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US 10,293,480 B2Granted
Robot system
AssigneeSeiko Epson Corporation
InventorKazushige Akaha
Life of this patent
Estimating the term…
Abstract
A robot system includes: a cell; and a robot which is provided to move in the cell, in which the robot includes an n-th (n is an integer which is equal to or greater than 1) arm which rotates around an n-th rotating axis, and an (n+1)th arm which is provided to rotate around an (n+1)th rotating axis which is an axial direction different from an axial direction of the n-th rotating axis, in the n-th arm, in which the length of the n-th arm is longer than the length of the (n+1)th arm, and in which, when viewed from the (n+1)th rotating axis, the n-th arm and the (n+1)th arm overlap each other.
Claims9
A robot system comprising:
- a robot which includes a movable base and robot arm,
- wherein the robot arm includes a first arm, a second arm, a third arm, a fourth arm, a fifth arm, and a sixth arm,
- the first arm rotates around a first rotating axis,
- the second arm rotates around a second rotating axis which has an axial direction different from an axial direction of the first rotating axis, the second rotating axis being orthogonal to the first rotating axis when viewed from a direction orthogonal to both the first rotating axis and the second rotating axis,
- the third arm rotates around a third rotating axis, the third rotating axis being parallel to the second rotating axis,
- the fourth arm is connected to the third arm and rotates around a fourth rotating axis, the fourth rotating axis being orthogonal to the third rotating axis when viewed from a direction orthogonal to both the third rotating axis and the fourth rotating axis,
- the fifth arm is connected to the fourth arm and rotates around a fifth rotating axis, the fifth rotating axis being orthogonal to the fourth rotating axis when viewed from a direction orthogonal to both the fourth rotating axis and the fifth rotating axis,
- the sixth arm is connected to the fifth arm and rotates around a sixth rotating axis, the sixth rotating axis being orthogonal to the fifth rotating axis when viewed from a direction orthogonal to the fifth rotating axis and the sixth rotating axis,
- when viewed along the axial direction of the second rotating axis, the first arm, the second arm, and the third arm are configured to overlap each other in a folded state,
- the third arm is closer to the first rotating axis than the second arm when the first arm, the second arm, and the third arm are in the folded state, and
- the first arm includes a first leg extending parallel to the second rotating axis and a second leg extending parallel to the first rotating axis, a position of the first leg relative to the second leg is fixed and the first leg and the second leg, together, rotate about the first rotating axis.
8 more elements
Dependencies are inferred from the claim text.