Robot device
A robot device includes a first link configured to rotate on a first axis, a second link supported by a tip-end part of the first link so as to be rotatable on a second axis, and a hand part supported by a tip-end part of the second link. When one direction perpendicular to the first axis is a first perpendicular direction, and a direction perpendicular to both the first axis and the first perpendicular direction is a second perpendicular direction, the second axis extends in parallel to the first perpendicular direction and is deviated from the first axis in the second perpendicular direction.
1. A robot device, comprising:
a first link configured to rotate on a first axis, the first link including a tip-end part and a portion that extends from a base end of the first link to the tip-end part of the first link;
a second link supported by the tip-end part of the first link so as to be rotatable on a second axis; and
a hand part supported by a tip-end part of the second link, wherein
one direction perpendicular to the first axis is a first perpendicular direction, and a direction perpendicular to both the first axis and the first perpendicular direction is a second perpendicular direction, the second axis extends in parallel to the first perpendicular direction and is deviated from the first axis in the second perpendicular direction,
the tip-end part of the first link is bent away from the first axis so that the second link can rotate relative to the first link farther in a first direction around the second axis from a reference position than in an opposite direction around the second axis from the reference position, and
in the reference position, a length of the second link is parallel to a length of the portion, a central axis of the second link extends through a body of the portion, and the first axis extends through a body of the second link.
2. The robot device of claim 1 , wherein the first link and the second link include a line space, and
a supply line configured to supply electricity and/or material is in the line space,
the line space includes:
a first insertion hole in a central part of the first link and opening in the tip-end part of the first link;
a second insertion hole in a central part of the second link and opening in a base-end part of the second link; and
a gap space between a tip-end opening of the first insertion hole and a base-end opening of the second insertion hole, and
in a reference posture of the second link, the center of the base-end opening of the second insertion hole is deviated in the second perpendicular direction from the center of the tip-end opening of the first insertion hole.
3. The robot device of claim 1 , wherein the hand part includes:
a third link supported by the tip-end part of the second link so as to be rotatable on a third axis parallel to the second axis; and
a fourth link supported by the third link so as to be rotatable on a fourth axis perpendicular to the third axis.
4. The robot device of claim 1 , comprising:
a pedestal;
a swivel base supported by the pedestal so as to be rotatable on a swivel axis; and
an arm supported at a base-end part by the swivel base and supporting at the tip-end part the first link so as to be rotatable on the first axis.
5. The robot device of claim 1 , comprising a plurality of servomotors corresponding to joints.
6. The robot device of claim 2 , wherein the hand part includes:
a third link supported by the tip-end part of the second link so as to be rotatable on a third axis parallel to the second axis; and
a fourth link supported by the third link so as to be rotatable on a fourth axis perpendicular to the third axis.
7. The robot device of claim 2 , comprising:
a pedestal;
a swivel base supported by the pedestal so as to be rotatable on a swivel axis; and
an arm supported at a base-end part by the swivel base and supporting at the tip-end part the first link so as to be rotatable on the first axis.
8. The robot device of claim 3 , comprising:
a pedestal;
a swivel base supported by the pedestal so as to be rotatable on a swivel axis; and
an arm supported at a base-end part by the swivel base and supporting at the tip-end part the first link so as to be rotatable on the first axis.
9. The robot device of claim 6 , comprising:
a pedestal;
a swivel base supported by the pedestal so as to be rotatable on a swivel axis; and
an arm supported at a base-end part by the swivel base and supporting at the tip-end part the first link so as to be rotatable on the first axis.
10. The robot device of claim 2 , comprising a plurality of servomotors corresponding to joints.
11. The robot device of claim 3 , comprising a plurality of servomotors corresponding to joints.
12. The robot device of claim 4 , comprising a plurality of servomotors corresponding to joints.
13. The robot device of claim 6 , comprising a plurality of servomotors corresponding to joints.
14. The robot device of claim 7 , comprising a plurality of servomotors corresponding to joints.
15. The robot device of claim 8 , comprising a plurality of servomotors corresponding to joints.
16. The robot device of claim 9 , comprising a plurality of servomotors corresponding to joints.
17. The robot device of claim 1 , wherein an axial length of the tip-end part is less than an axial length of the portion.