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1. (WO2014207872) ROBOT

Pub. No.:    WO/2014/207872    International Application No.:    PCT/JP2013/067714
Publication Date: Thu Jan 01 00:59:59 CET 2015 International Filing Date: Fri Jun 28 01:59:59 CEST 2013
IPC: B25J 17/02
B25J 19/00
Applicants: KABUSHIKI KAISHA YASKAWA DENKI
株式会社安川電機
Inventors: TANAKA, Kentaro
田中 謙太郎
Title: ROBOT
Abstract:
This robot (1) is provided with a first wrist unit (14), a second wrist unit (15), a linear drive unit (30), and a linking mechanism (40). The first wrist unit is formed in a hollow manner. The second wrist unit is formed in a hollow manner and is connected to the tip end (14b) of the first wrist unit in a manner able to rotate centered around a rotational axis (Je) that is perpendicular to the direction of extension of the first wrist unit. The linear drive unit is attached to a position offset to the base end (14a) of the first wrist unit from the rotational axis, and performs a linear operation along the direction of extension. The linking mechanism is disposed to the outside of the outer edge of the first and second wrist units when seen from the direction of the rotational axis, is connected to the linear drive unit and the second wrist unit, and causes the rotational driving of the second wrist unit in accordance with the linear operation of the linear drive unit.