Robot

Abstract

A robot includes a base and an arm formed by a plurality of members connected by a plurality of joints. The arm has an offset portion where a rotation axis of a certain joint is offset from a rotation axis of the next joint in a predetermined direction and the rotation axis of the next joint is offset from a rotation axis of a joint next to the next joint in a direction opposite the predetermined direction.

1 . A robot comprising:
 a base; and   an arm including a plurality of members connected by a plurality of joints,   wherein the arm has an offset portion where a rotation axis of any one of the joints is offset from a rotation axis of the next joint in a predetermined direction and the rotation axis of the next joint is offset from a rotation axis of a joint next to the next joint in a direction opposite the predetermined direction.   
     
     
         2 . The robot according to  claim 1 ,
 wherein the arm includes:   a first joint configured to rotate a first member relative to the base;   a second joint configured to pivot a second member relative to the first member;   a third joint configured to rotate a third member relative to the second member;   a fourth joint configured to pivot a fourth member relative to the third member;   a fifth joint configured to rotate a fifth member relative to the fourth member; and   a sixth joint configured to pivot a sixth member relative to the fifth member,   wherein a rotation axis of the third joint is offset from a rotation axis of the fourth joint by a first length in a predetermined direction, and a rotation axis of the fourth joint is offset from a rotation axis of the fifth joint by a second length in a direction opposite the predetermined direction.   
     
     
         3 . The robot according to  claim 2 , wherein the arm further includes a seventh joint configured to rotate the sixth member and a seventh member. 
     
     
         4 . The robot according to  claim 2 , wherein the arm further includes a seventh joint configured to rotate on a rotation axis orthogonal to a rotation axis of the sixth joint and to pivot a seventh member relative to the sixth member. 
     
     
         5 . The robot according to  claim 2 , further comprising:
 a cable extending at least from the third joint to the fifth joint via the fourth joint.   
     
     
         6 . The robot according to  claim 5 , wherein each of the third joint, the fourth joint, and the fifth joint is formed by an electric motor having a hole that receives the cable. 
     
     
         7 . The robot according to  claim 6 ,
 wherein the third member includes:   a first receiving portion configured to receive the third joint;   a first connecting portion extending from the first receiving portion in the predetermined direction; and   a second receiving portion configured to receive the fourth joint, and   wherein the cable is stored in an internal space formed by the first receiving portion, the first connecting portion, and the second receiving portion.   
     
     
         8 . The robot according to  claim 7 ,
 wherein the fourth member includes:   a third receiving portion configured to receive the fourth joint;   a second connecting portion extending from the third receiving portion in the direction opposite the predetermined direction; and   a fourth receiving portion configured to receive the fifth joint, and   wherein the cable is stored in an internal space formed by the third receiving portion, the second connecting portion, and the fourth receiving portion.   
     
     
         9 . The robot according to  claim 1 , wherein a pair of the arms are attached to the base. 
     
     
         10 . The robot according to  claim 9 ,
 wherein the pair of arms are attached to a body in an asymmetrical form,   wherein the body includes
 a base member fixed to a mounting surface, and 
 a body portion connected to the base member via a turning joint that turns relative to the base member, and 
   wherein a rotation axis of the turning joint is offset from the base of the robot.