiece and to shorten the length of a production line and increase efficiency by arranging a plurality of robots at high density. ing. For this reason, there is a demand for a robot having a structure capable of keeping the height of the robot body low and securing a large motion range in the front-rear direction while keeping the height of the robot including the arm low during the operation of the robot. Was.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the prior art in response to such a demand. The present invention holds down the height of the robot including the arm even during the operation of the arm, and reduces the size of the robot. While keeping it compact
Provided is an industrial robot which can secure a wide large operation range including a range close to a front surface of the robot and eliminate an interference region projecting rearward of the robot when the first and second arms are operated in a folded state. Aim.

[0006]

In order to achieve the above object, according to the first aspect of the present invention, there is provided a fixed base mounted on a mounting surface at a predetermined height, and a fixed base perpendicular to the mounting surface. A pivoting base mounted on the stationary base so as to be pivotable on the stationary base with a simple pivoting axis and having a projection projecting offset from the outer periphery of the stationary base; A first arm rotatably attached at one end to a turning base by a moving shaft, and a second arm rotatably attached to the other end of the first arm by a second rotating shaft parallel to the first rotating shaft. An arm and a wrist rotatably attached to the other end of the second arm about a longitudinal axis of the second arm, wherein the first arm is vertically suspended from the first rotation axis. Operable and distance between the first pivot axis and the mounting surface Ri was industrial robot, characterized in that the shortened.

According to this configuration, even when the second rotating shaft is operated so as to be located on the installation surface side with respect to the first rotating shaft, the first rotating shaft is located outside the outer periphery of the fixed base. The first arm is configured to be operable to a position vertically hanging from the first rotation axis, so that the range in which the first arm interferes with the fixed base is reduced. The operating range of one arm is greatly expanded toward the installation surface. The problem that the interference area protrudes rearward of the robot when the first and second arms are operated in a folded state is eliminated. Further, since the operation range of the first arm is greatly expanded toward the installation surface, the first arm, the second arm, and the wrist can be placed within the height from the installation surface to almost the top of the turning base. In this state, it is possible to secure a wide operation range in front of the robot.

In the invention according to claim 2, the first arm has a structure in which the first arm has a substantially L-shaped portion curved toward the installation surface and a portion which follows the first arm and hangs vertically. The first rotation shaft is provided with the same function as the invention according to the first aspect without being provided offset to the outside of the outer periphery of the fixed base as in the invention. That is, in the invention according to claim 2, the first arm has a substantially L-shaped curved structure, and the second arm has the second arm.
The rotation axis is operable to be located on the installation surface side with respect to the first rotation axis, and a vertical length component of the first arm is defined by a distance between the first rotation axis and the installation surface. It is shorter than the distance.

According to this configuration, the second rotation axis has a structure in which the first rotation axis is offset with respect to the second rotation axis while having the same function as the first aspect of the invention. The one-arm drive unit can be provided inside the outer periphery of the fixed base. As a result, when the turning base turns, the turning radius from the tip of the wrist connected to the second arm to the turning center of the turning base is reduced. Therefore, interference with peripheral devices during turning can be reduced, and the interference area does not protrude behind the robot when the first and second arms are operated in a folded state.

Preferably, the longitudinal axis of the second arm is mounted so as to be offset toward the first rotation axis with respect to the second rotation axis, so that the tip of the first arm (second Even when the (rotation axis side) is moved close to the installation surface, a member attached to the second arm, for example, an arm drive unit such as an articulated shaft drive motor having a very large outer shape does not interfere with the installation surface. In the design stage, the length of the first arm can be set close to the installation surface, and in actual operation, the distal end position of the first arm can be operated close to the installation surface. Can extend the operating range.

Further, in the invention according to claim 4, the fixed base mounted on the installation surface at a predetermined height, and mounted on the fixed base so as to be swivelable by a rotation axis perpendicular to the installation surface. Swing arm, a first arm rotatably mounted on the swivel base at one end by a first rotation axis horizontal to the installation surface, and a second arm at the other end of the second arm A wrist rotatably mounted about a longitudinal axis of the first arm, wherein a vertical length component of the first arm is shorter than a distance between the first rotation axis and the installation surface; The longitudinal axis of the arm is first with respect to the second pivot axis.
An industrial robot characterized by being mounted offset to the rotation shaft side. With this configuration, even if the tip (the second rotation axis side) of the first arm is moved to a position close to the installation surface, a member attached to the second arm, for example, a joint shaft drive motor having a very large outer contour Does not interfere with the installation surface, the length of the first arm can be set close to the installation surface in the design stage, and in actual operation, the tip position of the first arm is set close to the installation surface. It is possible to operate,
The operation range can be expanded in a range close to the front of the robot, and the interference area does not protrude to the rear of the robot when the first and second arms are operated in a folded state. .

More preferably, in claim 1, 2 or 4, the second pivot is operable to be located within a range not exceeding the height of the first pivot, whereby the first arm, the first arm, The two arms and the wrist are operable in operation so as not to substantially exceed the top of the pivot base.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a first embodiment which is an embodiment of the first invention of the present invention will be described with reference to a side view of FIG. 1 shown by a skeleton. A fixed base 2 is fixed to the upper surface of the mounting table 1 having a predetermined height fixed to the installation surface 15. The mounting base 1 may be eliminated, and the fixed base 2 may be elongated to a predetermined height. The swivel base 3 mounted on the fixed base 2 is mounted so as to be swivelable with respect to the fixed base 2 around a swivel axis O perpendicular to the installation surface by the power of a swivel drive unit 10 including a motor and a speed reducer. . The revolving base 3 has a protruding portion 16 protruding offset from the outer periphery 20 of the fixed base 2.
A first arm 5 is provided on the projection 16 of the turning base 3;
One end is rotatably attached to the turning base by the first turning shaft 4 which is horizontal to the installation surface 15. This first
The first arm 5 is driven to rotate by the power of a first arm drive unit (not shown) attached to the right side (rear side in the drawing) of the turning base 3 on the turning shaft 4. The other end of the first arm 5 is provided with a rotation axis of the second arm 7, that is, a horizontal second rotation axis 6, which is parallel to the first rotation axis 4. This second
The second arm 7 has a pivot shaft 6 with respect to the first arm 5.
The second arm drive unit 12 is rotatably mounted by power. At the end of the second arm 7, the second arm 7
A wrist 8 having three degrees of freedom including a longitudinal axis 9 having the center of rotation as a rotation axis is attached. In the present embodiment, the length between the end of the wrist 8 and the second pivot 6 is
3 The length from the top to the second rotating shaft 6 is almost the same.

With such a configuration, the first arm 5 is connected to the first arm 5.
The first arm 5 is operable to a position vertically hanging down from the rotating shaft 4 and shorter than the distance between the first rotating shaft 4 and the installation surface 15.
Without interfering with the swivel base 3 and the mounting surface
It is possible to face downward, and the range in which the first arm 5 interferes with the fixed base 2 is reduced.
Will be greatly expanded toward the installation surface side.
Then, at the back of the robot, as shown in FIG.
In addition, when the second arm is operated in a folded state, the interference area is prevented from protruding to the rear of the robot, thereby eliminating useless space as much as possible.

In this embodiment, the longitudinal axis 9 of the second arm 7, which is the wrist rotation axis, is provided above the second rotation axis 6, that is, offset to the first rotation axis 4 side. Thus, even if the tip of the first arm 5 is moved to near the installation surface, the first arm 5 and the second arm 7
Since the members such as the second arm drive unit 12 existing at the joints of the first and second members do not interfere with the installation surface, the first
The length of the arm 5 can be set close to the installation surface,
The tip of the first arm 5 can be moved to near the installation surface. The robot body shown in FIG. 1 is controlled by a robot controller (not shown). Further, in the present embodiment, the second rotating shaft 6 is made operable to be located within a range not exceeding the height of the first rotating shaft 4, whereby the first arm 5, the second arm 7 and the wrist 8 are moved. In operation, it is operable so as not to substantially exceed the top of the swivel base 3.

The addition of the hatched portions 1A1 and 1A2 shown in FIG. 1 shows the operation range in the first embodiment. The hatched portion 1A2 indicates an enlarged operation range because the longitudinal axis 9 which is a wrist rotation axis is offset above the second rotation axis 6, that is, on the first rotation axis 4 side. As shown by the dotted lines in FIG. 1, the motors 21, 22, and 23 for driving the three axes of the wrist 8 having three degrees of freedom including the longitudinal axis 9 of the second arm 7 are much larger than the second arm 7. Therefore, the extended operating range due to the offset is extremely large.

Since the operating range of the first arm 5 is greatly expanded toward the installation surface, the first arm 5 and the second arm 7
, And the wrist 8 can be kept within the height from the installation surface 15 to almost the top of the turning base 3, so that a wide operation range can be secured in front of the robot. The operating ranges 1A1 and 1A2 shown in FIG. 1 are controlled by a robot controller (not shown) so that members located before the turning base 3, that is, the first arm 5, the second arm 7, and the wrist 8 This represents a case where the operation is controlled by restricting the movement so as not to exceed the top of the turning base. In practice, it is also possible to operate the robot beyond the top of the turning base 3. FIG. 9 corresponds to FIG. 6 and is a reduced plan view showing the operation range 9A, ie, the interference range, as viewed in the plane of the first embodiment of FIG. 1, similarly limiting the operation range to 120 degrees, and FIG. FIG. 5 is a comparative explanatory diagram showing the operation ranges 1A1 and 1A2 of FIG. 1 and the operation range 4A of FIG. 4 in an overlapping manner.

Next, a second embodiment which is a second embodiment of the present invention will be described with reference to a side view of FIG. 2 shown by a skeleton. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted. A fixed base 2 is fixed to the upper surface of the mounting table 1 having a predetermined height fixed to the installation surface 15. The mounting base 1 may be eliminated and the fixed base 2 may be lengthened by a predetermined height. The turning base 13 mounted on the fixed base 2 is attached to the fixed base 2 so as to be able to turn around the turning axis O perpendicular to the installation surface 15 with the power of the turning drive unit 10.
The pivotal axis of the first arm 14, that is, the first pivotal axis 4, which is horizontal to the installation surface 15, is provided at a position of the pivotal base 13 that extends into the inner peripheral direction so as not to protrude beyond the outer periphery 20 of the fixed base 2. Is provided. The first arm 14 is rotatable with respect to the turning base 13 by the power of a first arm driving unit (not shown) attached to the right side (rear side in the drawing) of the turning base 13. Installed. The first arm 14
Installation surface after extending from the first rotating shaft 4 toward the lower front
Having a portion 17 bent toward 15 followed by a vertically depending portion 18 and having an L-shape when viewed from the side,
The vertical length component of the first arm 14 is shorter than the distance between the first rotating shaft 4 and the installation surface 15. Since the first arm 14 has a curved shape, the first rotating shaft 4 can be provided inside the outer periphery 20 of the fixed base 2.

At the end of the other end of the first arm 14 which hangs vertically, a turning axis of the second arm 7, that is, a second turning axis 6, which is horizontal to the installation surface 15, is provided. The second arm 7 is driven by the power of the second arm drive unit 12
Are rotatably attached to the first arm 14. A wrist 8 having three degrees of freedom including a longitudinal axis 9 around the center of the second arm 7 is attached to the tip of the second arm 7. Here, the longitudinal axis 9, which is the wrist rotation axis, is provided to be offset upward with respect to the second rotation axis 6, so that the first arm
Even if the tip of 14 is moved to near the installation surface 15, the first
Since the members such as the second arm driving unit 12 existing at the joint between the arm 14 and the second arm 7 do not interfere with the installation surface 15, the tip of the first arm 14 can be moved to near the installation surface. It becomes possible. In the present embodiment, the length between the end of the wrist 8 and the second rotation axis 6 is substantially the same as the length of the vertical component from the top of the rotation base 13 to the second rotation axis 6. The second rotating shaft 6 is operable to be located within a range not exceeding the height of the first rotating shaft 4, whereby the first arm
5, the second arm 14 and the wrist 8 are operable during operation so as not to substantially exceed the top of the swivel base 13. The robot body shown in FIG. 2 is controlled by a robot controller (not shown).

According to such a configuration, the same function as that of the first embodiment shown in FIG. 1 is obtained, and the first rotating shaft 4 is offset from the second rotating shaft 6. Therefore, it is possible to provide the first arm drive unit (not shown) inside the outer periphery 20 of the fixed base 2, and as a result, when the turning base 13 turns, the first arm driving unit is connected to the tip of the wrist 8 connected to the second arm 14. The turning radius of the turning base 13 to the turning center O can be reduced, and interference with peripheral devices during turning can be reduced. The addition of the hatched portions 2A1 and 2A2 shown in FIG. 2 shows the operation range in the second embodiment, and the hatched portion 2A2 is such that the longitudinal axis 9 is above the second rotating shaft 6, that is, 7 shows an operation range enlarged by being provided offset to the rotation shaft 4 side. Note that the operation range shown in FIG.
Similarly to the operation range shown in (1), the robot control device (not shown) moves the members before the turning base 13, that is, the first arm 14, the second arm 7, and the wrist 8 beyond the top of the turning base 13. This represents a case where the operation is controlled by restricting the robot so that it does not occur. In practice, it is also possible to operate the robot beyond the top of the turning base 13. FIG. 8 is a comparative explanatory diagram showing the operation range 2A1 + 2A2 of FIG. 2 and the operation range 7A of FIG. 7 in an overlapping manner.

A third embodiment which is a third embodiment of the present invention will be described with reference to a side view of FIG. 3 shown by a skeleton. The robot includes a fixed base 2 having a predetermined height fixed to a mounting surface 15, and
A swivel base 32 is attached to the fixed base 31 on the fixed base 31 with a swivel axis O perpendicular to the installation surface 15, and a first swivel shaft 36 horizontal to the installation surface 15 on the swivel base 32. A first arm 33 rotatably attached at one end to the revolving base 32, and a longitudinal axis 39 at the other end of the second arm 33 about the center of the second arm, which is a wrist rotation axis, having a rotation axis as a rotation axis.
And a wrist 35 rotatably mounted around. The vertical length component of the first arm 33 is shorter than the distance between the first rotation axis 36 and the installation surface 15, and the longitudinal axis 39 of the second arm 33 is It is mounted offset to the one rotating shaft 36 side. In this embodiment, the wrist
The length between the end of 35 and the second rotating shaft 37 is
The length of the vertical component from the top to the second rotating shaft 37 is substantially the same, and the second rotating shaft 37 is operable to be located within a range not exceeding the height of the first rotating shaft 36. Thereby, the first arm 33, the second arm 34, and the wrist 35 are operable during operation so as not to substantially exceed the top of the swivel base 32. The robot body shown in FIG. 3 is controlled by a robot control device (not shown).

The addition of the hatched portions 3A1 and 3A2 shown in FIG. 3 shows the operation range in the third embodiment. The hatched portion 3A2 is an enlarged operation because the longitudinal axis 39 of the second arm, which is the wrist rotation axis, is offset above the second rotation axis 37, that is, on the first rotation axis 36 side. Indicates the range. With this configuration, the first arm
Even when the tip (the second rotation shaft 37 side) of 33 is moved close to the installation surface 15, the member of the second arm 34 existing at the joint between the first arm 33 and the second arm 34, for example, Since the arm drive unit such as the joint shaft drive motor having a large outer contour does not interfere with the installation surface 15, the length of the first arm can be set to near the installation surface at the design stage, and the first arm can be set in the actual operation. Set the position of the tip of one arm 33 to the installation surface 15
It is possible to operate close to the robot, and the operating range can be expanded in a range near the front of the robot. The dotted line indicates the second arm 74 of FIG. The shaded area 3A1 shown in FIG.
Is the same size as the hatched portion 7A. As shown by the dotted line in FIG. 1, the motors 21, 22, and 23 for driving three axes (not shown) of the wrist 35 attached to the second arm are extremely large as compared with the second arm 34, and therefore, are enlarged by offsetting. The operating range provided is very large. Further, in the present embodiment, the second rotation shaft 37 is operable to be located within a range not exceeding the height of the first rotation shaft 36, so that the first arm 33, the second arm 34, and the wrist 35 are moved. In operation, it is operable so as not to substantially exceed the top of the swivel base 32.

[0023]

According to the first and second aspects of the present invention, even when the second rotating shaft is operated to be located on the installation surface side with respect to the first rotating shaft, the first rotating shaft is provided. The shaft is provided to be offset outside the outer periphery of the fixed base, and the first arm is
With a structure that can move from the first rotation axis to a position that hangs vertically, the range in which the first arm interferes with the fixed base is reduced, and the operation range of the first arm is greatly expanded to the installation surface side. Will be done. Then, behind the robot, the interference region projecting backward as shown by B in FIG. 6 has been eliminated. Further, since the operation range of the first arm is greatly expanded toward the installation surface, the first arm, the second arm, and the wrist can be placed within the height from the installation surface to almost the top of the turning base. In this state, it is possible to secure a wide operation range in front of the robot.

According to the third aspect of the present invention, the wrist rotation axis having the center of the second arm as the rotation axis is offset upward from the rotation axis of the second arm toward the first rotation axis. By being attached, even if the tip (the second rotation axis side) of the first arm is moved to near the installation surface, the member of the second arm existing at the joint between the first arm and the second arm, For example, since an arm drive unit such as a joint axis drive motor having a very large outer contour does not interfere with the installation surface, the length of the first arm can be set to near the installation surface at the design stage, and in actual operation, Can move the distal end position of the first arm to near the installation surface, and can expand the operation range in a range near the front of the robot. Then, behind the robot, the interference region projecting backward as shown by B in FIG. 6 has been eliminated.

[Brief description of the drawings]

FIG. 1 is a side view of an industrial robot according to a first embodiment, which is an embodiment of the first invention of the present invention, shown by a skeleton.

FIG. 2 is a side view of an industrial robot according to a second embodiment, which is a second embodiment of the present invention, shown by a skeleton.

FIG. 3 is a side view of an industrial robot according to a third embodiment, which is a third embodiment of the present invention, shown by a skeleton.

FIG. 4 is a side view of a conventional industrial robot having a vertical articulated structure in which the height is reduced, which is indicated by a skeleton.

FIG. 5 is a side view in tons showing a state in which the first and second arms of the robot of FIG. 4 are folded;

FIG. 6 is a reduced plan view showing an operation range when the first and second arms of the robot shown in FIG. 5 are operated in a folded state, in which a turning angle is limited to 120 degrees for convenience of explanation. Is shown.

FIG. 7 is a side view of a conventional industrial robot in which a first rotation shaft is provided at an outer upper end of a turning base, which is shown by a skeleton.

8 is a comparative explanatory diagram showing the operation ranges 2A1 and 2A2 of FIG. 2 and the operation range 7A of FIG. 7 in an overlapping manner.

9 is a reduced plan view showing the operation range 9A, ie, the interference range, as seen in the plan view of the first embodiment of FIG. 1, corresponding to FIG. 6 and similarly limiting the operation range to 120 degrees. .

FIG. 10 is a comparative explanatory diagram showing the operation ranges 1A1 and 1A2 of FIG. 1 and the operation range 4A of FIG. 4 in an overlapping manner.

[Explanation of symbols]

0 Swivel axes of swivel bases 3, 13, 32 1 Mounting base 2, 31 Fixed base 3, 13, 32 Swivel base 4, 36 First swivel axes 5, 14, 33 First arm 6, 37 Second swivel axes 7, 34 second
Arm 8, 35 Wrist 9, 39 Longitudinal axis 15 Installation surface 16 Projection 17 Bent part 18 Vertically hanging part 20 Fixed base circumference 21, 22, 23

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Kiyoshi Kaniya 1-1-1 Fujikoshi Honcho, Toyama City, Toyama Prefecture

Claims (8)

[Claims] 1. A fixed base mounted on a mounting surface at a predetermined height, and is rotatably mounted on the fixed base by a rotation axis perpendicular to the mounting surface, and A revolving base having a protruding portion projecting offset from the outer periphery and being provided on the protruding portion of the revolving base, one end of the revolving base being rotatably attached to the revolving base by a first horizontal rotating shaft. A first arm, a second arm rotatably attached to the other end of the first arm by a second rotation axis parallel to the first rotation axis, and a second arm attached to the other end of the second arm. A wrist rotatably mounted about a longitudinal axis of two arms, the first arm being operable to a position depending vertically from the first pivot axis and the first arm It is characterized by being shorter than the distance between the drive shaft and the installation surface Industrial robots. 2. A fixed base mounted on a mounting surface at a predetermined height, a turning base mounted on the fixed base so as to be rotatable by a turning axis perpendicular to the mounting surface, An L-shaped first arm rotatably attached at one end to the revolving base by a first pivot shaft, the L-shaped first arm having a portion bent toward the installation surface and a vertically hanging portion following the portion; One end is pivoted on a second pivot axis which is parallel to the first pivot axis provided at an end of the vertically hanging portion of one arm and is offset and protruded outside the outer periphery of the fixed base. A second arm rotatably mounted on the other end of the second arm, and a wrist rotatably mounted about the longitudinal axis of the second arm, and a vertical axis of the first arm. Direction length component is installed with the first rotation axis Industrial robot, characterized in that it is shorter than the distance between. 3. The industrial robot according to claim 1, wherein the second arm is mounted to be offset from the second rotation axis toward the first rotation axis. . 4. A fixed base mounted on a mounting surface at a predetermined height; a turning base mounted on the fixed base so as to be rotatable by a turning axis perpendicular to the mounting surface; A first arm having one end rotatably mounted on the revolving base on a revolving base with a first rotating shaft horizontal to the installation surface; a longitudinal end of the second arm at the other end of the second arm; A wrist rotatably mounted about a directional axis, wherein a vertical length component of the first arm is shorter than a distance between the first rotation axis and an installation surface, and the second arm An industrial robot characterized in that it is mounted to be offset toward the first rotation axis with respect to the second rotation axis. 5. The method according to claim 1, wherein the first arm, the second arm, and the wrist are operable during operation so as not to substantially exceed the top of the swivel base. Industrial robot. 6. The second pivot is operable to be located within a height not exceeding the height of the first pivot, whereby the first arm, the second arm and the wrist are in operation.
4. The industrial robot according to claim 1, wherein the robot is operable so as not to substantially exceed a top of the turning base. 7. A fixed base mounted on a mounting surface at a predetermined height, and mounted on the fixed base so as to be pivotable by a rotation axis perpendicular to the mounting surface, and A revolving base having a protruding portion offset from the outer periphery and protruding from the revolving base; and a first rotating shaft provided on the protruding portion of the revolving base and horizontal to the installation surface, one end of which is turned around the revolving base. A first arm movably mounted, a second arm rotatably mounted on the other end of the first arm by a second rotation axis parallel to the first rotation axis, and the second arm A wrist rotatably mounted on the other end of the second arm about a longitudinal axis of the second arm, wherein the first arm is operable to a position vertically hanging from the first rotation axis. That is shorter than the distance between the first rotation axis and the installation surface. The second arm is mounted to be offset toward the first rotation axis with respect to the second rotation axis, and the second rotation axis does not exceed the height of the first rotation axis. Industrial robot, wherein the first arm, the second arm, and the wrist are operable in operation such that the first arm, the second arm, and the wrist do not substantially exceed the top of the pivot base. 8. A fixed base mounted on a mounting surface at a predetermined height, a turning base mounted on the fixed base so as to be rotatable by a turning axis perpendicular to the mounting surface, L, one end of which is rotatably attached to the pivot base by a first pivot axis horizontal to the installation surface, and having a portion bent toward the installation surface and a vertically hanging portion that follows.
A first arm having a V-shape and a second arm parallel to the first rotation axis provided at an end of the vertically hanging portion of the first arm and offset from the outer periphery of the fixed base so as to protrude therefrom. A second arm rotatably mounted at one end to the rotation shaft, a wrist rotatably mounted at the other end of the second arm about a longitudinal axis of the second arm,
Wherein the second arm is attached to the first rotation axis side with respect to the second rotation axis, and a vertical length component of the first arm is the first rotation axis. And the second pivot axis is operable to be located in a range not exceeding the height of the first pivot axis, whereby the first arm, the second arm and An industrial robot characterized in that the wrist is operable during operation so as not to substantially exceed the top of the turning base.