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US 2014/0196563 A1Published application
Robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsShingi TAKAHASHI, Takuya OKADA, Tomoyuki SHIRAKI
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Abstract
A robot according to an embodiment includes a lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.
Claims11
A robot comprising:
- a lower arm;
- an upper arm connected to the lower arm rotatably about a first rotation axis;
- a wrist connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis;
- and
- an actuator attached to the upper arm, the actuator rotationally driving the wrist, wherein
- the actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.
3 more elements
A robot comprising:
- arm means for rotating about a first rotation axis;
- wrist means for rotating about a second rotation axis perpendicular to the first rotation axis;
- and
- drive means for outputting a driving force to rotate the wrist means, the drive means being attached to the arm means and having a rotation axis that is parallel with the first rotation axis and is perpendicular to the second rotation axis.
1 more element
Dependencies are inferred from the claim text.