Back to results
US 9,481,095 B2Granted
Robot
AssigneeKabushiki Kaisha Yaskawa Denki
InventorsShingi Takahashi, Takuya Okada, Tomoyuki Shiraki
Life of this patent
Estimating the term…
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.
Claims10
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, the wrist longitudinally extending along a second rotation axis that is perpendicular to the first rotation axis and pivoting around the second rotation axis;
- a storage storing therein a cable that is wired along the lower arm and extends from the lower arm toward the wrist, the storage being provided to one side surface of the upper arm;
- and
- an actuator attached to the one side surface of the upper arm, the actuator rotationally driving the wrist around the second rotation axis, wherein
- the storage comprises:
- a storage case attached to the one side surface of the upper arm and having a space in which the cable can be stored;
- and
- a cover attached to the storage case and having a cutout through which the cable passes,
- the actuator is disposed between the first rotation axis and the storage so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so that the rotation axis of the actuator extends in a direction of the first rotation axis, and
- the actuator and the storage project from the one side surface of the upper arm along the direction of the first rotation axis.
9 more elements
Dependencies are inferred from the claim text.