Robot

Patent metadata

Field	Value
Publication number	US-9975239-B2
Application number	US-201615052884-A
Country	US
Kind code	B2
Filing date	Feb 25, 2016
Priority date	Mar 2, 2015
Publication date	May 22, 2018
Grant date	May 22, 2018

Abstract

A robot includes a first arm, a second arm, a third arm, a distal end, a first actuator, a second actuator, a third actuator, and a plurality of posture adjustment actuators. The first arm, the second arm, the third arm, and the distal end are coupled in series to each other. The first actuator is configured to swing the first arm about a first axis line. The second actuator is disposed on a side on which the first actuator is disposed in a direction along the first axis line. The second actuator is configured to swing the second arm about a second axis line parallel to the first axis line. The third actuator is configured to swing the third arm about a third axis line parallel to the first axis line. The plurality of posture adjustment actuators are configured to adjust a posture of the distal end.

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;
a second arm coupled in series to the first arm;
a third arm coupled in series to the second arm;
a distal end coupled in series to the third arm;
a first actuator configured to swing the first arm about a first axis line, the first axis line extending through a first side of the first arm and a second side of the first arm;
a second actuator disposed on the first side of the first arm on which the first actuator is disposed in a direction along the first axis line, the second actuator being configured to swing the second arm about a second axis line parallel to the first axis line;
a third actuator configured to swing the third arm about a third axis line parallel to the first axis line;
a first cable disposed on the second side of the first arm; and
a plurality of posture adjustment actuators configured to adjust a posture of the distal end,
wherein one arm among the first arm and the second arm has a shape that is bent at a portion where the first arm and the second arm are coupled to each other so as to overlap another arm among the first arm and the second arm and provide a path for the first cable such that the first cable extends along an outside of the first arm and the second arm that includes the second side, and
wherein the second actuator is mounted to an exterior surface of the one arm with the shape that is bent so as to oppose the first cable in the direction along the first axis line.

2. The robot according to claim 1 , wherein the third actuator is disposed on the first side on which the first actuator and the second actuator are disposed in the direction along the first axis line.

3. The robot according to claim 1 , wherein the first cable is configured to transmit energy to the second actuator, the third actuator, and the plurality of posture adjustment actuators.

4. The robot according to claim 3 , wherein the first cable comprises
a main line disposed on the second side, and
a branch line branched from the main line and coupled to the second actuator.

5. The robot according to claim 4 , further comprising two cable clamps disposed on one arm among the first arm and the second arm on which the second actuator is fixed so as to hold the first cable,
wherein the branch line is branched from the main line between the two cable clamps.

6. The robot according to claim 4 , wherein the first arm is coupled to a base disposed around a position of a workpiece, and the branch line is disposed on a side opposite to the position of the workpiece.

7. The robot according to claim 3 ,
wherein the second actuator is fixed to the one arm with the shape that is bent.

8. The robot according to claim 7 ,
wherein the second arm comprises the shape that is bent, and
wherein the second actuator is fixed to the second arm.

9. The robot according to claim 3 , further comprising:
a welder disposed on the distal end; and
a second cable coupled to the welder,
wherein the second cable is disposed on the second side.

10. The robot according to claim 2 , wherein the first cable is configured to transmit energy to the second actuator, the third actuator, and the plurality of posture adjustment actuators.

11. The robot according to claim 10 , wherein the first cable comprises
a main line disposed on the second side, and
a branch line branched from the main line and coupled to the second actuator.

12. The robot according to claim 11 , further comprising two cable clamps disposed on one arm among the first arm and the second arm on which the second actuator is fixed so as to hold the first cable,
wherein the branch line is branched from the main line between the two cable clamps.

13. The robot according to claim 5 , wherein the first arm is coupled to a base disposed around a position of a workpiece, and the branch line is disposed on a side opposite to the position of the workpiece.

14. The robot according to claim 11 , wherein the first arm is coupled to a base disposed around a position of a workpiece, and the branch line is disposed on a side opposite to the position of the workpiece.

15. The robot according to claim 12 , wherein the first arm is coupled to a base disposed around a position of a workpiece, and the branch line is disposed on a side opposite to the position of the workpiece.

16. The robot according to claim 1 , wherein a main portion of the first cable that extends along the first arm and the second arm is entirely disposed on the second side.

17. The robot according to claim 1 , wherein the second arm has the shape that is bent at the portion where the first arm and the second arm are coupled to each other.

18. The robot according to claim 1 , wherein the path provided by the bent shape of the one arm among the first arm and the second arm is a substantially straight path for the first cable along the first arm and the second arm relative to a direction parallel to the first axis line.

19. The robot according to claim 18 , wherein the substantially straight path is provided in a plane disposed parallel to respective side surfaces of the first arm and the second arm.

20. A robot comprising:
a first arm;
a second arm coupled in series to the first arm;
a third arm coupled in series to the second arm;
a distal end coupled in series to the third arm;
a first actuator configured to swing the first arm about a first axis line;
a second actuator disposed on a side on which the first actuator is disposed in a direction along the first axis line, the second actuator being configured to swing the second arm about a second axis line parallel to the first axis line;
a third actuator configured to swing the third arm about a third axis line parallel to the first axis line; and
a plurality of posture adjustment actuators configured to adjust a posture of the distal end, each of the posture adjustment actuators mounted to a same exterior surface of the single base plate.

21. The robot according to claim 1 , further comprising a cable guide spaced apart from the first arm and the second arm and configured to receive the first cable such that the first cable extends through the cable guide from the second side to the first side.

22. The robot according to claim 21 , wherein the plurality of posture adjustment actuators are mounted to a base plate and the cable guide is mounted to the base plate.

23. The robot according to claim 20 , further comprising a cable guide spaced apart from the first arm and the second arm and configured to receive a first cable such that the first cable extends through the cable guide from a second side to a first side.

24. The robot according to claim 23 , wherein the cable guide is mounted to the base plate.

25. The robot according to claim 20 , wherein the plurality of posture adjustment actuators includes a fourth actuator, a fifth actuator, and a sixth actuator, each of the fourth actuator, the fifth actuator, and the sixth actuator being mounted to the exterior surface of the single base plate.

Assignees

• Yaskawa Electric Corp

Inventors

• Kinoshita Yusuke
• Fujitsu Eiji
• Nogami Kazuyoshi

Classifications

• B25J9/046

  Revolute coordinate type · CPC title

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title

• B25J9/12 Primary

  electric · CPC title

• B25J15/0019

  End effectors other than grippers · CPC title

• Y10S901/42

  Welding · CPC title