Robot

• US 9,597,794 B2
• Filed: 09/21/2015
• Issued: 03/21/2017
• Est. Priority Date: 09/30/2014
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Yamazaki, Takema, Goto, Yoshinobu
• Primary Examiner(s): Leykin, Rita
• Application Number:
  US14/859,832
• Publication Number:
  US 20160089775A1
• Time in Patent Office: 547 Days
• Field of Search: 318/568.1, 318/568.11, 318/569, 901/2, 901/49, 901/50, 345/156, 345/161, 345/173, 345/204
• US Class Current: 1/1
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: Y10S 901/19 Drive system for arm

Abstract

A robot includes a base part having a first cavity part inside, a torso part coupled to the base part, at least one arm unit provided on the torso part, and an inner box provided in the first cavity part and having a second cavity part opening in an upper portion. A circuit board for driving an actuator that operates the arm unit is provided on an outer side surface of the inner box.

Claims

1. A robot comprising:

a base part having a first cavity part inside;

a torso part coupled to the base part;

at least one arm unit provided on the torso part;

an inner box provided in the first cavity part and having a second cavity part opening in an upper portion; and

a lifting mechanism moving up and down the torso part with respect to the base part,

wherein a circuit board for driving an actuator that operates the arm unit is provided on an outer side surface of the inner box,

wherein the second cavity part of the inner box functions as a housing part that houses a part of a cable connected between the actuator and the circuit board, and

wherein the housing part houses the cable in a length in response to rise and fall of the torso part.

2. The robot according to claim 1, wherein the inner box has a rectangular parallelepiped shape having four of the outer side surfaces,

the circuit board has a plurality of circuit boards including at least a power supply circuit board and a drive circuit board containing a drive circuit of the actuator,

the power supply circuit board is provided on a first outer side surface of the four outer side surfaces, and

the drive circuit board is provided on at least one outer side surface of the two outer side surfaces adjacent to the first outer side surface.

3. The robot according to claim 2, comprising, in a view right in front of a front surface of the robot, a first arm unit provided on a left side of the torso part and a second arm unit provided on a right side of the torso part,

wherein a first drive circuit board forming the drive circuit of the first arm unit is provided on the outer side surface on a left side of the inner box, and

a second drive circuit board forming the drive circuit of the second arm unit is provided on the outer side surface on a right side of the inner box.