JP2007276025A5 - - Google Patents

Claims (8)

A wrist portion for rotation about a first pivot axis perpendicular to the longitudinal direction of the arm is attached to the portion wrist portion, the second rotation axis perpendicular to the first pivot axis A rotating part that rotates around the second wrist link; a second wrist link attached to the rotating part; a fourth wrist link to which the other end of the second wrist link is attached; and the other end of the fourth wrist link is attached A third wrist link, a first wrist link to which the other end of the third wrist link is attached, and a link mechanism in which the other end of the first link is attached to the wrist to form a parallelogram. In an articulated robot comprising a workpiece gripping device attached to the third wrist link,
The articulated robot is characterized in that the work gripping device is turned around the second turning axis by a turning unit provided in the wrist . 2. The articulated robot according to claim 1, wherein a drive mechanism for rotating the workpiece gripping device is provided on a bracket disposed on the wrist with respect to a radial direction of the second rotation shaft. The articulated robot according to claim 2, wherein the driving mechanism includes a motor disposed on the bracket and a transmission mechanism that converts a rotation angle of the motor between the motor and the wrist. The articulated robot according to claim 1, wherein the second rotation axis is coaxial with a turning axis of the first wrist link. The articulated robot according to claim 1, wherein the motor shaft and the second rotating shaft arranged on the bracket are arranged on a turning axis. A wrist portion for rotation about a first pivot axis perpendicular to the longitudinal direction of the arm, a rotating unit that rotates around a second rotation axis perpendicular to the first pivot axis A second wrist link attached to the rotating part; a fourth wrist link to which the other end of the second wrist link is attached; and a third wrist link to which the other end of the fourth wrist link is attached; A first wrist link to which the other end of the third wrist link is attached; a link mechanism in which the other end of the first link is attached to the wrist to form a parallelogram; and an attachment to the third wrist link In an articulated robot comprising a workpiece gripping device,
An articulated robot characterized in that a rotation axis of a drive mechanism for rotating the second rotation axis and the workpiece gripping device is coaxial. The articulated robot according to claim 6, wherein the drive mechanism is included in the wrist. The articulated robot according to claim 6, wherein rotation axes of the drive mechanism and the second link are arranged on a turning axis.