US 11,986,952 B2
Vertical articulated robot
Toshifumi Manome, Iwata (JP)
Assigned to YAMAHA HATSUDOKI KABUSHIKI KAISHA, Iwata (JP)
Appl. No. 17/761,965
Filed by YAMAHA HATSUDOKI KABUSHIKI KAISHA, Iwata (JP)
PCT Filed Sep. 25, 2019, PCT No. PCT/JP2019/037655
§ 371(c)(1), (2) Date Mar. 18, 2022,
PCT Pub. No. WO2021/059405, PCT Pub. Date Apr. 1, 2021.
Prior Publication US 2022/0339802 A1, Oct. 27, 2022
Int. Cl. B25J 19/00 (2006.01); B25J 9/10 (2006.01)
CPC B25J 19/0029 (2013.01) [B25J 9/102 (2013.01); B25J 19/0004 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A vertical articulated robot comprising:
a plurality of arms;
a plurality of joint axis portion units configured to rotationally drive the plurality of arms; and
a wiring unit configured to allow wiring portions of the plurality of joint axis portion units to be arranged therein; wherein
at least one of the plurality of joint axis portion units other than a distal joint axis portion unit to which a tool is attached integrally includes a first motor including a solid first motor shaft, and a first speed reducer directly connected to the first motor shaft not via a belt mechanism, and
the distal joint axis portion unit includes
a distal joint axis portion to which the tool is attached, the distal joint axis portion having a second motor, and
a near distal joint axis portion connected to a side opposite to a distal side of the distal joint axis portion, the near distal joint axis portion having a third motor, wherein
the distal joint axis portion unit is a unit integrally including the distal joint axis portion and the near distal joint axis portion, and the second motor and the third motor are attached to the near distal joint axis portion of the unit.