A link drive structure includes a first arm constituting a parallel link on one side, a second arm constituting a parallel link on the other side, a coupling base interposed between end portions, at which the first arm is coupled with the second arm, to couple the end portions of both the parallel links, and a drive motor with a harmonic gear reducer disposed to the coupling end portion of the arm on the one side. The harmonic gear reducer has two output shafts rotating in the same direction, a first output shaft is coupled with the end portion of the other arm, and a second output shaft is coupled with the coupling base. With this arrangement, there can be provided a link drive structure having a high positioning accuracy and an excellent sealing property and an industrial robot using the link drive structure.