Patent ID: 8650981
Filing Date: 2014-02-18
Classification: B25J,Y10T

Abstract:
1. A robot provided in a space in which mutually-orthogonal three axes consisting of an X-axis, a Y-axis and a Z-axis are set, comprising: a linear movement rail fixedly arranged along the X-axis direction; a movable body mounted on the linear movement rail such that the movable body is linearly movable along the linear movement rail in the X-axis direction; a swing arm being arranged in a direction parallel with the Z-axis and having a first end and a second end, wherein the first end is rotatably connected to the movable body so that i) the first end is rotatable on an R-axis which is set to extend in a direction parallel to the Y-axis and ii) the swing arm is rotatable around the R-axis along an X-Z plane produced between the X- and Z-axes; a swinging driver arranged in the movable body and configured to rotate the first end of the swing arm on the R-axis: a linear movement arm that is linearly movably connected to the second end of the swing arm and that comprises a movable member which is movable between a predetermined range in a direction parallel with the Y axis; a linear movement driver arranged in the swing arm and configured to lineally drive the linear movement arm within the predetermined range in the direction parallel to the Y-axis; a wrist unit held by the linear movement arm such that the wrist unit is rotatable on a T-axis parallel with the Y-axis, a task tool being loaded to the wrist unit; and a rotating driver arranged in the linear movement arm and configured to rotate the wrist unit.