Lubrication material tank structure and robot

Abstract

A lubricating material tank structure (1) has a housing (40) capable of storing liquid lubricating material (5) inside. The housing (40) has a supply hole (11), a discharge hole (12), a component mounting hole (14), and a liquid level confirmation hole (13) penetrating through the inside and outside of the housing (40). The supply hole (11) can inject the lubricating material (5) into the housing (40), and the discharge hole (12) can discharge the lubricating material (5) from the housing (40). The component mounting hole (14) can be opened and closed by mounting and dismounting a mechanism component (2) detachably mounted on the outer side (42c) of the housing (40). The liquid level confirmation hole (13) can be positioned below the lower end of the component mounting hole (14) and above the discharge hole (12). When the lubricating material (5) is discharged, it can be confirmed that the liquid level of the lubricating material (5) has reached a position lower than the lower end of the component mounting hole (14).

Description

Technical Field

[0001] This disclosure relates to a lubricant tank structure and a robot. Background Technology

[0002] An articulated robot is known to have a housing that houses a reducer and a lubricating material for lubricating the reducer in a sealed state (see, for example, Patent Document 1).

[0003] A servo motor is mounted on the outer surface of the housing, and the output shaft of the servo motor passes through a hole in the housing and is inserted into the housing. An input gear is fixed to the output shaft of the servo motor, and the input gear meshes with a gear in a reducer inside the housing.

[0004] In addition, a supply hole and a discharge hole are respectively provided at the upper and lower ends of the housing. The supply hole is used to inject lubricating material into the housing, and the discharge hole is used to discharge the lubricating material from the housing to the outside.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-116716 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] When removing the servo motor from the housing, to prevent a large amount of lubricating material from flowing out of the housing's openings (which are sealed by the servo motor), all lubricating material inside the housing is pre-emptively drained through the drain hole, even if the lubricating material is new. Draining the lubricating material using gravity from the small drain hole takes time. Especially for larger machines, the amount of lubricating material increases, thus increasing the drainage time, and injecting the lubricating material into the empty housing also requires a considerable amount of time.

[0010] Therefore, in maintenance of components that penetrate the housing, it is desirable to shorten the time required for the discharge and injection of lubricating materials.

[0011] Solution for solving the problem

[0012] One aspect of this disclosure is a lubricant tank structure, which has a housing capable of storing liquid lubricant inside. The housing has a supply hole, a discharge hole, a component mounting hole, and a liquid level confirmation hole extending through the inside and outside of the housing. The supply hole can inject the lubricant into the housing, and the discharge hole can discharge the lubricant from the housing. The component mounting hole is opened and closed by attaching and detaching a mechanism component detachably mounted on the outer side of the housing. The liquid level confirmation hole can be positioned below the lower end of the component mounting hole and above the discharge hole, so that when the lubricant is discharged, it can be confirmed that the liquid level of the lubricant has reached a position lower than the lower end of the component mounting hole. Attached Figure Description

[0013] Figure 1 This is a side view illustrating a robot according to a first embodiment of the present disclosure.

[0014] Figure 2 It is shown Figure 1 A magnified view of a portion of the lubrication material tank structure of a robot.

[0015] Figure 3 It is shown Figure 1 A longitudinal sectional view of the lubrication material tank structure of the robot.

[0016] Figure 4 It shows from Figure 1 A magnified view of the lubrication material tank structure of the robot's joint mechanism with the servo motor removed.

[0017] Figure 5 It is shown Figure 1 A side view of the robot positioned on a plane inclined relative to the horizontal ground.

[0018] Figure 6 This is a partially enlarged view of the lubricant tank structure showing the state of the robot according to the second embodiment of this disclosure with the servo motor removed from the joint mechanism. Detailed Implementation

[0019] Hereinafter, the lubricant tank structure 1 and the robot 100 of the first embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0020] For example, such as Figure 1 As shown, the robot 100 in this embodiment is a six-axis multi-joint robot.

[0021] The robot 100 includes: a base 30 fixed to a horizontal mounting surface 20a of a support platform 20 disposed on a horizontal ground; and a rotating body (shell) 40 rotatably supported on one side of the base 30 about a horizontal first axis A. The robot 100 includes a first arm (arm component) 50 supported for rotation relative to the rotating body 40 about a second axis (axis) B disposed in a plane orthogonal to the first axis A. Furthermore, the robot 100 includes: a second arm 60 supported for linear movement along the long side of the first arm 50; and a three-axis wrist unit 70 disposed at the front end of the second arm 60.

[0022] The lubricating material groove structure 1 of this embodiment is, for example, a joint mechanism 10 provided between the rotating body 40 and the first arm 50.

[0023] like Figure 2 as well as Figure 3 As shown, the joint mechanism 10 includes a servo motor (mechanism component) 2 that drives the first arm 50 to rotate relative to the rotating body 40 about the second axis B, and a reducer 3.

[0024] The rotating body 40 includes: a bracket (housing body) 41, which forms part of the rotating body 40; and a cover member (housing) 42, which is detachably mounted on the bracket 41. The bracket 41 is provided with a hollow portion 41a with a circular cross-section extending along the direction of the second axis B. The cover member 42 is mounted on one end of the hollow portion 41a in the direction of the second axis B, and the reducer 3 is mounted on the other end.

[0025] On the outer periphery of the hollow portion 41a at one end of the bracket 41, a plurality of threaded holes 41b are provided at equal intervals in the circumferential direction.

[0026] The cover member 42 includes: a fitting portion 42a, which is formed as a circular plate capable of closing one end of the hollow portion 41a and fitting into the hollow portion 41a; and a plurality of through holes 42b, which can be arranged at a position consistent with the threaded holes 41b of the bracket 41 when the fitting portion 42a is fitted into the hollow portion 41a.

[0027] With the fitting part 42a fitted into the hollow part 41a, the cover part 42 can be fixed to the bracket 41 in a positioning state by tightening the bolts 7 that pass through each through hole 42b into the threaded holes 41b, thereby sealing one end of the hollow part 41a. A sealing component such as an O-ring is provided between the cover part 42 and the bracket 41 to seal both (illustration omitted).

[0028] With all bolts 7 removed, the cover component 42 can rotate about the second axis B relative to the bracket 41. Thus, the cover component 42 can rotate at an angle between adjacent threaded holes 41b in the circumferential direction of the bracket 41, for example, Figure 2 In the example shown, the 30° unit is used to adjust the mounting angle relative to the bracket 41. Additionally, the cover component 42 can be easily removed from the bracket 41 by removing all bolts 7.

[0029] The bracket 41 is provided with a fitting part 41c for fitting the fixing part 3a of the reducer 3, and a through hole 41d for the bolt 8 for fixing the fixing part 3a of the reducer 3 to the bracket 41. The fixing part 3a of the reducer 3 and the bracket 41 are also sealed by sealing components such as O-rings (not shown). The output part 3b of the reducer 3 is fixed to the first arm 50. The output part 3b and the first arm 50 are also sealed by sealing components such as O-rings (not shown).

[0030] The reducer 3 has a central gear 3c that is supported in a manner that allows it to rotate about the second axis B. The reducer 3 can reduce the rotation of the shaft (motor shaft) 2a of the servo motor 2 and transmit it to the first arm 50, driving the first arm 50 to rotate about the second axis B relative to the rotating body 40.

[0031] The cover component 42 is provided with a supply hole 11, a discharge hole 12, a liquid level confirmation hole 13, and a component mounting hole 14 that extend through the plate thickness direction.

[0032] The supply hole 11, the discharge hole 12, and the liquid level confirmation hole 13 have a diameter that is sufficiently smaller than that of the component mounting hole 14.

[0033] The supply hole 11 is for injecting lubricating material 5 into the lubrication space 4 (described later), the discharge hole 12 is for discharging lubricating material 5 from the lubrication space 4 to the outside, and the component mounting hole 14 is for mounting the servo motor 2. The liquid level confirmation hole 13 is for confirming the liquid level of lubricating material 5 in the lubrication space 4 when the servo motor 2 is removed from the component mounting hole 14.

[0034] Internal threads are formed on the inner circumferential surfaces of the supply hole 11 and the discharge hole 12, and the supply hole 11 and the discharge hole 12 can be opened and closed respectively by plugs 11a and 12a that are detachably fastened to the internal threads. Similarly, the liquid level confirmation hole 13 also has internal threads on its inner circumferential surface, and the liquid level confirmation hole 13 can be opened and closed by plugs 13a that are detachably fastened to the internal threads.

[0035] The outer periphery of the component mounting hole 14, which becomes the outer end (outer side surface) 42c when the cover component 42 is mounted on the bracket 41, has a recess 14a for fitting the insertion portion 2c of the servo motor 2. The component mounting hole 14 has at least an inner diameter size that allows the input gear 2b fixed to the shaft 2a of the servo motor 2 to be inserted. The servo motor 2 and the cover component 42 are also sealed by a sealing component such as an O-ring (not shown).

[0036] like Figure 3 As shown, in the lubricating material tank structure 1, a cover component 42 is fixed to one end of the hollow portion 41a of the bracket 41, and a servo motor 2 is installed in the component mounting hole 14. The supply hole 11, the discharge hole 12, and the liquid level confirmation hole 13 are closed by plugs 11a, 12a, and 13a. Thus, a lubrication space 4 is formed in a sealed state surrounded by the cover component 42, the bracket 41, the reducer 3, and the first arm 50.

[0037] The lubrication space 4 contains the required amount of liquid lubricating material 5, such as oil, for lubricating the various parts of the reducer 3, including the input gear 2b and the center gear 3c.

[0038] like Figure 4 As shown, with the second axis B horizontally positioned, the cover component 42 is fixed to the bracket 41 at a mounting angle about the second axis B, with the component mounting hole 14 positioned above the second axis B. At this time, the supply hole 11 is positioned above the level of the required amount of lubricating material 5 stored in the lubrication space 4. Additionally, the discharge hole 12 is positioned near the lowest point of the lubrication space 4, and the level confirmation hole 13 is positioned below the lower end of the component mounting hole 14 and above the discharge hole 12.

[0039] Here, as Figure 4 As shown, the liquid level confirmation hole 13 being below the lower end of the component mounting hole 14 means that, with the second axis B horizontally positioned, the liquid level confirmation hole 13 is positioned at the position where the horizontal line H tangent to the lower end of the component mounting hole 14 is tangent to the lower end of the liquid level confirmation hole 13, or at a position lower than that.

[0040] The following describes the function of the lubricant tank structure 1 configured in this embodiment and the robot 100.

[0041] When performing maintenance work on the servo motor 2 of the robot 100 according to this embodiment, firstly, the rotating body 40 of the robot 100 is rotated relative to the base 30 about the first axis A, as follows: Figure 1 As shown, the rotating body 40 is positioned horizontally along the second axis B. Furthermore, the first arm 50 is pressed against a limiting member (not shown) to prevent it from falling when the servo motor 2 is removed, or to allow it to be lifted by a crane or similar device.

[0042] Next, before removing the servo motor 2 from the cover component 42, remove the plugs 11a and 13a that are fastened to the supply hole 11 and the liquid level confirmation hole 13. In this case, the supply hole 11 is positioned above the liquid level of the lubricating material 5 in the lubrication space 4, so by removing the plug 11a, the supply hole 11 functions as a vent to allow external air to enter the lubrication space 4.

[0043] After the plugs 11a and 13a are removed, external air enters the lubrication space 4 through the supply hole 11, and the lubricating material 5 in the lubrication space 4 is discharged to the outside through the level confirmation hole 13 due to gravity. Furthermore, when the level of the lubricating material 5 in the lubrication space 4 reaches the lower end of the level confirmation hole 13, the discharge of the lubricating material 5 from the level confirmation hole 13 stops. As a result, the level of the lubricating material 5 in the lubrication space 4 becomes below the lower end of the component mounting hole 14.

[0044] That is, by confirming that the discharge of lubricating material 5 from the level confirmation hole 13 has stopped, the operator can easily confirm that the level of lubricating material 5 in the lubrication space 4 has fallen below the lower end of the component mounting hole 14. In addition, the diameter of the level confirmation hole 13 is small enough than the diameter of the component mounting hole 14, thus preventing the lubricating material 5 from flowing out all at once.

[0045] Afterwards, the operator removed the servo motor 2, which was to be maintained, from the cover component 42.

[0046] Although the component mounting hole 14 is opened by removing the servo motor 2, the lubricating material 5 in the lubrication space 4 is below the lower end of the component mounting hole 14, thus preventing the lubricating material 5 from flowing out of the component mounting hole 14 to the outside.

[0047] Next, the component mounting hole 14 is sealed by installing the repaired servo motor 2 or a new servo motor 2 onto the cover component 42. Additionally, the plug 13a is tightened into the liquid level confirmation hole 13 to seal it. Then, the oil supply connector is installed into the supply hole 11, and lubricating material 5 is filled into the lubrication space 4 using an oil supply device such as an oil gun until the required liquid level is reached. This completes the maintenance work on the servo motor 2. The amount of lubricating material 5 required from the state where there is liquid at the liquid level confirmation hole 13 until the required liquid level is reached is preset. By managing the supply from the supply hole, the lubricating material 5 can be accurately filled to the required liquid level.

[0048] Thus, according to this embodiment, by discharging the lubricating material 5 from the level confirmation hole 13 before removing the servo motor 2, the level of the lubricating material 5 in the lubrication space 4 can be reliably configured below the lower end of the component mounting hole 14. Therefore, when the servo motor 2 is removed from the component mounting hole 14, it is possible to prevent the lubricating material 5 in the lubrication space 4 from being suddenly released outwards from the component mounting hole 14. In particular, in the case of large robots, since the capacity of the lubrication space 4 is larger, it is effective in suppressing the amount of lubricating material 5 discharged during maintenance. Not only is the amount of waste lubricating material 5 reduced, but the time required for discharge and refilling is also shortened, thereby significantly reducing the time required for maintenance operations.

[0049] Alternatively, the lubricating material 5 can be discharged from the discharge hole 12 instead of from the level confirmation hole 13. However, if all the lubricating material 5 in the lubrication space 4 is discharged from the discharge hole 12, the discharge volume becomes very large. In addition, although the discharge volume can be suppressed by stopping the discharge during the discharge from the discharge hole 12, in this case, the level of the lubricating material 5 depends on estimation, so it is difficult to control the discharge volume to the necessary minimum.

[0050] Therefore, according to this embodiment, the following advantages are available: the amount of lubricating material 5 discharged during servo motor 2 maintenance can be reliably suppressed to the necessary minimum, thereby shortening the time required for the discharge and refilling of lubricating material 5 and improving the efficiency of maintenance operations.

[0051] Furthermore, according to this embodiment, after removing the plug 13a from the liquid level confirmation hole 13, it can be left in place until the lubricating material 5 stops being discharged from the liquid level confirmation hole 13. That is, since the operator does not need to monitor the liquid level during the discharge of the lubricating material 5, excessive discharge of the lubricating material 5 can be prevented even when performing other tasks during standby time. As a result, work efficiency can be improved.

[0052] Furthermore, in this embodiment, with the second axis B horizontally positioned, by placing the component mounting hole 14 above the second axis B, the component mounting hole 14 can be positioned as close as possible to the level of the required amount of lubricating material 5. This provides the advantage that the amount of lubricating material 5 discharged from the lubrication space 4 during servo motor 2 maintenance can be further reduced.

[0053] Furthermore, in this embodiment, as described above, the hollow portion 41a has a circular cross-sectional shape, and threaded holes 41b and through holes 42b are provided on the bracket 41 and the cover member 42 at 30° intervals around the second axis B. This allows the mounting angle of the cover member 42 to be adjusted in 30° increments around the second axis B.

[0054] For example, such as Figure 5 As shown, when the mounting surface 20a of the robot 100 in the support platform 20 is tilted by 30° relative to the horizontal direction, the mounting angle of the cover component 42 toward the bracket 41 can be adjusted so that the discharge hole 12 is at its lowest position. That is, even if the angle of the mounting surface 20a of the support platform 20 changes, the relative positional relationship of the supply hole 11, discharge hole 12, liquid level confirmation hole 13, and component mounting hole 14 provided on the cover component 42 in the direction of gravity can be maintained.

[0055] Furthermore, the interval between the threaded hole 41b and the through hole 42b is not limited to 30°, but can be any other angle. By setting the threaded hole 41b and the through hole 42b at a smaller angle, the installation position can be adjusted more precisely. Alternatively, by making the through hole 42b an elongated arc-shaped hole extending circumferentially around the second axis B, the installation position can be adjusted steplessly.

[0056] In addition, in this embodiment, a case with a single component mounting hole 14 for mounting a single servo motor 2 is illustrated, but instead, multiple component mounting holes 14 and servo motors 2 may be provided respectively.

[0057] In this case, a liquid level confirmation hole 13 can be provided for each component mounting hole 14, or a common liquid level confirmation hole 13 can be provided for multiple component mounting holes 14 if the lower ends of multiple component mounting holes 14 are at the same position.

[0058] Therefore, even when performing maintenance on any one of the multiple servo motors 2, the lubricating material 5 can be discharged using the liquid level confirmation hole 13, which is located at the lower end of the component mounting hole 14 corresponding to the servo motor 2 being maintained.

[0059] That is, when the joint mechanism 10 has multiple component mounting holes 14 and a servo motor 2, the amount of lubricating material 5 discharged during the maintenance operation of the servo motor 2 can be suppressed to the necessary minimum according to the servo motor 2 of the object being maintained.

[0060] In this embodiment, a servo motor 2 is exemplified as a mechanism for opening and closing the component mounting hole 14 by detachment, but it is not limited to this. For example, it could be any mechanism that can be detachably mounted to the cover component 42, such as an oil temperature sensor, an oil pressure sensor, or an oil filter.

[0061] In addition, as a lubricating material groove structure 1, an example is the structure of the joint mechanism 10 provided between the rotating body 40 and the first arm 50 of the robot 100, but it is not limited to this and can also be applied to joint mechanisms in other arbitrary positions.

[0062] Furthermore, in this embodiment, a six-axis multi-joint robot is exemplified as robot 100, but it is not limited to this, and it can be any robot with more than one joint mechanism. Alternatively, it can be used as a lubrication material tank structure 1 other than a robot.

[0063] Furthermore, the following example illustrates a situation where the cover component 42 forming the lubrication space 4 is provided with a supply hole 11, a discharge hole 12, a liquid level confirmation hole 13, and a component mounting hole 14, and the cover component 42 is fixed to the bracket 41 of the rotating body 40. Therefore, even if the first arm 50 moves, the cover component 42 remains in the same position. Thus, when maintaining the servo motor 2, it is sufficient to keep the second axis B horizontal to prevent the first arm 50 from falling.

[0064] Alternatively, at least one of the supply hole 11, discharge hole 12, liquid level confirmation hole 13, and component mounting hole 14 may be disposed on other components forming the lubrication space 4, such as the reducer 3 or the first arm 50.

[0065] Next, with reference to the accompanying drawings, the lubricating material tank structure 1′ and the robot 100′ of the second embodiment of this disclosure will be described.

[0066] In the description of this embodiment, parts with the same structure as the lubricating material tank structure 1 and robot 100 in the first embodiment are marked with the same reference numerals and the description is omitted.

[0067] like Figure 6 As shown, in this embodiment, the cover component 42' of the lubricating material tank structure 1' is replaced by a liquid level confirmation hole 13' that can be opened and closed by a plug 13a, which is closed by a window component 13b made of optically transparent resin or glass.

[0068] The window component 13b is fixed in the liquid level confirmation hole 13 with a seal between it and the inner surface of the liquid level confirmation hole 13' by rubber or adhesive. In addition, the window component 13b has a scale (display) 13c, which is set at the same height as the lower end of the component mounting hole 14.

[0069] Based on the lubricant tank structure 1′ and robot 100′ configured in this embodiment, before removing the servo motor 2 from the cover member 42′, the plugs 11a and 12a are removed from the supply hole 11 and the discharge hole 12, and the supply hole 11 and the discharge hole 12 are opened. As a result, external air enters the lubrication space 4 through the supply hole 11, while the lubricant 5 in the lubrication space 4 is discharged to the outside through the discharge hole 12 located near the lowest position of the lubrication space 4 due to gravity.

[0070] In this situation, the operator can observe the lubrication space 4 from the outside through the window component 13b, thereby confirming the level of the lubricating material 5 in the lubrication space 4. Furthermore, when the level of the lubricating material 5 in the lubrication space 4 matches the scale 13c of the window component 13b, the drain hole 12 is closed by the plug 12a.

[0071] This allows the lubricating material 5 in the lubrication space 4 to be discharged to the height of the liquid level at the lower end of the component mounting hole 14.

[0072] Furthermore, the lubricating material 5 within the lubrication space 4 can be discharged through the discharge hole 12, which is positioned closer to the ground. This provides the advantage that even when the discharged lubricating material 5 drips onto a tray or similar surface on the ground for recycling, the dripping distance of the lubricating material 5 can be shortened, and the scattering of the lubricating material 5 onto the ground or similar surfaces can be suppressed.

[0073] Furthermore, the discharge hole 12 for discharging the lubricating material 5 in this case is also used for discharging the lubricating material 5 during maintenance operations other than the maintenance operation of the servo motor 2, such as when replacing the lubricating material 5 in the lubrication space 4 with a new lubricating material 5. Therefore, it has the advantage that the discharge position of the lubricating material 5 does not need to be changed every time depending on the content of the maintenance operation.

[0074] In addition, when the liquid level confirmation hole 13' with the window component 13b is embedded, since the lubricating material 5 is not discharged from the liquid level confirmation hole 13', the liquid level confirmation hole 13' itself can be formed to be larger than the discharge hole 12, thereby improving the visual recognition of the internal liquid level.

[0075] Furthermore, a structure in which the window component 13b is embedded in a liquid level confirmation hole 13′ with a circular cross-section is adopted. However, alternatively, the liquid level confirmation hole 13′ can also be formed as an elongated hole extending in the vertical direction. This has the advantage that the change in liquid level in the lubrication space 4 when the lubricating material 5 is discharged can be visually confirmed more reliably.

[0076] Additionally, a structure with a scale 13c on the window component 13b is used, but the scale 13c can also be omitted. Alternatively, a structure can be used to confirm the internal liquid level through the transparent window component 13b; however, instead, a sensor can detect when the internal liquid level is below the lower end of the component mounting hole 14 and notify the user via a light, buzzer, etc. When the liquid level is detected by the sensor, a valve that closes based on the sensor's detection signal can also be installed at the drain hole.

[0077] Explanation of reference numerals in the attached figures

[0078] 1, 1′: Structure of the lubricating material groove

[0079] 2: Servo motor (mechanical component)

[0080] 2a: Shaft (motor shaft)

[0081] 3: Reducer (speed reduction mechanism)

[0082] 5: Lubricating materials

[0083] 10: Joint mechanism

[0084] 11: Supply Hole

[0085] 12: Discharge port

[0086] 13, 13': Liquid level confirmation hole

[0087] 13a: Plug (or stopper)

[0088] 13b: Window components

[0089] 13c: Scale (display)

[0090] 14: Component mounting holes

[0091] 40: Rotating body (shell)

[0092] 41: Bracket (Main Body of the Shell)

[0093] 42, 42′: Cover component (shell)

[0094] 42c: End (outer surface)

[0095] 50: First arm (arm component)

[0096] 100, 100': Robot

[0097] B: Second axis (axis)

Claims

1. A lubricating material groove structure, characterized in that, It has a housing capable of storing liquid lubricating material. The housing has a supply port, a discharge port, a component mounting port, and a liquid level confirmation port that extend through the inside and outside of the housing. The supply port allows the lubricating material to be injected into the housing. The discharge port and the liquid level confirmation port can discharge the lubricating material inside the housing. The component mounting holes are opened and closed by means of a mechanism detachably mounted on the outer side of the housing. The liquid level confirmation hole is positioned below the lower end of the component mounting hole and above the discharge hole. When the lubricating material is discharged, if the discharge of the lubricating material stops from the liquid level confirmation hole, it can be confirmed that the liquid level of the lubricating material has changed to below the lower end of the component mounting hole.

2. The lubricating material groove structure according to claim 1, characterized in that, The liquid level confirmation hole is located at the lower end of the component mounting hole.

3. The lubricating material groove structure according to claim 1 or 2, characterized in that, The diameter of the liquid level confirmation hole is smaller than the diameter of the component mounting hole, and it is closed by a bolt that can be opened and closed.

4. The lubricating material groove structure according to claim 1 or 2, characterized in that, The housing comprises a housing body and a cover component. The housing body has an opening, and the cover component is installed relative to the housing body to close the opening. The cover component is provided with the supply hole, the discharge hole, the component mounting hole, and the liquid level confirmation hole, respectively. The mounting position of the cover component relative to the housing body can change angle around a predetermined axis.

5. A robot, characterized in that, It has more than one joint mechanism. The joint mechanism has a lubricating material groove structure as described in any one of claims 1 to 4.

6. The robot according to claim 5, characterized in that, The joint mechanism includes an arm component that is supported to rotate relative to the housing about a predetermined axis. The mechanism component is a motor. A speed reduction mechanism is housed within the housing, which reduces the rotation of the motor shaft and transmits the speed reduction to the arm component.

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