Robot

Patent metadata

Field	Value
Publication number	US-10099364-B2
Application number	US-201615137235-A
Country	US
Kind code	B2
Filing date	Apr 25, 2016
Priority date	Apr 28, 2015
Publication date	Oct 16, 2018
Grant date	Oct 16, 2018

Abstract

A robot includes: a base; a first arm provided on the base rotatably about a first rotation axis; and a second arm provided on the first arm rotatably about a second rotation axis that is a different axial direction from an axial direction of the first rotation axis. The first arm and the second arm can overlap with each other, as viewed from the axial direction of the second rotation axis. The first arm is bent.

First claim

What is claimed is:

1. A robot comprising:
a base;
a first arm connected to the base rotatably about a first rotation axis;
a second arm connected to the first arm rotatably about a second rotation axis that is a different axial direction from an axial direction of the first rotation axis, the second rotation axis being orthogonal to the first rotation axis when viewed from a direction orthogonal to both the first rotation axis and the second rotation axis;
a third arm connected to the second arm rotatably about a third rotation axis, the third rotation axis being parallel to the second rotation axis;
a fourth arm connected to the third arm rotatably about a fourth rotation axis, the fourth rotation axis being orthogonal to the third rotation axis when viewed from a direction orthogonal to both the third rotation axis and the fourth rotation axis;
a fifth arm connected to the fourth arm rotatably about a fifth rotation axis, the fifth rotation axis being orthogonal to the fourth rotation axis when viewed from a direction orthogonal to both the fourth rotation axis and the fifth rotation axis; and
a sixth arm connected to the fifth arm rotatably about a sixth rotation axis, the sixth rotation axis being orthogonal to the fifth rotation axis when viewed from a direction orthogonal to both the fifth rotation axis and the sixth rotation axis, wherein
the first arm includes a first segment extending in a first direction and a second segment extending in a second direction different from the first direction, the first segment and the second segment being a single monolithic piece such that a position of the first segment relative to the second segment is fixed and the first segment and the second segment, together, rotate about the first rotation axis,
the first arm is bent, and
in a first position, the first arm, the second arm, and the third arm overlap with one another when viewed from an axial direction of the second rotation axis and the third arm is closer to the first rotation axis than the second arm.

2. The robot according to claim 1 , wherein
the first arm includes:
a third segment situated between the first segment and the second segment and extending in a direction that is different from the first direction and the second direction.

3. The robot according to claim 1 , wherein
the first arm includes:
a third segment situated between the first segment and the second segment and bent as viewed from a direction orthogonal to the first direction and the second direction.

4. The robot according to claim 2 , further comprising:
a first drive unit which drives the first arm and is mounted on a first mounting surface of the first arm and on the base; and
a second drive unit which drives the second arm and is mounted on a second mounting surface of the first arm and on the second arm,
wherein a maximum distance between a first straight line connecting a first point of intersection between the first rotation axis and the first mounting surface and a second point of intersection between the second rotation axis and the second mounting surface, and the third part, is shorter than a distance between the first straight line and a third point of intersection which is a point of intersection between a second straight line passing through the first point of intersection and extending in the first direction and a third straight line passing through the second point of intersection and extending in the second direction.

5. The robot according to claim 2 , wherein
a length of the second part in the axial direction of the second rotation axis is shorter than a length of the first part in the axial direction of the first rotation axis, as viewed from a direction orthogonal to the first direction and the second direction.

Assignees

• Seiko Epson Corp

Inventors

• Miyasaka Hidekatsu

Classifications

• B25J9/047

  the pivoting axis of the first arm being offset to the vertical axis · CPC title

• B25J9/0018 Primary

  Bases fixed on ceiling, i.e. upside down manipulators · CPC title