US 12,304,067 B2
Transfer robot and robot system
Hiroki Sanemasa, Fukuoka (JP); Ryosuke Watanabe, Fukuoka (JP); Osamu Harada, Fukuoka (JP); Osamu Komiyaji, Fukuoka (JP); Masanobu Kakihara, Fukuoka (JP); and Yuki Honda, Fukuoka (JP)
Assigned to KABUSHIKI KAISHA YASKAWA DENKI, Fukuoka (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Fukuoka (JP)
Filed on May 19, 2023, as Appl. No. 18/199,649.
Claims priority of application No. 2022-087041 (JP), filed on May 27, 2022.
Prior Publication US 2023/0381948 A1, Nov. 30, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/04 (2006.01); B25J 19/00 (2006.01)
CPC B25J 9/0009 (2013.01) [B25J 9/042 (2013.01); B25J 19/0041 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A transfer robot comprising:
a plurality of hands capable of holding a transfer target object, and configured to pivot individually around a pivoting axis;
a plurality of hand drive motors arranged in a direction along the pivoting axis, such that a motor axis to which the plurality of hands are each connected becomes concentric with the pivoting axis, and configured to directly drive the plurality of hands, respectively, without using a driving mechanism including a belt for transmitting a driving force; and
an arm extending in a direction perpendicular to the pivoting axis and including therein the plurality of hand drive motors.