Patent ID: 9475190
Filing Date: 2016-10-25
CPC Classification: B25J,Y10S

Claim Text:
1. A robot, comprising: a tool shaft; a first supporting mechanism attached to one portion of the tool shaft and tiltably supporting the tool shaft; a second supporting mechanism attached to a different portion of the tool shaft and tiltably supporting the tool shaft; a first in-plane movement mechanism that moves the first supporting mechanism in a first plane; a second in-plane movement mechanism that moves the second supporting mechanism in a second plane; and a controller that controls an in-plane position and an inclination angle of the tool shaft by controlling the first in-plane movement mechanism and the second in-plane movement mechanism; and wherein the first supporting mechanism or the second supporting mechanism supports the tool shaft movably in an axial direction; the controller, by controlling the first in-plane movement mechanism and the second in-plane movement mechanism, separately moves the first supporting mechanism and the second supporting mechanism, and displaces the positions of the first supporting mechanism and the second supporting mechanism to tilt the tool shaft.