Robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsYuto TANAKA, Nobuhiko MIHARA, Mayu TATSUGUCHI, Hiroshi SAITO, Hidenori MATSUURA
Life of this patent
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Abstract
A robot includes a first link, a second link aligned with the first link along a rotation axis and extending away from the rotation axis, and an actuator accommodated in the first link to rotate the second link around the rotation axis with respect to the first link. The second link includes a first sub-link and a second sub-link that sandwich the actuator along the rotation axis, the first sub-link is attached to the actuator, and the second sub-link is attached to the first sub-link in a state where the second sub-link is not constrained from the first link in a direction crossing the rotation axis.
Claims13
A robot comprising:
- a first link;
- a second link aligned with the first link along a rotation axis and extending away from the rotation axis;
- and
- an actuator accommodated in the first link to rotate the second link around the rotation axis with respect to the first link, wherein
- the second link includes a first sub-link and a second sub-link that sandwich the actuator along the rotation axis,
- the first sub-link is attached to the actuator, and
- the second sub-link is attached to the first sub-link in a state where the second sub-link is not constrained from the first link in a direction crossing the rotation axis.
Dependencies are inferred from the claim text.