US 2001/0033144 A1Published application

Robot system

AssigneeKawasaki Jukogyo Kabushiki Kaisha

InventorKoji Doi

Life of this patent

Estimating the term…

Loading patent…

Abstract

The robot system including a 6-axis robot has a swingable arm for transferring a workpiece between first and second positions, a wrist on a distal end of the arm, that is driven to rotate around a predetermined axis, and a transfer device at the wrist. The transfer device has a link mechanism having first and second links and holding means attached to a distal end of the second link. A proximal end of the first link is attached to the wrist so as to rotate around the predetermined axis. A distal end of the first link and a proximal end of the second link are rotatably connected to each other. In accordance with a swinging motion of the arm, the first link rotates in a first rotational direction with respect to the arm and the second link rotates in a second rotational direction opposite to the first rotational direction with respect to the first link, so as to transfer the workpiece along a straight line linking the first and second positions.

Claims15

Dependent claims

A robot system including a 6-axis robot, comprising:

a swingable arm for transferring a workpiece between a first position and a second position,
a wrist mounted on a distal end of said arm, said wrist being driven to rotate around a predetermined axis, and
a transfer device disposed at said wrist,
wherein said transfer device has a link mechanism having a first link and a second link and holding means attached to a distal end of said second link,
wherein a proximal end of said first link is attached to said wrist so as to rotate around said predetermined axis,
wherein a distal end of said first link and a proximal end of said second link are rotatably connected to each other, and
wherein, in accordance with a swinging motion of said arm, said first link rotates in a first rotational direction with respect to said arm and said second link rotates in a second rotational direction opposite to said first rotational direction with respect to said first link, so as to transfer the workpiece along a straight line linking said first position and said second position.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 09/824,760Filed 4 Apr 2001
Priority: JP 2000-1066117 Apr 2000
Published: 25 Oct 2001
Term ends: Not estimatedThe source records don’t support an estimate.

Classification5 codes

B25J 9/104
Characterised by positioning means for manipulator elements: with cables, chains or ribbons
B25J 9/042
Cylindrical coordinate type: comprising an articulated arm
B25J 9/046
By rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type: revolute coordinate type
B25J 15/0616
With vacuum or magnetic holding means: with vacuum