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发明授权
CN105935850B 机器人 有权

机器人
摘要：
本发明提供一种机器人，其能够缩小与在工件的周围邻接的周边装置之间的间隔。机器人(2)具备：相互串联连接的第一臂部(30)、第二臂部(40)、第三臂部(50)及前端部(80)；使第一臂部(30)围绕轴线(Ax2)摆动的致动器(M2)；使第二臂部(40)围绕与轴线(Ax2)平行的轴线(Ax3)摆动的致动器(M3)；使第三臂部(50)围绕与轴线(Ax2)平行的轴线(Ax4)摆动的致动器(M4)；以及调节前端部(80)的姿态的多个致动器(M5～M7)，致动器(M2、M3)在沿着轴线(Ax2)的方向上配置在相同侧。
摘要（英）：

A robot (2) includes a first arm (30), a second arm (40), a third arm (50), a distal end (80), a first actuator (M2), a second actuator (M3), a third actuator (M4), and a plurality of posture adjustment actuators (M5, M6, M7). The first arm (30), the second arm (40), the third arm (50), and the distal end (80) are coupled in series to each other. The first actuator (M2) is configured to swing the first arm (30) about a first axis line. The second actuator (M3) is disposed on a side on which the first actuator (M2) is disposed in a direction along the first axis line. The second actuator (M3) is configured to swing the second arm (40) about a second axis line parallel to the first axis line. The third actuator (M4) is configured to swing the third arm (50) about a third axis line parallel to the first axis line. The plurality of posture adjustment actuators (M5, M6, M7) are configured to adjust a posture of the distal end (80).

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