Nachi - Fujikoshi Corporation

Shinya Ida

Hiroki Iida

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.

Vertical articulated robot

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. A stopper structure according to the present invention relates to a stopper structurefor restricting relative rotation between an armand a mechanical element (base) by a predetermined angle or more, the stopper structure including: a protrusionprovided on one of the arm and the mechanical element; a holeformed in the other one of the arm and the mechanical element; and a stopperinserted into the hole while being partially exposed from the hole, wherein the stopper including: a blockmade of an elastic resin; and a metal surface platethat has a bent cross-section, and is provided on a surface of the block along a front side on which the stopper comes into contact with the protrusion.

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Toyama, Japan

Shinya Ida