Robot

Patent metadata

Field	Value
Publication number	US-2016221184-A1
Application number	US-201615006120-A
Country	US
Kind code	A1
Filing date	Jan 26, 2016
Priority date	Jan 29, 2015
Publication date	Aug 4, 2016
Grant date	—

Abstract

A robot includes a base, a first arm, a second arm, a first motor, and a second motor. The first arm is disposed on the base and swingable about a first axis. The second arm is disposed on the first arm and swingable about a second axis. The first motor moves the first arm about the first axis. The second motor moves the second arm about the second axis. The first and second motors each include a body and a protrusion. The body has an axial dimension in a direction along an output shaft of each motor and a perpendicular dimension in a direction approximately perpendicular to the output shaft. The axial dimension is smaller than the perpendicular dimension. The protrusion protrudes from a surface of the body in a direction along the output shaft and is disposed at a position displaced from the output shaft.

First claim

1 . A robot comprising:
a base; a first arm disposed on the base and swingable about a first axis parallel to an installation surface on which the base is installed; a second arm disposed on the first arm and swingable about a second axis parallel to the first axis; a first motor configured to move the first arm about the first axis relative to the base, the first motor comprising:
a first body comprising an axial dimension in a direction along an output shaft of the first motor and a perpendicular dimension in a direction approximately perpendicular to the output shaft of the first motor, the axial dimension being smaller than the perpendicular dimension; and
a first protrusion protruding from a surface of the first body in a direction along the output shaft of the first motor and disposed at a position displaced from the output shaft of the first motor; and
a second motor configured to move the second arm about the second axis relative to the first arm, the second motor comprising:
a second body comprising an axial dimension in a direction along an output shaft of the second motor and a perpendicular dimension in a direction approximately perpendicular to the output shaft of the second motor, the axial dimension being smaller than the perpendicular dimension; and
a second protrusion protruding from a surface of the second body in a direction along the output shaft of the second motor and disposed at a position displaced from the output shaft of the second motor.

2 . The robot according to claim 1 , further comprising a cable extending between the first arm and the second arm, wherein in a view from a direction along the first axis and the second axis, the cable overlaps the first body of the first motor and the second body of the second motor with the surface of the first body and the surface of the second body in contact with or abutting on the cable.

3 . The robot according to claim 2 , further comprising:
a first reducer coupled to the first motor and comprising an input shaft coaxial with the output shaft of the first motor, wherein the first motor is disposed between the first reducer and the cable in a direction along the first axis; and a second reducer coupled to the second motor and comprising an input shaft coaxial with the output shaft of the second motor, wherein the second motor is disposed between the second reducer and the cable in a direction along the second axis.

4 . The robot according to claim 2 ,
wherein the first motor is fixed to the base, and wherein the second motor is fixed to the second arm.

5 . The robot according to claim 4 ,
wherein the output shaft of the first motor and the first axis are coaxial with each other, wherein the first arm is swingable in a first direction up to a first swing angle relative to a first reference line that is in a direction approximately perpendicular to the installation surface and that passes through the first axis, and the first arm is swingable relative to the first reference line in a second direction opposite to the first direction up to a second swing angle smaller than the first swing angle, and wherein in a view from a direction along the first axis, the first protrusion of the first motor is disposed at a position that is lower than the first axis in a direction toward the installation surface and that is further in the second direction than the first reference line.

6 . The robot according to claim 4 ,
wherein the output shaft of the second motor and the second axis are coaxial with each other, wherein the second arm is swingable in a first direction up to a first swing angle relative to a second reference line that is in a direction approximately perpendicular to the installation surface and that passes through the second axis, and the second arm is swingable relative to the second reference line in a second direction opposite to the first direction up to a second swing angle smaller than the first swing angle, and wherein while the second arm is not swinging relative to the second reference line, the second protrusion of the second arm is at a position that is further away from the first axis than the second axis is from the first axis in a view from a direction along the second axis.

7 . The robot according to claim 2 , further comprising a plurality of fixtures fixing the cable with the first motor and the second motor positioned between the plurality of fixtures.

8 . The robot according to claim 7 , wherein the first motor is positioned between two fixtures among the plurality of fixtures, and the second motor is positioned between another two fixtures among the plurality of fixtures.

9 . The robot according to claim 1 , wherein the first arm comprises a pair of arm members extending and facing each other.

10 . The robot according to claim 3 ,
wherein the first motor is fixed to the base, and wherein the second motor is fixed to the second arm.

11 . The robot according to claim 10 ,
wherein the output shaft of the first motor and the first axis are coaxial with each other, wherein the first arm is swingable in a first direction up to a first swing angle relative to a first reference line that is in a direction approximately perpendicular to the installation surface and that passes through the first axis, and the first arm is swingable relative to the first reference line in a second direction opposite to the first direction up to a second swing angle smaller than the first swing angle, and wherein in a view from a direction along the first axis, the first protrusion of the first motor is disposed at a position that is lower than the first axis in a direction toward the installation surface and that is further in the second direction than the first reference line.

12 . The robot according to claim 10 ,
wherein the output shaft of the second motor and the second axis are coaxial with each other, wherein the second arm is swingable in a first direction up to a first swing angle relative to a second reference line that is in a direction approximately perpendicular to the installation surface and that passes through the second axis, and the second arm is swingable relative to the second reference line in a second direction opposite to the first direction up to a second swing angle smaller than the first swing angle, and wherein while the second arm is not swinging relative to the second reference line, the second protrusion of the second arm is at a position that is further away from the first axis than the second axis is from the first axis in a view from a direction along the second axis.

13 . The robot according to claim 3 , further comprising a plurality of fixtures fixing the cable with the first motor and the second motor positioned between the plurality of fixtures.

14 . The robot according to claim 4 , further comprising a plurality of fixtures fixing the cable with the first motor and the second motor positioned between the plurality of fixtures.

15 . The robot according to claim 5 , further comprising a plurality of fixtures fixing the cable with the first motor and the second motor positioned between the plurality of fixtures.

16 . The robot according to claim 6 , further comprising a plurality of fixtures fixing the cable with the first motor and the second motor positioned between the plurality of fixtures.

17 . The robot according to claim 10 , further comprising a plurality of fixtures fixing the cable with the first motor and the second motor positioned between the plurality of fixtures.

18 . The robot according to

Assignees

• Yaskawa Electric Corp

Inventors

• Sueyoshi Satoshi
• Ito Masato
• Sanada Takashi
• Haniya Kazuhiro

Classifications

• B25J9/126 Primary

  Rotary actuators · CPC title

• Y10S901/23

  Electric motor · CPC title

• B25J19/0029

  arranged within the different robot elements · CPC title

• B25J17/0258

  Two-dimensional joints · CPC title

• B25J19/0025

  Means for supplying energy to the end effector · CPC title