Abstract: A joint mechanism includes a balancer mechanism for generating an auxiliary torque that counteracts a load torque around the rotational center line of the arm applied to the support member by the weight of the arm. The balancer mechanism includes: a balancer body including a casing rotatably supported with respect to a base, a piston rod inserted into the casing, and a traction means for pulling the piston rod; and a transmission member for converting a traction force generated by the traction means into the auxiliary torque and transmitting the auxiliary torque to the arm. The transmission member is pivotally supported with respect to the base as a separate body from the support member, one end of the transmission member is engaged with an end of the piston rod, and the other end of the transmission member is engaged with the arm.

Abstract: Provided is an arm fixing device that includes: a bracket having close-contact surfaces that are brought into close contact with a mounting surface provided in a supporting member, and a mounting surface provided in an arm or a link for transmitting drive force to an arm, also having one of a screw hole or a through hole that is formed to penetrate each of the close-contact surfaces at a position corresponding to a position of the other of a screw hole or a through hole provided in each of the mounting surfaces, and bridged over the mounting surfaces such that each of the close-contact surfaces is brought into close contact with a corresponding one of the mounting surfaces; and a fastener that penetrates the through hole and is fastened to the screw hole.

Abstract: Provided is a robot-motor cooling structure including: at least one heat dissipation member that is disposed on a surface of a motor for a robot and that is made of a material having higher thermal conductivity than the motor; and at least one fixing member that is made of an elastic material capable of being elastically deformed and that is disposed at a position so as to surround the motor together with the heat dissipation member. The heat dissipation member is brought into close contact with the surface of the motor by an elastic restoring force of the fixing member.

Abstract: Provided is an arm fixing device that includes: a bracket having close-contact surfaces that are brought into close contact with a mounting surface provided in a supporting member, and a mounting surface provided in an arm or a link for transmitting drive force to an arm, also having one of a screw hole or a through hole that is formed to penetrate each of the close-contact surfaces at a position corresponding to a position of the other of a screw hole or a through hole provided in each of the mounting surfaces, and bridged over the mounting surfaces such that each of the close-contact surfaces is brought into close contact with a corresponding one of the mounting surfaces; and a fastener that penetrates the through hole and is fastened to the screw hole.

Abstract: An industrial robot provided with a drive shaft in which a power transmission unit is arranged between a servomotor and a power output unit includes: a first brake unit integrally incorporated in the servomotor; and a second brake unit which is connected to the power transmission unit to branch to a power transmission path of the power transmission unit. The drive shaft is braked by using both the first brake unit and the second brake unit.

Abstract: An industrial robot provided with a drive shaft in which a power transmission unit is arranged between a servomotor and a power output unit includes: a first brake unit integrally incorporated in the servomotor; and a second brake unit which is connected to the power transmission unit to branch to a power transmission path of the power transmission unit. The drive shaft is braked by using both the first brake unit and the second brake unit.