ROBOT

摘要

A robot includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body.

主权项

1. A robot comprising:
a first wrist connected to an arm; a second wrist connected to the first wrist rotatably around a first rotation axis; a third wrist connected to the second wrist rotatably around a second rotation axis perpendicular to the first rotation axis; a first actuator configured to rotationally drive the second wrist; a first rotating body configured to transmit a drive force of the first actuator to the second wrist; a second actuator configured to rotationally drive the third wrist; and a second rotating body configured to transmit a drive force of the second actuator to the third wrist, wherein the first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body.