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US 9,216,479 B2Granted
Robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsShingi Takahashi, Tomoyuki Shiraki, Masato Ito, Kaori Sakaki, Takahiko Kanamori
Life of this patent
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Abstract
A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a balancer connected to both the rotation base and the arm unit; and a cable arranged along the arm unit outside the balancer while supported by that balancer.
Claims10
A robot comprising:
- a stage;
- a rotation base connected to the stage in a rotatable manner around a predetermined rotating axis;
- an arm connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis, the arm comprising
- a first arm having a base end connected to the rotation base, and
- a second arm having a base end connected to a tip end of the first arm in a rotatable manner around a parallel axis that is substantially parallel to the first rotation axis, and;
- a balancer connected to both the rotation base and the arm;
- and
- a first cable arranged along the arm outside the balancer while supported by that balancer, the first cable being routed with respect to the second arm so as to round outside of the base end of the second arm and being directed to a tip end of the second arm.
5 more elements
Dependencies are inferred from the claim text.