Teaching method of the industrial robot control method and industrial robots, industrial robots

摘要

The present application provides an industrial robot that is able to correct the inclination while suppressing the displacement of the conveying object regardless of the direction of movement of the hand at the time of unloading the object to be transported is conveyed. First arm portion for rotatably supporting the second arm portion for rotatably supporting hand (3), Hand (3) (16) and the second arm (16) industrial robots, (15 arm having a) and (4), the first drive motor for extending and retracting the arm (4) and (21), for allowing relative rotation Hand (3) with respect to (16) the second arm and a power transmission mechanism for transmitting power second driving motor the second drive motor (22), power and the first drive motor (21) and (22) and (23). Power transmission mechanism (23), transmits a hand and arm (4) and (3) power first drive motor (21) hand (3) to move substantially linearly in a state facing the predetermined direction , and, I will transfer to the hand (3) the power second drive motor (22) (3) so as to rotate relative to the hand (16) and the second arm portion.