Robot housing and robot

Abstract

Provided is a robot housing (1A, 1B, 1C, 1D) and a robot, which can achieve further weight reduction while maintaining strength and can reduce production costs. The robot housing (1A, 1B, 1C, 1D) has two mounting opening portions (4) and one work opening portion (7) on a hollow resin main body portion (2), the mounting opening portions (4) communicate the inside and outside of the main body portion, the two mounting opening portions are provided at both end portions of the main body portion, a metal member (3) constituting a mounting surface (3a) is embedded in the resin around the mounting opening portions, the metal member (3) has a mounting hole (5) through which a mounting screw passes or is fastened, the mounting screw is used for mounting to the mounting surface, and the metal member (3) is embedded in the resin in a state in which the mounting surface is exposed, and components can be mounted to the two mounting opening portions respectively using the work opening portion.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot and a robot housing. BACKGROUND

[0002] Generally, constituent members of an industrial robot are constituted of metal such as aluminum alloy in order to realize light weight and ensure strength (for example, refer to Patent Literature 1).

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2013-018058 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, the constituent members of metal are limited in terms of light weight, and in order to manufacture a mounting surface on which other members such as a mounting actuator are mounted with high precision, the mounting surface needs to be machined with high precision, and thus there is a disadvantage of high production cost.

[0008] The present application has been made in view of the above circumstances, and aims to provide a robot and a robot housing capable of realizing further light weight while maintaining strength, and capable of reducing production cost. The robot housing of the present application is defined as a housing strength member covering a single-housing main body structure connecting base portions between links.

[0009] SOLUTION TO THE PROBLEM

[0010] One aspect of the present application is a robot housing having two mounting opening portions and one work opening portion on a hollow resin-made main body portion, the mounting opening portions communicating the inside and outside of the main body portion, the two mounting opening portions being provided at both end portions of the main body portion, a metal member constituting a mounting surface being embedded in resin constituting the main body portion around the mounting opening portions, the metal member having a mounting hole through which a mounting screw for mounting to the mounting surface is inserted or fastened, and the metal member being embedded in the resin in a state in which the mounting surface is exposed, and components being able to be mounted to the two mounting opening portions respectively using the work opening portion. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a schematic view showing an example of a robot of the robot housing of one embodiment of the present application.

[0012] Figure 2 is a perspective view showing the robot housing of Figure 1 .

[0013] Figure 3 is a front view of a robot housing of Figure 2

[0014] Figure 4 is a side view of a robot housing of Figure 2

[0015] Figure 5 is a perspective view showing a metal plate provided to a mounting opening portion of a robot housing of Figure 2

[0016] Figure 6 is a longitudinal sectional view of a robot housing of Figure 2

[0017] Figure 7 is a partial longitudinal sectional view of a mounting opening portion of a robot housing of Figure 2

[0018] Figure 8 is an exploded longitudinal sectional view illustrating an operation of connecting a robot housing of Figure 2 to a reducer of a first shaft and a reducer of a second shaft.

[0019] Figure 9 is a rear view of a robot housing assembled with a reducer of Figure 8

[0020] Figure 10 is a longitudinal sectional view showing a state after a robot housing of Figure 2 is assembled to a reducer of a first shaft and a reducer of a second shaft.

[0021] Figure 11 is a longitudinal sectional view showing a modified example of a robot housing of Figure 2

[0022] Figure 12 is a longitudinal sectional view showing another modified example of a robot housing of Figure 2

[0023] Figure 13 is a perspective view showing an example of a reinforcing metal member provided to a modified example of a robot housing of Figure 2

[0024] Figure 14 is a perspective view showing another example of a reinforcing metal member provided to a modified example of a robot housing of Figure 2

[0025] Figure 15 is a perspective view showing a metal plate provided to a modified example of a robot housing of Figure 13 ​​​​​​​​​​reinforcing metal member Figure 2 a perspective view of a modification of the robot housing.

[0026] Figure 16 is Figure 1 a modification of the second robot housing.

[0027] Figure 17 is Figure 16 a longitudinal sectional view of the second robot housing.

[0028] BRIEF DESCRIPTION OF DRAWINGS

[0029] 1A: first housing (robot housing, housing)

[0030] 1B: second housing (robot housing, housing)

[0031] 1C: third housing (robot housing, housing)

[0032] 1D: fourth housing (robot housing, housing)

[0033] 2: main body portion

[0034] 3: metal plate (metal member)

[0035] 3a: mounting surface

[0036] 3b: surface (contact surface)

[0037] 4: central hole (mounting opening portion)

[0038] 5: through hole (mounting hole)

[0039] 6, 13: mounting screw

[0040] 7: central hole (operation opening portion)

[0041] 8: metal plate (another metal member)

[0042] 9: threaded hole (mounting hole)

[0043] 10: cover

[0044] 12: threaded hole (mounting hole)

[0045] 14: reinforcing metal member

[0046] 151: speed reducer (member)

[0047] 152: motor (member) DETAILED DESCRIPTION

[0048] A robot housing (hereinafter referred to as a housing) 1A, 1B, 1C, 1D and a robot 100 of one embodiment of the present application will be described below with reference to the drawings.

[0049] As shown in Figure 1 , the housing 1A, 1B, 1C, 1D of the present embodiment is provided on the robot 100 in one or more. In Figure 1 the example of the robot 100 shown, four housings 1A, 1B, 1C, 1D are used.

[0050] The first housing 1A is supported so as to be able to rotate around a vertical first axis A with respect to a base 110 provided on the ground, and supports a first arm 120 so as to be able to rotate around a horizontal second axis B.

[0051] The second housing 1B is supported at the front end of the first arm 120 in a manner so as to be able to rotate around a third axis C parallel to the second axis B, and supports a cylindrical second arm 130 so as to be able to rotate around a fourth axis D along the length direction thereof.

[0052] The third housing 1C is fixed at the front end of the second arm 130, and supports a fourth housing 1D so as to be able to rotate around a fifth axis E orthogonal to the fourth axis D. Also, the fourth housing 1D is supported so as to be able to rotate around the fifth axis E with respect to the third housing 1C, and supports a mounting flange 140 on which an end effector is mounted so as to be able to rotate around a sixth axis F orthogonal to the fifth axis E.

[0053] Actuators 150 are directly fixed to both ends of the first, second, and fourth housings 1A, 1B, 1D, and one end of the third housing 1C is directly fixed with an actuator 150, and the other end is indirectly fixed with an actuator 150 via the second arm 130. The actuator 150 is provided with a reducer 151 and a motor 152 described later. The first to fourth housings 1A, 1B, 1C, 1D differ in size but have substantially the same shape.

[0054] As shown in Figure 2 and Figure 3 , the housing 1A, 1B, 1C, 1D of the present embodiment is provided with a cylindrical main body 2 made of resin, the outer shape of which has a square cross-sectional shape with rounded corners. As shown in Figure 4 , the main body 2 is bent at a right angle at the central position in the length direction, and is overall configured as a hollow square cylinder bent in an L shape.

[0055] The main body 2 is provided with a flat metal plate (metal member) 3 at both ends in the length direction, which is embedded in the resin constituting the main body 2, for example, by insert molding.

[0056] As shown in Figure 5As shown, the metal plate 3 is formed into an annular shape with a circular central hole 4. Multiple through holes 5 are provided on the metal plate 3 at circumferential intervals, extending along the thickness direction.

[0057] like Figure 6 As shown, the two metal plates 3 at both ends of the main body 2 are arranged in a mutually orthogonal position. The central holes 4 of the two metal plates 3 form two mounting openings, which open the internal space of the hollow main body 2 to the outside.

[0058] like Figure 6 and Figure 7 As shown, the metal plate 3 has one side along its thickness as the mounting surface 3a, making the entire mounting surface 3a exposed. Figure 6 In the example shown, the mounting surface 3a is disposed on the outside of the housings 1A, 1B, 1C, and 1D.

[0059] In addition, such as Figure 7 As shown, the other surface 3b of the metal plate 3 in the thickness direction, with the portion around the through hole 5 exposed, is covered by the resin constituting the main body 2. The surface 3b of the metal plate 3 exposed around the through hole 5, as shown... Figure 7 As shown by the dotted line, the exposed portion is slightly larger than the outer diameter of the head 6a of the mounting screw 6, so as to function as the contact surface for the mounting screw 6 inserted into the through hole 5.

[0060] In addition, the mounting surface 3a of the metal plate 3 is positioned at a point protruding from the resin constituting the main body 2.

[0061] like Figure 2 and Figure 6 As shown, the main body 2 has a rectangular working opening 7 at the curved position at the center of the length direction.

[0062] The working opening 7 is also formed by embedding an annular metal plate (another metal component) 8 into the resin constituting the main body 2, and is formed by the central hole of the metal plate 8, thus opening the internal space of the main body 2 to the outside. A plurality of threaded holes (mounting holes) 9 are provided on the metal plate 8 at circumferential intervals.

[0063] The "operation" in the opening 7 for operation refers to installing the reducer 151 and motor 152, which are components of the mechanism, onto the metal plate 3, or removing them from the metal plate 3, or replacing the motor 152, or attaching and detaching the connector of the line body used to drive the motor 152 relative to the motor 152, or replacing the line body itself.

[0064] The work opening 7 is formed larger than the mounting opening 4, and is formed at an angle of 45° with respect to each of the two metal plates 3 that form the mounting opening 4, as a wall surface of the main body 2 between the two mounting openings 4. Thus, the work opening 7 is formed so as to allow a component that is directly or indirectly mounted to each of the two mounting openings 4 from the outside of the work opening 7 through the inside of the main body 2 to pass therethrough. Examples of the component that is directly or indirectly mounted include the speed reducer 151 and the motor 152 as shown in Figure 8

[0065] In the case of Figure 8 , the motor 152 needs to be determined in size and position so as to be able to pass through the work opening 7 also at the time of maintenance work such as replacement of the motor. In the case where the speed reducer 151 itself is intended to be housed in the main body 2 without being exposed, the work opening 7 needs to be provided in a size through which the speed reducer 151 can pass. However, the larger the size of the work opening 7, the more difficult it is to ensure the strength of the main body 2. Therefore, it is preferable that the work opening 7 be singular and accessible to either of the two metal plates 3. Further, not only the speed reducer 151 and the motor 152, but also a size through which a mounting bolt, a long T-handle, or a hand of a person can enter at the time of work can be ensured, so that operability can be ensured.

[0066] The work opening 7 is normally closed by a cover 10 described later when not in use.

[0067] Further, an opening that does not affect the size through which the strength of the main body 2 is ensured can be provided separately from the work opening 7. The opening is, for example, a size through which a mounting bolt, an L-handle or a T-handle as a fastening tool for the mounting bolt, or a hand of a person can enter. As a cover for the opening, for example, a resin cover provided with a snap-fit structure or a cover of an elastic body such as rubber that utilizes elastic deformation can be used.

[0068] Further, the housings 1A, 1B, 1C, 1D of the present embodiment are provided with a cover 10 that can close the work opening 7. The cover 10 is provided with a plurality of through holes that penetrate in the plate thickness direction at intervals in the circumferential direction. The work opening 7 can be closed by causing a screw to penetrate the through hole of the cover 10 and fastening the screw to the screw hole 9 of the metal plate 8.

[0069] The effects of the housings 1A, 1B, 1C, 1D of the present embodiment and the robot 100 thus configured will be described below.

[0070] As shown in Figure 8 ​As shown, in order to configure the robot 100 using the housings 1A, 1B, 1C, 1D of the present embodiment, for example, the input shaft of the reducer 151 fixed to the output shaft of the base 110 is brought into close contact with the mounting surface 3a of the metal plate 3 having the mounting opening portion 4 on one side. Then, the mounting screw 6 passing through the through-hole 5 of the metal plate 3 from the inside of the main body portion 2 is fastened to the threaded hole of the reducer 151 via the work opening portion 7.

[0071] In addition, the input shaft of the reducer 151 fixed to the output shaft of the first arm 120 is brought into close contact with the mounting surface 3a of the metal plate 3 having the mounting opening portion 4 on the other side. Then, the mounting screw 6 passing through the through-hole 5 of the metal plate 3 from the inside of the main body portion 2 is fastened to the threaded hole of the reducer 151 via the work opening portion 7.

[0072] In Figure 8 to Figure 10 In the example shown, the motor 152 that inputs a driving force to the reducer 151 of the first shaft is disposed within the main body portion 2 and is fixed to the input shaft of the reducer 151 of the first shaft. In addition, the motor 152 that inputs a driving force to the reducer 151 of the second shaft is also disposed within the main body portion 2 and is fixed to the input shaft of the reducer 151 of the second shaft.

[0073] Thus, the first housing 1A is configured to rotate with respect to the base 110 about a vertical first axis A, and the second shaft is configured to rotate the first arm 120 with respect to the first housing 1A about a horizontal second axis B.

[0074] In addition, in Figure 8 to Figure 10 In the example shown, a central hole 151a is provided in each of the reducers 151 that passes through the center axis thereof. In addition, the motor 152 is disposed eccentrically at a position that does not coincide with the central hole 151a. Thus, a wire harness including a power supply cable to the motor 152 can be routed from the inside of the first housing 1A and the first arm 120 to the inside space of the first housing 1A via the central hole 151a of the reducer 151 from the side of the base 110.

[0075] Assembling the second to fourth housings 1B, 1C, 1D can also be assembled in the same manner, and thus the Figure 1 robot 100 shown can be easily configured.

[0076] In Figure 8 In the case where the reducer 151 and the motor 152 are directly combined, a mounting interface for the motor 152 can also be provided on the main body portion 2. The metal plate for mounting the motor can also be embedded in the resin of the main body portion 2.

[0077] Thus, according to the housings 1A, 1B, 1C, 1D of the present embodiment, since the entire body is basically composed of resin compared to the case where it is composed of metal such as an aluminum alloy, a significant weight reduction can be achieved.

[0078] In addition, since the metal plate 3 having high precision is manufactured by insert molding, the mounting surface 3a of the two metal plates 3 can be arranged with high precision without machining. Thus, machining is not required, and production costs can be reduced.

[0079] In particular, since the mounting surface 3a of the metal plate 3 protrudes from the resin constituting the main body 2, the following advantage is obtained: when the mounting surface 3a of the metal plate 3 is mounted to the speed reducer 151, the resin does not become an obstacle.

[0080] Further, in this case, by fastening the mounting screw 6 to the threaded hole of the speed reducer 151 with the through hole 5 provided in the metal plate 3, the head 6a of the mounting screw 6 can be pressed to the surface 3b, i.e., the contact surface, of the metal plate 3 on the side opposite to the mounting surface 3a.

[0081] That is, in the case where the resin is present between the head 6a of the mounting screw 6 and the speed reducer 151, a phenomenon in which the bolt cannot be completely fastened even if it is repeatedly fastened can occur, and sufficient axial force cannot be applied, so that the mounting screw 6 can be loosened due to repeated operation of the robot 100. In contrast, in the present embodiment, since the metal plate 3 is arranged only between the head 6a of the mounting screw 6 and the speed reducer 151, the following advantage is obtained: the fastening can be performed with sufficient fastening force, and the loosening of the mounting screw 6 can be reliably prevented.

[0082] However, it is also necessary to sufficiently note that the metal plate 3 itself is not peeled from the resin member of the main body 2 due to a load. As shown in FIG. 6, in consideration of this, it is preferable that a convex portion 11 protruding in the radial direction is provided at a position apart from the mounting surface 3a in the thickness direction on the side surface of the metal plate 3. Figure 7

[0083] By doing so, the cross-sectional shape of the metal plate 3 is configured to have a concave-convex shape in the length direction, and thus the convex portion 11 can be caught in the main body 2 so that the metal plate 3 is not peeled if the resin member of the main body 2 is not damaged. In addition, a structure in which the convex portion 11 is provided on the metal plate 3 is exemplified, and instead, a concave portion recessed in the radial direction can be provided at a position halfway in the thickness direction on the side surface of the metal plate 3.

[0084] In addition, according to the housings 1A, 1B, 1C, and 1D of the present embodiment, the work opening 7 is arranged at the central position of the two mounting openings 4, and the mounting work of the speed reducer 151 and the like to any one of the mounting openings 4 and the wiring work of the wire body and the like can be easily performed via the work opening 7. By sharing the work opening 7, the number of openings can be reduced, and the strength of the housings 1A, 1B, 1C, and 1D can be improved. ​

[0085] Furthermore, in this embodiment, a square cylindrical body 2 bent into an L-shape is illustrated. Alternatively, a cylindrical body 2 with any other cross-sectional shape, such as a cylindrical shape, can also be used. Additionally, instead of the L-shaped cylindrical body 2, a straight cylindrical body 2 can also be used.

[0086] Furthermore, in this embodiment, the metal plate 3 of each mounting opening 4 has a through hole 5 for the mounting screw 6 to pass through. Instead, as... Figure 11 As shown, when a through hole is provided on the component mounted on the mounting surface of the reducer 151, threaded holes 12 for fastening mounting screws 13 can also be provided on the metal plate 3. In this case, the contact surface in the surface 3b of the metal plate 3 opposite to the mounting surface 3a may not be exposed.

[0087] Furthermore, in this embodiment, the mounting surface 3a of the metal plate 3 of each mounting opening 4 is disposed on the outer side of the main body 2. Instead, as... Figure 12 As shown, when components such as the reducer 151 are arranged inside the main body 2, the mounting surface 3a can also be configured to protrude towards the inside of the main body 2.

[0088] Alternatively, the metal plate 3 can be configured as an inner flange that faces radially inward more than the sidewall of the main body 2, or it can be configured as an outer flange that faces radially outward more than the sidewall of the main body 2.

[0089] In addition, such as Figure 13 As shown, a reinforcing metal component 14 connecting the two mounting openings 4 of the metal plates 3 can also be embedded in the resin constituting the main body 2. The reinforcing metal component 14 has a shape along the side wall of the main body 2, and it can be joined to the metal plate 3 by bolts or welding, or it can be integrally formed with the metal plate 3.

[0090] By incorporating the reinforcing metal component 14, the rigidity of the housings 1A, 1B, 1C, and 1D can be improved, and the stress under load can be reduced. Multiple reinforcing metal components 14 can be provided, and reinforcing ribs can also be included. The reinforcing metal component 14 can also be integrally or partially embedded in the resin constituting the main body 2 by insert molding together with the metal plate 3. For example, a portion of the reinforcing rib may protrude from the resin.

[0091] In addition, such as Figure 14 As shown, when a metal plate 8 is provided in the working opening 7, the reinforcing metal member 14 can also connect the metal plates 3 of the two mounting openings 4 and the metal plate 8 of the working opening 7. This further improves the rigidity of the housings 1A, 1B, 1C, and 1D. Additionally, as... Figure 15As shown, by disposing the reinforcing metal member 14 in the resin constituting the main body portion 2, the warping of the resin after molding can be reduced.

[0092] In addition, in the present embodiment, as the metal member, a ring plate-shaped member, i.e., the metal plate 3, having the central hole 4 constituting the mounting opening portion 4 and a plurality of through holes 5 around the central hole 4 is exemplified, instead of which, a plurality of washer-shaped metal members having a single through hole 5 can be disposed around the central hole 4 and embedded in the resin constituting the main body portion 2. The washer-shaped metal member can also have a concave-convex shape as in the metal plate 3. The metal plate 8 can also be provided with the same structure.

[0093] In addition, in the present embodiment, the main body portion 2 composed of resin is described, instead of which, a main body portion in which the surface of a thin-walled member made of metal such as aluminum is covered with resin can also be used. By combining metal, the rigidity of the main body portion 2 can be improved, and by combining metal and resin, the amount of metal used can be reduced, and weight reduction can be achieved. In addition, by composing the outer surface of resin, a case 1A, 1B, 1C, 1D having a relatively soft surface can be constituted.

[0094] In addition, the robot case 1A, 1B, 1C, 1D of the present embodiment can also be integrally molded by an injection molding method.

[0095] In addition, in the present embodiment, as the cover 10, a cover having a snap-fit structure can be used. In this case, by mounting the snap-fit structure of the cover 10 to the main body portion 2 in such a manner as to be openable and closable with the operation opening portion 7, the main body portion 2 can be closed by fitting the snap-fit structure and the operation opening portion 7.

[0096] In addition, as the resin constituting the main body portion 2, a resin having flame retardancy such that the duration of the flame is 10 seconds or less even if it is disposed vertically and contacted by a flame for 10 seconds, and it cannot burn for 127 mm or more is preferable. Further, it is preferable that a test piece ((125 ± 5) x (13 ± 0.5) x t) mm is directly mounted to a jig, and a 20 mm flame is used for a contact flame for 10 seconds twice, the burning time of each test piece is 10 seconds or less, the total burning time of five test pieces is 50 seconds or less, the burning + flameless burning time of each test piece is 30 seconds or less, there is no burning to the jig, and cotton disposed below the test piece is not ignited. According to this structure, the following advantages are obtained: even if the case 1A, 1B, 1C, 1D is overheated for some reason, self-extinguishability can be ensured. In addition, even if the performance of the flame retardancy does not satisfy the conditions described above, a slightly lower grade resin can also satisfy the function as the case 1A, 1B, 1C, 1D, which is self-evident.

[0097] Further, as the resin, in addition to the case where the above-described flame-retardant resin is used, even if the flame retardancy of the resin itself is low, a coating material having higher flame retardancy than the resin can be applied to the entire outer surface of the resin.

[0098] Further, as the resin, any resin of thermosetting or thermoplastic can be used.

[0099] Further, as the resin, any fiber-reinforced resin such as a glass fiber-reinforced resin and a carbon fiber-reinforced resin can be used. In the glass fiber-reinforced resin, since the fiber is colorless and transparent, by mixing a color in the base material, the painting cost can be reduced. In the carbon fiber-reinforced resin, since the carbon fiber is black, even if a color is mixed in the base material, the black color can be seen, and thus it is preferable to coat the outer surface with the coating material having high flame retardancy described above.

[0100] Further, in the present embodiment, the cross-sectional profile shape of each of the two portions of the main body 2 whose cross section is parallel to the mounting surface 3a of the metal plate 3 is a quadrangle, and a round corner is provided at the corner of the quadrangle, but is not limited thereto, and the cross-sectional profile shape can also be formed in a circular shape. By forming in a circular shape, the corner R can be made large, and the effect of moderating the contact force when contacting a person can be further expected.

[0101] Further, in the present embodiment, a modification example of the second housing 1B as shown in Figure 16 may also be used. In this case, as shown in Figure 17 , the second housing 1B is different from the second housing 1B of Figure 6 in that the two metal plates 3 are arranged in a manner that the mounting surfaces 3a are parallel to each other. Further, the work opening 7 is provided on the surface of the resin-made main body 2 located in the space sandwiched by the two metal plates 3. The mounting surfaces 3a of the two metal plates 3 are exposed toward the inside of the main body 2.

[0102] In the embodiment of Figure 16 , there is also a case where one of the mounting surfaces 3a of the two metal plates 3 serves as a mounting surface of the actuator 150 that rotates the second arm 130, and the other serves as a mounting surface that directly mounts the first arm 120. In this case, preferably, the mounting surface that directly mounts the first arm 120 is exposed toward the outside.

[0103] Thus, the speed reducer 151 and the like are housed in the main body 2 through the work opening 7, and are fixed with bolts from the outside of the main body 2 with the surface 3b as the contact surface in a state of contacting the mounting surface 3a of one of the metal plates 3. The mounting surface 3a of the other metal plate 3 mounts a link member and the like. Further, a reinforcing metal member 14 that connects the metal plate 3 and the metal plate 8 to each other can be embedded in the resin that constitutes the main body 2.

Claims

1. A robot housing characterized by comprising: the robot housing has a single-shell body structure, and is configured to support a first member so as to be rotatable around a first axis, and to support a second member so as to be rotatable around a second axis orthogonal to the first axis, two mounting opening portions and one work opening portion are provided on a hollow resin-made body portion, the mounting opening portions communicate the inside and outside of the body portion, the two mounting opening portions are provided at both end portions of the body portion, a metal member constituting a mounting surface is embedded in the resin constituting the body portion around the mounting opening portions, the metal member has a mounting hole through which a mounting screw for mounting to the mounting surface is inserted or fastened, and is embedded in the resin so as to expose the mounting surface, the work opening portion allows members to be respectively mounted to the two mounting opening portions via the body portion from the outside of the work opening portion.

2. The robot housing according to claim 1, characterized by: the work opening portion is configured so as to have a size and a position through which the members respectively mounted to the two mounting opening portions via the body portion from the outside of the work opening portion are passed.

3. The robot housing according to claim 1, characterized by: the metal member is a flat plate-shaped member, the mounting hole is a plurality of through holes that pass through the metal member in a plate thickness direction.

4. The robot housing according to claim 1, characterized by: the metal member is embedded in the resin so as to expose a contact surface on a side opposite to the mounting surface around the mounting hole.

5. The robot housing according to claim 4, characterized by: the metal member is a flat plate-shaped member, the mounting hole is a plurality of threaded holes that pass through the metal member in a plate thickness direction.

6. The robot housing according to claim 1, characterized by: the work opening portion is disposed at the center of the two mounting opening portions.

7. The robot housing according to claim 1, characterized by: the mounting surfaces of the two mounting opening portions are disposed in an orthogonal positional relationship to each other.

8. The robot housing according to claim 7, characterized by: the body portion is configured as a curved L-shaped cylinder, the mounting opening portions are disposed at both ends of the body portion, the work opening portion is disposed at a curved position of the body portion.

9. The robot housing according to claim 6, characterized by: the robot housing has a cover body mounted to the body portion in a manner capable of opening and closing the work opening portion, another metal member is embedded in the resin constituting the body portion around the work opening portion, a threaded hole is provided on the other metal member, and a screw fastening the cover body to the work opening portion is fastened to the threaded hole.

10. The robot housing according to claim 6, characterized by: The robot housing has a lid having a snap-fit structure mounted on the main body portion in a manner capable of opening and closing the work opening portion, The main body portion is closed by the snap-fit structure of the lid.

11. The robot housing according to claim 1, wherein The robot housing has a reinforcing metal member connecting the two metal members provided at the two mounting opening portions to each other.

12. The robot housing according to claim 9, wherein The robot housing has a reinforcing metal member connecting the two metal members provided at the two mounting opening portions and the other metal member to each other.

13. The robot housing according to claim 1, wherein The metal member is embedded in the resin constituting the main body portion by insert molding.

14. The robot housing according to claim 11, wherein The metal member and the reinforcing metal member are embedded in the resin constituting the main body portion by insert molding.

15. The robot housing according to any one of claims 1 to 14, wherein The robot housing is integrally formed by an injection molding method.

16. The robot housing according to any one of claims 1 to 14, wherein The resin constituting the main body portion has a flame retardancy of a flame duration time of 10 seconds or less even when arranged in a vertical direction and contacted with a fire for 10 seconds, and a non-combustibility of 127 mm or more.

17. The robot housing according to any one of claims 1 to 14, wherein An outer surface of the resin constituting the main body portion is coated with a paint having a flame retardancy of a flame duration time of 10 seconds or less even when arranged in a vertical direction and contacted with a fire for 10 seconds, and a non-combustibility of 127 mm or more.

18. A robot, characterized in that has: At least one robot housing according to any one of claims 1 to 14.

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