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US 12,715,143 B2Granted
Painting robot and painting system
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsTsuyoshi Konno, Makoto Tabata, Yuta Matsuda
Life of this patent
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Abstract
A painting robot includes a base, a swivel base, a lower arm, an upper arm, and a wrist unit. The upper arm includes a first upper arm on a base end side and a second upper arm on a tip end side. The second upper arm is supported, on a base end side, by a tip end side of the first upper arm, the first upper arm being supported by the lower arm on an inner surface that is a side surface of the first upper arm, and pivots about a fourth axis parallel to a third axis. The first upper arm is equipped with a pump for an end effector on an inner surface side.
Claims9
A painting robot comprising:
- a base fixed to an installation surface;
- a swivel base supported by the base and configured to swivel about a first axis along a vertical direction of the painting robot;
- a lower arm supported by the swivel base and configured to pivot about a second axis perpendicular to the first axis;
- an upper arm supported by the lower arm and configured to pivot about a third axis parallel to the second axis;
- and
- a wrist unit having a three-axis configuration and supported by the upper arm, wherein
- a first swivel base end of the swivel base is supported on an upper surface of the base,
- a first lower arm end of the lower arm is supported by a second swivel base end of the swivel base,
- a first upper arm end of the upper arm is supported by a second lower arm end of the lower arm opposite to the first lower arm end,
- a first wrist unit end of the wrist unit is supported by a second upper arm end of the upper arm opposite to the first upper arm end,
- a second wrist unit end of the wrist unit opposite to the first wrist unit end is configured to receive an end effector,
- the upper arm includes:
- a first upper arm, wherein a first side surface of the first upper arm is supported by the lower arm at the first upper arm end;
- and
- a second upper arm, wherein an end of the second upper arm opposite to the second upper arm end is supported by the first side surface of the first upper arm at an end of the first upper arm opposite to the first upper arm end such that the second upper arm pivots about a fourth axis parallel to the third axis, and
- the first upper arm includes a pump for the end effector on the first side surface.
13 more elements
Dependencies are inferred from the claim text.