Robot and robot system

Abstract

The invention discloses a robot and a robot system, which have high safety. The robot includes: a base; a first arm that rotates about a first axis with respect to the base; a second arm rotating about a second axis relative to the first arm; a main shaft disposed on the second arm, rotating about a third axis, and moving along the third axis; a first support part disposed on the second arm; a sub-bearing disposed on the first support portion; a sub-shaft which is axially supported by the sub-bearing and which moves in a direction along the third shaft with respect to the first support part; a stopper disposed on the countershaft, the stopper allowing the countershaft to move in a direction along the third shaft to abut against the counterbearing; a second support part connecting the main shaft and the auxiliary shaft; and a cover member disposed on the first support portion and covering a contact portion of the sub-bearing with the stopper.

Description

Technical Field

[0001] The present invention relates to a robot and a robot system. Background Art

[0002] In the SCARA robot described in patent document 1, there is a base shaft, a first horizontal arm rotatably connected to the base shaft, and a second horizontal arm rotatably connected to the first horizontal arm. In addition, at the end of the second horizontal arm, a ball screw nut and a ball spline nut are supported to rotate freely via a bearing shaft, and a main arm shaft is inserted through the ball screw nut and the ball spline nut. The main arm shaft is a spline shaft, which is raised and lowered by the rotation of the ball screw nut and rotates around the axis by the rotation of the ball spline nut.

[0003] In addition, an upper support plate is fixed to the distal end of the second horizontal arm. In addition, a pair of auxiliary arm shafts are respectively inserted through the two ends of the upper support plate, and each auxiliary arm shaft is supported by a bearing installed on the upper support plate so as to be able to be raised and lowered freely. In addition, a lower support plate is arranged on the lower side of the upper support plate, and the lower end of each auxiliary arm shaft is fixed to the lower support plate. The lower support plate is equipped with a bearing, which is inserted through the main arm shaft and supports the main arm shaft so as to be able to rotate freely. In such a structure, the main arm shaft and the auxiliary arm shaft support each other in a manner that two portions separated in their axial direction are kept spaced apart from each other. Therefore, the vibration of the main arm shaft caused by the swinging motion of the second horizontal arm can be suppressed and reduced.

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 11-170184

[0005] In the SCARA robot of Patent Document 1, a mechanical stopper is provided at the upper end of each auxiliary arm shaft, and the mechanical stopper contacts the bearing to limit further descent of the main arm shaft. However, since the bearings supporting each auxiliary arm shaft are exposed to the outside, foreign matter may be caught between the bearing and the mechanical stopper. Summary of the invention

[0006] The robot of the present invention has:

[0007] abutment;

[0008] A first arm connected to the base and rotated about a first axis relative to the base;

[0009] A second arm connected to the first arm and rotating around a second axis relative to the first arm;

[0010] A main shaft, arranged on the second arm, rotates around a third axis and moves along the third axis;

[0011] A first supporting portion, disposed on the second arm;

[0012] A secondary bearing, disposed on the first supporting portion;

[0013] a secondary shaft, which is axially supported by the secondary bearing and moves in a direction along the third axis relative to the first support portion;

[0014] a stopper, arranged on the secondary shaft, and abutting against the secondary bearing when the secondary shaft moves in a direction along the third axis;

[0015] A second support portion connecting the main shaft and the secondary shaft; and

[0016] The cover member is disposed on the first support portion and covers a contact portion of the auxiliary bearing with the stopper.

[0017] The robot system of the present invention has:

[0018] Robots; and

[0019] A control device controls the driving of the robot,

[0020] The robot has:

[0021] abutment;

[0022] A first arm connected to the base and rotated about a first axis relative to the base;

[0023] A second arm connected to the first arm and rotating around a second axis relative to the first arm;

[0024] A main shaft, arranged on the second arm, rotates around a third axis and moves along the third axis;

[0025] A first supporting portion, disposed on the second arm;

[0026] A secondary bearing, disposed on the first supporting portion;

[0027] a secondary shaft, which is axially supported by the secondary bearing and moves in a direction along the third axis relative to the first support portion;

[0028] a stopper, arranged on the secondary shaft, and abutting against the secondary bearing when the secondary shaft moves in a direction along the third axis;

[0029] A second support portion connecting the main shaft and the secondary shaft; and

[0030] The cover member is disposed on the first support portion and covers a contact portion of the auxiliary bearing with the stopper. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1It is an overall diagram of the robot system according to the first embodiment.

[0032] Figure 2 This is a cross-sectional view of the second arm of the robot.

[0033] Figure 3 This is a cross-sectional view of the second arm of the robot.

[0034] Figure 4 This is an exploded perspective view showing a reinforcement mechanism provided in the robot.

[0035] Figure 5 It is a plan view showing an upper support plate provided in the reinforcement mechanism.

[0036] Figure 6 This is a cross-sectional view of the auxiliary bearing provided in the reinforcement mechanism.

[0037] Figure 7 This is a cross-sectional view of the auxiliary bearing provided in the reinforcement mechanism.

[0038] Figure 8 This is an exploded perspective view of a cover member included in the reinforcement mechanism.

[0039] Fig. 9 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0040] Fig.10 yes Fig. 9 An enlarged cross-sectional view of area Q in FIG.

[0041] Fig.11 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0042] Fig.12 This is a front view showing a state in which the first cover member is placed on the second cover member.

[0043] Fig.13 It is an exploded perspective view of a cover member included in the robot according to the second embodiment.

[0044] Fig.14 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0045] Fig.15 It is a perspective view of a cover member included in the robot according to the third embodiment.

[0046] Fig.16 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0047] Fig.17 It is a perspective view of a cover member included in the robot according to the fourth embodiment.

[0048] Fig.18 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0049] Fig.19 It is a cross-sectional view of a cover member included in the robot according to the fifth embodiment.

[0050] Fig. 20 It is a cross-sectional view showing a reinforcement mechanism provided in a robot according to a sixth embodiment.

[0051] Description of Reference Numerals

[0052] 1…Robot system, 10…Control device, 2…Robot, 21…Base, 22…Robot arm, 221…First arm, 222…Second arm, 222a…Arm base, 222b…Arm cover member, 226…Bulging portion, 23…Working head, 231…Spline nut, 232…Ball screw nut, 233…Spline shaft, 233a…Stop member, 233b…Mounting portion, 234…First main bearing, 234a…Abutment portion, 235…Second main bearing, 235a…Abutment portion, 251…First joint driving portion, 252…Second joint driving portion, 253…First driving mechanism, 2 54…second drive mechanism, 26…user plate, 261…connector, 3…reinforcement mechanism, 30A…positioning fixture, 30B…positioning fixture, 301…base, 302…upper protrusion, 303…lower protrusion, 31…upper support plate, 311…protrusion, 312…protrusion, 315…upper recess, 316…upper recess, 318…screw engaging hole, 319…step surface, 321…secondary shaft, 321a…stopper, 322…secondary shaft, 322a…stopper, 331…secondary bearing, 331a…abutment, 332…secondary bearing, 332a…abutment, 34…lower side support plate, 341…lower side recess, 342…lower side recess, 35…third main bearing, 361…stopper, 362…spacer, 363…spacer, 364…setting ring, 37…cover member, 38…first cover member, 381…flat plate portion, 381a…flat plate portion, 381b…flat plate portion, 381c…flat plate portion, 381d…flat plate portion, 381e…flat plate portion, 381f…flat plate portion, 381g…flat plate portion, 382…corner portion, 382a…corner portion, 382b…corner portion, 382c…corner portion, 382d…corner portion, 382e…corner portion, 382f…corner portion, 383…Snap-on piece, 383a…Snap-on piece, 383b…Snap-on piece, 383c…Snap-on piece, 383d…Snap-on piece, 383e…Snap-on piece, 383f…Snap-on piece, 383g…Snap-on piece, 384…Screw insertion hole, 385…Screw engaging hole, 39…Second cover member, 391…Through hole, 392…Through hole, 393…Screw insertion hole, 394…Side portion, A…Center axis, B1…Screw, B2…Screw, G…Gap, J1…First axis, J2…Second axis, J3…Third axis, L1…Virtual straight line, L2…Virtual straight line, T1…Height, T2…Height. DETAILED DESCRIPTION

[0053] Hereinafter, the robot and the robot system of the present invention will be described in detail based on the embodiments shown in the drawings.

[0054] Figure 1 It is an overall diagram of the robot system according to the first embodiment. Figure 2 and Figure 3Each of them is a cross-sectional view of the second arm included in the robot. Figure 4 This is an exploded perspective view showing a reinforcement mechanism provided in the robot. Figure 5 It is a plan view showing an upper support plate provided in the reinforcement mechanism. Figure 6 and Figure 7 Each of them is a cross-sectional view of a secondary bearing provided in the reinforcement mechanism. Figure 8 This is an exploded perspective view of a cover member included in the reinforcement mechanism. Fig. 9 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member. Fig.10 yes Fig. 9 An enlarged cross-sectional view of area Q in FIG. Fig.11 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member. Fig.12 This is a front view showing a state in which the first cover member is placed on the second cover member.

[0055] Need to explain, Figure 1 The up and down directions in the image are consistent with the vertical direction. Figure 1 The upper side in the description is also referred to as "upper", and the lower side is also referred to as "lower". In addition, in this specification, the meaning of "vertical" includes not only the case of being consistent with the vertical, but also the case of being inclined relative to the vertical within the range that can exert the effect of the present invention. In this specification, the meaning of "parallel" includes not only the case of two objects being consistent with parallel, but also the case of being inclined from parallel within the range that can exert the effect of the present invention.

[0056] Figure 1 The robot system 1 shown includes a robot 2 and a control device 10 that controls the driving of the robot 2 .

[0057] Robot 2

[0058] The robot 2 is a horizontal multi-joint robot, that is, a SCARA robot, and is used, for example, in various operations such as holding, transporting, assembling, and inspecting workpieces such as electronic components. However, the use of the robot 2 is not particularly limited. In addition, the robot 2 may also be a six-axis multi-joint robot, a dual-arm robot, etc. other than a SCARA robot.

[0059] like Figure 1 As shown, the robot 2 has a base 21 and a robot arm 22 connected to the base 21. In addition, the robot arm 22 has a first arm 221, the base end of which is connected to the base 21, and the first arm 221 rotates around a first axis J1 along the vertical direction relative to the base 21; and a second arm 222, the base end of which is connected to the distal end of the first arm 221, and the second arm 222 rotates around a second axis J2 along the vertical direction relative to the first arm 221.

[0060] In addition, a working head 23 is provided at the distal end of the second arm 222. Figure 2 As shown, the working head 23 has a spline nut 231 and a ball screw nut 232 coaxially arranged at the distal end of the second arm 222, and a spline shaft 233 as a main shaft inserted through the spline nut 231 and the ball screw nut 232. The spline shaft 233 can rotate around the third axis J3 along the vertical direction and the central axis thereof relative to the second arm 222, and can move (rise and fall) along the third axis J3.

[0061] In addition, if Figure 1 As shown, a stopper 233a is provided at the upper end of the spline shaft 233. In addition, a mounting portion 233b for mounting an end effector (not shown) is provided at the lower end of the spline shaft 233. The end effector is appropriately selected to be detachable from the mounting portion 233b and suitable for the target operation.

[0062] In addition, if Figure 1 As shown, the robot 2 has: a first joint driving unit 251, which rotates the first arm 221 relative to the base 21 around the first axis J1; and a second joint driving unit 252, which rotates the second arm 222 relative to the first arm 221 around the second axis J2. Figure 2 As shown, the robot 2 has: a first drive mechanism 253 that rotates the spline nut 231 and the spline shaft 233 around the third axis J3; and a second drive mechanism 254 that rotates the ball screw nut 232 and moves the spline shaft 233 in the direction along the third axis J3.

[0063] In addition, the spline nut 231 is located at a position closer to the lower side in the vertical direction than the ball screw nut 232. The spline nut 231 supporting the spline shaft 233 in the horizontal direction is located at a position closer to the lower end than the ball screw nut 232, so that a structure in which the lower end of the spline shaft 233 is difficult to vibrate in the horizontal direction can be formed. The first drive mechanism 253 has a motor not shown in the figure, and a belt connecting the spline nut 231 and the motor. The second drive mechanism 254 has a motor not shown in the figure, and a belt connecting the ball screw nut 232 and the motor. The second joint drive unit 252 has a motor and a reducer not shown in the figure. The motor of the first drive mechanism 253 and the motor of the second drive mechanism 254 are arranged at a position closer to the end side of the second arm 222 than the motor of the second joint drive unit 252.

[0064] Returning to the description of the second arm 222, as Figure 2As shown, the second arm 222 has: an arm base 222a, which is a rigid body connected to the first arm 221 via the second joint driving unit 252; and an arm cover member 222b, which is an exterior member covering the arm base 222a. In addition, a portion of the upper surface of the arm cover member 222b is cut away. In addition, in the arm cover member 222b, the spline nut 231 is rotatably supported on the arm base 222a via the first main bearing 234, and the ball screw nut 232 is rotatably supported on the arm base 222a via the second main bearing 235. In addition, as Figure 3 As shown, the stopper 233 a disposed on the spline shaft 233 a contacts the contact portion 234 a which is the upper end surface of the first main bearing 234 , thereby restricting and preventing the spline shaft 233 from further moving downward.

[0065] An inertial sensor unit (not shown) is provided at the end side of the second arm 222. In particular, in the present embodiment, the inertial sensor unit is provided between the virtual straight line L1 and the virtual straight line L2 described later when viewed from above in the vertical direction, and is mounted on the arm base 222a inside the second arm 222. The inertial sensor unit includes an inertial sensor that detects at least one of an angular velocity and an acceleration. The inertial sensor unit acquires the output of the inertial sensor at a fixed period and sends a signal to the control device 10. The control device 10 controls the robot 2 based on the signal from the inertial sensor unit. Thus, the vibration of the robot 2 during driving can be suppressed.

[0066] In addition, if Figure 1 As shown, the second arm 222 has a plate portion exposed from a cutout on the upper surface of the arm cover part 222b, namely, a user plate 26. At least one connector 261 is arranged on the user plate 26. Inside the second arm 222, the connector 261 is connected to an internal wiring not shown. The internal wiring passes through the inside of the second arm 222, the first arm 221 and the base 21, and is connected to the external wiring via a connector provided on the base 21. The external wiring is connected to the control device 10, etc. It should be noted that a pipe connecting the second arm 222 and the base 21 may also be provided, and the internal wiring passes through the inside of the pipe. In this case, it is preferred that the pipe connector connecting the pipe and the second arm 222 is arranged on the second axis J2 in a manner that the pipe does not twist. There is no particular limitation on the connector 261, and examples thereof include a power supply connector for the end effector, a connector for supplying compressed air used in the end effector, a connector for a camera mounted on the second arm 222 and the end effector, a connector for a LAN connection, and connectors for various sensors such as acceleration sensors, angular velocity sensors, force sensors, proximity sensors, and temperature sensors.

[0067] The user plate 26 as the plate portion is made of a sufficiently hard material such as a metal material, a resin material, etc. In this way, the rigidity of the user plate 26 can be ensured, and devices such as a sensor for determining whether the end effector is holding an object and a pump connected to the end effector can be arranged on the user plate 26. It should be noted that the user plate 26 can also be divided into multiple parts. For example, a first user plate with a connector can be arranged on the end side, and a second user plate with other connectors or a piping connector can be arranged on the base side. In this way, the position of the connector or the piping connector can be freely configured. In addition, it is also possible to directly arrange the user plate 26 on the upper surface of the arm cover part 222b without providing a cutout on the upper surface of the arm cover part 222b.

[0068] In addition, if Figure 1 As shown, the robot 2 also has a reinforcing mechanism 3, which suppresses the vibration and torsion of the spline shaft 233 caused by the rotational movement of the second arm 222. The reinforcing mechanism 3 suppresses the vibration and torsion of the spline shaft 233 by increasing the rigidity of the spline shaft 233. It should be noted that the heavier the load applied to the spline shaft 233, that is, the heavier the robot 2 can carry, the more significant the vibration and torsion of the spline shaft 233. It should be noted that the "rotational movement of the second arm 222" refers to the gyratory movement of the second arm 222 caused by at least one of the rotation of the first arm 221 around the first axis J1 and the rotation of the second arm 222 around the second axis J2.

[0069] like Figure 4 As shown in FIG. 1 , the reinforcing mechanism 3 has an upper support plate 31 as a first support portion, and the upper support plate 31 is fixed to the lower surface of the distal end of the arm base 222a. When viewed from above from the vertical direction, the upper support plate 31 is a substantially triangular plate member with a tapered tip, and both sides of the base end, that is, the end on the side close to the second axis J2, protrude outward from both sides of the second arm 222. That is, as shown in FIG. Figure 5 As shown, when viewed from above in the vertical direction, the upper support plate 31 protrudes along a straight line intersecting the central axis A of the second arm 222. In the present embodiment, the central axis A of the second arm 222 coincides with a straight line connecting the second axis J2 and the third axis J3. It should be noted that, hereinafter, the portion of the second arm 222 protruding to one side is referred to as a protrusion 311, and the portion protruding to the other side is referred to as a protrusion 312. In addition, when viewed from above in the vertical direction, the protrusions 311 and 312 are formed symmetrically with respect to the central axis A of the second arm 222. In addition, a through hole for inserting the spline shaft 233 is formed in the central portion of the upper support plate 31.

[0070] In addition, if Figure 4 and Figure 5As shown, the reinforcing mechanism 3 includes: a secondary shaft 321 inserted into a through hole formed in the protrusion 311 of the upper support plate 31; and a secondary shaft 322 inserted into a through hole formed in the protrusion 312 of the upper support plate 31. The secondary shafts 321 and 322 are respectively parallel to the spline shaft 233 and arranged in the vertical direction. Figure 5 As shown, the auxiliary shafts 321 and 322 are respectively located outside the second arm 222 and are arranged symmetrically with respect to the central axis A of the second arm 222 when viewed from a vertical direction.

[0071] In addition, if Figure 5 As shown, when viewed from above in the vertical direction, the center axes of the secondary shafts 321 and 322 are respectively located at positions closer to the base end side of the second arm 222 than the center axis of the spline shaft 233, that is, at positions closer to one side of the second axis J2. In addition, when viewed from above in the vertical direction, the center axes of the secondary shafts 321 and 322 are respectively located at positions closer to the tip side of the second arm 222 than the tip of the user plate 26. In other words, when viewed from above in the vertical direction, the center axes of the secondary shafts 321 and 322 are located between a virtual straight line L1 that intersects the third axis J3 and is orthogonal to the center axis A of the second arm 222, and a virtual straight line L2 that is connected to the tip of the user plate 26 and is orthogonal to the center axis A of the second arm 222.

[0072] In addition, if Figure 4 and Figure 5 As shown, the reinforcing mechanism 3 has a secondary bearing 331 disposed on the protruding portion 311, and a secondary bearing 332 disposed on the protruding portion 312. In addition, the secondary shaft 321 is inserted through the secondary bearing 331, and is supported by the secondary bearing 331 so as to be able to rise and fall relative to the upper support plate 31. Similarly, the secondary shaft 322 is inserted through the secondary bearing 332, and is supported by the secondary bearing 332 so as to be able to rise and fall relative to the upper support plate 31. In addition, as Figure 6 As shown, the auxiliary bearings 331 and 332 are structures in which a plurality of annular ball rows are arranged along the inner circumference. In the plurality of ball rows, a plurality of balls (hard balls) in contact with the surface of the auxiliary shafts 321 and 322 are arranged along the axial direction of the auxiliary shafts 321 and 322, and can circulate from one end of the ball row through the inside to the other end. With such a structure, the movement of the auxiliary shafts 321 and 322 becomes smoother. However, the structure of the auxiliary bearings 331 and 332 is not particularly limited. For example, the plurality of balls can also be arranged in a spiral shape.

[0073] In addition, if Figure 1 As shown in FIG. 1 , a stopper 321a is disposed at the upper end of the secondary shaft 321. Similarly, a stopper 322a is disposed at the upper end of the secondary shaft 322. Figure 7As shown, the stoppers 321 a and 322 a contact the contact portions 331 a and 332 a which are the upper end surfaces of the auxiliary bearings 331 and 332 , thereby restricting and preventing the auxiliary shafts 321 and 322 from further moving downward.

[0074] Here, the stopper 233a disposed on the spline shaft 233 abuts against the abutment portion 234a of the first main bearing 234, and the stoppers 321a, 322a disposed on the secondary shafts 321, 322 abut against the abutment portions 331a, 332a of the secondary bearings 331, 332. In this way, the three stoppers 233a, 321a, 322a abut against the abutment portions 234a, 331a, 332a at the same time, so that the impact during the abutment can be dispersed, and damage and failure of the robot 2 can be effectively suppressed.

[0075] However, the present invention is not limited thereto, and the stoppers 321a and 322a disposed on the secondary shafts 321 and 322 may abut against the abutment portions 331a and 332a of the secondary bearings 331 and 332 after the stoppers 233a disposed on the spline shaft 233 abut against the abutment portions 234a of the first main bearing 234. In this case, a structure as described below may be formed: at least the lower portion of the stoppers 233a that abut first is formed of an elastic body such as a rubber material, and the elastic body is compressed due to the abutment, so that the stoppers 321a and 322a abut with a delay. Conversely, the stoppers 233a disposed on the spline shaft 233 may abut against the abutment portions 234a of the first main bearing 234 after the stoppers 321a and 322a disposed on the secondary shafts 321 and 322 abut against the abutment portions 331a and 332a of the secondary bearings 331 and 332. In this case, a structure can be adopted in which at least the lower portions of the stoppers 321 a and 322 a that come into contact first are formed of an elastic body, and the stopper 233 a comes into contact with the contact later.

[0076] In addition, if Figure 4 As shown, the reinforcing mechanism 3 has a lower support plate 34 as a second support portion arranged on the lower side of the upper support plate 31. When viewed from above from the vertical direction, the lower support plate 34 has the same profile as the upper support plate 31, and is a roughly U-shaped plate member with a tapered tip. In addition, the lower end of the secondary shaft 321 is fixed to one end of the lower support plate 34, and the lower end of the secondary shaft 322 is fixed to the other end. In addition, the spline shaft 233 is inserted into a through hole formed in the central part of the lower support plate 34, and the mounting portion 233b provided at the lower end of the spline shaft 233 is located at a position lower than the lower support plate 34. Through such a lower support plate 34, the spline shaft 233 and the secondary shafts 321, 322 are supported and connected to each other in a manner that keeps a distance from each other.

[0077] In addition, if Figures 2 to 4As shown, the reinforcement mechanism 3 has a third main bearing 35 disposed on the lower support plate 34. The spline shaft 233 is inserted through the third main bearing 35 and is axially supported by the third main bearing 35 so as to be rotatable around the third axis J3 relative to the lower support plate 34. It should be noted that the third main bearing 35 axially supports the spline shaft 233 near the lower end portion of the spline shaft 233.

[0078] In addition, if Figure 2 and Figure 3 As shown, the reinforcing mechanism 3 includes a stopper 361, two spacers 362, 363, and a setting ring 364 through which the spline shaft 233 is inserted. The stopper 361 is located between the second main bearing 235 and the third main bearing 35, and is in contact with the contact portion 235a, which is the lower end surface of the second main bearing 235, thereby limiting and preventing the spline shaft 233 from further moving upward. The spacer 362 is located between the stopper 361 and the third main bearing 35, and has the function of positioning the stopper 361 relative to the lower support plate 34. The setting ring 364 is located on the lower side of the lower support plate 34, and functions as a mark for easily knowing the installation position of the end effector to the installation portion 233b. The spacer 363 is located between the setting ring 364 and the third main bearing 35, and has the function of positioning the setting ring 364 relative to the lower support plate 34.

[0079] Here, in the present embodiment, the spline shaft 233 and the secondary shafts 321 and 322 are respectively cylindrical hollow structures. Therefore, wiring, air piping, etc. connected to the end effector, etc. can be routed through the spline shaft 233 and the secondary shafts 321 and 322. As a result, the wiring, air piping, etc. are less likely to be exposed to the periphery of the end effector, and smooth robot operation can be achieved.

[0080] The basic structure of the reinforcement mechanism 3 is described above. In such a reinforcement mechanism 3, when the ball screw nut 232 is rotated by the second drive mechanism 254 to move the spline shaft 233 up and down, the lower support plate 34 also moves up and down together, so the secondary shafts 321 and 322 also move up and down together. As described above, the spline shaft 233 is axially supported on the second arm 222 by the ball screw nut 232 and the spline nut 231, and the secondary shafts 321 and 322 are axially supported on the second arm 222 by the secondary bearings 331 and 332 mounted on the upper support plate 31. Moreover, the spline shaft 233 and the secondary shafts 321 and 322 are supported by each other in a manner that they are kept spaced apart from each other by the lower support plate 34. Therefore, in the robot 2, the structure described below is obtained: the spline shaft 233 and the secondary shafts 321 and 322 are supported by each other in a manner that they are kept spaced apart from each other at two locations separated from each other. As a result, the rigidity of the spline shaft 233 is increased, and vibration and torsion of the spline shaft 233 during the rotational movement of the second arm 222 can be effectively suppressed and reduced.

[0081] In particular, in the present embodiment, the secondary shafts 321 and 322 are located outside the second arm 222, so the configuration freedom of the secondary shafts 321 and 322 is high. Therefore, the secondary shafts 321 and 322 can be sufficiently separated from the spline shaft 233, and the rigidity of the spline shaft 233 can be further improved. It should be noted that, when viewed from above from the vertical direction, the secondary shafts 321 and 322 are configured so that the triangle formed by connecting the central axes of the spline shaft 233 and the secondary shafts 321 and 322 is close to an equilateral triangle, preferably an equilateral triangle. By forming such a configuration, the rigidity of the spline shaft 233 can be further improved. However, the configuration of the secondary shafts 321 and 322 is not particularly limited.

[0082] In addition, in the present embodiment, the spline shaft 233 and the auxiliary shafts 321 and 322 are mutually supported by the lower support plate 34 at the portion close to the lower end of the spline shaft 233, that is, at the portion close to the mounting portion 233b where the end effector is mounted. Therefore, even when the spline shaft 233 is extended downward, the vibration and torsion of the spline shaft 233 can be effectively suppressed. In addition, the center axis of the auxiliary shafts 321 and 322 is located at a position closer to the base end side of the second arm 222 than the center axis of the spline shaft 233. Therefore, the increase in the moment of inertia of the second arm 222 caused by the provision of the reinforcement mechanism 3 can be suppressed to a small extent, and the reduction in the motion performance of the robot 2 can be effectively suppressed. In addition, the center axis of the auxiliary shafts 321 and 322 is located at a position closer to the end side of the second arm 222 than the end of the user plate 26. Therefore, the approach to the user plate 26 is less likely to be hindered by the auxiliary shafts 321 and 322, and the work of connecting wiring, air piping, etc. to the user plate 26 becomes easy. Furthermore, interference between the wiring, air piping, and the like connected to the user panel 26 and the auxiliary shafts 321 and 322 can also be suppressed.

[0083] like Figure 4 As shown, the reinforcing mechanism 3 further includes a cover member 37, which is arranged on the upper support plate 31 and covers the auxiliary bearings 331 and 332. The cover member 37 includes a first cover member 38, which constitutes a side wall portion of the cover member 37 and covers the side of the auxiliary bearings 331 and 332; and a second cover member 39, which constitutes a top plate portion and covers the upper side of the auxiliary bearings 331 and 332. In this way, by dividing the cover member 37 into a plurality of parts, the formation of the cover member 37 becomes easy.

[0084] However, the present invention is not limited thereto, and the first cover member 38 and the second cover member 39 may be formed integrally. In addition, the first cover member 38 and the upper support plate 31 may be formed integrally.

[0085] The cover member 37 has the same contour as the upper support plate 31 in a plan view from the vertical direction, and is substantially U-shaped and tapered.

[0086] The first cover member 38 is formed by bending a metal plate at a predetermined position. It should be noted that the metal material constituting the first cover member 38 is not particularly limited, but preferably a light and easily bendable material such as aluminum (Al), stainless steel (SUS), or steel plate. In particular, in the present embodiment, the first cover member 38 is made of a galvanized steel plate (SECC).

[0087] In addition, if Figure 8 As shown, the first cover member 38 is configured by connecting seven flat plate portions 381a, 381b, 381c, 381d, 381e, 381f, and 381g via six curved corner portions 382a, 382b, 382c, 382d, 382e, and 382f. Specifically, the plate portions 381a and 381b are connected via the corner portion 382a located therebetween, the plate portions 381b and 381c are connected via the corner portion 382b located therebetween, the plate portions 381c and 381d are connected via the corner portion 382c located therebetween, the plate portions 381d and 381e are connected via the corner portion 382d located therebetween, the plate portions 381e and 381f are connected via the corner portion 382e located therebetween, and the plate portions 381f and 381g are connected via the corner portion 382f located therebetween. It should be noted that, for the sake of convenience, when describing the flat plate portions 381a, 381b, 381c, 381d, 381e, 381f, and 381g without distinction, they are also referred to as "flat plate portions 381", and when describing the corner portions 382a, 382b, 382c, 382d, 382e, and 382f without distinction, they are also referred to as "corner portions 382".

[0088] In addition, in the first cover member 38, the height T2 of the corner portion 382 is greater than the height T1 of the flat plate portion 381, and the upper end of the corner portion 382 is located at a position protruding more upward than the upper end of the flat plate portion 381. On the other hand, the lower end of the flat plate portion 381 and the lower end of the corner portion 382 are aligned in height with each other. In addition, a screw insertion hole 384 for fixing the first cover member 38 to the upper support plate 31 is formed at the lower end of the flat plate portion 381. In particular, in the present embodiment, a screw insertion hole 384 is formed in each of the flat plate portions 381a, 381b, 381c, 381d, 381e, 381f, and 381g. As a result, the number of screws can be reduced, and the first cover member 38 can be appropriately fixed to the upper support plate 31 in a manner that no gap is generated between the first cover member 38 and the upper support plate 31.

[0089] Here, if Fig. 9 and Fig.10As shown in FIG. 1 , the upper surface of the upper support plate 31 is slightly smaller than the lower surface, and a stepped surface 319 is formed on the side surface connecting the upper surface and the lower surface, which faces upward in the vertical direction. In addition, the first cover member 38 is placed on the stepped surface 319. Moreover, a screw engaging hole 318 is formed on the side surface of the upper support plate 31, which overlaps with each screw insertion hole 384 when the first cover member 38 is placed on the stepped surface 319. Therefore, by fastening the screw B1 inserted into each screw insertion hole 384 to the screw engaging hole 318, the first cover member 38 is fixed to the upper support plate 31. With such a structure, the screw fastening can be performed in a state where the first cover member 38 is placed on the upper support plate 31, so that the operation of fixing the first cover member 38 to the upper support plate 31 and the operation of removing the first cover member 38 from the upper support plate 31 are easily achieved.

[0090] In addition, if Figure 8 As shown, the first cover member 38 has: a snap-on piece 383a, which is extended from the upper end of the flat plate portion 381a and extends in the horizontal direction toward the inner side of the cover member 37; a snap-on piece 383b, which is extended from the upper end of the flat plate portion 381b and extends in the horizontal direction toward the inner side of the cover member 37; a snap-on piece 383c, which is extended from the upper end of the flat plate portion 381c and extends in the horizontal direction toward the inner side of the cover member 37; and a snap-on piece 383d, which is extended from the flat plate portion The upper end of the flat plate portion 381d extends in the horizontal direction toward the inside of the cover member 37; the snap piece 383e extends from the upper end of the flat plate portion 381e and extends in the horizontal direction toward the inside of the cover member 37; the snap piece 383f extends from the upper end of the flat plate portion 381f and extends in the horizontal direction toward the inside of the cover member 37; and the snap piece 383g extends from the upper end of the flat plate portion 381g and extends in the horizontal direction toward the inside of the cover member 37. It should be noted that, hereinafter, for the sake of convenience, when the snap pieces 383a, 383b, 383c, 383d, 383e, 383f, and 383g are described without distinction, they are also referred to as "snap pieces 383".

[0091] Furthermore, the locking piece 383 has a screw locking hole 385 for fixing the second cover member 39 to the first cover member 38. In particular, in this embodiment, one screw locking hole 385 is formed in each of the locking pieces 383a, 383b, 383c, 383d, 383e, 383f, and 383g.

[0092] like Figure 8As shown in FIG. 1 , the second cover member 39 is a plate member having a substantially U-shaped shape with the same outline as the upper support plate 31 and tapering at the tip when viewed from above in the vertical direction. In addition, insertion holes 391 and 392 through which the secondary shafts 321 and 322 are inserted are formed in the second cover member 39. Such a second cover member 39 is placed on the first cover member 38 in a state where the secondary shafts 321 and 322 are inserted into the insertion holes 391 and 392.

[0093] like Fig. 9 and Fig.10 As shown in FIG. 1 , the second cover member 39 is located above the contact portions 331a and 332a which are the upper end surfaces of the auxiliary bearings 331 and 332. Fig.11 As shown in the figure, in the state where the stoppers 321a, 322a abut against the abutting portions 331a, 332a, the second cover member 39 is located above the stoppers 321a, 322a. Therefore, the abutting portions 331a, 332a are covered by the cover member 37. In this way, by covering the abutting portions 331a, 332a with the cover member 37, it is possible to effectively prevent an object from being caught between the abutting portions 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 is stabilized, and safety is also improved.

[0094] In addition, the second cover member 39 is located at a lower side than the user plate 26. In other words, the upper end of the cover member 37 is located at a lower side than the user plate 26. With such a structure, the approach to the user plate 26 is less likely to be hindered by the cover member 37, and the operation of connecting the wiring, air piping, etc. to the user plate 26 is easily achieved. In addition, the interference between the wiring, air piping, etc. connected to the user plate 26 and the cover member 37 can also be suppressed.

[0095] It should be noted that, as described above, in the first cover member 38, the upper end of the corner portion 382 is located above the upper end of the flat plate portion 381. Fig.12 As shown, the second cover member 39 is placed on the upper end surface of the corner portion 382 at its outer edge, and a small gap G is formed between the second cover member 39 and the flat plate portion 381. A snap piece 383 is extended from the upper end of the flat plate portion 381. Due to the bending process for forming the snap piece 383, the height T1 of the flat plate portion 381 is likely to deviate from the design value. On the other hand, the snap piece 383 is not extended from the corner portion 382, ​​and the aforementioned bending process is not required. Therefore, the height accuracy of the corner portion 382 is higher than that of the flat plate portion 381. By placing the second cover member 39 on the corner portion 382 in a non-contact state with the flat plate portion 381, the second cover member 39 can be positioned in the height direction with high accuracy.

[0096] In particular, in this embodiment, if Fig.10As shown, a bulging portion 226 bulging outwardly is formed at the lower end of the arm cover member 222b. The function of the bulging portion 226 is not particularly limited, but for example, the function of the bulging portion 226 is to improve the aesthetics of the robot 2, improve the mechanical strength of the arm cover member 222b, etc. In addition, with the purpose of improving the aesthetics, the height of the cover member 37 is set so that the upper end of the bulging portion 226 and the upper end of the cover member 37 are at the same height. Therefore, as in the present embodiment, by positioning the second cover member 39 in the height direction with high precision, the upper end of the bulging portion 226 can be more reliably aligned with the upper end of the cover member 37, and the aesthetics of the robot 2 can be improved.

[0097] Furthermore, the second cover member 39 is formed with screw insertion holes 393 that overlap with the screw engagement holes 385. In addition, the second cover member 39 is fixed to the first cover member 38 by fastening the screws B2 inserted through the screw insertion holes 393 to the corresponding screw engagement holes 385. With such a structure, the screws can be fastened while the second cover member 39 is placed on the first cover member 38, so that the operation of fixing the second cover member 39 to the first cover member 38 and the operation of removing the second cover member 39 from the first cover member 38 become easy.

[0098] The reinforcement mechanism 3 has been described above. In such a reinforcement mechanism 3, all components constituting the reinforcement mechanism 3 are arranged outside the second arm 222. Therefore, it becomes easy to install the reinforcement mechanism 3 on the robot 2. Therefore, for example, on the manufacturer's side, by installing the reinforcement mechanism 3 on a robot with a low transportability specification, the specification can be easily changed to a robot with a high transportability specification. In addition, on the user's side, by post-installing the reinforcement mechanism 3 on a robot with a low transportability specification, it can also be easily converted into a robot with a high transportability specification.

[0099] Furthermore, in the reinforcement mechanism 3 , by removing the cover member 37 from the upper support plate 31 , maintenance of the auxiliary bearings 331 and 332 can be easily performed.

[0100] Control device 10

[0101] like Figure 1As shown, the control device 10 controls the drive of the robot 2. The control device 10 is mainly composed of a control substrate and a power substrate, and is separately provided from the robot 2. Such a control device 10 has, for example: a processor (CPU), which is composed of a computer and processes information; a memory, which is connected to the processor in a communicative manner; and an external interface, which is connected to an external device. Various programs that can be executed by the processor are stored in the memory, and the processor can read and execute various programs stored in the memory. It should be noted that the control device 10 can also be composed of multiple processors. In addition, the control device 10 can also be set as an integral part with the robot 2.

[0102] The robot system 1 is described above. The robot 2 included in such a robot system 1 includes: a base 21; a first arm 221 connected to the base 21 and rotating about a first axis J1 relative to the base 21; a second arm 222 connected to the first arm 221 and rotating about a second axis J2 relative to the first arm 221; a spline shaft 233 as a main shaft, arranged on the second arm 222, rotating about a third axis J3, and moving along the third axis J3; an upper support plate 31 as a first support portion, arranged on the second arm 222; auxiliary bearings 331, 332, arranged on the upper support plate 31; and auxiliary shafts 321, 322, which are The shaft is supported by the auxiliary bearings 331 and 332, and moves in the direction along the third axis J3 relative to the upper support plate 31; the stoppers 321a and 322a are arranged on the auxiliary shafts 321 and 322, and abut against the auxiliary bearings 331 and 332 by the auxiliary shafts 321 and 322 moving in the direction along the third axis J3; the lower support plate 34 as the second support part connects the spline shaft 233 and the auxiliary shafts 321 and 322; and the cover member 37 is arranged on the upper support plate 31, and covers the abutment parts 331a and 332a of the auxiliary bearings 331 and 332 and the stoppers 321a and 322a. With such a structure, the abutment parts 331a and 332a are covered by the cover member 37, so that it is possible to effectively prevent objects from being sandwiched between the abutment parts 331a and 332a and the stoppers 321a and 322a. Therefore, the driving of the robot 2 is stable, and the safety is also improved.

[0103] In addition, as described above, the second arm 222 includes: an arm base 222a, which is provided with an upper support plate 31, and an arm cover member 222b, which is provided on the arm base 222a. In addition, the arm cover member 222b has a bulging portion 226, and the bulging portion 226 bulges toward the outer peripheral side when viewed from above in the direction along the third axis J3, that is, in the vertical direction. In addition, the upper end of the cover member 37 is located at the same height as the upper end of the bulging portion 226. By forming such a structure, the aesthetics of the robot 2 can be improved.

[0104] Furthermore, as described above, in a plan view along the direction of the third axis J3, that is, in the vertical direction, the center axes of the secondary shafts 321 and 322 are located closer to the base end of the second arm 222 than the center axis of the spline shaft 233. With such a structure, the increase in the moment of inertia of the second arm 222 caused by the provision of the reinforcement mechanism 3 can be suppressed to a small level, and the reduction in the motion performance of the robot 2 can be effectively suppressed.

[0105] Furthermore, as described above, the second arm 222 has the user plate 26 as a plate portion, and the user plate 26 is provided with at least one connector 261. In addition, the upper end of the cover member 37 is located at a position lower than the user plate 26. With such a structure, the approach to the user plate 26 is less likely to be hindered by the cover member 37, and the operation of connecting wiring, air piping, etc. to the user plate 26 becomes easy. In addition, interference between the wiring, air piping, etc. connected to the user plate 26 and the cover member 37 can also be suppressed.

[0106] Furthermore, as described above, in a plan view along the direction of the third axis J3, that is, in the vertical direction, the center axes of the secondary shafts 321 and 322 are located closer to the end of the second arm 222 than the end of the user plate 26 as the plate portion. With such a structure, the approach to the user plate 26 is less likely to be hindered by the secondary shafts 321 and 322, and the work of connecting the wiring, air piping, etc. to the user plate 26 becomes easy. In addition, the interference between the wiring, air piping, etc. connected to the user plate 26 and the secondary shafts 321 and 322 can also be suppressed.

[0107] In addition, as described above, the secondary shafts 321 and 322 are hollow cylindrical. With such a structure, wiring, air piping, etc. connected to the end effector, etc. can be routed through the secondary shafts 321 and 322. As a result, the wiring, air piping, etc. are less likely to be exposed to the periphery of the end effector, and smooth robot operation can be achieved.

[0108] As described above, the cover member 37 includes the first cover member 38 including the side wall portion of the cover member 37 and the second cover member 39 including the top plate portion of the cover member 37. Thus, by dividing the cover member 37 into a plurality of parts, the formation of the cover member 37 becomes easy.

[0109] Furthermore, as described above, the first cover member 38 includes: a flat plate portion 381 as a first portion, having a snap piece 383 as a bent portion at the upper end thereof; and a corner portion 382 as a second portion, which does not have the snap piece 383. In addition, the second cover member 39 is placed on the corner portion 382. With such a structure, the second cover member 39 can be positioned in the height direction with high accuracy.

[0110] Moreover, as mentioned above, the second cover member 39 is fixed to the locking piece 383. With such a structure, the second cover member 39 can be easily fixed to the first cover member 38.

[0111] Furthermore, as described above, the upper support plate 31 has the step surface 319, and the first cover member 38 is placed on the step surface 319. With such a structure, the first cover member 38 can be easily fixed to the upper support plate 31.

[0112] Furthermore, as described above, the robot system 1 has the robot 2 and the control device 10 for controlling the driving of the robot 2. In addition, the robot 2 has: a base 21; a first arm 221 connected to the base 21 and rotating about the first axis J1 relative to the base 21; a second arm 222 connected to the first arm 221 and rotating about the second axis J2 relative to the first arm 221; a spline shaft 233 as a main shaft, arranged on the second arm 222, rotating about the third axis J3, and moving along the third axis J3; an upper support plate 31 as a first support portion, arranged on the second arm 222; secondary bearings 331, 332, arranged on the upper support plate 31; secondary shafts 321, 322, supported by the secondary shafts 321, 322. The bearings 331 and 332 move in the direction along the third axis J3 relative to the upper support plate 31; the stoppers 321a and 322a are arranged on the secondary shafts 321 and 322, and abut against the secondary bearings 331 and 332 by the secondary shafts 321 and 322 moving in the direction along the third axis J3; the lower support plate 34 as the second support portion connects the spline shaft 233 and the secondary shafts 321 and 322; and the cover member 37 is arranged on the upper support plate 31 and covers the abutment portions 331a and 332a of the secondary bearings 331 and 332 and the stoppers 321a and 322a. With such a structure, the abutment portions 331a and 332a are covered by the cover member 37, so that it is possible to effectively prevent an object from being sandwiched between the abutment portions 331a and 332a and the stoppers 321a and 322a. Therefore, the driving of the robot 2 is stable, and the safety is also improved.

[0113] Second embodiment

[0114] Fig.13 It is an exploded perspective view of a cover member included in the robot according to the second embodiment. Fig.14 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0115] This embodiment is the same as the first embodiment except that the structure of the cover member 37 is different. It should be noted that in the following description, the difference between this embodiment and the first embodiment is mainly described, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same figure mark is marked for the same structure as the above embodiment.

[0116] like Fig.13 and Fig.14 As shown in FIG. 1 , the cover member 37 of the present embodiment includes a first cover member 38 constituting a side wall portion, and a second cover member 39 constituting a top plate portion. In the first cover member 38, the snap-fit ​​piece 383 is omitted from the structure of the first embodiment described above, and the upper ends of the flat plate portion 381 and the corner portion 382 are aligned with each other. In addition, a screw engagement hole 385 for fixing the second cover member 39 to the first cover member 38 is formed at the upper end of the flat plate portion 381.

[0117] On the other hand, the second cover member 39 is concave and has a side portion 394, which is erected downward from the outer edge portion, and the second cover member 39 covers the upper end portion of the first cover member 38. Such a second cover member 39 is formed, for example, by bending and deforming a metal plate using a rolling process. In addition, a screw insertion hole 393 is formed in the side portion 394 at a portion overlapping with the screw engagement hole 385 of the first cover member 38. Therefore, the second cover member 39 is fixed to the first cover member 38 by fastening the screw B2 inserted into each screw insertion hole 393 to the screw engagement hole 385. With the first cover member 38 having such a structure, the edge formed on the end face of the first cover member 38 faces downward, so that the risk caused by a sharp edge can be reduced.

[0118] According to the second embodiment as described above, it is also possible to produce the same effects as those of the first embodiment described above.

[0119] Third embodiment

[0120] Fig.15 It is a perspective view of a cover member included in the robot according to the third embodiment. Fig.16 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0121] This embodiment is the same as the first embodiment except that the structure of the cover member 37 is different. It should be noted that in the following description, the difference between this embodiment and the first embodiment is mainly described, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same figure mark is marked for the same structure as the above embodiment.

[0122] like Fig.15 and Fig.16As shown, the cover member 37 of this embodiment is formed to extend to the upper side compared with the first embodiment described above. Therefore, the upper end of the cover member 37 is located at a position higher than the upper end of the bulging portion 226. With such a structure, the top of the cover member 37, that is, the second cover member 39, can be arranged at a position higher than the abutment portions 331a, 332a of the auxiliary bearings 331, 332, so that objects can be more effectively prevented from being caught between the abutment portions 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 is more stable, and the safety is further improved.

[0123] In addition, the upper end of the cover member 37 is located at a lower side than the user plate 26. With such a structure, the approach to the user plate 26 is less likely to be hindered by the cover member 37, and the work of connecting the wiring, air piping, etc. to the user plate 26 becomes easy. In addition, the interference between the wiring, air piping, etc. connected to the user plate 26 and the cover member 37 can also be suppressed.

[0124] As described above, in the robot 2 of the present embodiment, the second arm 222 has an arm base 222a on which the upper support plate 31 is disposed, and an arm cover member 222b disposed on the arm base 222a. In addition, the arm cover member 222b has a bulging portion 226, and the bulging portion 226 bulges toward the outer peripheral side when viewed from a top view along the direction of the third axis J3, that is, in the vertical direction. In addition, the upper end of the cover member 37 is located at a position higher than the upper end of the bulging portion 226. With such a structure, the top of the cover member 37, that is, the second cover member 39, can be disposed at a position higher than the abutting portions 331a, 332a of the auxiliary bearings 331, 332, so that objects can be more effectively suppressed from being sandwiched between the abutting portions 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 is more stable, and the safety is further improved.

[0125] According to the third embodiment as described above, it is also possible to produce the same effects as those of the first embodiment described above.

[0126] Fourth embodiment

[0127] Fig.17 It is a perspective view of a cover member included in a robot according to a fourth embodiment. Fig.18 It is a cross-sectional view showing a state where the auxiliary bearing is covered by the cover member.

[0128] This embodiment is the same as the first embodiment except that the structure of the cover member 37 is different. It should be noted that in the following description, the difference between this embodiment and the first embodiment is mainly described, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same figure mark is marked for the same structure as the above embodiment.

[0129] like Fig.17 and Fig.18 As shown, the cover member 37 of this embodiment is further extended to the upper side compared with the aforementioned third embodiment. In addition, the cover member 37 covers the entire portion of the spline shaft 233 and the auxiliary shafts 321 and 322 located above the upper support plate 31. With such a structure, the cover member 37 covers not only the abutting portions 331a and 332a but also the stoppers 321a and 322a, so it is possible to further effectively prevent an object from being caught between the abutting portions 331a and 332a and the stoppers 321a and 322a.

[0130] According to the fourth embodiment as described above, it is also possible to produce the same effects as those of the first embodiment described above.

[0131] Fifth embodiment

[0132] Fig.19 It is a cross-sectional view of a cover member included in the robot according to the fifth embodiment.

[0133] This embodiment is the same as the fourth embodiment described above except that the structure of the cover member 37 is different. It should be noted that in the following description, the difference between this embodiment and the fourth embodiment described above is mainly described, and the description of the same matters is omitted. In addition, in the figures of this embodiment, the same reference numerals are marked for the same structures as those in the above embodiment.

[0134] In the fourth embodiment described above, the cover member 37 is divided into the first cover member 38 and the second cover member 39. Fig.19 As shown, in the cover member 37 of this embodiment, the first cover member 38 and the second cover member 39 are formed integrally. In addition, in this embodiment, the cover member 37 is made of a resin material. Thus, the cover member 37 in which the first cover member 38 and the second cover member 39 are integrated can be easily formed by injection molding or the like.

[0135] According to the fifth embodiment as described above, it is also possible to produce the same effects as those of the first embodiment described above.

[0136] Sixth Embodiment

[0137] Fig. 20It is a cross-sectional view showing a reinforcement mechanism provided in a robot according to a sixth embodiment.

[0138] This embodiment is the same as the first embodiment except that the structure of the reinforcing mechanism 3 is different. It should be noted that in the following description, the description of this embodiment is centered on the differences from the first embodiment, and the description of the same matters is omitted. In addition, in the figures of this embodiment, the same structure as the above embodiment is marked with the same figure mark.

[0139] like Fig. 20 As shown, the reinforcement mechanism 3 of this embodiment further includes a pair of positioning jigs 30A and 30B for positioning the lower support plate 34 relative to the upper support plate 31. The positioning jigs 30A and 30B each include a base 301, an upper protrusion 302 protruding upward from the base 301, and a lower protrusion 303 protruding downward from the base 301.

[0140] In addition, a lower recess 341 is formed on the upper surface of one end portion (the end portion on the auxiliary bearing 331 side) of the lower support plate 34, and a lower recess 342 is formed on the upper surface of the other end portion (the end portion on the auxiliary bearing 332 side) to engage with the lower protrusion 303 of the positioning jig 30B. On the other hand, an upper recess 315 is formed on the lower surface of the upper support plate 31, and an upper recess 316 is formed on the lower surface of the upper support plate 31, and an upper recess 316 is formed on the lower surface of the upper support plate 31, and an upper recess 342 is formed to engage with the upper protrusion 302 of the positioning jig 30B.

[0141] In addition, if Fig. 20 As shown, the positioning jigs 30A and 30B are sandwiched between the upper support plate 31 and the lower support plate 34, and the sub-bearings 331 and 332 are centered in a state where the lower support plate 34 is positioned relative to the upper support plate 31. In other words, the central axes of the sub-bearings 331 and 332 and the sub-shafts 321 and 322 are aligned. With such a structure, the sub-bearings 331 and 332 can be centered by a simple method. It should be noted that after the sub-bearings 331 and 332 are centered, the positioning jigs 30A and 30B are removed.

[0142] According to the sixth embodiment as described above, it is also possible to produce the same effects as those of the first embodiment described above.

[0143] 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. In addition, any other structure can also be added to the present invention.

Claims

1. A robot, characterized in that: have: abutment; A first arm connected to the base and rotated about a first axis relative to the base; A second arm connected to the first arm and rotating around a second axis relative to the first arm; A main shaft, arranged on the second arm, rotates around a third axis and moves along the third axis; A first supporting portion, disposed on the second arm; A secondary bearing, disposed on the first supporting portion; a secondary shaft, which is axially supported by the secondary bearing and moves in a direction along the third axis relative to the first support portion; a stopper, arranged on the secondary shaft, and abutting against the secondary bearing when the secondary shaft moves in a direction along the third axis; A second supporting portion connecting the main shaft and the secondary shaft; as well as The cover member is disposed on the first support portion and covers a contact portion of the auxiliary bearing with the stopper.

2. The robot according to claim 1, characterized in that: The second arm includes: an arm base on which the first support portion is arranged; and an arm cover component, arranged on the arm base, The arm cover member has a bulging portion, and the bulging portion bulges outwardly when viewed from above in the direction along the third axis. The upper end of the cover member is located at the same height as the upper end of the bulging portion.

3. The robot according to claim 1, characterized in that: The second arm includes: an arm base on which the first support portion is arranged; and an arm cover component, arranged on the arm base, The arm cover member has a bulging portion, and the bulging portion bulges outwardly when viewed from above in the direction along the third axis. An upper end of the cover member is located above an upper end of the bulging portion.

4. The robot according to claim 1, characterized in that: In a plan view along the third axis, a central axis of the secondary shaft is located closer to the base end of the second arm than a central axis of the primary shaft.

5. The robot according to claim 1, characterized in that: The second arm has a plate portion, the plate portion is configured with at least one connector, An upper end of the cover member is located below the plate portion.

6. The robot according to claim 5, characterized in that: The central axis of the auxiliary shaft is located closer to the distal end of the second arm than the distal end of the plate portion in a plan view along the third axis.

7. The robot according to claim 1, characterized in that: The secondary shaft is in the shape of a hollow cylinder.

8. The robot according to claim 1, characterized in that: The cover member includes: a first cover member including a side wall portion of the cover member; and a second cover member including a top plate portion of the cover member.

9. The robot according to claim 8, characterized in that: The first cover member includes: a first portion having a bent portion at an upper end portion; and a second portion not having the bent portion. The second cover member is placed on the second portion.

10. The robot according to claim 9, characterized in that: The second cover member is fixed to the bent portion.

11. The robot according to claim 8, characterized in that: The first support portion has a step surface, and the first cover member is placed on the step surface.

12. A robot system, characterized in that: have: Robots; and A control device controls the driving of the robot, The robot has: abutment; A first arm connected to the base and rotated about a first axis relative to the base; A second arm connected to the first arm and rotating around a second axis relative to the first arm; A main shaft, arranged on the second arm, rotates around a third axis and moves along the third axis; A first supporting portion, disposed on the second arm; A secondary bearing, disposed on the first supporting portion; a secondary shaft, which is axially supported by the secondary bearing and moves in a direction along the third axis relative to the first support portion; a stopper, arranged on the secondary shaft, and abutting against the secondary bearing when the secondary shaft moves in a direction along the third axis; A second supporting portion connecting the main shaft and the secondary shaft; as well as The cover member is disposed on the first support portion and covers a contact portion of the auxiliary bearing with the stopper.

Images