JP2017080858A5 - - Google Patents

Claims (7)

Set eclipse the base, a first arm which rotates around the axis of the first pivot axis, before Symbol set eclipse the first arm, a second pivot axis, wherein the first rotation axis and the axial direction are different a second arm which rotates around the axis of the front Symbol set to the second arm vignetting, and a third arm which rotates around the axis of the third rotation shaft, provided in the third arm, 4th A fourth arm that rotates about the axis of the moving shaft, a fifth arm that is provided on the fourth arm and rotates about the axis of the fifth rotating shaft that is different in the axial direction of the fourth rotating shaft; A robot arm provided on the fifth arm and having a sixth arm that rotates around an axis of a sixth rotation axis ;
Before SL viewed from the axial direction of the second rotation shaft, it is possible to become the first state in which said first arm and said second arm and said third arm overlaps,
In the first state, when viewed from the front Symbol axial shaft 1st, the fifth arm by turning the end effector over provided at the distal end of the tip or the robot arm of the robot arm The robot can be in a second state overlapping with the second arm . In the second state, the first rotation axis and the sixth rotation axis are perpendicular to each other, and the distance between the tip of the robot arm or the end effector and the second arm is Y, when the total length of the third arm and the fourth arm in the axial direction of the shaft 1st was R3,
The robot according to claim 1 , satisfying a relationship of Y ≦ (R3 / 2). In the first state, the length of the first arm in the axial direction of the shaft the first times, to claim 1 or 2 larger than the length of the second arm in the axial direction of the shaft the first time The robot described. In the first state, the total length of the of the first rotating shaft in the axial direction the third arm and the fourth arm, than the length of said second arm in said first rotary shaft in the axial direction robot according to any one of the long claims 1 to 3. In the first state, the total length of the third arm and the fourth arm in the axial direction of the first rotation shaft is equal to the length of the second arm in the axial direction of the first rotation shaft . The robot according to claim 4 , which is twice or more. It said first arm, said first portion extending in a direction different from the first pivot axis in the axial direction, and a second portion extending in a direction along the axial direction of the shaft the first time, the first portion and a robot according to any one of claims 1 to 5 having a third portion extending in a direction different from the second portion. The robot arm, a robot according to any one of claims 1 to 6 having a section Mounting that attach the plate member.