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US 12,583,105 B2Granted
Robot, control method therefor, method for manufacturing article using robot, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorsJunichi Fukuda, Yohji Nakajima, Masaru Ogata, Hidetada Asano
Life of this patent
Estimating the term…
Abstract
A robot includes a first link, a driving device configured to cause the first link to rotate, a transmission member configured to transmit a rotation of the driving device, a first stopper provided on the first link, and a second stopper provided on the transmission member, wherein the first stopper and the second stopper are brought into contact with each other by a relative movement between the first link and the transmission member.
Claims23
A robot comprising,
- a first link having a first face and a second face;
- a driving device configured to cause the first link to rotate about an axis substantially perpendicular to the first face and the second face;
- a transmission member configured to transmit a rotation of the driving device, the transmission member having a third face substantially parallel to the second face of the first link;
- a torque sensor provided between the third face of the transmission member and the second face of the first link;
- a first stopper extending from the second face of the first link;
- and
- a second stopper provided on the transmission member,
- wherein the first stopper and the second stopper are brought into contact with each other by a relative movement between the first link and the transmission member.
5 more elements
Dependencies are inferred from the claim text.