Painting system

A painting system comprising:

• a painting booth surrounded by a sidewall and a ceiling;
• a conveyor line that is arranged in the painting booth and conveys an object to be painted;
• and
• a painting robot that performs painting on the object,
• wherein the painting robot includes:
• a base portion fixed on the sidewall side in the painting booth;
• and
• an arm portion that is connected to the base portion and has a seven-axis configuration,
• the arm portion includes:
• a rotation base portion that is supported by the base portion to be rotatable about a first axis which is parallel to a conveying direction of the conveyor line;
• a first arm that is supported by the rotation base portion to be rotatable about a second axis which is perpendicular to and intersects with the first axis or is skew and perpendicular to the first axis;
• a second arm that is supported by the first arm to be rotatable about a third axis which is perpendicular to the second axis;
• a third arm that is supported by the second arm to be rotatable about a fourth axis which is perpendicular to the third axis;
• and
• a wrist portion that is rotatably supported by a tip of the third arm and has a three-axis configuration including a fifth axis to a seventh axis, and
• the arm portion further includes a joint portion forming the fourth axis between the second and third arms, the joint portion approaching the sidewall by rotating the second arm about the third axis wherein the fifth axis and the seventh axis are parallel to and offset from each other when the painting robot is in a reference posture.