US 12,220,812 B2
Robot device
Shigeki Ono, Kobe (JP); Ryo Taniuchi, Kobe (JP); and Shunsuke Wakimitsu, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/428,713
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Apr. 3, 2020, PCT No. PCT/JP2020/015372
§ 371(c)(1), (2) Date Aug. 5, 2021,
PCT Pub. No. WO2020/209204, PCT Pub. Date Oct. 15, 2020.
Claims priority of application No. 2019-073246 (JP), filed on Apr. 8, 2019.
Prior Publication US 2022/0126458 A1, Apr. 28, 2022
Int. Cl. B25J 19/00 (2006.01); B25J 9/06 (2006.01); B25J 17/02 (2006.01); B25J 9/00 (2006.01); B25J 9/12 (2006.01)
CPC B25J 17/0283 (2013.01) [B25J 9/06 (2013.01); B25J 17/0258 (2013.01); B25J 9/0009 (2013.01); B25J 9/12 (2013.01); B25J 19/0025 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robot device, comprising:
a first link configured to rotate on a first axis, the first link including a tip-end part and a portion that extends from a base end of the first link to the tip-end part of the first link;
a second link supported by the tip-end part of the first link so as to be rotatable on a second axis; and
a hand part supported by a tip-end part of the second link, wherein
one direction perpendicular to the first axis is a first perpendicular direction, and a direction perpendicular to both the first axis and the first perpendicular direction is a second perpendicular direction, the second axis extends in parallel to the first perpendicular direction and is deviated from the first axis in the second perpendicular direction,
the tip-end part of the first link is bent away from the first axis so that the second link can rotate relative to the first link farther in a first direction around the second axis from a reference position than in an opposite direction around the second axis from the reference position, and
in the reference position, a length of the second link is parallel to a length of the portion, a central axis of the second link extends through a body of the portion, and the first axis extends through a body of the second link.