公开(公告)号：US20200055189A1

公开(公告)日：2020-02-20

申请号：US16606889

申请日：2018-04-23

Applicant: Nidec Corporation

Inventor： Haruhiro TSUNETA ,  Kazuyoshi YASUKAWA

IPC: B25J9/16 ,  B25J9/06 ,  B25J9/00

Abstract: An articulated robot includes a lumbar portion including a first joint that rotates about a first axis which is a vertical axis and rotating about the first axis, a second joint connected to the lumbar portion and rotating about a second axis parallel to a horizontal plane, a first arm connected to the second joint and rotating about the second axis, a third joint connected to the first arm and rotating about a third axis parallel to the second axis, and a second arm connected to the third joint and rotating about the third axis. When the first arm extends parallel to the first axis, a clearance through which the second arm rotating about the third axis can pass in a planar area between the second axis and the third axis is provided between the second arm and the first arm and between the second arm and the lumbar portion.