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Robot arm and robot

Inactive Publication Date: 2015-03-12
SEIKO EPSON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

This patent describes a new robot arm design that allows for a wider range of movement between two arm sections. This means that the robot can move in a more flexible way, making it easier to perform various tasks. This design also includes certain features that improve the performance and efficiency of the robot arm.

Problems solved by technology

However, when the arm sections having the substantially fixed outer diameter are bent by the joint between the arm sections, since the outer diameter is fixed, the outer circumferential section of one arm section and the outer circumferential section of the other arm section interfere with each other (collide with each other) relatively early after the start of the bending.

Method used

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  • Robot arm and robot
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  • Robot arm and robot

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Experimental program
Comparison scheme
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first embodiment 1

[0053]FIG. 1 is a schematic front view showing a robot including a robot arm according to this embodiment. FIG. 2 is a partial sectional view of the robot arm viewed from an arrow A direction in FIG. 1. FIGS. 3A and 3B are diagrams showing turning states of robot arms, wherein FIG. 3A is a turning state of the robot arm shown in FIG. 1 and FIG. 3B shows a turning state of a robot arm in the past. FIG. 4 is a schematic sectional view of an arm section of the robot arm shown in FIG. 1. FIGS. 5A and 5B are perspective views showing twisted states of the robot arm shown in FIG. 1, wherein FIG. 5A shows a state before twisting and FIG. 5B shows a state after the twisting. FIGS. 6A to 6C are schematic side views and schematic views from a proximal end side showing twisted states of the robot arm shown in FIG. 1, wherein FIG. 6A shows a state before twisting, FIG. 6B shows a state during the twisting, and FIG. 6C shows a state after the twisting. Note that, in the following explanation, fo...

first embodiment 2

[0108]FIG. 7 is a schematic front view showing a robot including a robot arm according to this embodiment.

[0109]The robot arm and the robot according to this embodiment are explained below with reference to the figure. However, differences from the embodiment explained above are mainly explained. Explanation of similarities is omitted.

[0110]This embodiment is the same as the first embodiment 1 except that the number of robot arms is different.

[0111]As shown in FIG. 7, in this embodiment, the robot 1 includes a plurality of robot arms 3, a body section functioning as the base 2 that supports the robot arms 3, and a camera 20 functioning as an image pickup device set on the base 2. Such a double-arm robot 1 is used in a production system of a cell production method (a variable model variable quantity production system corresponding to a demand) for assembling and manufacturing a precision apparatus (an electronic apparatus) such as a printer or a camera in end effectors 10 of the plur...

second embodiment 1

[0117]FIG. 8 is a perspective view showing an external shape of an actuator 101 according to this embodiment. FIGS. 9A and 9B are a perspective view and a sectional view showing an inside in a state in which a cylindrical outer cylinder is removed in the actuator 101 according to this embodiment.

[0118]The actuator 101 according to this embodiment is explained below with reference to the figures. However, differences from the embodiment explained above are mainly explained. Explanation of similarities is omitted.

[0119]In the actuator 101 according to this embodiment, as shown in FIG. 8, a base point link (a first link) 110 and a turning link (a second link) 111 are turnably arranged. A transmission shaft outer cylinder 112 and a reduction gear output axis outer cylinder 113 are arranged between the base point link 110 and the turning link 111. In the transmission shaft outer cylinder 112, a base point link wire body extraction port 116 is provided and a base point link fixed wire bod...

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Abstract

In a robot arm, a plurality of arm sections including a first arm section and a second arm section are turnably connected. Each of the arm sections includes a plurality of links and an actuator section that turns the plurality of links with respect to each other. In the first arm section, a small body section with reduced length of a body circumference is provided on an outer circumferential surface between the plurality of links in a center axis direction.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS[0001]This application claims priority to Japanese Patent Application Nos. 2013-187149 filed Sep. 10, 2013; 2013-191011 filed Sep. 13, 2013; 2013-191012 filed Sep. 13, 2013; 2013-191013 filed Sep. 13, 2013; and 2013-226523 filed Oct. 31, 2013; all of which are hereby expressly incorporated by reference herein in their entirety.BACKGROUND[0002]1. Technical Field[0003]The present invention relates to a robot arm and a robot.[0004]2. Related Art[0005]A robot arm configured by coupling a plurality of arm sections and a robot including the robot arm have been known (see, for example, Patent Literature 1). In the robot arm, a coupling portion of the arm sections is a joint. The arm sections can be bent or twisted by the joint. The external shape of each of the arm sections is formed in a pillar shape (e.g., a columnar shape). The outer diameter of the arm section is substantially fixed along the center axis direction thereof.[0006]The related art is ...

Claims

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Application Information

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IPC IPC(8): B25J17/00
CPCY10S901/28B25J17/00B25J9/06B25J19/0025Y10S901/15Y10T74/20311Y10T74/20317Y10T74/20329Y10T29/49963Y10S901/29B25J19/0075B25J18/005B25J17/02
Inventor KIRIHARA, DAISUKEYOSHIMURA, KAZUTO
Owner SEIKO EPSON CORP
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