发明名称 |
INDUSTRIAL ROBOT, METHOD FOR CONTROLLING INDUSTRIAL ROBOT, AND METHOD FOR TEACHING INDUSTRIAL ROBOT |
摘要 |
Provided is an industrial robot which is capable of correcting a tilt of a carried-in subject to be transferred, while suppressing a positional shift of the subject, irrespective of the moving direction of a hand at the time of carrying out the subject. The industrial robot is provided with: the hand (3); an arm (4), which has a second arm section (16) that rotatably supports the hand (3), and a first arm section (15) that rotatably supports the second arm section (16); a first drive motor (21) for extending and retracting the arm (4); a second drive motor (22) for relatively rotating the hand (3) with respect to the second arm section (16); and a power transmitting mechanism (23) for transmitting power of the first drive motor (21) and power of the second drive motor (22). The power transmitting mechanism (23) transmits power of the first drive motor (21) to the arm (4) and the hand (3) such that the hand (3) substantially linearly moves in a state wherein the hand is facing a predetermined direction, and the power transmitting mechanism also transmits power of the second drive motor (22) to the hand (3) such that the hand (3) relatively rotates with respect to the second arm section (16).
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申请公布号 |
WO2012008321(A1) |
申请公布日期 |
2012.01.19 |
申请号 |
WO2011JP65195 |
申请日期 |
2011.07.01 |
申请人 |
NIDEC SANKYO CORPORATION;YAZAWA, TAKAYUKI;TANAKA, CHIKAHIRO;WATANABE, HIROKAZU;MASUZAWA, YOSHIHISA |
发明人 |
YAZAWA, TAKAYUKI;TANAKA, CHIKAHIRO;WATANABE, HIROKAZU;MASUZAWA, YOSHIHISA |
分类号 |
B25J9/06;H01L21/677 |
主分类号 |
B25J9/06 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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