Patent ID: 9339933
Filing Date: 2016-05-17
CPC Classification: B25J,Y10T

Claim Text:
1. A robot comprising: a base; a first arm rotatably connected to the base around a first rotating axis; a second arm rotatably connected to the first arm around a second rotating axis; a third arm rotatably connected to the second arm around a third rotating axis; a fourth arm rotatably connected to the third arm around a fourth rotating axis; a three-axis inertial sensor provided in the third arm, the three-axis inertial sensor including a first detection axis, a second detection axis, and a third detection axis; and an inertial sensor unit having a housing, the housing accommodating the three-axis inertial sensor and a circuit unit therein, the circuit unit AD converting and transmitting a signal output from the three-axis inertial sensor; wherein the inertial sensor unit is provided in the third arm; the housing is a rectangular parallelepiped; the first detection axis of the three-axis inertial sensor is aligned with a normal to a largest surface of the rectangular parallelepiped; and wherein the rectangular parallelepiped includes: the second detection axis of the three-axis inertial sensor is aligned with a normal to the first pair of opposite surfaces; and the third detection axis of the three-axis inertial sensor is aligned with a normal to the second pair of opposite surfaces.