robot

Abstract

Provided is a robot capable of easily winding a wire connected to an end effector around a robot arm without damaging the wire. A robot characterized by having a robot arm having an A arm, a B arm supported by the A arm, and a C arm to which an end effector is attachable and which is rotatable around a C rotational axis, the A arm having a first engagement portion, the B arm having a fixing portion that restricts the position of a flexible member and a second engagement portion, and the C arm having a through-hole, the robot arm having a restriction portion configured to include the first engagement portion and the second engagement portion and to restrict the rotation of the B arm relative to the A arm, the restriction portion not being exposed to the outside of the robot arm in a state in which the A arm and the B arm are connected.

Description

[0001] This application is a divisional application of patent application No. 201811293362.9, filed on November 1, 2018, entitled "Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to a robot and a robot system. Background Technology

[0003] Previously, there was a known industrial robot that performed tasks such as holding objects. Such an industrial robot is, for example, a robotic arm with multiple arms, typically with an end effector such as a hand for holding objects mounted at the front end of the robotic arm.

[0004] Here, the wiring or conduit used to drive the end effector is preferably configured to be easily routed from the end effector to the robotic arm without obstructing the operation of the end effector. Furthermore, it is desirable that the wiring or conduit is resistant to damage and ensures long-term reliability.

[0005] For example, Patent Document 1 discloses a robot having an arm, a lifting section supported by both arms, and an end effector connected to the lifting section. Through holes for inserting wiring are formed in both the lifting section and the arm. Furthermore, in the robot described in Patent Document 1, to ensure that the wiring connected to the end effector does not obstruct operation, the wiring passes through the through holes formed in the lifting section, goes around to the space between the arm and the lifting section, passes through the through holes formed in the arm, and extends to the side wall of the arm.

[0006] Patent Document 1: Japanese Patent Application Publication No. 2015-160305

[0007] However, in the robot described in Patent Document 1, although the wiring does not hinder operation, it is difficult to route the wiring from the end effector to the side wall of the arm because the lifting unit is supported by two arms. Furthermore, in the robot in question, the wiring may be damaged by friction from the through-holes formed in the arm as the lifting unit or arm moves.

[0008] In addition, robots are usually equipped with mechanical stops that limit the range of motion of the arm, but the wiring may be damaged if it gets caught in the mechanical stop. Summary of the Invention

[0009] This invention is made to solve at least some of the above-mentioned problems and can be implemented as the following application examples or methods.

[0010] The robot of this application example is characterized by having a robot body including a robotic arm, the robotic arm having: an A arm, rotatable about a rotation axis A; a B arm, cantilevered and supported on the A arm, rotatable about a rotation axis B; and a C arm, connected to the B arm, capable of mounting an end effector, and rotatable about a rotation axis C. The A arm has a first engaging portion, and the B arm has: a fixing portion, restricting the position of a flexible member having at least one of wiring and tubing connected to the end effector; and a second engaging portion, capable of engaging with the first engaging portion. The C arm has a through hole through which the flexible member can be inserted and extends along the axial direction of the rotation axis C. The robotic arm has a limiting portion, which is configured to include the first engaging portion and the second engaging portion, thereby limiting the rotation of the B arm relative to the A arm by engaging the first engaging portion and the second engaging portion. The limiting portion is not exposed to the outside of the robotic arm when the A arm and the B arm are connected.

[0011] According to this robot, the C-arm has a through hole for inserting a flexible component, and the B-arm has a fixing part that restricts the position of the flexible component, thereby preventing the flexible component from swaying due to the movement of the robotic arm and preventing interference with the flexible component and peripheral equipment. Furthermore, the B-arm is cantilevered and supported by the A-arm, allowing for easy winding of the flexible component and reducing damage to it. Moreover, the limiting part, which functions as a so-called mechanical stop, is located inside the robotic arm without being exposed to the outside, thus also reducing damage to the flexible component from the limiting part.

[0012] In the robot of this application example, preferably, the B-arm has a hole into which the flexible component can be inserted and which communicates with the through hole of the C-arm, and the through hole of the C-arm, the hole of the B-arm, and the fixing part are arranged along the axial direction of the rotation axis of the C-arm.

[0013] This makes it easy to wind flexible components.

[0014] In the robot of this application example, preferably, the B arm has a first part connected to the A arm and a second part having the hole, the first part and the second part being connected in such a way that both ends of the hole are open to the outside.

[0015] This makes it easy to wind flexible components.

[0016] In the robot of this application example, it is preferable that the fixing part is disposed in the first part.

[0017] Therefore, the position of the flexible component extending from the through hole can be appropriately restricted (fixed), thereby more effectively reducing the swaying of the flexible component.

[0018] In the robot of this application example, it is preferable that the second engaging portion is a protrusion provided on the inner surface of the B-arm.

[0019] Therefore, it is possible to construct a relatively simple structure that does not expose the external parts of the robotic arm.

[0020] In the robot of this application example, it is preferable that the first engaging portion is a protrusion provided on the outer surface of the A-arm.

[0021] Therefore, it is possible to construct a relatively simple structure that does not expose the external parts of the robotic arm.

[0022] In the robot of this application example, it is preferable to have a control board and a power board disposed within the robot body, wherein the power board supplies power to the control board.

[0023] Therefore, the control board and power board, which function as controllers, are integrated with the robot body, thus increasing the flexibility of robot configuration compared to situations where the robot body and controller are separate.

[0024] The robot system in this application example is characterized by comprising a robot including a robotic arm and a control device. The robotic arm has: an A arm, rotatable about a rotation axis A; a B arm, cantilevered and supported on the A arm and rotatable about a rotation axis B; and a C arm, connected to the B arm, capable of mounting an end effector, and rotatable about a rotation axis C. The control device has a control board and a power board separately disposed from the robot, the power board supplying power to the control board. The A arm has a first engaging portion, and the B arm has: a fixing portion for engaging the end effector connected to the robot. The position of at least one flexible component in the wiring and tubing of the device is restricted; and a second engaging portion is provided, which engages with the first engaging portion. The C-arm has a through hole through which the flexible component can be inserted and which extends along the axial direction of the C-rotation axis. The robotic arm has a limiting portion, which is composed of the first engaging portion and the second engaging portion. The rotation of the B-arm relative to the A-arm is restricted by the engagement of the first engaging portion and the second engaging portion. The limiting portion is not exposed to the outside of the robotic arm when the A-arm and the B-arm are connected.

[0025] Such a robotic system can prevent the swaying of flexible components caused by the movement of the robotic arm, as well as interference with the flexible components and peripheral equipment. Furthermore, it allows for easy winding of the flexible components, reducing damage to them. Attached Figure Description

[0026] Figure 1 This is a perspective view showing the robot according to the first embodiment.

[0027] Figure 2 From and Figure 1 Observing from different directions Figure 1 The image shown is a 3D view of the robot.

[0028] Figure 3 yes Figure 1 The diagram shown is a block diagram of the robot.

[0029] Figure 4 Viewed from the -x axis side Figure 1 The image shown is of the robot.

[0030] Figure 5 Viewed from the -y axis side Figure 1 The image shown is of the robot.

[0031] Figure 6 Viewed from the +z axis side Figure 1 The image shown is of the robot.

[0032] Figure 7 This is a diagram used to illustrate the multiple shells and covers that a robot has.

[0033] Figure 8 It is a schematic three-dimensional view showing the interior of the robot's main body.

[0034] Figure 9 This is a schematic diagram showing the front end of a robotic arm.

[0035] Figure 10 This is a schematic cross-sectional view showing the fifth and sixth drive units.

[0036] Figure 11 This is a diagram showing the first engaging portion located on the fourth arm.

[0037] Figure 12 This is a diagram showing the second engaging portion located on the fifth arm.

[0038] Figure 13 This diagram illustrates the restriction on the rotation of the fifth arm.

[0039] Figure 14 This diagram illustrates the restriction on the rotation of the fifth arm.

[0040] Figure 15 This is a diagram schematically illustrating a portion of the robot system according to the second embodiment.

[0041] Figure 16 yes Figure 15 The diagram shows a block diagram of the robot system.

[0042] Explanation of reference numerals in the attached figures

[0043] 1… Robot body; 5… Control unit; 5A… Control unit; 10… Robotic arm; 11… First arm; 12… Second arm; 13… Third arm; 14… Fourth arm; 15… Fifth arm; 16… Sixth arm; 20… Base; 21… Body; 22… Protrusion; 30… Drive unit; 31… First drive unit; 32… Second drive unit; 33… Third drive unit; 34… Fourth drive unit; 35… Fifth drive unit; 36… Sixth drive unit; 40… Position sensor; 50… External connection unit; 51… Control board; 52… Power board; 53… Drive board; 63… Screw; 70… Restriction part; 71… First engaging part; 72… Second… Engaging part; 80…End effector; 81…Flexible component; 90…Fixing part; 91…Fixing hole; 100…Robot; 100A…Robot; 115…Housing; 116…Cover; 121…Flat part; 122…Protrusion; 125…Housing; 126…Cover; 135…Housing; 136…Cover; 141…Part; 142…Part; 145…Housing; 146…Cover; 147…Cover; 151…First part; 152…Second part; 153…Hole; 155…Outer shell; 160…Through hole; 161…Through hole; 165…Component; 205…Housing; 206…Cover; 301…Motor unit; 3 01a…Motor unit; 301b…Motor unit; 302…Reducer; 302a…Reducer; 302b…Reducer; 304a…First pulley; 304b…First pulley; 305a…Second pulley; 305b…Second pulley; 306a…Belt; 306b…Belt; 307…Conversion mechanism; 500…Control device; 531…First drive base plate; 532…Second drive base plate; 533…Third drive base plate; 534…Fourth drive base plate; 535…Fifth drive base plate; 536…Sixth drive base plate; 721…End face; 722…End face; 1000…Robot system; 1410…Outer surface; 1451…Connection Connecting part; 1510…Inner surface; 1511…Outer wall portion; 1512…Inner wall portion; 3024a…Outer ring; 3024b…Outer ring; 3021a…Wave generator; 3021b…Wave generator; 3022a…Flexible gear; 3022b…Flexible gear; 3023a…Rigid gear; 3023b…Rigid gear; 3071…Bevel gear; 3072…Bevel gear; O1…Rotating shaft; O2…Rotating shaft; O3…Rotating shaft; O4…Rotating shaft; O5…Rotating shaft; O6…Rotating shaft; S1…Internal space; S10…Internal space; S15…Space; S20…Internal space; +R…Rotation limit; -R…Rotation limit. Detailed Implementation

[0044] Hereinafter, the robot and robot system of the present invention will be described in detail with reference to the preferred embodiments shown in the accompanying drawings.

[0045] First Implementation Method

[0046] Figure 1 This is a perspective view showing the robot according to the first embodiment. Figure 2 From and Figure 1 Observing from different directions Figure 1 The image shown is a 3D view of the robot. Figure 3 yes Figure 1 The diagram shown is a block diagram of the robot. Figure 4 Viewed from the -x axis side Figure 1 The image shown is of the robot. Figure 5 Viewed from the -y axis side Figure 1 The image shown is of the robot. Figure 6 Viewed from the +z axis side Figure 1 The image shown is of the robot. Figure 7 This is a diagram used to illustrate the multiple shells and covers that a robot has. Figure 8 It is a schematic three-dimensional view showing the interior of the robot's main body.

[0047] In addition, for ease of explanation, the following will be... Figure 1 , Figure 2 , Figures 4-8 In the diagram, the x-axis, y-axis, and z-axis are represented as three mutually orthogonal axes. The leading edge of the arrow representing each axis is designated as "+", and the trailing edge as "-". Furthermore, the direction parallel to the x-axis is called the "x-axis direction", the direction parallel to the y-axis is called the "y-axis direction", and the direction parallel to the z-axis is called the "z-axis direction". Figure 1 The base 20 side of the robot 100 shown is referred to as the "base end," and its opposite side (the sixth arm 16 side) is referred to as the "front end." Additionally, Figure 4 The upper side is called "upper," and the lower side is called "lower." Additionally, [the text abruptly ends here, likely due to an incomplete sentence or a formatting error]. Figure 4 The vertical direction is used as the "vertical direction", and the left and right direction is used as the "horizontal direction".

[0048] In addition, in this specification, "horizontal" also includes cases where the inclination is within ±5° of the horizontal direction. Similarly, "vertical" also includes cases where the inclination is within ±5° of the vertical direction. Furthermore, "parallel" includes not only cases where two lines (including axes) or two planes are completely parallel to each other, but also cases where the inclination is within ±5°. Furthermore, "orthogonal" includes not only cases where two lines (including axes) or two planes intersect each other at a 90° angle, but also cases where the inclination is within ±5° of 90°.

[0049] Figure 1 and Figure 2The robot 100 shown is a so-called six-axis vertical joint robot. For example, this robot 100 can be used in manufacturing processes such as those for manufacturing precision equipment like watches. The basic structure of the robot 100 will be described below first.

[0050] Robot 100 has a robot body 1, multiple drive units 30 built into the robot body 1, a position sensor 40, and a control unit 5 (control device) (see reference). Figures 1-3 ).

[0051] Furthermore, in this specification, Figure 1 The pose of robot 100 shown ( Figure 2 , Figures 4-8 The same posture is used as the "basic posture". In addition, for the sake of convenience, unless otherwise stated, the following description of the configuration relationship of the various parts of the robot 100 will be based on the robot 100 in a stationary state in the basic posture.

[0052] [Robot Body]

[0053] like Figure 1 and Figure 2 As shown, the robot body 1 has a base 20 and a robotic arm 10 connected to the base 20.

[0054] Furthermore, as will be explained in detail later, the robot body 1 is configured to include multiple external components and has an internal space S1 that houses multiple drive units 30, multiple position sensors 40, and a control unit 5. The internal space S1 includes the interior of the base 20, i.e., the internal space S20, and the interior of the robotic arm 10, i.e., the internal space S10, which is connected to the internal space S20.

[0055] <Pedestal>

[0056] The base 20 is the part that mounts the robot 100 to any location. The location of the base 20 is not particularly limited; for example, it can be a floor, wall, ceiling, workbench, movable cart, etc. The base 20 has a main body 21 with a cuboid shape and a cylindrical protrusion 22 located on the +z axis side of the main body 21.

[0057] <Robotic Arm>

[0058] The robotic arm 10 is rotatably supported on the base 20 and has a first arm 11, a second arm 12, a third arm 13, a fourth arm 14, a fifth arm 15, and a sixth arm 16 (front arm). These first arms 11, third arms 13, fourth arms 14, fifth arms 15, and sixth arms 16 are connected sequentially from the base end side toward the front end side and are configured to be rotatable relative to the arms or base 20 on adjacent base ends. Furthermore, in this embodiment, the fourth arm 14 constitutes "arm A", the fifth arm 15 constitutes "arm B", and the sixth arm 16 constitutes "arm C".

[0059] like Figure 4 As shown, the first arm 11 is connected to the protrusion 22 of the base 20 and can rotate about the rotation axis O1 in the vertical direction relative to the base 20. The first arm 11 is formed in a shape that is inclined and extends upward from the base 20, and when viewed from the z-axis direction, the front end of the first arm 11 protrudes outward from the base 20.

[0060] like Figure 4 and Figure 5 As shown, the second arm 12 is connected to the +x-axis side of the front end of the first arm 11 and can rotate horizontally about the rotation axis O2 relative to the first arm 11. Viewed from the x-axis direction, the second arm 12 is formed into an elongated shape with a curved central portion, having a flat portion 121 formed into a shape extending from the first arm 11 toward the third arm 13, and a protrusion 122 protruding from the central portion of the flat portion 121 toward the -x-axis direction. The protrusion 122 is separated from the first arm 11 so that even if the second arm 12 rotates, it will not contact the first arm 11.

[0061] like Figure 4 , Figure 5 and Figure 6 As shown, the third arm 13 is connected to a surface (partial) on the same -x-axis side as the surface of the first arm 11 where the flat portion 121 is provided, and is rotatable relative to the second arm 12 in the horizontal direction about the rotation axis O3. The third arm 13 is formed to protrude from the second arm 12 toward the -x-axis direction. In addition, the third arm 13 is connected to the second arm 12 in a manner that does not contact the protrusion 122.

[0062] like Figure 4 As shown, the fourth arm 14 is connected to the front end of the third arm 13 and can rotate relative to the third arm 13 about a rotation axis O4 (rotation axis A) that is perpendicular to the rotation axis O3. Figure 6 As shown, the fourth arm 14 is formed to extend from the third arm 13 toward the +y axis direction, extending from the base end side toward the front end side, and gradually decreasing in length (width) in the +x axis direction (one side of the width direction of the fourth arm 14). Such a fourth arm 14 has a base end side portion 141 and a front end side portion 142 that is shorter in length in the x axis direction than the length of the base end portion 141.

[0063] like Figure 4 As shown, the fifth arm 15 is connected to the -x-axis side of the front end portion 142 and is capable of rotating relative to the fourth arm 14 about a rotation axis O5 (B rotation axis) orthogonal to the rotation axis O4. Figure 4 and Figure 6 As shown, the fifth arm 15 has a first portion 151 protruding from the front end of the fourth arm 14 in the -x-axis direction and a second portion 152 connected to the first portion 151. The portion of the second portion 152 that is closer to the +x-axis side than its centerline is connected to the base end of the first portion 151.

[0064] The sixth arm 16 is connected to the base end of the fifth arm 15 and is capable of rotating relative to the fifth arm 15 about a rotation axis O6 (C rotation axis) orthogonal to the rotation axis O5. Such a sixth arm 16 can, for example, be configured to mount an end effector 80 (see reference) consisting of a hand or similar device capable of holding a work object (not shown). Figure 4 Furthermore, the wiring or conduit that transmits driving force to the end effector 80 is flexible, and the flexible component 81, which is composed of the wiring or conduit, wraps around from the end effector 80 to the robotic arm 10. The winding of the flexible component 81 around the robotic arm 10 will be described in detail later.

[0065] Additionally, although not shown, the sixth arm 16 can also be configured to mount a force detection device (not shown) for detecting the force (including torque) applied to the end effector 80. In this case, it is preferable to provide the force detection device between the end effector 80 and the sixth arm 16, thereby enabling accurate detection of the force applied to the end effector 80. Furthermore, the end effector 80 is not limited to a hand and can be any structure capable of performing a certain operation on a work object.

[0066] The main body 1 of this robot is configured to include multiple external components (shell 205 and cover 206, etc.), and the internal space S1 is formed by these multiple external components (see reference). Figure 7 and Figure 8 ).

[0067] Specifically, such as Figure 7As shown, the base 20 has a housing 205 and a cover 206 as external components, with the cover 206 fixed to the housing 205 by screws 63. Furthermore, the first arm 11 has a housing 115 and a cover 116 as external components, the second arm 12 has a housing 125 and a cover 126 as external components, the third arm 13 has a housing 135 and a cover 136 as external components, and the fourth arm 14 has a housing 145, a cover 146, and a cover 147 as external components. Each cover 116, 126, 136, 146, and 147 is fixed to its corresponding housing 115, 125, 135, and 145 by screws 63. Additionally, the fifth arm 15 has a shell 155 as an external component.

[0068] Furthermore, by providing sealing components made of fillers or the like between each external component, the interior (internal space S1) of the robot body 1 can be airtightly sealed. For example, sealing components are provided between the housing 115 and the cover 116, and between the housing 115 and the housing 125. As a result, the robot body 1 can exhibit excellent waterproof and dustproof performance. Therefore, the robot 100 can be appropriately used even in environments where dust, water, cutting oil, or other splashes occur.

[0069] The basic structure of the robot body 1 has been briefly described above. As described above, the robot 100 with such a structure is a vertical multi-joint robot with six (or more) first arms 11, second arms 12, third arms 13, fourth arms 14, fifth arms 15, and sixth arms 16. That is, the robot 100 has six rotation axes O1 to O6 and is a 6-degree-of-freedom robot. Therefore, the driving range of the front end of the robotic arm 10 is large, thereby enabling high operability. Furthermore, in this embodiment, the robot 100 has six arms, but the number of arms can be three to five, or even seven or more. However, in order to ensure that the end effector 80 provided at the front end of the robotic arm 10 is accurately located at the target location in three-dimensional space, the number of arms (number of rotation axes) is preferably at least six or more.

[0070] Furthermore, as described above, the fifth arm 15 is connected to the -x-axis side of the portion 142 of the fourth arm 14. Thus, the fifth arm 15 is not a double-arm supported structure where it is clamped by the fourth arm 14, but rather cantileveredly supported by the fourth arm 14. Therefore, compared to the case where the fifth arm 15 is double-arm supported by the fourth arm 14, the structure of the fourth arm 14 and the fifth arm 15 can be simplified, thereby reducing costs. Furthermore, as described above, the second arm 12 is connected to the +x-axis side of the front end of the first arm 11. Thus, the second arm 12 is not a double-arm supported structure where it is clamped by the first arm 11, but rather cantileveredly supported by the first arm 11. Therefore, compared to the case where the second arm 12 is double-arm supported by the first arm 11, the structures of the first arm 11 and the second arm 12 can be simplified, thereby reducing costs. Thus, in this embodiment, there are multiple (two) cantilevered support arms. Therefore, the structure of the robotic arm 10 can be simplified, thereby significantly reducing costs.

[0071] Furthermore, in this embodiment, the volume within the base 20 is the same as or smaller than the volume of the robotic arm 10. Therefore, the degree of freedom in setting up the base 20 can be increased.

[0072] [Driver Section]

[0073] like Figure 3 As shown, the robot 100 has the same number (six in this embodiment) of drive units 30 as the first arm 11, second arm 12, third arm 13, fourth arm 14, fifth arm 15, and sixth arm 16. Each drive unit 30 has the function of rotating the corresponding arm relative to the arm (or base 20) located at its base end, and includes a motor unit 301 (power source) and a brake, a reducer 302, and a power transmission mechanism (not shown) including a belt (not shown) and pulleys (not shown). For example, an AC (alternating current) servo motor or a DC (direct current) servo motor can be used as the motor. For example, a wave gear device can be used as the reducer 302.

[0074] Furthermore, in this embodiment, one drive unit 30 is responsible for driving one arm. Therefore, the robot 100 has: a first drive unit 31 that drives the first arm 11, a second drive unit 32 that drives the second arm 12, a third drive unit 33 that drives the third arm 13, a fourth drive unit 34 that drives the fourth arm 14, a fifth drive unit 35 that drives the fifth arm 15, and a sixth drive unit 36 ​​that drives the sixth arm 16. Hereinafter, when there is no distinction between the first drive unit 31, the second drive unit 32, the third drive unit 33, the fourth drive unit 34, the fifth drive unit 35, and the sixth drive unit 36, they will all be referred to as drive units 30.

[0075] like Figure 8As shown, the motor unit 301 and the reducer 302 of the first drive unit 31 are respectively disposed within the first arm 11. Although not shown in detail, the first drive unit 31 includes: a motor unit 301; a reducer 302; a first pulley (not shown) connected to the shaft of the motor unit 301; a second pulley (not shown) separately disposed from the first pulley and connected to the shaft of the reducer 302; and a belt (not shown) mounted on the first pulley and the second pulley. Furthermore, the second drive unit 32, the third drive unit 33, the fourth drive unit 34, the fifth drive unit 35, and the sixth drive unit 36, described later, are also substantially the same, driving the corresponding arm by means of so-called belt drive.

[0076] like Figure 8 As shown, the second drive unit 32 has a motor unit 301 disposed within the protrusion 122, and a reducer 302 disposed within the second drive unit 32 at the connection (joint) between the second arm 12 and the first arm 11. Similarly, the third drive unit 33 has a motor unit 301 disposed within the protrusion 122, and a reducer 302 disposed within the third drive unit 33 at the connection (joint) between the second arm 12 and the third arm 13. Furthermore, the fourth drive unit 34 has a motor unit 301 and a reducer 302 disposed within the third arm 13. Additionally, the fifth drive unit 35 has a motor unit 301 disposed within the base end portion 141 of the fourth arm 14, and a reducer 302 disposed within the first portion 151 of the fifth arm 15. Finally, the sixth drive unit 36 ​​has a motor unit 301 disposed within the base end portion 141 of the fourth arm 14, and a reducer 302 disposed within the second portion 152 of the fifth arm 15 (see reference). Figure 8 ).

[0077] [Position Sensor]

[0078] like Figure 3 As shown, the robot 100 has the same number of position sensors 40 as the drive unit 30, with one position sensor 40 (angle sensor) provided relative to each drive unit 30. The position sensors 40 detect the rotation angle of the rotation axis (shaft portion) of the motor unit 301 (specifically, a motor) or the reducer 302. This allows information such as the angle (posture) of the arm at the front end relative to the arm at the base end to be obtained. For example, a rotary encoder can be used as each of the aforementioned position sensors 40. Furthermore, each position sensor 40 is electrically connected to the control board 51 of the control unit 5, which will be described later.

[0079] [Control Unit]

[0080] like Figure 3As shown, the control unit 5 includes: a control board 51; a power supply board 52 that supplies power to the control board 51; and a plurality of drive boards 53 that drive each drive unit 30 according to the instructions of the control board 51. In addition, the control board 51 and the power supply board 52 constitute a control device (controller) that supplies power to the drive robot 100 and controls the drive of the robot 100.

[0081] <Control board>

[0082] like Figure 8 As shown, the control board 51 is disposed in the internal space S20 and has a control circuit (not shown) for controlling the drives of various parts of the robot 100. The control circuit includes a processor such as a CPU (Central Processing Unit), volatile memory such as RAM (Random Access Memory), and non-volatile memory such as ROM (Read Only Memory), and performs processing such as controlling the drives of various parts of the robot 100, various calculations, and judgments. For example, the control circuit can execute a predetermined control program, and by outputting control signals to each drive board 53 according to the control program, cause the robot 100 (specifically the robotic arm 10) to perform a predetermined action.

[0083] <Power Supply Board>

[0084] like Figure 8 As shown, a power supply board 52 is disposed in the internal space S20 and has a power supply circuit (not shown) for generating power to supply power to the control board 51 and each drive board 53 respectively. The power supply circuit includes a transformer or noise filter, for example, to convert the frequency and voltage of power supplied from an external power source (not shown) such as a commercial power source, and supplies it to the control board 51 and each drive board 53. In particular, in this embodiment, the power supply circuit includes a converter for converting the AC voltage output from the external power source into a 52V DC voltage (drive voltage) and outputting it to each drive board 53, etc.

[0085] Furthermore, the control board 51 and power board 52 are supported, for example, by a support member (not shown) made of a metal plate or the like, which is detachable from the base 20. Therefore, the control board 51 and power board 52 can be removed from the base 20 along with the support member. This allows for easy maintenance of the control board 51 or power board 52.

[0086] <Driver substrate>

[0087] like Figure 8As shown, each drive board 53 is distributed in the internal space S10 and has a drive circuit (not shown). The drive circuit receives control signals from the control board 51 and converts (generates) them into power for supplying to the drive unit 30. The drive circuit includes, for example, an inverter circuit that converts DC power (current) into AC power (current).

[0088] In this embodiment, a drive board 53 is provided for each drive unit 30, and the drive board 53 corresponding to each drive unit 30 performs the conversion (generation) of power supplied to that drive unit 30. Therefore, the robot 100 has: a first drive board 531 corresponding to the first drive unit 31, a second drive board 532 corresponding to the second drive unit 32, a third drive board 533 corresponding to the third drive unit 33, a fourth drive board 534 corresponding to the fourth drive unit 34, a fifth drive board 535 corresponding to the fifth drive unit 35, and a sixth drive board 536 corresponding to the sixth drive unit 36. Furthermore, hereafter, when the first drive board 531, the second drive board 532, the third drive board 533, the fourth drive board 534, the fifth drive board 535, and the sixth drive board 536 are not distinguished, they are all referred to as drive boards 53.

[0089] like Figure 8 As shown, a first drive substrate 531 is disposed within the first arm 11 and is located near the motor unit 301 of the first drive section 31. A second drive substrate 532 is disposed within the protrusion 122 of the second arm 12 and is located near the motor unit 301 of the second drive section 32. A third drive substrate 533 is disposed within the protrusion 122 of the second arm 12 and is located near the motor unit 301 of the third drive section 33. A fourth drive substrate 534 is disposed within the third arm 13 and is located near the motor unit 301 of the fourth drive section 34. A fifth drive substrate 535 is disposed within the fourth arm 14 and is located near the motor unit 301 of the fifth drive section 35. A sixth drive substrate 536 is disposed within the fourth arm 14 and is located near the motor unit 301 of the sixth drive section 36.

[0090] Additionally, the base 20 is provided with, for example, a plurality of external connection portions 50 consisting of connectors (see reference). Figure 7 (etc.). The external connection portion 50 is electrically connected to the control board 51 or the power supply board 52. For example, the external connection portion 50 is a power connector for connecting an external power plug (non-connection portion) that is electrically connected to an external power source. By connecting the external power plug to its external connection portion 50, power is supplied to the robot 100. As a result, the robot 100 can be driven.

[0091] In addition, as specific examples of the external connection part 50, besides the power connector mentioned above, other connectors that can be listed include: connectors for inputting and outputting signals to various devices such as teach pendants used by the operator to perform action instructions to the robot 100; connectors for outputting signals to the end effector 80; and connectors for inputting and outputting data related to control programs, etc.

[0092] The basic structure of the robot 100 has been described above. As mentioned above, the control unit 5, which has the function of a controller, is housed within the internal space S1. That is, the robot 100 has a control board 51 and a power board 52 disposed within the robot body 1, and the power board 52 supplies power to the control board 51.

[0093] Therefore, the control unit 5, which has the function of a controller, is integrated with the robot body 1, eliminating the need to consider the separate configurations of the controller and the robot body 1 as in the past, thus increasing the flexibility of the robot 100's configuration. Furthermore, compared to a separate controller configuration, the total installation area is reduced, and labor costs associated with connecting the controller and other components are saved.

[0094] Furthermore, as described above, the control board 51 and the power supply board 52 are disposed within the base 20 of the robot body 1. This facilitates the design of the configuration of various wirings (not shown) connecting the control board 51 and the power supply board 52 to each drive board 53. In addition, compared to the case where the control board 51 and the power supply board 52 are disposed within the robotic arm 10, the control board 51 and the power supply board 52 can be stably disposed, and it is also possible to prevent an increase in the movable weight of the front end of the robotic arm 10.

[0095] Furthermore, as described above, the robotic arm 10 has a first arm 11 rotatably connected to the base 20, and a first drive unit 31 for driving the first arm 11 is provided within the first arm 11. Therefore, compared to a configuration where the first drive unit 31 is located within the base 20, the first drive unit 31 can be moved further away from the control board 51 and the like located within the base 20. This reduces thermal runaway caused by heat generated from the first drive unit 31 and the control board 51, enabling stable operation of the robot 100 for extended periods. Moreover, as described above, the robotic arm 10 has a second arm 12 rotatably connected to the first arm 11, and a second drive unit 32 for driving the second arm 12 is provided within the second arm 12. This allows for more effective heat dissipation from the first drive unit 31 and the second drive unit 32.

[0096] Furthermore, as described above, the robotic arm 10 has a first arm 11, a second arm 12, a third arm 13, a fourth arm 14, a fifth arm 15, and a sixth arm 16. Within the robotic arm 10, multiple drive units 30 are provided, each independently driving one of the first arm 11, the second arm 12, the third arm 13, the fourth arm 14, the fifth arm 15, and the sixth arm 16 (multiple arms). Moreover, the multiple drive units 30 are distributed within the robotic arm 10 (see reference). Figure 8 This allows heat generated from the drive unit 30 to be dispersed, thereby reducing thermal runaway and enabling the robot 100 to be driven stably for extended periods. Furthermore, the configuration of the multiple drive units 30 is not limited to the configuration shown in the figures. Additionally, the term "dispersed" includes not only that the multiple drive units 30 are loosely separated, but also that the multiple drive units 30 are configured in at least two groups.

[0097] Furthermore, as described above, a first drive board 531 for driving the first drive unit 31 is provided in the first arm 11, and a second drive board 532 for driving the second drive unit 32 is provided in the second arm 12. This allows for a simpler connection structure between the first drive board 531 and the first drive unit 31, and between the second drive board 532 and the second drive unit 32. Additionally, heat generated from the first drive board 531 and the second drive board 532 can be dispersed, enabling stable operation of the robot 100 over extended periods.

[0098] Furthermore, as described above, the robotic arm 10 is provided with multiple drive base plates 53, each independently driving multiple drive units 30. Moreover, the multiple drive base plates 53 are distributed within the robotic arm 10. Therefore, compared to a structure where multiple drive units 30 are driven by a single drive base plate 53, the connection between the drive base plate 53 and the corresponding drive unit 30 can be simplified. Additionally, the distributed arrangement of the multiple drive base plates 53 disperses the heat generated from the drive base plates 53, thereby enabling stable operation of the robot 100 over extended periods. Furthermore, the arrangement of the multiple drive base plates 53 is not limited to the arrangement shown in the figures. The term "distributed" includes not only that the multiple drive base plates 53 are loosely separated, but also that the multiple drive base plates 53 are arranged in at least two groups.

[0099] Furthermore, as shown in the figure, each drive board 53 is particularly preferably disposed near the corresponding drive section 30. Therefore, compared to the case where multiple drive boards 53 are concentrated within the base 20, the number of power system wirings and signal system wirings can be significantly reduced.

[0100] In this embodiment, the structures of the fourth arm 14, the fifth arm 15, and the sixth arm 16 are appropriately designed so that the flexible component 81 connected to the end effector 80 can be easily wound around to the robotic arm 10. These will be described below.

[0101] <Fourth arm, fifth arm, sixth arm and end effector>

[0102] Figure 9 This is a schematic diagram showing the front end of a robotic arm. Figure 10 This is a schematic cross-sectional view showing the fifth and sixth drive units, and showing the connection structure of the fourth arm (A arm), the fifth arm (B arm), and the sixth arm (C arm). Figure 11 This is a diagram showing the first engaging portion located on the fourth arm. Figure 12 This is a diagram showing the second engaging portion located on the fifth arm. Figure 13 and Figure 14 These are diagrams used to illustrate the restriction on the rotation of the fifth arm.

[0103] like Figure 9 As shown, the sixth arm 16 (C-arm) is disc-shaped and configured to mount the end effector 80. Furthermore, a through hole 161 extending along the y-axis is formed in the center of the sixth arm 16. This through hole 161 is along the rotation axis O6, and in this embodiment, in particular, the central axis of the through hole 161 coincides with the rotation axis O6.

[0104] The fifth arm 15 (arm B) has a first part 151 with a cylindrical shape and a second part 152 with a cylindrical shape (see reference). Figure 10 and Figure 12 Additionally, the second part 152 has a hole 153 extending along the y-axis (see reference). Figure 9 ).

[0105] The first part 151 is connected to the fourth arm 14, and the second part 152 is connected to the sixth arm 16. Furthermore, in this embodiment, the first part 151 and the second part 152 are integrally formed with their central axes orthogonal to each other, but they can also be formed as separate components. Additionally, the two ends (two openings) of the hole 153 in the second part 152 are not blocked by the first part 151.

[0106] Furthermore, the hole 153 formed in the second part 152 is along the rotation axis O6, and in this embodiment, in particular, the central axis of the hole 153 coincides with the rotation axis O6. The hole 153 communicates with the through hole 161, and the hole 153 and the through hole 161 constitute a through hole 160. The through hole 160 functions as a hole for a flexible component, for inserting a flexible component 81 consisting of wiring or tubing that transmits driving force to the end effector 80.

[0107] Here, as described above, the reducer 302a (reducer 302) of the fifth drive unit 35 is arranged in the first part 151, and the reducer 302b (reducer 302) of the sixth drive unit 36 ​​is arranged in the second part 152 (see reference). Figure 10Furthermore, the fifth drive unit 35 includes: a motor unit 301a (motor unit 301); a reducer 302a; a first pulley 304a connected to the shaft of the motor unit 301a; a second pulley 305a, separately configured from the first pulley 304a and connected to the shaft of the reducer 302a; and a belt 306a mounted on the first pulley 304a and the second pulley 305a. Similarly, the sixth drive unit 36, like the fifth drive unit 35, includes a motor unit 301b (motor unit 301), a reducer 302b, a first pulley 304b, a second pulley 305b, and a belt 306b. Furthermore, the sixth drive unit 36 ​​includes a conversion mechanism 307, which consists of two meshing bevel gears 3071 and 3072, and performs a 90° conversion of the direction of drive force transmission.

[0108] The reducer 302a is configured to include a wave gear device, comprising: a wave generator 3021a; a flexible gear 3022a (external gear) disposed outside the wave generator 3021a; and a rigid gear 3023a (internal gear) disposed outside the flexible gear 3022a. Furthermore, in this embodiment, the inner ring of the crossed roller bearing is integrally formed with the rigid gear 3023a, and the outer ring 3024a of the crossed roller bearing is located outside the rigid gear 3023a. The wave generator 3021a is connected to the second pulley 305a and functions as an input shaft. The flexible gear 3022a is connected to the outer ring 3024a of the crossed roller bearing and functions as an output shaft. The rigid gear 3023a is connected to the housing 145 of the fourth arm 14 and functions as a fixed shaft.

[0109] Like reducer 302a, reducer 302b is configured to include a wave gear device. Reducer 302b comprises a wave generator 3021b (wave generator), a flexible gear 3022b (external gear), and a rigid gear 3023b (internal gear). Furthermore, the inner ring of the crossed roller bearing is integrally formed with the rigid gear 3023b, and the outer ring 3024b of the crossed roller bearing is located outside the rigid gear 3023b. The wave generator 3021b is connected to the conversion mechanism 307 connected to the second pulley 305b, functioning as an input shaft. The flexible gear 3022b is connected to the outer ring 3024b of the crossed roller bearing, functioning as a fixed shaft. The rigid gear 3023b is connected to the sixth arm 16, functioning as an output shaft. Thus, reducer 302b is configured to include a wave gear device, thereby allowing the interior of the fifth arm 15 to be hollow when reducer 302b is positioned in the second part 152. Therefore, the fifth arm 15 having the aforementioned hole 153 can be easily realized. Furthermore, in this embodiment, a cylindrical component 165 fixed to the fifth arm 15 is inserted into the hole 153 and the through hole 161, and the through hole 160 is formed through the component 165.

[0110] Additionally, on the -x-axis side of the outer surface of the first part 151, a fixing part 90 is provided to fix the flexible member 81 to the first part 151 (see reference). Figure 9 and Figure 10 The fixing hole 91 (for inserting the flexible member 81) of the fixing part 90 is along the rotation axis O6. In particular, in this embodiment, the central axis of the fixing hole 91 is aligned with the rotation axis O6.

[0111] Such a fixing hole 91 is arranged in a straight line with the aforementioned through hole 160, i.e. on the rotation axis O6. Therefore, the flexible member 81 can be easily led out from the end effector 80 to the outside of the fifth arm 15 without having to bend the flexible member 81.

[0112] Furthermore, the fixing part 90 is not particularly limited as long as it can restrict the position of the flexible member 81 relative to the fifth arm 15. For example, the specific structure of the fixing part 90 can be described as a ring-shaped member made of metal or resin material.

[0113] In addition, such as Figure 10 As shown, a limiting part 70 is provided at the connection between the first part 151 and the fourth arm 14. The limiting part 70 functions as a mechanical stop to limit the rotation of the fifth arm 15 relative to the fourth arm 14.

[0114] The limiting part 70 is configured to include a first engaging part 71 and a second engaging part 72. The first engaging part 71 is disposed on the outer surface 1410 of the fourth arm 14 facing the fifth arm 15 (first part 151), and the second engaging part 72 is disposed inside the first part 151 of the fifth arm 15 (see reference). Figure 11 and Figure 12 When the fourth arm 14 and the fifth arm 15 are connected, the first engaging part 71 and the second engaging part 72 engage with each other by rotating the fifth arm 15 relative to the fourth arm 14 (see reference). Figure 13 and Figure 14 This allows for the limitation of the rotation of the fifth arm 15 (especially the range of rotation angles). Furthermore, in Figure 13 and Figure 14 In the middle, for ease of understanding, the second locking part 72 is shaded.

[0115] like Figure 11 As shown, the first engaging portion 71 is formed on the -x axis side of the outer surface 1410 (the portion facing the first portion 151), and is composed of a protrusion that protrudes from the outer surface 1410 in the -x axis direction. Furthermore, the first engaging portion 71 is located near the connection portion 1451 of the fourth arm 14 relative to the fifth arm 15, and is positioned on the +x axis side of the connection portion 1451, thus enabling it to engage with the second engaging portion 72 when the fourth arm 14 and the fifth arm 15 are connected.

[0116] On the other hand, such as Figure 12 As shown, the second engaging portion 72 is formed by a protrusion extending from the inner surface 1510 of the outer wall portion 1511 toward the inner side of the first portion 151. Specifically, the second engaging portion 72 is formed by a rib, which is provided to fill a portion of the annular space S15 between the outer wall portion 1511 of the first portion 151 and the inner wall portion 1512 disposed separately therefrom. In this embodiment, the second engaging portion 72 is disposed on the second portion 152 side (+y axis side) of the space S15. In addition, the second engaging portion 72 formed by the rib has the function of enhancing the mechanical strength of the outer wall portion 1511 and the inner wall portion 1512. However, the second engaging portion 72 is not limited to a rib, and may be, for example, at least one protrusion.

[0117] The limiting portion 70, configured to include the first engaging portion 71 and the second engaging portion 72, is not exposed to the outside of the fourth arm 14 and the fifth arm 15 when they are connected. That is, the limiting portion 70 is disposed on the inner side of the fourth arm 14 and the fifth arm 15. In this embodiment, when the fourth arm 14 and the fifth arm 15 are connected, the first engaging portion 71 is inserted (accommodated) into the space S15, thereby the limiting portion 70 is covered by the outer wall portion 1511 of the fifth arm 15 and the outer surface 1410 of the fourth arm 14, and is not exposed to the outside.

[0118] The following is a brief explanation of how the fifth arm 15 is restricted by the restriction section 70. Figure 9 The fifth arm 15 in the shown state (basic posture) is centered on the rotation axis O5. Figure 9 Rotate clockwise along the middle edge to become Figure 13 In the indicated state, if the front end of the end effector 80 approaches the base end portion 141 of the fourth arm 14, then the first engaging portion 71 moves relative to the second engaging portion 72, which is formed by ribs, and contacts one end face 721. Thus, the first engaging portion 71 engages with the second engaging portion 72, and the fifth arm 15 rotates about the rotation axis O5. Figure 13 Clockwise rotation along the center line is restricted. That is, Figure 13 The state shown becomes the clockwise rotation limit +R of the fifth arm 15. This prevents the front end of the end effector 80 from colliding with the base end portion 141 of the fourth arm 14.

[0119] in addition, Figure 9 The fifth arm 15, as shown, is centered on the rotation axis O5. Figure 9 Rotate counterclockwise along the middle edge to become Figure 14 In the indicated state, if the front end of the end effector 80 approaches the base end portion 141 of the fourth arm 14, then the first engaging portion 71 moves relative to the second engaging portion 72, which is formed by ribs, and contacts one end face 722. Thus, the first engaging portion 71 engages with the second engaging portion 72, and the fifth arm 15 rotates about the rotation axis O5. Figure 14 Counterclockwise rotation along the center line is restricted. That is, Figure 14 The state shown becomes the counterclockwise rotation limit -R of the fifth arm 15. This prevents the front end of the end effector 80 from colliding with the base end portion 141 of the fourth arm 14.

[0120] Furthermore, the rotation angle range (rotation limits +R, -R) of the fifth arm 15 can be appropriately changed and adjusted. Additionally, the forming angle range of the second engaging portion 72 (rib) within the annular space S15 is not particularly limited; for example, it can be set to 15° or more and less than 180°. In the illustrated structure, the forming angle range of the second engaging portion 72 (rib) is approximately 80° to 90°. Therefore, the rotation angle range of the fifth arm 15 relative to the fourth arm 14 is not particularly limited; for example, it can be set to 180° or more and less than 345°. In the illustrated structure, it is approximately 240° to 270°.

[0121] In the event of a malfunction or other issues in the control of the fifth arm 15 based on the control unit 5, such limitation of the rotation (rotation angle range) of the fifth arm 15 based on the limiting part 70 is particularly effective. Furthermore, as described above, due to the presence of the fixing part 90, even if the fifth arm 15 rotates, the swaying of the flexible member 81 can be reduced.

[0122] Here, as described above, the robot 100 includes a robot body 1 (see reference 10) comprising a robotic arm 10. Figure 4 and Figure 9 The robotic arm 10 includes: a fourth arm 14 (arm A) rotatable about a rotation axis O4 (rotation axis A); a fifth arm 15 (arm B) cantilevered on the fourth arm 14 (arm A) and rotatable about a rotation axis O5 (rotation axis B); and a sixth arm 16 (arm C) connected to the fifth arm 15 (arm B), capable of mounting an end effector 80, and rotatable about a rotation axis O6 (rotation axis C). The fourth arm 14 (arm A) has a first engaging portion 71. The fifth arm 15 (arm B) has: a fixing portion 90 that restricts the position of a flexible member 81 having at least one of wiring and tubing connected to the end effector 80; and a second engaging portion 72 that engages with the first engaging portion 71. The sixth arm 16 (arm C) has a through hole 161 through which the flexible member 81 can be inserted and extends along the axial direction of the rotation axis O6 (rotation axis C). Furthermore, the robotic arm 10 has a limiting part 70, which is configured to include a first engaging part 71 and a second engaging part 72. The first engaging part 71 and the second engaging part 72 engage (abut) to limit the rotation of the fifth arm 15 (B arm) relative to the fourth arm 14 (A arm). Moreover, the limiting part 70 is not exposed to the outside of the robotic arm 10 when the fourth arm 14 (A arm) and the fifth arm 15 (B arm) are connected.

[0123] According to such a robot 100, the sixth arm 16 has a through hole 161 into which the flexible component 81 can be inserted, and the fifth arm 15 has a fixing part 90 that restricts the position of the flexible component 81. Thus, it is possible to prevent the flexible component 81 from shaking and interference to the peripheral devices of the flexible component 81 caused by the movement of the robotic arm 10 (especially the sixth arm 16 connected to the end effector 80 and the fifth arm 15 connected to the sixth arm 16).

[0124] Furthermore, the fifth arm 15 is cantilevered and supported by the fourth arm 14, thereby facilitating the winding of the flexible component 81 and reducing damage to it. Moreover, the limiting part 70, which functions as a mechanical stop, is located inside the robotic arm 10 in a manner that prevents it from being exposed to the outside of the robotic arm 10, thus also reducing the risk of damage to the flexible component 81 from the limiting part 70. Therefore, the flexible component 81 is less prone to problems such as wire breakage or pipe blockage.

[0125] Furthermore, in the robot 100, the fifth arm 15 (B arm) has a hole 153 into which a flexible component 81 can be inserted, and it communicates with a through hole 161 in the sixth arm 16 (C arm). Moreover, the through hole 161 in the sixth arm 16 (C arm), the hole 153 in the fifth arm 15 (B arm), and the fixing part 90 (more specifically, the fixing hole 91 in the fixing part 90) are arranged along the axial direction of the rotation axis O6 (C rotation axis). Furthermore, the through hole 161, the hole 153, and the fixing part 90 are arranged in this order.

[0126] Therefore, the flexible component 81 of the end effector 80 installed on the sixth arm 16 can be easily inserted into the through hole 161, the hole 153 and the fixing hole 91 of the fixing part 90, thus making it easy to wind the flexible component 81.

[0127] Furthermore, the hole 153 and the fixing part 90 may not be aligned with the axial direction of the rotation axis O6 (C rotation axis). Additionally, while the through hole 161, hole 153, and fixing part 90 are shown as one in the illustration, there may be two or more. Furthermore, their shape and arrangement are not limited to those shown in the illustration.

[0128] Furthermore, the fifth arm 15 (arm B) has: a first portion 151 connected to the fourth arm 14 (arm A); and a second portion 152 having a hole 153. Moreover, the first portion 151 and the second portion 152 are connected such that both ends (two openings) of the hole 153 are open to the outside (outside of the fifth arm 15). In this embodiment, one opening of the hole 153 communicates with the through hole 161, and the other opening of the hole 153 faces the portion 141 on the base end side of the fourth arm 14.

[0129] By including the first portion 151 and the second portion 152, a fifth arm 15, which is cantilevered to the fourth arm 14 and has a hole 153 communicating with the through hole 161 of the sixth arm 16, can be implemented with a relatively simple structure. Therefore, the flexible member 81 can be easily led out to the outside through the through hole 161 and the hole 153, thereby making it easy to wind the flexible member 81 toward the sixth arm 16, the fifth arm 15, and the fourth arm 14.

[0130] In addition, as described above, the fixing part 90 is provided in the first part 151.

[0131] Therefore, the through hole 161, hole 153 and fixing hole 91 can be arranged relatively easily along the axial direction of the rotation axis O6. In addition, the fixing part 90 can appropriately restrict (fix) the position of the flexible member 81 that passes through the through hole 161 and extends from the hole 153, thereby more effectively reducing the swaying of the flexible member 81 when the fifth arm 15 rotates.

[0132] Furthermore, the fixing part 90 may also be provided in the second part 152, for example. However, in this case, in order to facilitate the winding of the flexible part 81, the fixing hole 91 is preferably provided along the axial direction of the rotation axis O6 (C rotation axis).

[0133] Furthermore, as described above, a limiting portion 70 is provided at the connection between the fourth arm 14 and the fifth arm 15. Moreover, the limiting portion 70 has a first engaging portion (first limiting member) 71 and a second engaging portion (second limiting member) 72, the second engaging portion 72 being a protrusion provided on the inner surface 1510 of the fifth arm 15 (B arm). Specifically, to reinforce the outer wall portion 1511 and the inner wall portion 1512 of the first portion 151, the second engaging portion 72 is formed by a rib provided therebetween.

[0134] Therefore, the restriction section 70, which is not exposed to the outside of the robotic arm 10, can be constructed with a relatively simple structure. In other words, even without adding additional components for the restriction section 70, a portion of the restriction section 70 can be easily formed by designing ribs to enhance the mechanical strength of the first part 151.

[0135] Furthermore, as described above, the first engaging portion 71 is a protrusion provided on the outer surface 1410 of the fourth arm 14 (A arm).

[0136] Therefore, it is easy (and feasible in design) to form a first engaging part 71 that can engage with the second engaging part 72, thereby enabling a relatively simple structure to be formed of a limiting part 70 that is not exposed to the outside of the robotic arm 10.

[0137] Furthermore, the "restricting part" is only required to restrict the rotation of the fifth arm 15 (arm B) relative to the fourth arm 14 (arm A), and is not limited to the structure of the restricting part 70 shown in the figure. That is, the "first engaging part" and the "second engaging part" are not each limited to the structures of the first engaging part 71 and the second engaging part 72 shown in the figure. For example, the "first engaging part" may be a protrusion provided on the inner surface of the fourth arm 14, and the "second engaging part" may be a protrusion provided on the outer surface of the fifth arm 15. Alternatively, the "first engaging part" may also be a protrusion provided on the inner surface of the fourth arm 14, and the "second engaging part" may also be a protrusion provided on the inner surface of the fifth arm 15.

[0138] Alternatively, the "restriction part" can also be provided on arms other than the fourth arm 14 and the fifth arm 15. In this case, the "restriction part" can be structured such that it is covered by any one of the external components (outer wall portion) of the first arm 11, second arm 12, third arm 13, fourth arm 14, fifth arm 15, and sixth arm 16 constituting the robotic arm 10, without being exposed to the outside of the robotic arm 10. Specifically, the "restriction part" only needs to be configured to restrict the rotation of the front end arm relative to the base end arm, and can be formed by providing a "first engaging part" on one arm and a "second engaging part" on the other arm.

[0139] Furthermore, as described above, the control board 51, power supply board 52, and multiple drive boards 53 are respectively disposed within the robot body 1. Although not shown, various wirings (drive system and signal system wirings) for driving the robotic arm 10 are disposed within the robot body 1. Therefore, only the flexible component 81 for the end effector 80 can be disposed externally, preventing the flexible component 81 from getting mixed up with the various wirings for driving the robotic arm 10, thereby reducing entanglement and other issues. Therefore, damage to the flexible component 81 can be further reduced.

[0140] The robot 100 of this embodiment has been described above. Furthermore, the robot 100 with the structure described above is a fanless structure. That is, the robot body 1 does not have a fan for generating airflow in the internal space S1. Therefore, for example, a robot 100 with excellent sealing performance can be achieved. As described above, the power supply board 52 has a converter that converts the AC voltage output from the external power supply into a DC voltage (a lower drive voltage), thereby enabling a fanless structure. Alternatively, the robot 100 may also include a fan (not shown).

[0141] Second Implementation Method

[0142] Next, the second embodiment of the present invention will be described.

[0143] Figure 15 This is a diagram schematically illustrating a portion of the robot system according to the second embodiment. Figure 16 yes Figure 15 The diagram shows a block diagram of the robot system.

[0144] In this embodiment, the main difference is that the control device (controller) including the control board and the power board is separately arranged from the robot body (robot), which is the same as the embodiment described above (robot 100). Furthermore, in the following description, the second embodiment will be described focusing on the differences from the above embodiment, and descriptions of identical items will be omitted or simply explained using the same symbols.

[0145] like Figure 15 and Figure 16 As shown, in this embodiment, the robot 100A and the control device 500 (controller) are provided separately. In this embodiment, a robot system 1000 having the robot 100A and the control device 500 (controller) provided separately therefrom will be described.

[0146] The robot system 1000 includes: a robot 100A having a robot body 1, multiple drive units 30, multiple position sensors 40, and multiple drive boards 53; and a control device 500 having a control board 51 and a power supply board 52. Furthermore, the robot 100A and the control device 500 can be connected via wired or wireless connection. Additionally, the control device 500 and the multiple drive boards 53 constitute a control unit 5A. This control unit 5A performs the same function as the control unit 5 of the first embodiment.

[0147] Such a robot system 1000 includes a robot 100A comprising a robotic arm 10 and a control device 500 disposed separately from the robot 100A. The robotic arm 10 has: a fourth arm 14 (A arm) rotatable about a rotation axis O4 (A rotation axis); a fifth arm 15 (B arm) cantilevered on the fourth arm 14 (A arm) and rotatable about a rotation axis O5 (B rotation axis); and a sixth arm 16 (C arm) connected to the fifth arm 15 (B arm), capable of mounting an end effector 80, and rotatable about a rotation axis O6 (C rotation axis). The control device 500 has a control board 51 and a power supply board 52 supplying power to the control board 51. Additionally, the fourth arm 14 (A arm) has a first engaging portion 71. Furthermore, the fifth arm 15 (arm B) has: a fixing portion 90 that restricts the position of a flexible member 81 having at least one of the wiring and tubing connected to the end effector 80; and a second engaging portion 72 that can engage with the first engaging portion 71. Additionally, the sixth arm 16 (arm C) has a through hole 161 through which the flexible member 81 can be inserted and extends along the axial direction of the rotation axis O6 (C rotation axis). Furthermore, the robotic arm 10 has a limiting portion 70, which is configured to include a first engaging portion 71 and a second engaging portion 72. The limiting portion restricts the rotation of the fifth arm 15 (arm B) relative to the fourth arm 14 (arm A) by engaging the first engaging portion 71 with the second engaging portion 72. Moreover, the limiting portion 70 is not exposed to the outside of the robotic arm 10 when the fourth arm 14 (arm A) and the fifth arm 15 (arm B) are connected.

[0148] Similar to the first embodiment, such a robot system 1000 can prevent the flexible component 81 from swaying due to the movement of the robotic arm 10 (especially the fifth arm 15 and the sixth arm 16) and interference with the flexible component 81 and peripheral devices. In addition, the flexible component 81 can be easily wound, and damage to the flexible component 81 can be reduced.

[0149] The robot and robot system of the present invention have been described above based on the illustrated embodiments, but 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 structures can be added to the present invention. Additionally, appropriate combinations of the various embodiments are also possible.

[0150] Furthermore, in the above embodiments, a single-arm robot was shown as an example of the robot of the present invention, but the robot is not limited to a single-arm robot; for example, it could also be a dual-arm robot or other robots. That is, two or more robotic arms may be provided relative to the base.

[0151] In addition, in the above embodiments, the fourth arm constitutes arm A, the fifth arm constitutes arm B, and the sixth arm 16 constitutes arm C, but arm A, arm B, and arm C are not limited to this.

Claims

1. A robot, characterized in that, It can install an end effector. The robot has the following features: Arm A rotates around axis A. Arm B, supported by Arm A, is provided with a first recess and a second recess, and surrounds... B rotates the axis; as well as Arm C is connected to Arm B and is equipped with the end effector, and rotates about an axis C that is orthogonal to the rotation axis of Arm B. The B-arm is provided with a hole extending along the axial direction of the C-axis, and has a first bevel gear disposed in the first recess and a second bevel gear disposed in the second recess and meshing with the first bevel gear. The C-arm has a through hole extending along the axial direction of the C-rotation axis. The first recess has a stepped shape, and its opening is circular when viewed along the rotation axis B. The second recess has a stepped shape, and its opening is circular when viewed along the rotation axis C. The holes in arm B and the through holes in arm C are arranged along the axial direction of the rotation axis of arm C.

2. The robot according to claim 1, characterized in that, The B-arm has a first portion having the first recess and connected to the A-arm, and a second portion having the second recess and the hole. The first part and the second part are connected in such a way that both ends of the hole are open to the outside.

3. The robot according to claim 1, characterized in that, The B-arm has a speed reducer fixed to the step in the second recess.

4. The robot according to claim 3, characterized in that, The reducer includes a wave gear device having a wave generator connected to the second bevel gear and an outer ring portion of the stepped portion fixed to the second recess.

5. The robot according to claim 4, characterized in that, The second bevel gear has a through hole extending along the axial direction of the rotation axis of said C. The wave generator has a through hole extending along the axial direction of the rotation axis of C. The holes in the B arm, the through holes in the second bevel gear, the through holes in the wave generator, and the through holes in the C arm are arranged along the axial direction of the C rotation axis.

6. The robot according to claim 1, characterized in that, The robot has a control board and a power board disposed within the robot, and the power board supplies power to the control board.

7. A robot system, characterized in that, have: The robot as described in claim 1; and The control device is separate from the robot and has a control board and a power supply board for supplying power to the control board.

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