INDUTRIAL ROBOT

PROBLEM TO BE SOLVED: To provide an industrial robot which is compact, and has no fear to nip a cable in a balance mechanism. SOLUTION: In order that a laminated leaf-spring 8 returns to a natural condition when the rotating moment around a W shaft resulting from the gravity is made zero, the both ends of the laminated leaf-spring 8 are installed to the first arm 4 and a turning trunk 3 respectively, and the variation of the rotating moment around the W shaft owing to the gravity is absorbed, so as to prevent the operation of a useless load to the servomotor of the W shaft. By installing the laminated leaf-spring 8 by packing to the first arm 4 and the turning trunk 3, an industrial robot 1 is made compact. And by applying the laminated leaf- spring 8, an expansion and contraction mechanism is eliminated from a balance mechanism, and a nipping of a cable and the like is eliminated.