(19)
(11)EP 2 977 153 A3

(12)EUROPEAN PATENT APPLICATION

(88)Date of publication A3:
05.04.2017 Bulletin 2017/14

(43)Date of publication A2:
27.01.2016 Bulletin 2016/04

(21)Application number: 15174761.5

(22)Date of filing:  01.07.2015
(51)International Patent Classification (IPC): 
B25J 19/00(2006.01)
B25J 17/02(2006.01)
(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated Extension States:
BA ME
Designated Validation States:
MA

(30)Priority: 24.07.2014 JP 2014150631

(71)Applicant: Kabushiki Kaisha Yaskawa Denki
Kitakyushu-shi, Fukuoka 806-0004 (JP)

(72)Inventors:
  • SAITO, Hiroshi
    Kitakyushu-shi, Fukuoka 806-0004 (JP)
  • IZAWA, Tamon
    Kitakyushu-shi, Fukuoka 806-0004 (JP)
  • ICHIBANGASE, Atsushi
    Kitakyushu-shi, Fukuoka 806-0004 (JP)

(74)Representative: Viering, Jentschura & Partner mbB Patent- und Rechtsanwälte 
Am Brauhaus 8
01099 Dresden
01099 Dresden (DE)

  


(54)ROBOT JOINT MECHANISM AND ROBOT


(57) A robot joint mechanism includes a fixed base, a turnable portion, a first routing member, and a second routing member. The fixed base has a base bottom surface and a side wall. The base bottom surface and the side wall define an inner space. The turnable portion is disposed in the inner space and turnable about a vertical axis approximately perpendicular to the base bottom surface. The first routing member includes a first bent portion bent in a first bending direction along a bottom surface of the turnable portion and routed between the turnable portion and the side wall. The second routing member is routed through a position inner than the first bent portion, and includes a second bent portion bent in a second bending direction different from the first bending direction.







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