Vertical joint robot which designed with equlibrium mass

The present invention relates to articulated robot is a vertical 6-axis for ship welding, the present invention is to install the two-axis and three-axis drive motor provided in the shoulder portion of a vertical articulated robot for hull welded to the inside, and also two-axis and three by installing offset left and right of the axis input, as well as improving the stability and dynamic properties of such that the shoulder parts of the weight balance made by reducing the moment of inertia axis 1 around robot ever prevent damage from the driving motor to the external interference to provide a vertical multi-joint robot is designed to balance those objectives. The present invention to achieve the above objects consists of the base and the shoulder and arm in the articulated robot that is driven by the drive motor, but installing a drive motor for driving each part of the robot on the inside of the robot, parts of the shoulder the lower and twin-screw, which is installed on the top and three-axis drive motor is characterized such that a balance weight portion the shoulder is made by installing the input offset.