Robot and robot system

Abstract

A robot includes: a base; a first arm which is provided on the base so as to be rotatable around a first rotation axis; and a second arm which is provided on the first arm so as to be rotatable around a second rotation axis having an axial direction different from the axial direction of the first rotation axis, an angle formed by the first arm and the second arm is set as 0°, when seen in the axial direction of the second rotation axis, and the second arm does not interfere with an attachment surface where the base is provided, when the angle is 0°.

What is claimed is: 
     
         1 . A robot comprising:
 a base;   a first arm which is provided on the base so as to be rotatable around a first rotation axis;   a second arm which is provided on the first arm so as to be rotatable around a second rotation axis having an axial direction different from the axial direction of the first rotation axis; and   a third arm which is provided on the second arm so as to be rotatable around a third rotation axis,   wherein the third arm includes:
 a first link which is provided on the second arm so as to be rotatable around the third rotation axis; 
 a second link which is provided on the first link so as to be rotatable around a fourth rotation axis having an axial direction which is different from an axial direction of the third rotation axis; 
 a third link which is provided on the second link so as to be rotatable around a fifth rotation axis having an axial direction which is different from an axial direction of the fourth rotation axis; and 
 a fourth link which is provided on the third link so as to be rotatable around a sixth rotation axis having an axial direction which is different from an axial direction of the fifth rotation axis, 
   the first arm, the second arm, and the third arm overlap each other when seen in the axial direction of the second rotation axis, and   when the first arm, the second arm, and the third arm are overlapped, the fourth link is nearer to the first rotating axis than the second arm.   
     
     
         2 . A robot comprising:
 a base;   a first arm rotatably supported by the base to rotate about a first axis;   a second arm rotatably supported by the first arm to rotate about a second axis;   a third arm rotatably supported by the second arm to rotate around a third axis,   wherein, when the second arm rotates around the second axis, the third axis travels along a path that orbits the second axis.   
     
     
         3 . The robot of  claim 2 , further comprising a fourth arm rotatably supported by the third arm to rotate around a fourth axis, wherein, when the first arm, the second arm, the third arm, and the fourth arm are in a nested arrangement in which at least two of the arms are aligned laterally adjacent to each other, the fourth axis is coaxial with the first axis. 
     
     
         4 . The robot of  claim 2 , wherein the second arm is laterally offset from the first axis. 
     
     
         5 . The robot of  claim 2 , wherein when the second arm is maintained in a maximum axially extended state relative to the base, the third arm is configured to rotate the fourth arm  360  degrees around the third axis in a plane of the first axis and interference free of the first arm and the base. 
     
     
         6 . The robot of  claim 2 , wherein when the first arm, the second arm, and the third arm are in a nested arrangement such that at least two of the arms are aligned laterally adjacent to one another, the fourth arm extends along the first axis. 
     
     
         7 . The robot of  claim 2 , wherein when the first arm, the second arm, and the third arm are in a nested arrangement such that at least two of the arms are aligned laterally adjacent to one another, one of the at least two arms completely overlaps the other of the at least two arms in an axial direction of the second axis. 
     
     
         8 . The robot of  claim 2 , wherein when the first arm, the second arm, and the third arm are in a nested arrangement such that at least two of the arms are aligned laterally adjacent to one another, the first axis, second axis, third axis, and fourth axis are coplanar. 
     
     
         9 . A robot comprising:
 a base;   a primary arm supported by the base to rotate about a primary axis axially extending through the base such that a distal end of the primary arm follows a circular path radially offset from the primary axis; and   a secondary arm supported by the primary arm to rotate about a secondary axis orthogonal to the primary axis,   wherein a longitudinal axis along which the primary arm longitudinally extends is laterally offset from the primary axis, and   a length of the secondary arm is less than a length of the primary first arm such that the secondary arm rotates adjacent to the primary arm, through the primary axis, and free of interference with the base.   
     
     
         10 . The robot of  claim 9 , wherein when in a nested arrangement in which the primary arm and the secondary arm are aligned laterally adjacent to one another, a longitudinal axis of the second arm along which the secondary arm longitudinally extends is coplanar with the longitudinal axis of the primary arm. 
     
     
         11 . The robot of  claim 9 , wherein the secondary arm rotates three-hundred sixty degrees about the secondary axis. 
     
     
         12 . The robot of  claim 9 , wherein the secondary arm adjacently rotates relative to the primary arm such that the secondary arm moves in and out of a lateral profile of the primary arm when viewed in an axial direction of the secondary axis.