Dual scara arm
US-9147590-B2 · Sep 29, 2015 · US
Dual-arm robot
US10213918B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10213918-B2 |
| Application number | US-201415539824-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 26, 2014 |
| Priority date | Dec 26, 2014 |
| Publication date | Feb 26, 2019 |
| Grant date | Feb 26, 2019 |
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Abstract
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A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first arm and the second link of the second arm are disposed so as to be located between the first link of the first arm and the first link of the second arm in the extending direction of the first axis and so that the end effector attaching portions are located at substantially the same position in the extending direction of the first axis.
First claim
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What is claimed is: 1. A dual-arm robot, comprising: a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion, wherein, the first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis, the second link of the first arm and the second link of the second arm are disposed so as to be located between a plane that is normal to the first axis and in which the first link of the first arm lies and a plane that is normal to the first axis and in which the first link of the second arm lies and so that the end effector attaching portions are located in a common plane normal to the first axis, the second link of the first arm is supported by a hollow first shaft member protruding in parallel with the first axis from the first link of the first arm toward the first link of the second arm, the first shaft member comprises a first portion and a second portion coupled to each other in series, the first portion is disposed inside the first link of the first arm, the second portion is disposed outside the first link of the first arm and is coupled to the second link of the first arm, the second link of the second arm is supported by a hollow second shaft member protruding in parallel with the first axis from the first link of the second arm toward the first link of the first arm, and the second shaft member comprises a third portion and a forth portion coupled to each other in series, the third portion is disposed inside the first link of the second arm, and the forth portion is disposed outside the first link of the second arm and is coupled to the second link of the second arm. 2. The dual-arm robot of claim 1 , wherein, the second links of the first and second arms lie in a common plane normal to the first axis. 3. The dual-arm robot of claim 1 , wherein the first link has a support member, a link member supported by the support member to be rotatable about the first axis, and a first drive unit provided in the link member and for rotating the link member about the first axis with respect to the support member. 4. The dual-arm robot of claim 3 , wherein, the first link has the first shaft member and the second shaft member supported by the link member to be rotatable about a second axis parallel to the first axis, and a second drive unit provided in the link member and for rotating the first shaft member and the second shaft member about the second axis with respect to the link member, and the second link is fixed to the first shaft member and the second shaft member. 5. The dual-arm robot of claim 3 , wherein the support member of the first link of the second arm is fixed to the link member of the first link of the first arm, and the first link of the first arm is separated from the first link of the second arm in the extending direction of the first axis by the support member.
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- What does patent US10213918B2 cover?
- A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first…
- Who is the assignee on this patent?
- Kawasaki Heavy Ind Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J9/043. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Feb 26 2019 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 1 related publication on this page (citations in our corpus or others sharing the same primary CPC).