Patent ID: 9003919
Filing Date: 2015-04-14
Classification: B25J,Y10S,Y10T

Abstract:
1. A ceiling-mounted SCARA robot comprising: a base; a first arm that is connected to a lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft as a center of pivotal movement within a horizontal plane; a second arm that is connected to a lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft as a center of pivotal movement within a horizontal plane, wherein the first arm, the second arm and the second coupling part are designed such that the second arm is capable of being accommodated below the first arm; a working shaft that is mounted on the second arm; a second articulated shaft motor and a second articulated shaft reducer for driving the second arm; and a working-shaft rotation motor that rotates the working shaft, wherein the second articulated shaft reducer is provided on the second coupling part, the working-shaft rotation motor is arranged directly below the second articulated shaft reducer, and wherein at least a part of the working-shaft rotation motor is arranged inside of the second coupling part.