公开(公告)号：US10112299B2

公开(公告)日：2018-10-30

申请号：US14979554

申请日：2015-12-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuo Hiro ,  Kuniaki Katamine ,  Ryuta Kagawa ,  Yusuke Kinoshita ,  Manabu Okahisa ,  Masami Nakakura

IPC: G06F19/00 ,  B25J9/16 ,  B25J9/00 ,  B25J9/06

Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.