robot

Abstract

This application discloses a robot that is less prone to liquid accumulation and is therefore safer. The robot has: a base; a first arm connected to the base and rotating about a first axis relative to the base; a second arm connected to the first arm and rotating about a second axis relative to the first arm, and having a recess that opens upward in a vertical direction; a connector disposed within the recess; and a drain portion communicating with the bottom of the recess to drain liquid from the recess to the outside of the recess. The second arm has: an arm base connected to the first arm; a bottom component forming the bottom of the recess; a connecting component connecting the arm base and the bottom component; and an outer component forming a sidewall portion of the recess, the sidewall portion of the drain portion being formed by the outer component, and the bottom of the drain portion being formed by the connecting component.

Description

[0001] This application is a divisional application based on the patent application filed on March 27, 2020, with application number 202010231333.0 and entitled "Robot". Technical Field

[0002] This invention relates to robots. Background Technology

[0003] Patent Document 1 describes a robot with a recess in the housing of its robot arm, within which a connector or similar component is disposed. Furthermore, a cover for covering the recess is provided in the robot arm housing, and a drainage hole is formed on this cover. When a volume of liquid, such as water, sprayed from a sprinkler is present in the recess, the robot will tilt the recess downwards in the vertical direction, draining the liquid from the recess through the drainage hole.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2016-198849

[0005] However, in the case of a SCARA robot that only has an arm that moves in the horizontal direction, it is difficult to drain the liquid accumulated in the recess because the recess cannot face the vertical downward direction. Summary of the Invention

[0006] The present invention relates to a robot comprising: a base; a first arm connected to the base and rotatable about a first axis relative to the base; a second arm connected to the first arm and rotatable about a second axis relative to the first arm, and having a recess opening upward in a vertical direction; a connector disposed within the recess; and a drainage portion communicating with the bottom of the recess to drain liquid within the recess to the outside of the recess, the second arm comprising: an arm base connected to the first arm; a bottom component forming the bottom of the recess; a connecting component connecting the arm base and the bottom component; and an outer component forming a sidewall portion of the recess, the sidewall portion of the drainage portion being formed by the outer component, and the bottom of the drainage portion being formed by the connecting component.

[0007] The present invention also relates to a robot having: a base; a first arm connected to the base and rotatable about a first axis relative to the base; a second arm connected to the first arm and rotatable about a second axis relative to the first arm, and having a recess opening upward in a vertical direction; a connector disposed within the recess; and a drainage portion communicating with the bottom of the recess to drain liquid within the recess to the outside of the recess, the second arm having: an arm base connected to the first arm; a bottom forming member constituting the bottom of the recess and connected to the arm base; and an outer fitting member constituting a sidewall portion of the recess, the sidewall portion of the drainage portion being formed by the outer fitting member. Attached Figure Description

[0008] Figure 1 This is a side view of the robot according to the first embodiment of the present invention.

[0009] Figure 2 It means Figure 1 A three-dimensional diagram of the second arm of the robot.

[0010] Figure 3 This is a sectional view of the second arm.

[0011] Figure 4 This is a top view of the second arm.

[0012] Figure 5 This is a cross-sectional view showing the second arm of the robot according to the second embodiment of the present invention.

[0013] Figure 6 This is a perspective view showing the second arm of the robot according to the third embodiment of the present invention.

[0014] Explanation of reference numerals in the attached figures

[0015] 1...robot; 2...base; 3...arm; 4...first arm; 41...arm base; 42...external assembly; 421...drainage hole; 5...second arm; 51...recess; 511...bottom; 512...side wall; 52...drainage; 520...groove; 520a...end; 521...bottom; 522...side wall; 529...through hole; 53...arm base; 54...bottom component; 55...connecting component; 56...external assembly; 561...base; 562...external assembly; 563...slit; 57...upper component; 571...opening; 58... Lower component; 581... Opening; 6... Working head; 61... Spline nut; 62... Ball screw nut; 63... Spline shaft; 64... Payload; 65... End effector; 71, 72, 73, 74... Drive unit; 75... Robot control unit; 76... Wiring assembly; 761... Wiring; 8... Connector assembly; 81... Connector; 82... Piping connector; 9... Piping; C... Controller; D... Depth; E... Encoder; J1... First axis; J2... Second axis; J3... Third axis; M... Motor; Q1, Q2... Joints; S... Liquid; T... Maximum height. Detailed Implementation

[0016] The robot of the present invention will now be described in detail based on the embodiments shown in the accompanying drawings.

[0017] First Implementation Method

[0018] Figure 1 This is a side view showing the robot according to the first embodiment of the present invention. Figure 2 It is shown Figure 1 A three-dimensional diagram of the robot's second arm. Figure 3 This is a sectional view of the second arm. Figure 4 This is a top view of the second arm.

[0019] also, Figure 1 The vertical direction is consistent with the vertical direction. Figure 1 The upper side is referred to as "upper," and the lower side as "lower." Furthermore, in this specification, "horizontal" includes not only the case of being horizontal, but also the case of being inclined relative to the horizontal as long as the effects of the invention are achieved. Similarly, in this specification, "vertical" includes not only the case of being vertical, but also the case of being inclined relative to the vertical as long as the effects of the invention are achieved. Additionally, in this specification, "parallel" includes not only the case of two objects being parallel, but also the case of being inclined from the parallel as long as the effects of the invention are achieved.

[0020] Figure 1 The robot 1 shown is a horizontal articulated robot (SCARA robot), which is used in various operations such as holding, transporting, assembling, and inspecting workpieces such as electronic components. However, the application of robot 1 is not particularly limited.

[0021] Robot 1 includes a base 2, an arm 3 connected to the base 2, and a pipe 9 connecting the base 2 and the arm 3. The arm 3 has: a first arm 4, the base end of which is connected to the base 2, and the first arm 4 is rotatable relative to the base 2 about a first axis J1; and a second arm 5, the base end of which is connected to the front end of the first arm 4, and the second arm 5 is rotatable relative to the first arm 4 about a second axis J2 parallel to the first axis J1. Additionally, a working head 6 is provided at the front end of the second arm 5.

[0022] The base 2 is fixed to a floor surface (not shown), for example, by screws. Furthermore, a drive unit 71 is provided within the base 2, which rotates the first arm 4 relative to the base 2 about a first axis J1, and a drive unit 72 is provided within the second arm 5, which rotates the second arm 5 relative to the first arm 4 about a second axis J2. The drive units 71 and 72 each include a motor M as a drive source, a controller C for controlling the drive of the motor M, and an encoder E for detecting the rotation amount of the motor M.

[0023] The working head 6 includes: a spline nut 61 and a ball screw nut 62 coaxially disposed at the front end of the second arm 5; and a spline shaft 63 that inserts the spline nut 61 and the ball screw nut 62. The spline shaft 63 is rotatable relative to the second arm 5 about a third axis J3, which is its central axis, and is capable of moving up and down in the direction along the third axis J3. The third axis J3 is parallel to the first axis J1 and the second axis J2 and is along the vertical direction.

[0024] The second arm 5 is equipped with: a drive device 73 that rotates the spline nut 61 to rotate the spline shaft 63 around the third axis J3; and a drive device 74 that rotates the ball screw nut 62 to move the spline shaft 63 up and down in the direction along the third axis J3. The drive devices 73 and 74 respectively include a motor M as a drive source, a controller C that controls the drive of the motor M, and an encoder E that detects the rotation amount of the motor M.

[0025] A payload 64 for mounting an end effector 65 is provided at the lower end of the splined shaft 63. There are no particular limitations on the end effector 65 mounted on the payload 64, and examples include, for instance, a handle for holding an object, or a work tool for processing the object.

[0026] Additionally, a robot controller 75 is installed within the base 2. This robot controller 75 controls the drive units 71, 72, 73, and 74 according to instructions from a mainframe computer (not shown). Furthermore, a wiring assembly 76 extends from the base 2 to the second arm 5 via conduit 9. This wiring assembly 76 has multiple wires 761 that electrically connect the robot controller 75 to the drive units 72, 73, and 74. Therefore, wiring of the wiring assembly 76 can be easily achieved without passing through the joint Q1 connecting the base 2 to the first arm 4, or the joint Q2 connecting the first arm 4 to the second arm 5.

[0027] The robot control device 75 is, for example, a computer, having a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface. Furthermore, the memory stores various programs that can be executed by the processor, and the processor can read and execute these programs stored in the memory.

[0028] The above provides a brief description of the overall structure of robot 1. However, the structure of robot 1 is not particularly limited. For example, it can be configured such that arm 3 omits the first arm 4 and connects the second arm 5 to the base 2. Alternatively, at least one arm capable of rotating about an axis extending in the vertical direction can be positioned between the first arm 4 and the second arm 5.

[0029] Next, the second arm 5 will be described in detail. For example... Figure 2As shown, the second arm 5 has a recess 51 that opens upward in a vertical direction. Furthermore, a plurality of connectors 81 and a piping connector 82 connected to the piping 9 are disposed within the recess 51. The plurality of connectors 81 and the piping connector 82 are respectively mounted on the bottom 511 of the recess 51.

[0030] There are no particular limitations on the individual connectors 81. Examples include power connectors for end effectors, connectors for supplying compressed air to the end effectors, connectors for cameras mounted on the second arm 5 or the end effectors, connectors for LAN connections, and connectors for various sensors such as accelerometers, angular velocity sensors, force sensors, proximity sensors, and temperature sensors. Furthermore, there are no particular limitations on the number of connectors 81 and piping connectors 82, which can be appropriately set according to the specifications of robot 1. In the following text, for ease of explanation, connectors 81 and piping connectors 82 will be collectively referred to as "connector group 8".

[0031] Thus, by placing the connector assembly 8 within the recess 51, and surrounding it with the second arm 5, the connector assembly 8 is prevented from protruding beyond the outer contour of the second arm 5. Therefore, direct contact between the connector 81 or the piping connector 82 belonging to the connector assembly 8 and objects or people surrounding the robot 1 can be prevented. Since the connector 81 and piping connector 82 are generally made of relatively hard materials such as metal and have multiple angles, preventing direct contact between the connector assembly 8 and surrounding objects or people makes the robot 1 safer. Furthermore, damage to the connector assembly 8 can also be prevented. Specifically, in this embodiment, as... Figure 3 As shown, the depth D of the recess 51 is greater than the maximum height T of the connector assembly 8, and the entire connector assembly 8 is housed within the recess 51. Therefore, the aforementioned effects can be achieved more significantly.

[0032] Furthermore, the second arm 5 has a drainage section 52 that connects the bottom 511 of the recess 51 to the outside of the second arm 5, and drains the liquid S from the recess 51 to the outside of the recess 51. Here, the outside of the second arm 5 refers to the outer side of the outer contour of the second arm 5. For example, it is conceivable that, depending on the environment in which the robot 1 is used, a sprinkler is placed around it, and the water sprayed from the sprinkler accumulates in the recess 51. In addition, it is conceivable that when the robot 1 uses liquids (including oil) or transports liquids during its operation, the liquid will also accumulate in the recess 51. As described above, if the liquid S accumulates in the recess 51, it may cause corrosion or deterioration of the connector assembly 8, short circuits between the connectors, or the liquid S to enter the second arm 5. Therefore, by providing the drainage section 52 and draining the liquid S from the recess 51 through the drainage section 52, the possibility of the above problems occurring is significantly reduced. Therefore, the robot 1 becomes more reliable.

[0033] In addition, such as Figure 2 and Figure 3 As shown, the drainage section 52 is formed by a groove 520, one end of which is connected to the bottom 511 of the recess 51. This simplifies the structure of the drainage section 52. Furthermore, as... Figure 3 As shown, the bottom 521 of the groove 520 and the bottom 511 of the recess 51 are coplanar. This allows the liquid S in the recess 51 to be discharged more smoothly into the groove 520. However, the invention is not limited to this; for example, the bottom 521 of the groove 520 may also be located further downward in the vertical direction than the bottom 511 of the recess 51, and a stepped portion or inclined surface may be formed between them.

[0034] Furthermore, the groove 520 is located further from the base end of the second arm 5 than the recess 51. More specifically, the groove 520 extends from the recess 51 through the upper surface of the second arm 5 and the side surface (back side) of the base end of the second arm 5 to the lower end of the back side. Additionally, the groove 520 has a portion that overlaps with the plane passing through the second shaft J2 and the third shaft J3. Thus, by providing the groove 520 at the base end of the second arm 5, the drainage portion 52 is easily positioned, and the drainage portion 52 is less likely to obstruct the positioning of other components. However, the positioning of the drainage portion 52 is not particularly limited; it can also be located at the front end of the second arm 5 or at the side portion of the second arm 5.

[0035] Furthermore, when viewed from a vertical direction, the downstream end 520a of the groove 520 overlaps with the front end of the first arm 4, and the liquid S discharged from the recess 51 through the groove 520 is transferred to the first arm 4. That is, the liquid S flows onto the upper surface of the first arm 4. Then, as... Figure 3 As indicated by the arrow, liquid S falls from the first arm 4 onto the floor surface. The first arm 4 is located closer to the base end than the second arm 5, and its range of motion is smaller than that of the second arm 5. Therefore, compared to the case where liquid S falls directly from the second arm 5 onto the floor surface, by letting the liquid S discharged from the recess 51 fall from the first arm 4 onto the floor surface, the area of ​​liquid S scattered on the floor surface can be reduced. Therefore, cleaning and recycling of liquid S scattered on the floor surface becomes easier. In this embodiment, liquid S discharged from the recess 51 is transferred to the first arm 4 throughout the entire rotation angle region of the second arm 5. However, the invention is not limited to this, and it may also be configured such that liquid S discharged from the recess 51 falls directly from the second arm 5 onto the floor surface.

[0036] like Figure 3As shown, the first arm 4 has an arm base 41 connected to the base 2 and an outer component 42 covering the arm base 41. A drain hole 421 is provided at the bottom of the outer component 42. This drain hole 421 discharges liquid S, which is transferred from the second arm 5, flows down from the second arm 5, and enters the first arm 4 through the gap between the arm base 41 and the outer component 42, to the outside of the first arm 4. This allows for more reliable discharge of liquid S from the second arm 5 to the outside of the first arm 4. Furthermore, there are no particular limitations on the position, number, and shape of the drain hole 421. For example, if the first arm 4 has an arm base 41 and an outer component 42 covering the upper and side surfaces of the arm base 41, and the lower surface of the arm base 41 is exposed, the drain hole 421 can also be provided at the bottom of the arm base 41 of the first arm 4. Alternatively, the drain hole 421 can be omitted. Furthermore, the discharge path of the liquid S is not limited to this.

[0037] Returning to the description of the second arm 5, as follows: Figure 3 As shown, the second arm 5 includes: an arm base 53 connected to the first arm 4; a bottom forming member 54 constituting the bottom 511 of the recess 51; a connecting member 55 located at the base end of the second arm 5 and connecting the arm base 53 and the bottom forming member 54; and an outer fitting member 56 covering these portions and constituting the sidewall portion of the recess 51. Furthermore, the connecting member 55 is strip-shaped, with its base end connected to the arm base 53 and its front end connected to the bottom forming member 54.

[0038] In these components, the arm base 53, the bottom component 54, and the connecting component 55 are made of sufficiently rigid materials such as metal or resin. In contrast, the outer component 56 is made of a sufficiently flexible material. This structure allows for sufficient rigidity of the second arm 5 while maintaining a flexible outer surface. Therefore, even if the second arm 5 collides with surrounding objects or people, the impact can be mitigated by the outer component 56, resulting in a safer robot 1.

[0039] Furthermore, the external component 56 is divided into an upper component 57 located on the upper side of the arm base 53 and a lower component 58 located on the lower side of the arm base 53. Thus, by dividing the external component 56 into the upper component 57 and the lower component 58, the external component 56 can be easily installed onto the arm base 53. However, the structure of the external component 56 is not limited to this; it may not be divided into upper component 57 and lower component 58, and may be further divided into multiple components.

[0040] Furthermore, the outer component 56 has a base 561 and an outer portion 562 disposed on the outer surface of the base 561, the outer surface of the outer portion 562 constituting the outer surface of the outer component 56. Moreover, the elastic modulus of the outer portion 562 is less than the elastic modulus of the bottom component 54. Therefore, the surface of the second arm 5 becomes sufficiently soft to effectively mitigate the impact during collisions. Thus, a safe robot 1 is achieved.

[0041] The base 561 can be made of, for example, polyethylene, polypropylene, ABS resin, etc. Furthermore, the outer casing 562 is not particularly limited, and in this embodiment it is made of foam. Therefore, the outer casing 562 can exhibit higher elasticity and cushioning properties, and can more effectively mitigate the impact during collisions. Thus, it becomes a safer robot 1. There are no particular limitations on the constituent materials of the foam; for example, polyolefins such as polyethylene and polypropylene, polyurethane, polystyrene, phenolic resin, polyvinyl chloride, urea resin, silicone, polyimide, melamine resin, etc., can be used.

[0042] Furthermore, as for the outer casing 562, it is not limited to foams; various elastomers can also be used. Examples of elastomer constituent materials include various rubber materials such as natural rubber, isoprene rubber, butadiene rubber, styrene-butadiene rubber, nitrile rubber, butyl rubber, acrylic rubber, ethylene propylene rubber, polyurethane rubber, and silicone rubber; as well as various elastomers such as styrene-based, polyolefin-based, polyvinyl chloride-based, polyurethane-based, polyester-based, polyamide-based, polybutadiene-based, trans-polyisoprene-based, fluororubber-based, and chlorinated polyethylene. One or more of these can also be used in combination.

[0043] Furthermore, in this embodiment, although the entire outer casing 562 has a smaller elastic modulus than the bottom component 54, it is not limited to this; a portion of the outer casing 562 may also have a smaller elastic modulus than the bottom component 54. Alternatively, the entire outer casing 562 may have a larger elastic modulus than the bottom component 54.

[0044] The groove 520 provided in the second arm 5 is formed by a connecting member 55 and an outer member 56. Specifically, the outer member 56 is in liquid-tight contact with the connecting member 55. In addition, a slit 563 is formed at the base end of the outer member 56, overlapping with the connecting member 55 and extending along the connecting member 55. Furthermore, the slit 563 constitutes the sidewall portion 522 of the groove 520, and the portion of the connecting member 55 exposed from the slit 563 constitutes the bottom 521 of the groove 520. Thus, the groove 520 can be formed with a simple structure.

[0045] Furthermore, the upper component 57 has an opening forming the recess 51, an opening 571 in the sidewall portion, and the base end side is divided into left and right parts by a slit 563 from the opening 571. Therefore, as Figure 4 As shown, for example, even when the pipe 9 is connected to the pipe connector 82, the slit 563 opens wide to the left and right, allowing the pipe 9 to pass through the slit 563, thereby enabling the upper component 57 to be mounted to the arm base 53. Therefore, the assembly of the robot 1 is facilitated. Similarly, the lower component 58 has an opening (not shown) for the spline shaft 63 to pass through and an opening 581 for the joint Q2 connected to the first arm 4 to pass through. The base end is divided into left and right parts by the slit 563 from this opening 581. Therefore, for example, even when the second arm 5 is connected to the first arm 4, the slit 563 opens wide to the left and right, allowing the joint Q2 to pass through the slit 563, thereby enabling the lower component 58 to be mounted to the arm base 53. Therefore, the assembly of the robot 1 is facilitated.

[0046] The robot 1 has been described above. As described above, such a robot 1 has: an arm 3 as a movable part, which is displaceable in the horizontal direction and has a recess 51 with an opening in the vertical direction; a connector 81 disposed in the recess 51; and a drainage part 52 to drain liquid accumulated in the recess 51 to the outside of the recess 51. With such a structure, it is possible to prevent the connector 81 from protruding from the arm 3 and to prevent the connector 81 from coming into contact with objects or people present around the robot 1. Thus, it becomes a safer robot 1. Furthermore, it is also possible to prevent damage to the connector 81. In addition, since liquid accumulated in the recess 51 can be drained to the outside of the recess 51 through the drainage part 52, it becomes a highly reliable robot 1.

[0047] Furthermore, as described above, arm 3 includes: a bottom component 54 forming the bottom 511 of recess 51; and an outer component 56 forming the sidewall portion 512 of recess 51. The elastic modulus of the outer component 56 is less than that of the bottom component 54. As a result, the surface of arm 3 becomes sufficiently soft to effectively mitigate the impact during collisions. Therefore, it becomes a safe robot 1.

[0048] Furthermore, as described above, robot 1 includes: a base 2 to which arm 3 is connected; a conduit 9 connecting arm 3 to base 2, internally housing wiring 761; and a connector 82 disposed within recess 51 and connected to conduit 9. This prevents the conduit connector 82 from protruding from arm 3 and also prevents contact between the conduit connector 82 and surrounding objects or people. As a result, robot 1 becomes safer. Additionally, damage to the conduit connector 82 can be prevented.

[0049] Furthermore, as described above, arm 3 has a first arm 4 and a second arm 5. The first arm 4 rotates relative to the base 2 about a first axis J1 along the vertical direction, and the second arm 5 rotates relative to the first arm 4 about a second axis J2 along the vertical direction. A recess 51 is provided in the second arm 5. As a result, electrical connections between the connector 81, the piping connector 82, and various devices disposed within the second arm 5 are facilitated.

[0050] Furthermore, as described above, the splined shaft 63, which serves as an axis, rotates around the third axis J3 of the second arm 5, and the groove 520 has a portion that overlaps with the plane passing through the second axis J2 and the third axis J3. The base end of the first arm 4 is connected to the base 2, the base end of the second arm 5 is connected to the front end of the first arm 4, and the drainage section 52 is located at the base end of the second arm 5. This simplifies the configuration of the drainage section 52. Additionally, as described above, the drainage section 52 is a groove 520. This simplifies the structure of the drainage section 52.

[0051] Furthermore, as described above, the second arm 5 includes: an arm base 53 connected to the first arm 4; a bottom forming member 54 constituting the bottom 511 of the recess 51; and a connecting member 55 connecting the arm base 53 and the bottom forming member 54. Moreover, the bottom 521 of the groove 520 is formed by the connecting member 55, and the sidewall portion 522 of the groove 520 is formed by a slit 563 formed on the outer fitting member 56. Therefore, the groove 520 is easily formed.

[0052] Furthermore, as described above, the liquid discharged from the drain section 52 is transferred to the first arm 4. Thus, the liquid discharged from the recess 51 is transferred to the first arm 4 and then falls onto the floor surface from the first arm 4. Since the range of motion of the first arm 4 is smaller than that of the second arm 5, the area of ​​liquid scattered on the floor surface is smaller compared to the case where the liquid falls directly onto the floor surface from the second arm 5. Therefore, cleaning and recycling of the liquid scattered on the floor surface becomes easier.

[0053] Furthermore, as described above, the first arm 4 is vertically below the second arm 5, and the first arm 4 has a drain hole 421 for allowing liquid discharged from the drain section 52 to fall. This allows for more reliable discharge of liquid from the second arm 5 out of the first arm 4.

[0054] Second Implementation Method

[0055] Figure 5 This is a cross-sectional view showing the second arm of a robot according to a second embodiment of the present invention.

[0056] The robot 1 described in this embodiment is identical to that in the first embodiment, except for the structure of the recess 51. In the following description, the robot 1 of the second embodiment will be described focusing on the differences between it and the first embodiment; identical aspects will be omitted. Furthermore, Figure 5 In this document, the same reference numerals are used to mark structures that are identical to those in the first embodiment described above.

[0057] like Figure 5 As shown, in the recess 51 of this embodiment, the bottom 511 slopes downward in the vertical direction toward the drainage portion 52. Therefore, the liquid S inside the recess 51 naturally flows toward the drainage portion 52 due to its own weight and is discharged out of the recess 51 through the drainage portion 52. As a result, liquid is less likely to accumulate inside the recess 51, thus resulting in a more reliable robot 1.

[0058] As described above, in the robot 1 of this embodiment, the bottom 511 of the recess 51 slopes downward in the vertical direction toward the drain 52. Therefore, the liquid S within the recess 51 naturally flows toward the drain 52 due to its own weight and is discharged out of the recess 51 through the drain 52. As a result, the liquid S is less likely to accumulate in the recess 51, thus making the robot 1 more reliable.

[0059] According to the second implementation method described above, the same effect as the first implementation method described above can also be achieved.

[0060] Third Implementation Method

[0061] Figure 6 This is a perspective view showing the second arm of a robot according to a third embodiment of the present invention.

[0062] The robot 1 involved in this embodiment is the same as that in the first embodiment described above, except for the structure of the drainage section 52. In the following description, the robot 1 of the third embodiment will be described focusing on the differences from the first embodiment described above, and descriptions of the same items will be omitted. In addition, Figure 6 In this document, the same reference numerals are used to mark structures that are identical to those in the first embodiment described above.

[0063] like Figure 6 As shown, the drainage section 52 is formed by a through hole 529 formed in the outer component 56, which communicates with the outer surface of the outer component 56 within the recess 51. Even with such a structure, the drainage section 52 is easy to form.

[0064] According to the third embodiment described above, the same effect as the first embodiment described above can also be achieved.

[0065] The robot of the present invention has been described above with reference to the illustrated embodiments. However, the present invention is not limited thereto, and the structure of each part can be replaced with any structure having the same function. Furthermore, other arbitrary components can be added. Additionally, the present invention can combine any two or more structures from the above embodiments.

Claims

1. A robot, characterized in that, have: Base; The first arm is connected to the base and rotates about a first axis relative to the base; The second arm is connected to the first arm, rotates about a second axis relative to the first arm, and has a recess that opens upward in the vertical direction; The connector is disposed within the recess; as well as A drainage section, connected to the bottom of the recess, discharges liquid from the recess to the outside of the recess. The second arm has: an arm base connected to the first arm; a bottom component forming the bottom of the recess; a connecting component connecting the arm base and the bottom component; and an outer component forming the sidewall portion of the recess. The sidewall of the drainage section is formed by the external component. The bottom of the drainage section is formed by the connecting component. The bottom of the drainage section is at the same position in the vertical direction as the bottom of the recess, or the bottom of the drainage section is located further down in the vertical direction than the bottom of the recess.

2. The robot according to claim 1, characterized in that, There is a stepped section or inclined surface between the drainage section and the recess.

3. The robot according to claim 1 or 2, characterized in that, The bottom component and the connecting component are made of metal.

4. The robot according to claim 1 or 2, characterized in that, The connecting component is strip-shaped.

5. The robot according to claim 1 or 2, characterized in that, The robot has the following characteristics: Piping, connecting the second arm to the base, with wiring housed inside the piping; and A piping connector is disposed within the recess and connected to the piping.

6. The robot according to claim 5, characterized in that, The piping connector is disposed on the second shaft.

7. The robot according to claim 5, characterized in that, The robot has the following features: A shaft, disposed in the second arm, and rotating about a third axis or moving up and down in a direction along the third axis; and The drive device drives the shaft. The connector is disposed between the piping connector and the drive unit.

8. The robot according to claim 1 or 2, characterized in that, The robot has an axis, which is disposed on the second arm and rotates about a third axis. The drainage section has a portion that overlaps with the plane passing through the second axis and the third axis.

9. The robot according to claim 1 or 2, characterized in that, The drainage section is a ditch.

10. The robot according to claim 1 or 2, characterized in that, When the direction orthogonal to the direction in which the recess and the drainage portion are arranged is defined as the first direction, the length of the drainage portion in the first direction is shorter than the length of the recess in the first direction.

11. The robot according to claim 10, characterized in that, The robot has the following characteristics: Piping, connecting the second arm to the base, with wiring housed inside the piping; and A piping connector is disposed within the recess and connects to the piping. The length of the drainage section in the first direction is shorter than the length of the pipe connector in the first direction.

12. The robot according to claim 1 or 2, characterized in that, The bottom slopes downwards in the vertical direction toward the drainage section.

13. A robot, characterized in that have: Base; The first arm is connected to the base and rotates about a first axis relative to the base; The second arm is connected to the first arm, rotates about a second axis relative to the first arm, and has a recess that opens upward in the vertical direction; The connector is disposed within the recess; as well as A drainage section, connected to the bottom of the recess, discharges liquid from the recess to the outside of the recess. The second arm has: an arm base connected to the first arm; a bottom forming member constituting the bottom of the recess and connected to the arm base; and an outer fitting member constituting the sidewall portion of the recess. The sidewall of the drainage section is formed by the external component. The bottom of the drainage section is at the same position in the vertical direction as the bottom of the recess, or the bottom of the drainage section is located further down in the vertical direction than the bottom of the recess.

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