Robot

Patent metadata

Field	Value
Publication number	US-10857671-B2
Application number	US-201815954544-A
Country	US
Kind code	B2
Filing date	Apr 16, 2018
Priority date	Mar 2, 2015
Publication date	Dec 8, 2020
Grant date	Dec 8, 2020

Abstract

A robot includes a first arm rotatable around a first axis, a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable, a distal-end swingable portion rotatably connected to the third arm, a distal end rotatably connected to the distal-end swingable portion, a fourth actuator configured to rotate the distal-end swingable portion and including a first motor having a first motor rotation axis, and a fifth actuator configured to rotate the distal end and including a second motor having a second motor rotation axis that is parallel to the first motor rotation axis.

First claim

What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. A robot comprising:
a first arm rotatable around a first axis, the first arm having a first side and a second side opposite to the first side of the first arm in an axis direction along the first axis;
a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, the second arm having a first side and a second side opposite to the first side of the second arm in an axis direction along the second axis, the first side of the first arm and the first side of the second arm being on a same side of the robot;
a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable;
a distal-end swingable portion rotatably connected to the third arm;
a distal end rotatably connected to the distal-end swingable portion;
a first actuator configured to rotate the first arm about the first axis, the first actuator being provided on the first side of the first arm;
a second actuator configured to rotate the second arm about the second axis, the second actuator being provided on the first side of the second arm;
a third actuator configured to rotate the third arm about the third axis;
a fourth actuator configured to rotate the distal-end swingable portion and including a first motor having a first motor rotation axis;
a fifth actuator configured to rotate the distal end and including a second motor having a second motor rotation axis that is parallel to the first motor rotation axis; and
a cable provided on the second side of the first arm and the second side of the second arm,
wherein the cable comprises:
a main line disposed on the second side of the first arm and the second side of the second arm; and
a branch line branched from the main line and coupled to the second actuator, and

wherein the main line of the cable that extends along the first arm and the second arm is entirely disposed on the second side of the first arm and the second side of the second arm.

2. The robot according to claim 1 , wherein the third arm includes a mount surface that is parallel to the third axis and wherein the fourth actuator and the fifth actuator are provided on the mount surface such that the first motor rotation axis and the second motor rotation axis are perpendicular to the mount surface.

3. The robot according to claim 2 , wherein the mount surface includes a first mount part and a second mount part that are parallel to the third axis and wherein the fourth actuator is provided on the first mount part and the fifth actuator is provided on the second mount part such that the first motor rotation axis is perpendicular to the first mount part and the second motor rotation axis is perpendicular to the second mount part.

4. The robot according to claim 1 , further comprising:
a tool rotatably connected to the distal end; and
a sixth actuator configured to rotate the tool and including a third motor having a third motor rotation axis that is parallel to the first motor rotation axis.

5. The robot according to claim 4 , wherein the third arm includes a mount surface that is parallel to the third axis and wherein the fourth actuator, the fifth actuator, and the sixth actuator are provided on the mount surface such that the first motor rotation axis, the second motor rotation axis, and the third motor rotation axis are perpendicular to the mount surface.

6. The robot according to claim 5 , wherein the mount surface includes a first mount part, a second mount part and a third mount part that are parallel to the third axis and wherein the fourth actuator is provided on the first mount part, the fifth actuator is provided on the second mount part, and the sixth actuator is provided on the third mount part such that the first motor rotation axis is perpendicular to the first mount part, the second motor rotation axis is perpendicular to the second mount part, and the third motor rotation axis is perpendicular to the third mount part.

7. The robot according to claim 1 , wherein the distal-end swingable portion connected to the third arm rotatably around a fourth axis that is perpendicular to the third axis.

8. The robot according to claim 1 , wherein the third actuator is provided on the same side of the robot.

9. The robot according to claim 8 , wherein the third arm has a first side and a second side opposite to the first side of the third arm in an axis direction along the third axis, the first side of the third arm being on the same side of the robot, and the cable extends along the second side of the third arm.

10. The robot according to claim 9 , wherein the cable is configured to transmit energy to the second actuator and the third actuator.

11. A robot comprising:
a first arm rotatable around a first axis, the first arm having a first side and a second side opposite to the first side of the first arm in an axis direction along the first axis;
a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, the second arm having a first side and a second side opposite to the first side of the second arm in an axis direction along the second axis, the first side of the first arm and the first side of the second arm being on a same side of the robot;
a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable;
a first actuator provided on the first side of the first arm and configured to rotate the first arm about the first axis;
a second actuator provided on the first side of the second arm and configured to rotate the second arm about the second axis;
a third actuator configured to rotate the third arm about the third axis; and
a cable provided on the second side of the first arm and the second side of the second arm,
wherein the cable comprises:
a main line disposed on the second side of the first arm and the second side of the second arm; and
a branch line branched from the main line and coupled to the second actuator, and

wherein the main line of the cable that extends along the first arm and the second arm is entirely disposed on the second side of the first arm and the second side of the second arm.

12. The robot according to claim 11 , wherein the third actuator is provided on the same side of the robot.

13. The robot according to claim 12 , wherein the third arm has a first side and a second side opposite to the first side of the third arm in an axis direction along the third axis, the first side of the third arm being on the same side of the robot, and the cable extends along the second side of the third arm.

14. The robot according to claim 11 , wherein the cable is configured to transmit energy to the second actuator and the third actuator.

15. The robot according to claim 11 , further comprising:
a first cable clamp provided on the first arm to hold the cable; and
a second cable clamp provided on the second arm to hold the cable.

Assignees

• Yaskawa Electric Corp

Inventors

• Kinoshita Yusuke
• Fujitsu Eiji
• Nogami Kazuyoshi

Classifications

• B25J18/005

  having a curved shape · CPC title

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title

• B25J9/046

  Revolute coordinate type · CPC title

• B25J9/00

  Program-controlled manipulators · CPC title

• B25J9/0024

  Wrist motors at rear part of the upper arm · CPC title