Robot

摘要

A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.

主权项

1. A robot comprising at least one jointed arm provided with a first arm having a base end rotatably joined to a base body, a second arm having a base end joined to the tip of the first arm by a first bending and stretching mechanism in such away that the second arm can be bent and stretched, and a third arm having a base end joined to the tip of the second arm by a second bending and stretching mechanism in such a way that the third arm can be bent and stretched,
wherein the second arm has a first turning mechanism that turns the second bending and stretching mechanism with respect to the second arm, the third arm has a wrist member joined to the second bending and stretching mechanism, a hand to which an end effector is attached, and a second turning mechanism that joins the wrist member and the hand and turns the hand with respect to the wrist member by rotating the hand with respect to the wrist member, when a rotation axis in the second turning mechanism is parallel to a rotation axis in the first turning mechanism, the rotation axis in the second turning mechanism is disposed in a position offset with respect to the rotation axis in the first turning mechanism, the first arm has a housing recessed portion which is unclosed in a direction in which the second arm stretches toward the first arm in a state in which a rotation axis in the first bending and stretching mechanism and a rotation axis in the second bending and stretching mechanism are parallel to each other, and in a state in which the second arm is bent toward the first arm and the third arm is bent toward the second arm to a side of the second arm opposite to the first arm, the housing recessed portion houses at least part of the second arm, at least part of the first turning mechanism, and at least part of the second bending and stretching mechanism.