Patent ID: 6570356
Filing Date: 2003-05-27
Classification: B25J

Abstract:
A robot system including a 6-axis robot, comprising:a swingable arm for transferring a workpiece between a first position and a second position, a wrist mounted on a distal end of said arm, said wrist being driven to rotate around a predetermined axis, and a transfer device disposed at said wrist, wherein said transfer device has a link mechanism having a first link and a second link and holding means attached to a distal end of said second link, wherein a proximal end of said first link is attached to said wrist so as to rotate around said predetermined axis, wherein a distal end of said first link and a proximal end of said second link are rotatably connected to each other, and wherein in accordance with a swinging motion of said arm, said first link rotates in a first rotational direction with respect to said arm and said second link rotates in a second rotational direction opposite to said first rotational direction with respect to said first link, so that said link mechanism produces a movement of said distal end of said second link having a same direction as a direction in which said distal end of said arm moves so as to transfer the workpiece along a straight line linking said first position and said second position.