Robots, robot assembly method and robot system

Abstract

Provided are a robot capable of suppressing a load applied to a transmission belt while hanging the transmission belt around a drive pulley, a robot assembly method capable of efficiently assembling a robot involved, and a robot system provided with the robot. The robot is characterized by being provided with a first member and a second member, the first member having a frame body having a first wall portion and a second wall portion arranged opposite each other, a first protruding portion, and a second protruding portion; a drive portion having a motor body, a drive pulley, and a flange; a joint portion having a driven pulley; and a transmission belt, wherein the first protruding portion and the second protruding portion have a support portion having a distance between the first protruding portion and the second protruding portion that is shorter than a length by which the flange protrudes and supporting both end portions of the flange, and a cutout portion having a distance between the first protruding portion and the second protruding portion that is longer than the length by which the flange protrudes and through which both end portions of the flange pass.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot, a robot assembly method, and a robot system. BACKGROUND

[0002] Patent Document 1 discloses a horizontal SCARA robot that has a support having a housing, a first arm pivoted to the support, and a second arm pivoted to the first arm. The first arm is rotatably disposed on a first shaft passing through the support, and the second arm is rotatably disposed on a second shaft passing through the first arm.

[0003] A lower end of the first shaft is connected to a first servo motor by a synchronous belt winding mechanism. A lower end of the second shaft is connected to a second servo motor by a synchronous belt winding mechanism. The first servo motor is housed in the housing having the support and is fixed to the housing.

[0004] As a method of fixing the servo motor to the housing, a method of placing (engaging) a flange mounted on the servo motor to a protrusion portion protruding from an inner wall of the housing can be cited. Since the flange is wider than the main body of the servo motor, by placing the flange on the protrusion portion, high-precision positioning in the vertical direction can be performed.

[0005] PRIOR ART DOCUMENT

[0006] PATENT DOCUMENT

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 5-123986

[0008] However, in assembling the robot described in Patent Document 1, the following procedure is adopted: after fixing the first servo motor to the housing, the synchronous belt is hung on the pulley connected to the first servo motor; and in order to hang the synchronous belt on the pulley connected to the first servo motor, the synchronous belt needs to be forcibly bent. Therefore, a strong load is applied to the synchronous belt, and sometimes the synchronous belt is damaged.

[0009] Therefore, it becomes a problem to hang the synchronous belt on the pulley connected to the servo motor while suppressing the load applied to the synchronous belt. SUMMARY

[0010] The robot according to an application example of the present application is characterized by comprising:

[0011] a first member; and

[0012] a second member that relatively rotates with respect to the first member,

[0013] the first member has:

[0014] A frame body having a first wall portion and a second wall portion disposed apart from and opposite to each other, a first protruding portion protruding from the first wall portion toward the second wall portion, and a second protruding portion protruding from the second wall portion toward the first wall portion;

[0015] A drive portion having a motor main body generating a drive force rotating around a drive axis, a drive pulley connected to the motor main body, and a flange protruding from the motor main body toward a direction intersecting the drive axis;

[0016] A joint portion having a driven pulley transmitting the drive force to the second member;

[0017] A transmission belt strung over the drive pulley and the driven pulley,

[0018] The first protruding portion and the second protruding portion have:

[0019] Support portions supporting both end portions of the flange in the protruding direction at a distance shorter than a length of the flange in the protruding direction;

[0020] Cutout portions through which the both end portions of the flange pass at a distance longer than the length of the flange in the protruding direction.

[0021] A robot assembly method according to an embodiment of the present application includes:

[0022] A first member; and

[0023] A second member relatively rotating with respect to the first member,

[0024] The robot assembly method is characterized in that,

[0025] A process of preparing the first member before assembly, the first member having: a frame body having a first wall portion and a second wall portion disposed apart from and opposite to each other, a first protruding portion protruding from the first wall portion toward the second wall portion, and a second protruding portion protruding from the second wall portion toward the first wall portion; a drive portion having a motor main body generating a drive force rotating around a drive axis, a drive pulley connected to the motor main body, and a flange protruding from the motor main body toward a direction intersecting the drive axis; a joint portion having a driven pulley transmitting the drive force to the second member; and a transmission belt, the first protruding portion and the second protruding portion having support portions at a distance shorter than a length of the flange in the protruding direction and cutout portions at a distance longer than the length of the flange in the protruding direction;

[0026] a procedure of hanging the transmission belt around the driven pulley;

[0027] a procedure of bringing the driving portion close to the transmission belt via a path of both end portions of the flange in the protruding direction through the cutout portion;

[0028] a procedure of hanging the transmission belt around the driving pulley; and

[0029] a procedure of fixing the flange to the support portion.

[0030] The robot system according to an embodiment of the present application includes:

[0031] The robot according to an embodiment of the present application includes:

[0032] A control device that controls an action of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a side view showing a robot system according to an embodiment.

[0034] Figure 2 is Figure 1 is a partial cross-sectional view of a base shown in

[0035] Figure 3 is a perspective view of a frame and a driving portion possessed by the base shown in Figure 2

[0036] Figure 4 is a cross-sectional view of the frame and a plan view of the driving portion shown in Figure 3

[0037] Figure 5 is a process diagram for explaining a robot assembly method according to an embodiment.

[0038] Figure 6 is a cross-sectional view for explaining the robot assembly method shown in Figure 5

[0039] Figure 7 is a plan view for explaining the robot assembly method shown in Figure 5

[0040] Figure 8 Figure 5

[0041] Figure 9 Figure 5

[0042] Figure 10 is a cross-sectional view for explaining the robot assembly method shown in​​​​​​​​Figure 5 side view of the robot assembly method.

[0043] Figure 11 is for explaining Figure 5 cross-sectional view of the robot assembly method.

[0044] Figure 12 is for explaining Figure 5 cross-sectional view of the robot assembly method.

[0045] symbol explanation

[0046] 1, robot system; 2, robot; 3, control device; 4, inertial sensor; 20, robot arm; 21, base; 22, first arm; 23, second arm; 24, shaft; 29, end effector; 51, frame; 51a, drive portion housing site; 51b, joint portion housing site; 53, joint portion; 55, transmission belt; 231, base; 232, upper side cover; 233, lower side cover; 240, joint portion; 241, ball screw nut; 242, spline nut; 244, payload; 261, drive portion; 261a, motor main body; 261b, drive pulley; 261c, flange; 261d, fixing hole; 262, drive portion; 263, drive portion; 264, drive portion; 510, internal space; 511, first wall portion; 512, second wall portion; 513, top plate; 514, bottom plate; 515, side window portion; 516, upper window portion; 517, full-face window portion; 518, first protruding portion; 519, second protruding portion; 521, support portion; 522, cutout portion; 523, contact surface; 524, groove; 525, fastening hole; 526, screw; 532, driven pulley; 534, speed reducer; AX1, first shaft; AX2, second shaft; AX3, third shaft; AX4, drive shaft; M1, arrow; M2, arrow; M3, arrow; t1, thickness; S1, interval distance; S2, interval distance; S102, preparation process; S104, first transmission belt suspension process; S106, drive portion posture changing process; S108, second transmission belt suspension process; S110, flange fixing process; W1, width; W2, width; W3, width. DETAILED DESCRIPTION

[0047] Hereinafter, preferred embodiments of the robot, the robot assembly method, and the robot system of the present application will be described in detail based on the drawings.

[0048] 1. Robot system

[0049] First, the robot system involved in the embodiments will be described.

[0050] Figure 1is a side view showing a robot system 1 to which the embodiment is applied. Figure 2 is Figure 1 is a partial cross-sectional view of the base 21. Note that in each drawing of the present application, x-axis, y-axis, and z-axis are set as three axes orthogonal to each other, and are respectively indicated by arrows. In the following description, a direction parallel to the x-axis is referred to as an "x-axis direction", a direction parallel to the y-axis is referred to as a "y-axis direction", and a direction parallel to the z-axis is referred to as a "z-axis direction". Further, in the following description, a front end side of each arrow illustrated is referred to as "+" (plus), and a base end side is referred to as "-" (minus). Further, in the following description, for the sake of convenience, the +z-axis direction is referred to as "up", and the -z-axis direction is referred to as "down". Further, "connection" in the present specification means both a state in which two members are in direct contact with each other, and a state in which they are indirectly in contact with each other through any member. Further, "parallel" in the present specification means a state in which lines, surfaces, or a line and a surface are parallel to each other, or a state in which they are inclined within a range of ±5 degrees from the state.

[0051] Figure 1 The robot system 1 illustrated in Fig. 1 is provided with a robot 2, and a control device 3 that controls an operation of the robot 2. The use of the robot system 1 is not particularly limited, and various jobs such as holding, carrying, assembling, and inspecting of a workpiece can be cited.

[0052] 2. Robot

[0053] In the present embodiment, the robot 2 is a horizontal multi-joint robot (SCARA robot). The robot 2 is provided with a base 21 (first member) and a robot arm 20. In the present embodiment, the robot arm 20 has a first arm 22 (second member) described later, a second arm 23, a shaft 24, a payload 244, and an end effector 29.

[0054] 2.1. Outline of base

[0055] The base 21 is fixed to a setting surface not illustrated by a bolt or the like. As the setting surface, a floor surface, a wall surface, a ceiling surface, an upper surface of a table or a stand, or the like can be cited.

[0056] As illustrated in Fig. 2, the base 21 has a frame 51, a drive unit 261, a joint 53, and a transmission belt 55. Figure 2

[0057] Figure 2 The frame 51 illustrated in Fig. 2 has a shape of a substantially rectangular parallelepiped having an internal space 510. Note that the outer shape of the base 21 is not limited to the shape illustrated in Fig. 2, and can be any shape. Figure 2 Figure 2 ​​As shown, the interior space 510 of the frame 51 houses the drive section 261, the joint section 53, the transmission belt 55, and the like.

[0058] As a material of the frame 51, a metal material, a resin material, or the like can be given, but a metal material is preferably used. Thereby, the rigidity of the frame 51 can be improved, and unintended vibration of the base 21 can be suppressed.

[0059] The drive section 261 generates a driving force that rotates the first arm 22 relative to the base 21 about the first axis AX1. In addition, the drive section 261 has an encoder (not shown) that detects the amount of rotation thereof. The rotation angle of the first arm 22 relative to the base 21 can be detected from the output from the encoder.

[0060] The joint section 53 transmits the driving force to the first arm 22. Specifically, the driving force from the drive section 261 is converted into a motion that rotates the first arm 22.

[0061] The transmission belt 55 is an endless belt that transmits the driving force from the drive section 261 to the joint section 53.

[0062] 2.2. Outline of the robot arm

[0063] The robot arm 20 is connected to the base 21, and the posture thereof is controlled by the control device 3. Thereby, the end effector 29 is held at a target position and posture, and various work is implemented. In the following description, the end effector 29 side of the robot 2 is referred to as the "front end", and the base 21 side is referred to as the "base end" for convenience of explanation. Figure 1 In the robot arm 20 shown, the first arm 22, the second arm 23, the shaft 24, the payload 244, and the end effector 29 are sequentially linked. Note that, in the following description, the end effector 29 side of the robot 2 is referred to as the "front end", and the base 21 side is referred to as the "base end" for convenience of explanation.

[0064] The first arm 22 is rotatable relative to the base 21 about a first axis AX1 that is parallel to the z-axis. The second arm 23 is provided at the front end portion of the first arm 22, and is rotatable about a second axis AX2 that is parallel to the first axis AX1. The shaft 24 is provided at the front end portion of the second arm 23, and is rotatable about a third axis AX3 that is parallel to the second axis AX2, and is translatable along the third axis AX3.

[0065] The second arm 23 has a base 231, an upper side cover 232, a lower side cover 233, drive sections 262, 263, 264, a joint section 240, and the inertial sensor 4.

[0066] The base 231 is a skeleton of the second arm 23 that supports the driving sections 262, 263, 264, and the like. The upper side cover 232 is provided above the base 231 and covers the driving sections 262, 263, 264, and the like. The lower side cover 233 is provided below the base 231 and covers the inertial sensor 4 and the like placed on the lower surface of the base 231. As the inertial sensor 4, for example, an angular velocity sensor, an acceleration sensor, and the like can be given. Note that the inertial sensor 4 can be omitted.

[0067] The driving section 262 is located at the base end portion of the base 231 and generates a driving force that rotates the second arm 23 relative to the first arm 22 about the second axis AX2. The driving section 262 has, for example, a motor, a speed reducer, an encoder, and the like, which are not shown. The rotation angle of the second arm 23 relative to the first arm 22 can be detected from the output from the encoder.

[0068] The driving section 263 is located between the base end portion and the front end portion of the base 231 and generates a driving force that translates the shaft 24 in the direction of the third axis AX3 by rotating the ball screw nut 241. The driving section 263 has, for example, a motor, a speed reducer, an encoder, and the like, which are not shown. The translation amount of the shaft 24 relative to the second arm 23 can be detected from the output from the encoder.

[0069] The driving section 264 is located between the base end portion and the front end portion of the base 231 and generates a driving force that rotates the shaft 24 about the third axis AX3 by rotating the spline nut 242. The driving section 264 has, for example, a motor, a speed reducer, an encoder, and the like, which are not shown. The rotation amount of the shaft 24 relative to the second arm 23 can be detected from the output from the encoder.

[0070] The joint section 240 transmits the driving force to the shaft 24. Specifically, the driving force from the driving sections 263, 264 is converted into the action of translating and rotating the shaft 24.

[0071] The shaft 24 is a cylindrical shaft body. The shaft 24 is capable of translation along the third axis AX3 in the vertical direction relative to the second arm 23 and is capable of rotation about the third axis AX3.

[0072] Further, the ball screw nut 241 and the spline nut 242 are provided at the middle of the length direction of the shaft 24 and support the shaft 24 by them.

[0073] The payload 244 for mounting the end effector 29 is provided at the front end portion of the shaft 24. The end effector 29 mounted to the payload 244 is not particularly limited and, for example, a hand that holds an object, a tool that processes an object, an inspection device that inspects an object, and the like can be given. Note that a configuration in which the end effector 29 is omitted can be the robot arm 20.

[0074] 2.3. Details of the base

[0075] Next, the base 21 will be described in detail.

[0076] Figure 3 is a perspective view of the frame 51 and the driving section 261 of the base 21. Figure 2 Figure 4 is a sectional view of the frame 51 and a plan view of the driving section 261. Note that Figure 3 Figure 3 and Figure 4 are views showing the base 21 when assembled. Further, Figure 3 and Figure 4 the arrows shown in the views indicate the positions of the driving section 261 when assembled.

[0077] Figure 3 The frame 51 shown in the view is composed of a driving section housing site 51a that houses the driving section 261 and a joint section housing site 51b that houses the joint section 53. An internal space 510 is composed of the inside of the driving section housing site 51a and the inside of the joint section housing site 51b. As will be described later, the internal space 510 is demarcated by a first wall section 511 and a second wall section 512 that constitute the frame 51, a top plate 513, a bottom plate 514, and the joint section housing site 51b.

[0078] The driving section housing site 51a is roughly a rectangular parallelepiped, and has a long axis extending in parallel with the z-axis. The driving section housing site 51a has a first wall section 511 and a second wall section 512 that extend along the z-y plane. The first wall section 511 and the second wall section 512 are arranged opposite to each other (via the internal space 510). Further, the driving section housing site 51a has a top plate 513 and a bottom plate 514 that extend along the x-y plane. The top plate 513 is connected to the upper end of the first wall section 511 and the upper end of the second wall section 512. The bottom plate 514 is connected to the lower end of the first wall section 511 and the lower end of the second wall section 512.

[0079] The second wall section 512 has a side window section 515 that connects the internal space 510 and the external space. Further, the top plate 513 has an upper window section 516 (an opening section) that connects the internal space 510 and the external space. Note that the side window section 515 can be provided in the first wall section 511, instead of the second wall section 512, or in both the first wall section 511 and the second wall section 512. Further, the side window section 515 and the upper window section 516 are each closed by a cover that is not shown, and the edge of the side window section 515 and the edge of the upper window section 516 are formed with a step or a taper so that the cover can be placed thereon and fixed by a screw or the like. Note that the side window section 515 and the upper window section 516 can also be left open.

[0080] ​​The drive portion housing site 51a is a site of the frame 51 on the positive side of the y-axis, and has a full-surface window portion 517 that connects the internal space 510 and the external space. The full-surface window portion 517 extends over the entire long axis of the drive portion housing site 51a. This full-surface window portion 517 can be used as a carrying-in path when a component is carried into the internal space 510. Note that the full-surface window portion 517 can extend over part of the long axis of the drive portion housing site 51a, rather than the entire long axis. Further, the full-surface window portion 517 can be closed by a cover, not shown.

[0081] As shown in Figs. 1 and 2, the drive portion housing site 51a has a first protruding portion 518 and a second protruding portion 519. The first protruding portion 518 protrudes from the first wall portion 511 toward the internal space 510. The second protruding portion 519 protrudes from the second wall portion 512 toward the internal space 510. Figure 3 Figure 4 As shown in Figs. 1 and 2, the drive portion housing site 51a has a first protruding portion 518 and a second protruding portion 519. The first protruding portion 518 protrudes from the first wall portion 511 toward the internal space 510. The second protruding portion 519 protrudes from the second wall portion 512 toward the internal space 510.

[0082] The first protruding portion 518 and the second protruding portion 519 are a pair, and support the drive portion 261 housed in the internal space 510.

[0083] As shown in Figs. 1 and 2, the drive portion housing site 51a has a first protruding portion 518 and a second protruding portion 519. The first protruding portion 518 protrudes from the first wall portion 511 toward the internal space 510. The second protruding portion 519 protrudes from the second wall portion 512 toward the internal space 510. Figure 3 As shown in Figs. 1 and 2, the drive portion housing site 51a has a first protruding portion 518 and a second protruding portion 519. The first protruding portion 518 protrudes from the first wall portion 511 toward the internal space 510. The second protruding portion 519 protrudes from the second wall portion 512 toward the internal space 510.

[0084] Figure 4 As shown in Figs. 1 and 2, the drive portion housing site 51a has a first protruding portion 518 and a second protruding portion 519. The first protruding portion 518 protrudes from the first wall portion 511 toward the internal space 510. The second protruding portion 519 protrudes from the second wall portion 512 toward the internal space 510.

[0085] ​​The support portion 521 supports the flange 261c by placing the flange 261c thereon. The support portion 521 has a contact surface 523 that contacts the flange 261c. The contact surface 523 is recessed compared to the portion other than the contact surface 523 of the first protrusion 518 and the second protrusion 519. By bringing this contact surface 523 into contact with the flange 261c, that is, by the engagement of the contact surface 523 with the flange 261c, the support portion 521 supports the flange 261c. It should be noted that the flange 261c is a rectangle that is long in its protruding direction, that is, in the x-axis direction of this embodiment, and its two ends contact the contact surface 523.

[0086] Furthermore, the support portion 521 has a fastening hole 525 extending along the z-axis. The fastening hole 525 is used to fasten the flange 261c with screws after the flange 261c comes into contact with the contact surface 523.

[0087] As will be explained later, when the posture of the drive unit 261 changes during the assembly of the robot 2, the cutout portion 522 takes on a shape in which both ends of the flange 261c can pass through. Specifically, the cutout portion 522 has grooves 524 that pass through the first protrusion 518 and the second protrusion 519 respectively in the z-axis direction. By providing such grooves 524, when assembling the base 21 as described later, both ends of the flange 261c can move in the path passing through the cutout portion 522. Thus, it is possible to suppress the application of force... Figure 2 The load on the transmission belt 55 shown is such that the transmission belt 55 is wound around the drive pulley 261b.

[0088] It should be noted that, Figure 4 The slot 524 shown can be compared to Figure 4 The position shown extends further towards the negative y-axis. However, as the groove 524 expands, the mechanical strength of the first protrusion 518 and the second protrusion 519 may decrease, further reducing the mechanical strength of the frame 51. Therefore, the width of the groove 524, i.e., the length of the groove 524 in the y-axis direction, only needs to be sufficient to allow both ends of the flange 261c to pass through, preferably not exceeding the necessary width.

[0089] The joint receiving portion 51b is the portion on the negative side of the y-axis in the frame 51. The joint receiving portion 51b is a generally cylindrical shape with open upper and lower ends, and has a long axis extending parallel to the z-axis. For example... Figure 2 As shown, the upper end of the joint receiving portion 51b is connected to the first arm 22. The joint receiving portion 51b receives... Figure 2 Joint 53 is shown.

[0090] like Figure 2 As shown, the joint 53 has a driven pulley 532 and a reducer 534. The driven pulley 532 is connected to the reducer 534. The reducer 534 and... Figure 2The first arm 22 is connected as shown. As the reduction mechanism 534, for example, a planocentric reduction mechanism can be cited.

[0091] The drive belt 55 transmits a driving force from the drive section 261 housed in the drive section housing site 51a to the joint section 53 housed in the joint section housing site 51b. Therefore, as shown in FIG. 5, the drive belt 55 is stretched in the x-y plane in a loop shape. Figure 2 The drive belt 55 is strung over the drive pulley 261b and the driven pulley 532 as shown. In a state where the drive section 261 and the joint section 53 are fitted in the frame 51, the drive belt 55 is stretched in a loop shape extending in the x-y plane.

[0092] The drive belt 55 is not limited in its material, and a composite material of a reinforcing material and an elastic material can be cited, for example. The drive belt 55 composed of such a composite material has mechanical strength capable of transmitting a high-torque driving force.

[0093] As the reinforcing material, for example, glass fiber, polyester fiber, nylon fiber, aramid fiber, carbon fiber, cotton thread, or the like can be cited, and one or a mixture of two or more of them can be used. Among them, the reinforcing material is preferably glass fiber or carbon fiber.

[0094] As the elastic material, for example, at least one selected from the group consisting of nitrile rubber, carboxyl nitrile rubber, hydrogenated nitrile rubber, chlorobutadiene rubber, chlorosulfonated polyethylene, polybutadiene rubber, natural rubber, EPM, EPDM, polyurethane rubber, and acrylic rubber can be cited. Among them, the elastic material is preferably a material classified as super-high-hardness synthetic rubber.

[0095] 3. Control device

[0096] The operation of the robot 2 is controlled by the control device 3. As shown in FIG. 1, the control device 3 can be arranged outside the base 21, or can be built in the base 21. The control device 3 controls the driving of the drive sections 261, 262, 263, 264 in accordance with a pre-stored operation program. Thereby, the posture of the robot arm 20 is controlled. Figure 1

[0097] 4. Robot assembly method

[0098] Next, a robot assembly method according to the embodiment will be described.

[0099] Figure 5 is a process diagram for explaining the robot assembly method according to the embodiment. Figure 6 、 Figure 8 、 Figure 9 、 Figure 11 and Figure 12 are cross-sectional views for explaining the robot assembly method according to the embodiment. Figure 5 Figure 7 ​​It is used for explanation Figure 5 A top view of the robot assembly method shown. Figure 10 It is used for explanation Figure 5 The side view shows the robot assembly method. It should be noted that... Figure 9 and Figure 11 The illustration of a portion of the drive belt 55 is omitted in the text.

[0100] Figure 5 The robot assembly method shown includes a preparation step S102, a first drive belt suspension step S104, a drive unit posture change step S106, a second drive belt suspension step S108, and a flange fixing step S110. Each step will be described below.

[0101] 4.1. Preparation process

[0102] In the preparation process S102, preparation Figure 6 The base 21 (first component) before assembly is shown. Figure 6 The base 21 shown before assembly has a frame 51, a drive unit 261, a joint 53, and a transmission belt 55, but the transmission belt 55 is not yet connected to the drive unit 261.

[0103] like Figure 3 As shown, the frame 51 has a first wall portion 511 and a second wall portion 512, a first protrusion 518, and a second protrusion 519. Figure 2 As shown, the drive unit 261 includes a motor body 261a, a drive pulley 261b, and a flange 261c. The joint 53 includes a driven pulley 532 and a reducer 534. The first protrusion 518 and the second protrusion 519 each have a support portion 521 and a cutout portion 522.

[0104] The frame 51 is manufactured, for example, by casting or die casting. Alternatively, a portion of the frame 51 can be formed by machining. Examples of machining methods include cutting and grinding. Examples of parts formed by machining include the contact surface 523, the groove 524, and the fastening hole 525. By forming these parts by machining, machining accuracy can be easily improved. For example, by utilizing the contact surface 523 of the first protrusion 518 and the contact surface 523 of the second protrusion 519, their coplanarity—that is, the degree to which they are contained in the same plane—can be improved. Furthermore, the positions of the groove 524 and the fastening hole 525 in the xy plane, and the parallelism of the fastening hole 525 with the z-axis, can be made sufficiently close to the design values. As a result, the accuracy of the position and orientation of the drive unit 261 relative to the frame 51 can be improved.

[0105] Further, as long as the contact surface 523, the groove 524, the fastening hole 525, and the like can be machined by a machining method, these do not need to be made by a casting method or a die casting method, and thus the difficulty in manufacturing the frame body 51 can be reduced.

[0106] Note that, as described above, Figure 3 The top plate 513 illustrated in FIG. 6 has an upper window portion 516. The upper window portion 516 overlaps the cutout portion 522 when viewed from a position along the drive shaft AX4, that is, a position above the upper window portion 516. Therefore, a machining tool can be inserted from the upper window portion 516 to machine the contact surface 523, the groove 524, the fastening hole 525, and the like. Thus, the manufacturing of the frame body 51 becomes easy, and further, a robot 2 excellent in manufacturing easiness can be implemented.

[0107] Further, the joint portion 53 is assembled to the joint portion housing site 51b of the frame body 51. As Figure 6 illustrated in FIG. 6, the joint portion 53 is assembled in a state where the driven pulley 532 is positioned lower than the speed reducer 534 and the driven pulley 532 is rotatable. Further, the speed reducer 534 is fixed to the frame body 51.

[0108] 4.2. First transmission belt suspension process

[0109] As Figure 6 illustrated in FIG. 6, in the first transmission belt suspension process S104, one end of the transmission belt 55 is hung around the driven pulley 532. As described above, the transmission belt 55 has mechanical strength capable of transmitting a high torque driving force. Therefore, the transmission belt 55 itself has high rigidity, and when one end of the transmission belt 55 is hung around the driven pulley 532, the other end of the transmission belt 55 becomes a state of stretching toward the drive portion housing site 51a. Further, even if this does not occur, the other end of the transmission belt 55 does not hang downward. Therefore, in the second transmission belt suspension process S108 described later, the drive pulley 261b can be inserted inside the other end of the transmission belt 55. Thus, the work of hanging the transmission belt 55 around the drive pulley 261b can be performed more easily.

[0110] 4.3. Drive portion posture changing process

[0111] In the drive portion posture changing process S106, the drive portion 261 is moved toward the inside space 510 of the frame body 51 while the posture of the drive portion 261 is changed. Thus, a state in which the drive pulley 261b is easily inserted inside the other end of the transmission belt 55 is formed.

[0112] Specifically, first, as Figure 7 indicated by an arrow M1 in FIG. 7, the drive portion 261 is moved from the outside space toward the inside space 510. Figure 7is a schematic view of the state in which the driving section 261 is moved from the outside space of the frame 51 toward the inside space 510. Figure 7 The driving section 261 shown by the solid line is the driving section 261 in a position before movement indicated by the arrow M1, Figure 7 The driving section 261 shown by the dashed-dotted line is the driving section 261 in a position after movement indicated by the arrow M1.

[0113] In this process, when the frame 51 is viewed from the z-axis positive side toward the z-axis negative side, as Figure 7 indicated by the solid line, the driving section 261 is held in a position in which the cutout section 522 overlaps the flange 261c. At this time, as Figure 6 indicated, the position of the driving section 261 in the z-axis direction is below the second protruding section 519. Further, as Figure 6 indicated and Figure 7 indicated, the posture of the driving section 261 is a posture in which the driving shaft AX4 is substantially parallel to the y-axis and the flange 261c is substantially parallel to the x-z plane.

[0114] 4.4. Second transmission belt suspension process

[0115] In the second transmission belt suspension process S108, as Figure 8 indicated by the arrow M2, the driving section 261 is translated toward the z-axis positive side by a path in which both end sections of the flange 261c pass through the cutout section 522. Figure 8 The state in which both end sections of the flange 261c are passing through the cutout section 522 is shown. In this way, by moving the driving section 261 from below the first protruding section 518 and the second protruding section 519 upward, it is possible to approach the driving pulley 261b from below the other end of the transmission belt 55. That is, when a position in which the first protruding section 518 and the second protruding section 519 are provided in the z-axis direction is taken as a "standard position", by providing the cutout section 522, it is possible to translate the driving section 261 from a position below the standard position (a region opposite to the joint section 53) upward (a region in which the joint section 53 is present). Because this translation is possible, even in a state in which one end of the transmission belt 55 is hung around the driven pulley 532 in advance, the driving pulley 261b can be inserted from below the other end of the transmission belt 55. Thereby, it is finally possible to hang the transmission belt 55 around the driving pulley 261b without forcibly bending the transmission belt 55.

[0116] In Figure 7In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated. Figure 7 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated.

[0117] These interval distances S1, S2 and widths W1, W2 satisfy the following formula (1).

[0118] W1 < S1 < W2 < S2 … (1)

[0119] In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated. Figure 8 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated.

[0120] In the above-described formula (1), W2 < S2 is established. Further, as shown by an arrow M2 in FIG. 6, the flange 261c is able to pass through the cutout portions 522 when the driving portion 261 is translated. Figure 6 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated. Figure 8 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated.

[0121] Next, at the time when the flange 261c ends passing through the cutout portions 522, the translation is stopped, and the driving portion 261 is held. Figure 9 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated. Figure 8 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated. Figure 9 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated.

[0122] Figure 10 is a view of the state in which the flange 261c ends passing through the cutout portions 522, from a viewpoint different from Figure 9 In the above-described formula (1), W1 < S1 is established. Therefore, as shown by an arrow M2 in FIG. 6, the motor body 261a is able to pass through the support portions 521 when the driving portion 261 is translated. Figure 10As shown, at this time, the flange 261c is positioned above the first protrusion 518 and the second protrusion 519. Note that, in the present embodiment, even if the flange 261c is positioned above the first protrusion 518 and the second protrusion 519, a portion of the motor body 261a is positioned between the first protrusion 518 and the second protrusion 519. Note that the form of the drive section 261 is not limited to the form shown in the drawing.

[0123] Next, as shown in FIG. 26, the drive section 261 is rotated about an axis parallel to the x axis as the center axis. Specifically, the drive section 261 is rotated about the edge line of the lower end of the flange 261c shown in FIG. 25 as the rotation axis, as indicated by an arrow M3 in FIG. 26. As a result, the drive pulley 261b moves upward, and the motor body 261a moves downward. As a result, the posture of the drive pulley 261b inserted inside the drive belt 55 changes, and, in conjunction therewith, the other end of the drive belt 55 is hung around the drive pulley 261b. In addition, the both ends of the flange 261c are in contact with the contact surface 523. As a result, the work of hanging the drive belt 55 around the drive pulley 261b and the work of positioning the drive section 261 in the z axis direction are completed. Figure 11 Figure 11 Figure 11

[0124] Note that, since S1 < W2 in the above-described equation (1), the flange 261c can be placed on the contact surface 523 when the drive section 261 is rotated as indicated by the arrow M3 in FIG. 26. As a result, the flange 261c can be supported by the support section 521. Figure 11

[0125] By adopting the steps of changing the posture of the drive section 261 while hanging the drive belt 55 around the drive pulley 261b as described above, it is not necessary to forcibly bend the drive belt 55 when the drive belt 55 is hung around the drive pulley 261b. In addition, in the robot 2, the motor body 261a is positioned on the opposite side from the speed reducer 534 in the direction of the drive shaft AX4 via the drive belt 55. That is, the speed reducer 534 is positioned above the drive belt 55, and the motor body 261a is positioned below the drive belt 55. Therefore, by inserting the drive pulley 261b from below the other end of the drive belt 55, it is possible to hang the drive belt 55 around the drive pulley 261b, and it is not easy for interference to occur between the drive belt 55 and the motor body 261a during the work. Therefore, it is not necessary to forcibly bend the drive belt 55 even from this viewpoint. For these reasons, it is possible to avoid damage to the drive belt 55.

[0126] ​​​​On the other hand, in the prior art, even if it is desired to simultaneously change the orientation of the servo motor to insert the pulley into the inner side of the timing belt while fixing the servo motor to the housing, interference will occur between the flange and the protrusion extending from the inner wall of the housing when the orientation of the servo motor is changed. Therefore, the orientation of the servo motor cannot be changed, and the pulley cannot be inserted into the inner side of the timing belt.

[0127] In response to this conventional technology, the above structure and steps enable the control of the load applied to the transmission belt 55 while simultaneously winding the transmission belt 55 onto the drive pulley 261b connected to the motor body 261a and positioning the drive unit 261. The positioning of the drive unit 261 utilizes the engagement between the flange 261c of the drive unit 261 and the frame 51 of the base 21.

[0128] Furthermore, there is no need to ensure sufficient space for bending the drive belt 55. Specifically, when the drive belt 55 is pre-wound to the drive pulley 261b supported by the frame 51, it is necessary to bend the drive belt 55 while winding it around the drive pulley 261b, thus requiring space for significant bending of the drive belt 55. For example, when the drive belt 55 is bent significantly upwards, it is necessary to extend the distance between the reducer 534 and the driven pulley 532 along the z-axis to avoid interference between the reducer 534 and the drive belt 55. However, if this distance is extended, it is easy to apply a load to the reducer 534, which is a cause of shortened lifespan of the reducer 534.

[0129] In this embodiment, since it is not necessary to bend the drive belt 55 significantly, the distance between the reducer 534 and the drive belt 55 in the z-axis direction can be shortened. This reduces the load applied to the reducer 534 and extends its service life.

[0130] Furthermore, a portion of the motor body 261a is configured to overlap with the joint receiving portion 51b. This allows for miniaturization of the frame 51.

[0131] 4.5. Flange fixing process

[0132] In the flange fixing process S110, such as Figure 12 As shown, the flange 261c is fixed to the support portion 521 using screws 526. Specifically, making... Figure 12 The screw shown is 526 threaded through. Figure 3 The flange 261c shown has a fixing hole 261d, and the screw 526 is engaged with... Figure 4 The fastening hole 525 shown is threaded. It should be noted that the method of fixing the flange 261c to the support 521 is not limited to the method of using screws 526, and other methods may also be used.

[0133] Further, the screw 526 and a tool that threadedly connects the screw 526 with the fastening hole 525 are able to enter the internal space 510 from the upper window portion 516. Therefore, by providing the upper window portion 516, it is possible to improve the work efficiency of assembling the robot 2.

[0134] Further, as described above, Figure 3 The drive portion housing site 51a illustrated in the drawing has a side window portion 515 and a full-face window portion 517. A work operator or a work robot is able to reach the wrist or the arm from at least one of the side window portion 515 and the full-face window portion 517 to perform work of changing the position and the posture of the drive portion 261. Therefore, by providing the side window portion 515 and the full-face window portion 517, it is possible to improve the work efficiency of assembling the robot 2.

[0135] The base 21 is assembled as described above. After that, the robot 2 is assembled by connecting the robot arm 20 to the base 21.

[0136] Note that, when the base 21 illustrated in the drawing is viewed from the position along the drive shaft AX4 Figure 2 , the cutout portion 522 is positioned between the drive shaft AX4 and the joint portion 53. That is, the position of the cutout portion 522 in the y-axis direction is positioned between the drive shaft AX4 and the joint portion 53 illustrated in the drawing. By providing the cutout portion 522 at this position, when the posture of the drive portion 261 is changed from the posture illustrated in Figure 2 , to the posture illustrated in Figure 8 , the change in the posture of the drive portion 261 becomes smooth. That is, as illustrated by an arrow M2 in Figure 12 , the drive portion 261 is translated, and after that, as illustrated in Figure 8 , the work of inserting the drive pulley 261b from below the other end of the transmission belt 55 becomes easy to perform. Figure 9

[0137] Further, when repair or maintenance is performed after the robot 2 is assembled, the upper window portion 516, the side window portion 515, and the full-face window portion 517 are also able to be used as work paths. Since there are the work paths, it is not necessary to flip the assembled base 21 upside down, and it is possible to directly perform repair and the like in the posture that has been set. Further, when repair and the like are performed, it is not necessary to remove the robot arm 20 from the base 21. Therefore, it is possible to improve the work efficiency of repair and the like.

[0138] 5. Effects achieved by the embodiments

[0139] ​As described above, the robot assembly method according to the embodiment is an assembly method of a robot 2 that has a base 21 (first member) and a first arm 22 (second member) that relatively rotates with respect to the base 21, and the method has a preparation step S102, a first transmission belt suspension step S104, a driving section posture change step S106, a second transmission belt suspension step S108, and a flange fixation step S110.

[0140] In the preparation step S102, the base 21 before assembly is prepared, and the base 21 has a frame 51, a driving section 261, a joint section 53, and a transmission belt 55.

[0141] The frame 51 has a first wall section 511 and a second wall section 512, a first protruding section 518, and a second protruding section 519. The first wall section 511 and the second wall section 512 are arranged opposite to each other (via an internal space 510). The first protruding section 518 protrudes from the first wall section 511 toward the second wall section 512. The second protruding section 519 protrudes from the second wall section 512 toward the first wall section 511.

[0142] The driving section 261 has a motor main body 261a, a driving pulley 261b, and a flange 261c. The motor main body 261a generates a driving force that rotates around a driving axis AX4. The driving pulley 261b is connected to the motor main body 261a. The flange 261c protrudes from the motor main body 261a toward a direction that intersects the driving axis AX4.

[0143] The joint section 53 has a driven pulley 532 that transmits the driving force to the first arm 22.

[0144] The first protruding section 518 and the second protruding section 519 have a support section 521 and a cutout section 522. The support section 521 has a distance S1 between the support sections 521 that is shorter than a length (width W2) of the flange 261c in a protruding direction. The cutout section 522 has a distance S2 between the cutout sections 522 that is longer than the length (width W2) of the flange 261c in the protruding direction.

[0145] In the first transmission belt suspension step S104, the transmission belt 55 is hung around the driven pulley 532.

[0146] In the driving section posture change step S106, the driving section 261 is brought close to the transmission belt 55 by a path in which both end portions of the flange 261c in the protruding direction pass through the cutout section 522.

[0147] In the second transmission belt suspension step S108, the transmission belt 55 is hung around the driving pulley 261b.

[0148] In the flange fixation step S110, the flange 261c is fixed to the support section 521.

[0149] According to this assembly method, the drive belt 55 can be hung around the drive pulley 261b while suppressing the load applied to the drive belt 55. Furthermore, the positioning of the drive section 261 can be performed using the engagement of the flange 261c of the drive section 261 with the frame body 51 of the base 21. Thus, according to the assembly method as described above, a highly reliable robot 2 can be assembled while suppressing damage to the drive belt 55.

[0150] Furthermore, the robot 2 according to the embodiment includes the base 21 (first member) and the first arm 22 (second member) that relatively rotates with respect to the base 21.

[0151] The base 21 includes the frame body 51, the drive section 261, the joint section 53, and the drive belt 55.

[0152] The frame body 51 includes the first wall section 511 and the second wall section 512, the first protruding section 518, and the second protruding section 519. The first wall section 511 and the second wall section 512 are arranged opposite to each other (via the internal space 510). The first protruding section 518 protrudes from the first wall section 511 toward the second wall section 512. The second protruding section 519 protrudes from the second wall section 512 toward the first wall section 511.

[0153] The drive section 261 includes the motor body 261a, the drive pulley 261b, and the flange 261c. The motor body 261a generates a driving force that rotates around the drive axis AX4. The drive pulley 261b is connected to the motor body 261a. The flange 261c protrudes from the motor body 261a toward a direction intersecting the drive axis AX4.

[0154] The joint section 53 includes the driven pulley 532 that transmits the driving force to the first arm 22.

[0155] The drive belt 55 is hung across the drive pulley 261b and the driven pulley 532.

[0156] Furthermore, the first protruding section 518 and the second protruding section 519 include the support sections 521 and the cutout sections 522. The support sections 521 are spaced apart from each other by a distance S1 that is shorter than the length (width W2) of the flange 261c in the protruding direction, and support both end portions of the flange 261c in the protruding direction. The cutout sections 522 are spaced apart from each other by a distance S2 that is longer than the length (width W2) of the flange 261c in the protruding direction, and are configured to allow both end portions of the flange 261c to pass therethrough.

[0157] Robot 2, constructed in this way, is capable of winding the drive belt 55 onto the drive pulley 261b while suppressing the load applied to the drive belt 55. In this robot 2, reliability is improved because damage to the drive belt 55 is suppressed. Furthermore, by engaging the flange 261c of the drive unit 261 with the frame 51 of the base 21, the drive unit 261 can be positioned relative to the frame 51.

[0158] Furthermore, in the robot 2 according to this embodiment, when viewed from a position along the drive shaft AX4, the cutout portion 522 is located between the drive shaft AX4 and the joint portion 53.

[0159] By providing the cutout 522 at this location, the posture of the drive unit 261 is adjusted from... Figure 8 The posture shown has changed to Figure 12 When in the indicated posture, the posture change of the drive unit 261 becomes smooth. As a result, a robot 2 that is easy to assemble can be realized.

[0160] Furthermore, in the robot 2 according to this embodiment, the frame 51 has an upper window portion 516 as an opening, which connects at least the internal space 510 and the external space, the internal space 510 being defined by a first wall portion 511 and a second wall portion 512. Moreover, when viewed from a position along the drive shaft AX4, i.e., above the upper window portion 516, the upper window portion 516 overlaps with the cutout portion 522.

[0161] Therefore, when a cutting portion 522 is formed at the first protrusion 518 and the second protrusion 519 using a machining tool, the machining tool can be accessed from the upper window portion 516 into the interior space 510. Thus, it is not necessary to remove the frame 51 from... Figure 12 With the change in posture shown, the groove 524 can be machined.

[0162] Furthermore, in the robot 2 according to this embodiment, the support portion 521 has a fastening hole 525. The flange 261c is fastened to the support portion 521 using the fastening hole 525.

[0163] With this configuration, while reliably securing the flange 261c to the support 521, it also becomes easy to release the securing as needed. Therefore, the assembly efficiency of the robot 2 can be improved, and maintainability can be enhanced.

[0164] Furthermore, in the robot 2 according to this embodiment, when viewed from a position along the drive axis AX4, the upper window portion 516, which serves as an opening, overlaps with the fastening hole 525. In other words, it is designed so that when the robot 2 is viewed from above, the fastening hole 525 can be observed through the upper window portion 516.

[0165] According to this configuration, the work of processing the fastening hole 525 or the work of screwing the screw 526 to the fastening hole 525 can be efficiently performed through the upper window portion 516.

[0166] Further, in the robot 2 according to the present embodiment, the support portion 521 has a contact surface 523 that contacts the flange 261c. The contact surface 523 is preferably a machined surface. Thus, the coplanarity of the two contact surfaces 523 can be improved. As a result, the position and posture of the drive portion 261 with respect to the frame 51 can be improved in accuracy. Note that the support portion 521 can also be configured without the contact surface 523.

[0167] Further, in the robot 2 according to the present embodiment, the joint portion 53 has a speed reducer 534 connected to the driven pulley 532. Also, the motor body 261a is located on the opposite side from the speed reducer 534 via the transmission belt 55 in the direction of the drive shaft AX4.

[0168] Thus, the transmission belt 55 can be hung around the drive pulley 261b without bending the transmission belt 55 too much and without securing a space for bending the transmission belt 55. As a result, the distance between the speed reducer 534 and the transmission belt 55 can be reduced while avoiding damage to the transmission belt 55. Thus, the long life of the transmission belt 55 and the speed reducer 534 can be improved.

[0169] Further, the robot system 1 according to the present embodiment includes the robot 2 and a control device 3 that controls the operation of the robot 2.

[0170] The robot 2 according to the present embodiment has a high reliability and a long life of the transmission belt 55 or the speed reducer 534. Thus, the robot system 1 according to the present embodiment can have a high reliability and a long life.

[0171] The robot, the robot assembly method, and the robot system according to the present embodiment have been described above based on the illustrated embodiments, but the robot and the robot system according to the present embodiment are not limited to the illustrated embodiments. For example, each portion of the illustrated embodiments can be replaced with any configuration having the same function, any configuration can be added to the illustrated embodiments, or a plurality of the illustrated embodiments can be combined.

[0172] Further, the robot assembly method according to the present embodiment can be a method in which any of the processes described above is added to the illustrated embodiments.

Claims

1. A robot, characterized in that Possessing: a first member; and a second member that relatively rotates with respect to the first member, the first member has: a frame that has a first wall portion and a second wall portion that are separated from each other and are arranged opposite to each other, a first protruding portion that protrudes from the first wall portion toward the second wall portion, and a second protruding portion that protrudes from the second wall portion toward the first wall portion; a drive portion that has a motor main body that generates a drive force that rotates around a drive axis, a drive pulley that is connected to the motor main body, and a flange that protrudes from the motor main body in a direction that intersects the drive axis; a joint portion that has a driven pulley that transmits the drive force to the second member; and a transmission belt that is hung over the drive pulley and the driven pulley, the first protruding portion and the second protruding portion have: a support portion that supports both end portions of the protruding direction in which the flange protrudes; and a cutout portion through which the both end portions of the flange can pass, a distance between the support portion of the first protruding portion and the support portion of the second protruding portion is shorter than a length of the flange in the protruding direction, a distance between the cutout portion of the first protruding portion and the cutout portion of the second protruding portion is longer than the length of the flange in the protruding direction.

2. The robot according to claim 1, wherein the cutout portion is located between the drive axis and the joint portion when viewed from a position along the drive axis.

3. The robot according to claim 1 or 2, wherein the frame has an opening portion that connects an internal space and an external space at least demarcated by the first wall portion and the second wall portion, the opening portion overlaps the cutout portion when viewed from a position along the drive axis.

4. The robot according to claim 1 or 2, wherein the support portion has a fastening hole, the flange is fastened to the support portion with the fastening hole.

5. The robot according to claim 4, wherein the frame has an opening portion that connects an internal space and an external space at least demarcated by the first wall portion and the second wall portion, the opening portion overlaps the fastening hole when viewed from a position along the drive axis.

6. The robot according to claim 1, wherein the support portion has a contact surface that contacts the flange, the contact surface is a machined surface.

7. The robot according to claim 1, wherein the joint portion has a speed reducer that is connected to the driven pulley, the motor main body and the speed reducer are respectively located on both sides of the transmission belt in a direction along the drive axis. the robot possesses: a first member; and 8. A robotic assembly method, characterized by, a second member that relatively rotates with respect to the first member, the robot assembly method includes: ​ ​ ​ A process of preparing the first component before assembly, the first component having: a frame body having a first wall portion and a second wall portion disposed apart from and opposite to each other, a first protruding portion protruding from the first wall portion toward the second wall portion, and a second protruding portion protruding from the second wall portion toward the first wall portion; a drive portion having a motor body generating a drive force rotating around a drive shaft, a drive pulley connected to the motor body, and a flange protruding from the motor body toward a direction intersecting the drive shaft; an articulation portion having a driven pulley, transmitting the drive force to a second component; and a transmission belt, wherein the first protruding portion and the second protruding portion have a support portion having a distance apart from each other shorter than a length by which the flange protrudes, and a cutout portion having a distance apart from each other longer than the length by which the flange protrudes, a process of hanging the transmission belt around the driven pulley; a process of bringing the drive portion close to the transmission belt on a path by which the flange passes through the cutout portion at both end portions in a protruding direction; a process of hanging the transmission belt around the drive pulley; and a process of fixing the flange to the support portion.

9. A robot system, characterized by provided with: the robot according to any one of claims 1 to 7; and a control device that controls an operation of the robot.

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