Vertikal gelenkter roboter

Abstract

A vertical articulated robot with a double hand mechanism for weight reduction and space efficiency of a wrist unit. The robot includes a wrist unit connected to a holding arm with attaching first and second hands, a fifth axis rotating the wrist unit, sixth and seven axes rotating the first and second hands, fifth, sixth, and seventh axis motors, housed in parallel within the holding arm, a first intermediate axis coaxially arranged with the fifth axis receiving the driving force from the sixth axis motor, a second gear attached to the sixth axis to mesh with a first gear attached to the first intermediate axis, a second intermediate axis coaxially arranged with the fifth axis and the first intermediate axis receiving the driving force from the seventh axis motor, and a fourth gear attached to the seventh axis to mesh with a third gear attached to the second intermediate axis.