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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2001033144-A1, on 25 October 2001. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003089

Robot system

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
DOI KOJI
Assignee
KAWASAKI HEAVY IND LTD
Original source
US-2001033144-A1, the United States Patent and Trademark Office, 25 October 2001
Document SHA-256
f682d6c1665bd9d072ab40f5f447d2af35c1ab4d1ada7aa55bb8ba083cfa1c46

The robot system including a 6-axis robot has a swingable arm for transferring a workpiece between first and second positions, a wrist on a distal end of the arm, that is driven to rotate around a predetermined axis, and a transfer device at the wrist. The transfer device has a link mechanism having first and second links and holding means attached to a distal end of the second link. A proximal end of the first link is attached to the wrist so as to rotate around the predetermined axis. A distal end of the first link and a proximal end of the second link are rotatably connected to each other. In accordance with a swinging motion of the arm, the first link rotates in a first rotational direction with respect to the arm and the second link rotates in a second rotational direction opposite to the first rotational direction with respect to the first link, so as to transfer the workpiece along a straight line linking the first and second positions.

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Abstract

The robot system including a 6-axis robot has a swingable arm for transferring a workpiece between first and second positions, a wrist on a distal end of the arm, that is driven to rotate around a predetermined axis, and a transfer device at the wrist. The transfer device has a link mechanism having first and second links and holding means attached to a distal end of the second link. A proximal end of the first link is attached to the wrist so as to rotate around the predetermined axis. A distal end of the first link and a proximal end of the second link are rotatably connected to each other. In accordance with a swinging motion of the arm, the first link rotates in a first rotational direction with respect to the arm and the second link rotates in a second rotational direction opposite to the first rotational direction with respect to the first link, so as to transfer the workpiece along a straight line linking the first and second positions.

1. Drawings

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Publication information

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Citation

OpenTechnical Publication OT-2026-000003089, “Robot system,” published September 15, 2026 at 19:26:18 UTC, https://opentechnical.org/p/OT-2026-000003089.

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Terms

This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.