Abstract: A vertical articulated robot with a double hand mechanism for weight reduction and space efficiency of a wrist unit. The robot includes: a wrist unit with first and second hands; a fifth axis for wrist unit rotation; sixth and seven axes for first and second hands rotation; fifth, sixth, and seventh axis motors, parallelly housed within the holding arm; a first intermediate axis, coaxial with the fifth axis and operatable due to the sixth axis motor; a second gear, on which the sixth axis is journaled, in mesh with a first gear, on which the first intermediate axis is journaled; a second intermediate axis, coaxial with the fifth axis and the first intermediate axis and rotatable due to the seventh axis; and a fourth gear, on which the seventh axis is journaled, in mesh with a third gear, on which the second intermediate axis is journaled.

Abstract: A vertical articulated robot with a double hand mechanism for weight reduction and space efficiency of a wrist unit. The robot includes: a wrist unit with first and second hands; a fifth axis for wrist unit rotation; sixth and seven axes for first and second hands rotation; fifth, sixth, and seventh axis motors, parallelly housed within the holding arm; a first intermediate axis, coaxial with the fifth axis and operatable due to the sixth axis motor; a second gear, on which the sixth axis is journaled, in mesh with a first gear, on which the first intermediate axis is journaled; a second intermediate axis, coaxial with the fifth axis and the first intermediate axis and rotatable due to the seventh axis; and a fourth gear, on which the seventh axis is journaled, in mesh with a third gear, on which the second intermediate axis is journaled.

Abstract: A vertical articulated robot has a base installed on a mounting surface, a first axis supported parallel to the mounting surface by the base, a pivot frame rotatable by the first axis, a second axis supported orthogonal to the first axis by the pivot frame, a lower arm rotatable by the second axis, a third axis supported parallel to the second axis by an end of the lower arm opposite to the second axis, a connecting arm rotatable by the third axis, a fourth axis supported orthogonal to the second axis and third axis by the connecting arm, and an upper arm including a holding arm rotatable by the fourth axis, and the first axis enables the second axis, the lower arm, the third axis, and the upper arm to make a substantially vertical circular motion relative to the mounting surface.

Abstract: A vertical articulated robot has a base installed on a mounting surface, a first axis supported parallel to the mounting surface by the base, a pivot frame rotatable by the first axis, a second axis supported orthogonal to the first axis by the pivot frame, a lower arm rotatable by the second axis, a third axis supported parallel to the second axis by an end of the lower arm opposite to the second axis, a connecting arm rotatable by the third axis, a fourth axis supported orthogonal to the second axis and third axis by the connecting arm, and an upper arm including a holding arm rotatable by the fourth axis, and the first axis enables the second axis, the lower arm, the third axis, and the upper arm to make a substantially vertical circular motion relative to the mounting surface.

Abstract: It is an object of the present invention to provide a stopper structure that can be arranged even at a position where no sufficient space can be ensured, such as at an axis at which an arm has a large operation range, and can appropriately absorb a shear load, and an articulated robot including such a stopper structure.

Abstract: It is an object of the present invention to provide a stopper structure that can be arranged even at a position where no sufficient space can be ensured, such as at an axis at which an arm has a large operation range, and can appropriately absorb a shear load, and an articulated robot including such a stopper structure.