Robot and method for manufacturing robot

Abstract

[Problem] To miniaturize an arm. The solution robot (1) is provided with: a wrist part (15) and a flange part (17); a motor (23) which is accommodated in the wrist part (15) and is provided with a first gear (35) that rotates around a motor axis (AxM1); a speed reducer (25) that is provided with a second gear (39) that rotates about a speed reducer axis (AxR1) parallel to the motor axis (AxM1) and offset from the motor axis (AxM1) in conjunction with the rotation of the first gear (35), and an output shaft (43) that is connected to the flange section (17), and that decelerates and transmits the rotation of the second gear (39) to the output shaft (43); and a brake device (27) which is housed in the wrist part (15) so as to face the motor (23) in the direction perpendicular to the motor axis (AxM1), and which is provided with a third gear (51). And a third gear (51) that rotates about a brake axis (AxB1) parallel to the motor axis (AxM1) and the speed reducer axis (AxR1) and offset from the motor axis (AxM1) and the speed reducer axis (AxR1), respectively, and rotates in conjunction with the first gear (35) at a position separated from the second gear (39), and a brake device (27) that brakes the rotation of the first gear (35).

Description

Technical Field

[0001] The disclosed embodiments relate to a robot and a method for manufacturing the robot. Background Art

[0002] For example, Patent Document 1 describes a rotary motor mounted on an arm of a robot. The rotary motor includes: a rotary motor body that rotates a rotary body about an axis; a brake device that stops the rotation of the rotary body; and a housing that holds the rotary motor body and the brake device, wherein the brake device is disposed at a position offset from the axis of the rotary body.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-131472 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the above-mentioned prior art, the brake device is provided so as to protrude in the axial direction from the rotating electrical machine main body at a position offset from the axis of the rotating body. Therefore, there is still room for further improvement in the miniaturization of the arm.

[0008] The present invention has been made in view of such a problem, and an object of the present invention is to provide a robot capable of miniaturizing an arm and a method for manufacturing the robot.

[0009] Solutions for solving problems

[0010] In order to solve the above-mentioned problem, according to one aspect of the present invention, a robot is applied, which comprises: a first arm; a second arm rotatably connected to the first arm; a first motor housed in the first arm and having a first gear rotating around a first axis; a first reducer having a second gear and a first output shaft, the second gear rotating in conjunction with the rotation of the first gear around a second axis parallel to the first axis and offset from the first axis, the first output shaft being connected to the second arm, the first reducer reducing the rotation of the second gear and transmitting it to the first output shaft; a first brake device housed in the first arm in a manner opposite to the first motor in a direction perpendicular to the first axis, and having a third gear, the third gear rotating around a third axis parallel to the first axis and the second axis and offset from the first axis respectively and rotating in conjunction with the first gear at a position separated from the second gear, and the first brake device braking the rotation of the first gear.

[0011] In addition, according to another aspect of the present invention, a method for manufacturing a robot is applied, which includes: a first arm; and a second arm rotatably connected to the first arm, and the method for manufacturing the robot includes installing a first motor and a first reducer in the following manner: the first motor is accommodated in the first arm and has a first gear rotating around a first axis, the first reducer has a second gear and a first output shaft, the second gear rotates in conjunction with the rotation of the first gear around a second axis parallel to the first axis and offset from the first axis, the first output shaft is connected to the second arm, the first reducer reduces the rotation of the second gear and transmits it to the first output shaft, a first brake device having a third gear rotating around a third axis and braking the rotation of the first gear is opposed to the first motor in a direction perpendicular to the first axis, the third axis is parallel to the first axis and the second axis and separated from the first axis and the second axis respectively, and the third gear rotates in conjunction with the first gear at a position separated from the second gear.

[0012] Beneficial Effects

[0013] According to the robot and the like of the present invention, the arm can be miniaturized. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a perspective view showing an example of the configuration of the robot according to the embodiment.

[0015] Figure 2 This is a perspective view showing an example of a state in which a cover of a robot wrist is attached.

[0016] Figure 3 This is a perspective view showing an example of a state in which a cover of a robot wrist is removed.

[0017] Figure 4 This is a cross-sectional view showing an example of the structure of an actuator provided in a joint portion.

[0018] Figure 5 It means from Figure 4 This is a directional view showing an example of the configuration of the gears of the driver when viewed in the direction of arrow A.

[0019] Figure 6 It is a cross-sectional view showing an example of the structure of an actuator provided in another joint portion.

[0020] Figure 7 It means from Figure 6 This is a directional view showing an example of the configuration of the gears of the driver when viewed in the direction of arrow B.

[0021] Figure 8 It roughly means from Figure 3 A schematic diagram showing an example of the arrangement of the motor and the brake device when viewed in the direction of arrow C.

[0022] Fig. 9 It roughly means from Figure 3 A schematic diagram showing an example of the arrangement of the motor and the brake device when viewed in the direction of arrow D.

[0023] Fig.10 It roughly means from Figure 3 A schematic diagram showing an example of the arrangement of the motor and the brake device when viewed in the direction of arrow E. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments will be described with reference to the drawings.

[0025] <1. Robot composition>

[0026] Reference Figure 1 , an example of the structure of the robot of the implementation mode is described. Figure 1 It is a perspective view showing an example of the configuration of the robot according to the embodiment.

[0027] like Figure 1 As shown, the robot 1 is configured as, for example, a vertical multi-joint six-axis robot having six joints J1 to J6. An end effector (not shown) corresponding to the operation performed by the robot 1 is mounted on the top end 17a of the robot 1. The end effector is, for example, a robot hand. It should be noted that the robot 1 can be a robot other than a six-axis robot (for example, a five-axis, a seven-axis, etc.). In addition, the robot 1 can also be a robot other than a vertical multi-joint robot, such as a horizontal multi-joint robot, a parallel link robot, etc.

[0028] The robot 1 includes a base 3, a rotating unit 5, and an arm 7. The base 3 is fixed to, for example, the ground or a stand.

[0029] The rotating part 5 is supported on the upper end of the base 3 so as to be rotatable around a rotation axis Ax1 parallel to the up-down direction. The rotating part 5 is driven to rotate around the rotation axis Ax1 relative to the upper end of the base 3 by driving an actuator Ac1 (not shown) provided at a joint J1 that rotatably connects the adjacent base 3 and the rotating part 5.

[0030] The arm 7 is supported by, for example, one side portion of the rotating portion 5. The arm 7 includes a lower arm portion 9, an elbow portion 11, an upper arm portion 13, a wrist portion 15, and a flange portion 17.

[0031] The lower arm 9 is supported on the side of one side of the rotating part 5 so as to be rotatable around the rotating axis Ax2 perpendicular to the rotating axis Ax1. The lower arm 9 is driven to rotate around the rotating axis Ax2 relative to the side of one side of the rotating part 5 by driving the driver Ac2 (not shown) provided in the joint J2 that rotatably connects the adjacent rotating part 5 and the lower arm 9.

[0032] The elbow 11 is supported at the top end of the lower arm 9 so as to be rotatable around a rotation axis Ax3 parallel to the rotation axis Ax2. The elbow 11 is driven to rotate around the rotation axis Ax3 relative to the top end of the lower arm 9 by a driver Ac3 (not shown) provided at a joint J3 that rotatably connects the adjacent lower arm 9 and the elbow 11.

[0033] The upper arm 13 is supported at the top end of the elbow 11 so as to be rotatable around a rotation axis Ax4 perpendicular to the rotation axis Ax3. The upper arm 13 is driven to rotate around the rotation axis Ax4 relative to the top end of the elbow 11 by driving a driver Ac4 (not shown) provided at a joint J4 that rotatably connects the adjacent elbow 11 and the upper arm 13.

[0034] The wrist 15 is supported at the top end of the upper arm 13 so as to be rotatable about a rotation axis Ax5 perpendicular to the rotation axis Ax4. The wrist 15 is driven by a driver Ac5 (see below) provided at a joint J5 that rotatably connects the adjacent upper arm 13 and the wrist 15. Figure 3 , Figure 6 ) is driven, and the top end portion of the upper arm portion 13 is driven to rotate around the rotation axis Ax5.

[0035] The flange 17 is supported at the top end of the wrist 15 so as to be rotatable about a rotation axis Ax6 perpendicular to the rotation axis Ax5. The flange 17 is driven by a driver Ac6 (see the following description) provided at a joint J6 that rotatably connects the adjacent wrist 15 and the flange 17. Figure 3 , Figure 4 ) is driven, and the top end portion of the wrist 15 is driven to rotate around the rotation axis Ax6.

[0036] The end effector is attached to the distal end portion 17 a of the flange portion 17 , and rotates around the rotation axis Ax6 together with the rotation of the flange portion 17 around the rotation axis Ax6 .

[0037] The robot 1 having the above configuration is a six-axis robot having six joints J1 to J6, and the six joints J1 to J6 are provided with six actuators Ac1 to Ac6. The actuators Ac1 to Ac6 for driving the joints J1 to J6 are respectively composed of, for example, a motor, a brake device, and a speed reducer.

[0038] It should be noted that, in the above, the rotation of the arm 7 around the rotation axis along the long dimension direction (or extension direction) is called "turning", and the rotation of the arm 7 around the rotation axis perpendicular to the long dimension direction (or extension direction) is called "rotation" to distinguish them.

[0039] It should be noted that the configuration of the robot 1 described above is an example and is not limited to the above content. For example, a torque sensor may be provided in at least one of the drivers Ac1 to Ac6, or a force sensor may be provided in the robot 1. In this case, when the robot 1 is subjected to an external force, such as a collision with a person or an object, the robot 1 can immediately stop the action, or can avoid in the direction opposite to the direction in which the external force acts, etc., and the robot 1 can be configured as a human-cooperative robot that can operate together with an operator.

[0040] <2. Configuration of Actuator Ac6 of Joint J6>

[0041] Next, refer to Figure 2 to Figure 5 , an example of the structure of the driver Ac6 provided in the joint part J6 is described. Figure 2 1 is a perspective view showing an example of a state in which a cover of the wrist portion 15 of the robot 1 is mounted. Figure 3 1 is a perspective view showing an example of a state where the cover of the wrist 15 of the robot 1 is removed. Figure 4 1 is a cross-sectional view showing an example of the structure of the actuator Ac6 provided in the joint portion J6. Figure 5 It means from Figure 4 This is a directional view showing an example of the configuration of the gears of the actuator Ac6 when viewed in the direction of arrow A.

[0042] As described above, the wrist portion 15 (an example of the first arm) and the flange portion 17 (an example of the second arm) are connected to each other via the joint portion J6 so as to be rotatable around the rotation axis Ax6. Figure 2 and Figure 3 As shown in FIG. 1 , the wrist portion 15 has a curved portion 15a curved in an L shape. An opening 19 and a cover 21 for closing the opening 19 are provided on the convex outer side of the curved portion 15a. The cover 21 is fixed to the opening 19 by, for example, a plurality of bolts (not shown). Figure 3 As shown in FIG. 1 , in a state where the cover 21 is removed, the actuator Ac6 provided at the joint portion J6 is exposed. The actuator Ac6 includes a motor 23 and a brake device 27 .

[0043] Figure 4 An example of the structure of the driver Ac6 is shown in FIG. Figure 4 As shown, the drive Ac6 has a motor 23 , a reduction gear 25 , a brake device 27 , and an intermediate gear device 29 .

[0044] The motor 23 (an example of a first motor) is housed in the wrist 15. The motor 23 includes a motor housing 31 that houses a rotor and a stator, etc., and a first gear 35 that is connected to a motor shaft 33 protruding from the motor housing 31 and rotates around a motor axis AxM1 (an example of a first axis). The motor housing 31 is fixed to the housing 15a of the wrist 15. The dimension L1 of the motor 23 in the direction of the motor axis AxM1 is longer than the dimension L2 of the brake device 27 in the direction of the brake axis AxB1.

[0045] The speed reducer 25 (an example of a first speed reducer) includes a second gear 39 connected to the input shaft 37, a fixed portion 41, and an output shaft 43 (an example of a first output shaft), and reduces the rotation of the second gear 39 and transmits it to the output shaft 43. The input shaft 37 is rotatably supported relative to the housing 15a of the wrist 15 by a bearing 45, and the second gear 39 rotates around the speed reducer axis AxR1 (an example of a second axis) in conjunction with the rotation of the first gear 35 of the motor 23. The speed reducer axis AxR1 is parallel to the motor axis AxM1 and is offset from the motor axis AxM1 by a predetermined distance. The bearing 45 is assembled to the housing 15a under a state of applying appropriate pressure to support both the force in the meridian direction and the force in the thrust direction acting on the input shaft 37 and the second gear 39. The fixed portion 41 is fixed to the housing 15a of the wrist 15. The output shaft 43 is fixed to the housing 17b of the flange portion 17 and rotates around the speed reducer axis AxR1 relative to the fixed portion 41. The reduction gear shaft center AxR1 substantially coincides with the aforementioned rotation axis Ax6.

[0046] The speed reducer 25 has a hollow portion 46 (an example of a first hollow portion) extending along the speed reducer axis AxR1 between the second gear 39 , the input shaft 37 , the fixed portion 41 , and the output shaft 43 .

[0047] The brake device 27 (an example of the first brake device) is arranged so that at least a portion of the brake device is perpendicular to the motor axis AxM1 ( Figure 4 The wrist portion 15 is accommodated in a manner that is opposed to the motor 23 in the vertical direction. Figure 4In the example shown, the entire axial direction of the brake device 27 is arranged to face the motor 23. It should be noted that the "facing" mentioned here means that when viewed from a direction perpendicular to the motor axis AxM1 (brake axis AxB1), the area in the direction of the motor axis AxM1 where the motor 23 is arranged overlaps with the area in the direction of the brake axis AxB1 where the brake device 27 is arranged. The brake device 27 includes: a brake housing 47 that accommodates the electromagnetic part, etc.; and a third gear 51 that is connected to the brake shaft 49 protruding from the brake housing 47 and rotates around the brake axis AxB1 (an example of the third axis). The brake axis AxB1 is parallel to the motor axis AxM1 and the reducer axis AxR1 and is offset from the motor axis AxM1 and the reducer axis AxR1 by a predetermined distance. The third gear 51 rotates in conjunction with the first gear 35 of the motor 23. As a result, the brake device 27 brakes the rotation of the first gear 35 of the motor 23. The brake housing 47 is fixed to the housing 15 a of the wrist portion 15 .

[0048] The intermediate gear device 29 is housed in the wrist 15. The intermediate gear device 29 has: a gear housing 53 that houses bearings, etc.; and a fourth gear 57 that is connected to a gear shaft 55 protruding from the gear housing 53 and rotates around a gear axis AxG1 (an example of a fourth axis). The gear axis AxG1 is parallel to the motor axis AxM1, the reducer axis AxR1, and the brake axis AxB1, and is offset from the motor axis AxM1, the reducer axis AxR1, and the brake axis AxB1 by a predetermined distance. The fourth gear 57 is arranged between the third gear 51 of the brake device 27 and the first gear 35 of the motor 23, and transmits the braking force of the third gear 51 to the first gear 35. The fourth gear 57 is a so-called idle gear. The gear housing 53 is fixed to the housing 15a of the wrist 15.

[0049] Figure 5 It shows that from Figure 4 This is an example of the configuration of the gears of the driver Ac6 when viewed in the direction of arrow A. Figure 5As shown, the first gear 35 of the motor 23 and the second gear 39 of the speed reducer 25 are directly connected by meshing. In addition, the third gear 51 of the brake device 27 rotates in conjunction with the first gear 35 at a position separated from the second gear 39. Specifically, the third gear 51 meshes with the fourth gear 57, and the fourth gear 57 meshes with the first gear 35, so that the third gear 51 and the first gear 35 are connected at a position separated from the second gear 39. The third gear 51 is set to have a gap between the second gear 39, and the fourth gear 57 is set to have a gap between the second gear 39. Through the above gear structure, the brake device 27 brakes the rotation of the first gear 35 of the motor 23 via the fourth gear 57. The number of teeth of the third gear 51 is less than the number of teeth of the first gear 35 so as to be equal to or more than the case where the motor axis AxM1 of the motor 23 and the brake axis AxB1 of the brake device 27 are directly connected and arranged on the same center.

[0050] It should be noted that if the first gear 35 and the second gear 39 rotate in conjunction, they may not be directly connected, and may be configured such that some power transmission mechanism such as other gears is sandwiched between them. In addition, the third gear 51 and the first gear 35 may be configured such that they are directly meshed without passing through the fourth gear 57. In addition, a plurality of fourth gears 57 may be sandwiched between the third gear 51 and the first gear 35. In addition, as required, the number of teeth of the third gear 51 may be larger than the number of teeth of the first gear 35.

[0051] <3. Configuration of Actuator Ac5 of Joint J5>

[0052] Next, refer to Figure 3 , Figure 6 as well as Figure 7 , an example of the structure of the driver Ac5 provided with the joint part J5 is described. Figure 6 A cross-sectional view showing an example of the structure of the actuator Ac5 provided in the joint portion J5, Figure 7 It means from Figure 6 This is a directional view showing an example of the configuration of the gears of the actuator Ac5 when viewed in the direction of arrow B.

[0053] As described above, the upper arm 13 (an example of the third arm) and the wrist 15 are connected to each other via the joint J5 so as to be rotatable around the rotation axis Ax5. Figure 3 As shown, in the state where the cover 21 of the wrist 15 is removed, the actuator Ac5 and the actuator Ac6 provided at the joint J5 are exposed. The actuator Ac5 has a motor 59 and a brake device 63. The motor 23 and the brake device 27 of the actuator Ac6 and the motor 59 and the brake device 63 of the actuator Ac5 are arranged so as not to interfere with each other and are accommodated in the wrist 15.

[0054] Figure 6 An example of the structure of the driver Ac5 is shown in FIG. Figure 6 As shown, the drive Ac5 includes a motor 59 , a speed reducer 61 , a brake device 63 , and an intermediate gear device 65 .

[0055] The motor 59 (an example of the second motor) is housed in the wrist 15. The motor 59 includes a motor housing 67 that houses a rotor and a stator, etc., and a fifth gear 71 that is connected to a motor shaft 69 protruding from the motor housing 67 and rotates around a motor axis AxM2 (an example of a fifth axis). The motor housing 67 is fixed to the housing 15a of the wrist 15. The dimension L3 of the motor 59 in the direction of the motor axis AxM2 is longer than the dimension L4 of the brake device 63 in the direction of the brake axis AxB2.

[0056] The reducer 61 (an example of a second reducer) has a sixth gear 75 connected to the input shaft 73, a fixing portion 77, and an output shaft 79 (an example of a second output shaft), and reduces the rotation of the sixth gear 75 and transmits it to the output shaft 79. The input shaft 73 is rotatably supported relative to the housing 15a of the wrist 15 by the bearing 81, and the sixth gear 75 rotates around the reducer axis AxR2 (an example of the sixth axis) in conjunction with the rotation of the fifth gear 71 of the motor 59. The reducer axis AxR2 is parallel to the motor axis AxM2 and deviates from the motor axis AxM2 by a predetermined distance. The bearing 81 is assembled to the housing 15a under a state of applying appropriate pressure to support both the force in the meridian direction and the force in the thrust direction acting on the input shaft 73 and the sixth gear 75. The fixing portion 77 is fixed to the housing 15a of the wrist 15. The output shaft 79 is fixed to the housing 13a of the upper arm portion 13, and rotates around the speed reducer axis AxR2 relative to the fixed portion 77. The speed reducer axis AxR2 substantially coincides with the aforementioned rotation axis Ax5.

[0057] The speed reducer 61 has a hollow portion 83 (an example of a second hollow portion) extending along the speed reducer axis AxR2 between the sixth gear 75 , the input shaft 73 , the fixing portion 77 , and the output shaft 79 .

[0058] The brake device 63 (an example of the second brake device) is arranged so that at least a portion of the brake device 63 is perpendicular to the motor axis AxM2 ( Figure 6 The wrist portion 15 is accommodated in a manner that is opposed to the motor 59 in the vertical direction. Figure 6In the example shown, the entire axial direction of the brake device 63 is arranged to face the motor 59. It should be noted that the "facing" mentioned here means that when viewed from a direction perpendicular to the motor axis AxM2 (brake axis AxB2), the area in the direction of the motor axis AxM2 where the motor 59 is arranged overlaps with the area in the direction of the brake axis AxB2 where the brake device 63 is arranged. The brake device 63 has: a brake housing 85 that accommodates the electromagnetic part, etc.; and a seventh gear 89 that is connected to the brake shaft 87 protruding from the brake housing 85 and rotates around the brake axis AxB2 (an example of the seventh axis). The brake axis AxB2 is parallel to the motor axis AxM2 and the reducer axis AxR2 and is offset from the motor axis AxM2 and the reducer axis AxR2 by a predetermined distance. The seventh gear 89 rotates in conjunction with the fifth gear 71 of the motor 59. As a result, the brake device 63 brakes the rotation of the fifth gear 71 of the motor 59. The brake housing 85 is fixed to the housing 15 a of the wrist portion 15 .

[0059] The intermediate gear device 65 is housed in the wrist 15. The intermediate gear device 65 includes: a gear housing 91 that houses bearings, etc.; and an eighth gear 95 that is connected to a gear shaft 93 protruding from the gear housing 91 and rotates around the gear axis AxG2. The gear axis AxG2 is parallel to the motor axis AxM2, the reducer axis AxR2, and the brake axis AxB2, and is offset from the motor axis AxM2, the reducer axis AxR2, and the brake axis AxB2 by a predetermined distance. The eighth gear 95 is arranged between the seventh gear 89 of the brake device 63 and the fifth gear 71 of the motor 59, and transmits the braking force of the seventh gear 89 to the fifth gear 71. The eighth gear 95 is a so-called idle gear. The gear housing 91 is fixed to the housing 15a of the wrist 15.

[0060] Figure 7 Indicates from Figure 6 This is an example of the configuration of the gears of the driver Ac5 when viewed in the direction of arrow B. Figure 7As shown, the fifth gear 71 of the motor 59 and the sixth gear 75 of the speed reducer 61 are directly connected by meshing. In addition, the seventh gear 89 of the brake device 63 rotates in conjunction with the fifth gear 71 at a position separated from the sixth gear 75. Specifically, the seventh gear 89 meshes with the eighth gear 95, and the eighth gear 95 meshes with the fifth gear 71, so that the seventh gear 89 and the fifth gear 71 are connected at a position separated from the sixth gear 75. The seventh gear 89 is set to have a gap between it and the sixth gear 75, and the eighth gear 95 is set to have a gap between it and the sixth gear 75. Through the above gear structure, the brake device 63 brakes the rotation of the fifth gear 71 of the motor 59 via the eighth gear 95. The number of teeth of the seventh gear 89 is less than the number of teeth of the fifth gear 71, so as to be equal to or more than the case where the motor axis AxM2 of the motor 59 and the brake axis AxB2 of the brake device 63 are directly connected and arranged on the same center.

[0061] It should be noted that if the fifth gear 71 and the sixth gear 75 rotate in conjunction with each other, they may not be directly connected, and may be configured such that some power transmission mechanism such as other gears is sandwiched between them. In addition, the seventh gear 89 and the fifth gear 71 may be configured such that they are directly meshed without passing through the eighth gear 95. In addition, a plurality of eighth gears 95 may be sandwiched between the seventh gear 89 and the fifth gear 71. In addition, as required, the number of teeth of the seventh gear 89 may be larger than that of the fifth gear 71.

[0062] <4. Configuration of the motor and brake device of the driver Ac5 and Ac6>

[0063] Next, refer to Figure 3 as well as Figure 8 to Figure 10 , an example of the configuration of the motors 23, 59 and the brake devices 27, 63 of the actuators Ac5, Ac6 accommodated in the wrist 15 is described. Figure 8 It roughly means from Figure 3 A schematic diagram of an example of the arrangement of the motors 23, 59 and the brake devices 27, 63 when viewed in the direction of arrow C, Fig. 9 It roughly means from Figure 3 A schematic diagram of an example of the arrangement of the motors 23, 59 and the brake devices 27, 63 when viewed in the direction of arrow D, Fig.10 It roughly means from Figure 3 Schematic diagram of an example of the arrangement of the motors 23, 59 and the brake devices 27, 63 when viewed in the direction of arrow E.

[0064] As mentioned above Figure 3As shown, the motor 23 and the brake device 27 constituting the actuator Ac6 and the motor 59 and the brake device 63 constituting the actuator Ac5 are accommodated in the wrist 15 in a staggered arrangement so as not to interfere with each other.

[0065] Specifically, if Figure 8 to Figure 10 As shown, the motor housing 31 of the motor 23 and the brake housing 47 of the brake device 27 are configured to protrude from the reducer 25 in the direction of the reducer axis AxR1 (rotation axis Ax6). In addition, the motor housing 67 of the motor 59 and the brake housing 85 of the brake device 63 are configured to protrude from the reducer 61 in the direction of the reducer axis AxR2 (rotation axis Ax5).

[0066] like Figure 8 As shown, the motor housing 31 (an example of a first housing) of the motor 23 is arranged radially outside of a substantially cylindrical wiring space S1 (an example of a first space) formed by extending the hollow portion 46 of the reducer 25 in the direction of the reducer axis AxR1. In addition, the brake housing 47 (an example of a second housing) of the brake device 27 is also arranged radially outside of the above-mentioned wiring space S1.

[0067] like Fig.10 As shown, the motor housing 67 (an example of the third housing) of the motor 59 is arranged radially outside the substantially cylindrical wiring space S2 (an example of the second space) formed by extending the hollow portion 83 of the reducer 61 in the direction of the reducer axis AxR2. In addition, the brake housing 85 (an example of the fourth housing) of the brake device 63 is also arranged radially outside the above-mentioned wiring space S2.

[0068] like Fig. 9 As shown, when the wiring space S1 and the wiring space S2 are connected, a zigzag wiring space S3 (an example of a third space) is formed. The cables inserted through the hollow parts 46 and 83 are routed through the wiring space S3 inside the wrist part 15. Figure 8 to Figure 10 As shown, the motor housing 31 of the motor 23, the brake housing 47 of the brake device 27, the motor housing 67 of the motor 59 and the brake housing 85 of the brake device 63 are arranged so as not to interfere with each other and the wiring space S3.

[0069] like Figure 8 and Fig.10As shown, the reducer axis AxR1 (rotation axis Ax6) of the reducer 25 and the reducer axis AxR2 (rotation axis Ax5) of the reducer 61 intersect at a predetermined angle on the same plane P including both of these reducer axes AxR1 and AxR2. The predetermined angle is, for example, approximately 90 degrees, but may also intersect at an angle other than 90 degrees. The motor axis AxM1 of the motor 23 is arranged on one side of the above-mentioned plane P ( Figure 8 and Fig.10 The motor axis AxM2 of the motor 59 is arranged on the other side of the above-mentioned plane P ( Figure 8 and Fig.10 ).

[0070] In addition, in order to configure the brake device 27 so as not to interfere with the two motors 23, 59, other brake devices 63, and the wiring space S3, a fourth gear 57 for adjusting the relative position of the motor 23 and the brake device 27 may be provided. Similarly, in order to configure the brake device 63 so as not to interfere with the two motors 23, 59, other brake devices 27, and the wiring space S3, an eighth gear 95 for adjusting the relative position of the motor 59 and the brake device 63 may be provided.

[0071] The manufacturing method of the robot 1 of the structure described above includes the steps of installing the motor 23 and the speed reducer 25 in the following manner: the motor 23 is accommodated in the wrist portion 15 and includes a first gear 35 that rotates around the motor axis AxM1, the speed reducer 25 includes a second gear 29 and an output shaft 43, the second gear 29 rotates in conjunction with the rotation of the first gear 35 around the speed reducer axis AxR1 that is parallel to the motor axis AxM1 and offset from the motor axis AxM1, the output shaft 43 is connected to the flange portion 17, and the speed reducer 25 The rotation of the second gear 39 is decelerated and transmitted to the output shaft 43, so that the brake device 27 having a third gear 51 rotating around the brake axis AxB1 and braking the rotation of the first gear 35 is opposite to the motor 23 in a direction perpendicular to the motor axis AxM1, so that the brake axis AxB1 is parallel to the motor axis AxM1 and the reducer axis AxR1 and is separated from the motor axis AxM1 and the reducer axis AxR1 respectively, and the third gear 51 is rotated in conjunction with the first gear 35 at a position separated from the second gear 39.

[0072] <5. Effects of Implementation Methods>

[0073] As described above, in the robot 1 of the present embodiment, the motor 23 accommodated in the wrist 15 rotates the first gear 35 around the motor axis AxM1, thereby the second gear 39 of the reducer 25 rotates in conjunction with the rotation, and the rotation of the second gear 39 is decelerated and transmitted to the output shaft 43 connected to the flange 17, thereby the flange 17 rotates relative to the wrist 15. In addition, the brake device 27 rotates the third gear 51 that rotates in conjunction with the first gear 35 at a position separated from the second gear 39 around the brake axis AxB1 that is parallel to and offset from the motor axis AxM1, thereby braking the rotation of the first gear 35. According to the present embodiment, the motor 23 and the brake device 27 are offset in a direction perpendicular to the motor axis AxM1 (brake axis AxB1) and are arranged to face each other in this direction. As a result, the axial dimension of the actuator Ac6 including the motor 23, the reducer 25, and the brake device 27 can be miniaturized. Therefore, the wrist 15 that accommodates the actuator Ac6 can be miniaturized. It should be noted that, for driver Ac5, the same effect as above can be obtained by the same structure as above.

[0074] Furthermore, in the present embodiment, the third gear 51 of the brake device 27 may be connected to the first gear 35 of the motor 23 instead of the second gear 39 of the speed reducer 25. That is, the third gear 51 of the brake device 27 may be connected to the first gear 35 of the motor 23 without passing through the second gear 39 of the speed reducer 25. In this case, the interference factor caused by the behavior of the third gear 51 of the brake device 27 to the second gear 39 of the speed reducer 25 due to the backlash of the gears can be reduced. In addition, the number of gears connected to the second gear 39 of the speed reducer 25 can be reduced, so the wear of the second gear 39 can be reduced. It should be noted that the same effect as above can be obtained for the driver Ac5 by the same configuration as above.

[0075] It should be noted that, in the above case, the second gear 39 of the reducer 25 and the third gear 51 (the fourth gear 57 in the above embodiment) of the brake device 27 are connected to the first gear 35 of the motor 23, so the wear of the first gear 35 may increase. However, the motor 23 is exposed by removing the cover 21 and is easy to remove, so it is easy to replace the first gear 35. On the other hand, after removing the cover 21, the reducer 25 cannot be removed without removing the motor 23 and the brake device 27, so it takes a lot of time to replace the second gear 39 of the reducer 25. Therefore, compared with the case where both the first gear 35 of the motor 23 and the third gear 51 of the brake device 27 are connected to the second gear 39 of the reducer 25, the structure of this embodiment has the advantage of easy maintenance. It should be noted that for the driver Ac5, the same effect as above can also be obtained by the same structure as above.

[0076] In addition, in this embodiment, the dimension L1 of the motor 23 in the direction of the motor axis AxM1 can be made longer than the dimension L2 of the brake device 27 in the direction of the brake axis AxB1. In this case, the dimension of the brake device 27 can be included in the dimension of the motor 23 in the direction of the motor axis AxM1 (brake axis AxB1), so the axial dimension of the actuator Ac6 can be further miniaturized. It should be noted that the same effect as above can also be obtained for the actuator Ac5 by the same configuration as above.

[0077] In addition, in the present embodiment, the reducer 25 may have a hollow portion 46 extending along the reducer axis AxR1 between the second gear 39 and the output shaft 43, the motor 23 may have a motor housing 31 arranged radially outside the wiring space S1 formed by extending the hollow portion 46 in the direction of the reducer axis AxR1, and the brake device 27 may have a brake housing 47 arranged radially outside the wiring space S1. In this case, since the reducer 25 has the hollow portion 46, it is possible to route the cables and the like in a manner that penetrates the reducer 25. In addition, since the motor housing 31 of the motor 23 and the brake housing 47 of the brake device 27 are arranged radially outside the wiring space S1 formed by extending the hollow portion 46, it is possible to suppress the cables and the like pulled out from the hollow portion 46 from interfering with the motor housing 31 and the brake housing 47. Therefore, a space for the cables and the like pulled out from the hollow portion 46 to pass through can be ensured in the wrist 15. It should be noted that the same effect as above can also be obtained with the same configuration as above for the actuator Ac5.

[0078] In addition, in the present embodiment, a fourth gear 57 may be provided to transmit the braking force of the third gear 51 to the first gear 35. In this case, the fourth gear 57 is sandwiched between the first gear 35 of the motor 23 and the third gear 51 of the brake device 27, so that the distance between the motor axis AxM1 and the brake axis AxB1 can be adjusted. Therefore, the motor 23 and the brake device 27 can be configured to suppress the size of the first gear 35 and the third gear 51, and the motor housing 31 does not interfere with the brake housing 47, or the motor housing 31 and the brake housing 47 do not interfere with the wiring space S1 formed by extending the hollow portion 46, etc., which can improve the degree of freedom of configuration of the motor 23 and the brake device 27. It should be noted that for the driver Ac5, the same effect as above can be obtained by the same configuration as above.

[0079] In addition, in the present embodiment, the number of teeth of the third gear 51 can be set to be less than the number of teeth of the first gear 35. In this case, the braking torque of the brake device 27 can be increased. Thus, for example, a braking torque equal to or greater than that in the case where a brake unit (motor with a brake) identical to the brake device 27 is provided on the load-opposite side of the motor 23 can be applied. It should be noted that the same effect as above can also be obtained with the same configuration as above for the driver Ac5.

[0080] Furthermore, in the present embodiment, the motor 23 and the brake device 27 for relatively driving or stopping the wrist 15 and the flange 17, and the motor 59 and the brake device 63 for relatively driving or stopping the wrist 15 and the upper arm 13 can be accommodated in the wrist 15 in a staggered configuration without interfering with each other. In this case, the space in the wrist 15 can be effectively utilized, and each device can be compactly accommodated. Furthermore, the motor 23, the brake device 27, the motor 59, and the brake device 63 can be respectively arranged so as not to interfere with the wiring space S3 of a zigzag shape formed by connecting the wiring space S1 and the wiring space S2. In this case, a space for passing a cable or the like drawn between the hollow portion 46 and the hollow portion 83 can be ensured in the wrist 15.

[0081] Furthermore, in the present embodiment, the motor axis AxM1 of the motor 23 may be arranged on one side of a plane P including the reducer axis AxR1 and the reducer axis AxR2 that intersect each other, and the motor axis AxM2 of the motor 59 may be arranged on the other side of the plane P. In this case, the motor 23 and the motor 59 can be prevented from interfering with each other, and the storage space for the motor 23 and the motor 59 can be made compact.

[0082] <6. Modifications>

[0083] The embodiments of the present disclosure are not limited to those described above, and various modifications can be made without departing from the spirit and technical concept thereof.

[0084] In the above, the case where the configuration of the above embodiment is applied to the actuator Ac6 provided at the joint J6 rotatably connecting the wrist 15 and the flange 17 in the arm 7 of the robot 1 or the case where the actuator Ac5 is provided at the joint J5 rotatably connecting the wrist 15 and the upper arm 13 is described, but the application site is not limited to the actuators Ac5 and Ac6. The configuration of the above embodiment can also be applied to other parts of the arm 7, such as the actuator Ac4 of the joint J4 rotatably connecting the elbow 11 and the upper arm 13, the actuator Ac3 of the joint J3 rotatably connecting the elbow 11 and the lower arm 9.

[0085] In addition, the above description has been given of a case where the configuration of the above-described embodiment is applied to both drivers Ac5 and Ac6 , but it may also be applied to only one of drivers Ac5 and Ac6 .

[0086] In the above description, when there are records such as "vertical", "parallel", "plane", etc., such records are not strictly speaking. These "vertical", "parallel", and "plane" allow for tolerances and errors in design and manufacturing, and mean "substantially vertical", "substantially parallel", and "substantially plane".

[0087] In the above description, when there are descriptions of "same", "identical", "equal", "different" and the like in terms of apparent dimensions, size, shape, position, etc., such descriptions are not strictly speaking. These "same", "identical", "equal", "different" allow for tolerances and errors in design and manufacturing, and mean "substantially the same", "substantially the same", "substantially equal", "substantially different".

[0088] In addition to the above, the methods based on the above-mentioned embodiments and various modifications may be appropriately combined and utilized. In addition, although not illustrated one by one, the above-mentioned embodiments and various modifications are embodiments and modifications that are implemented by adding various changes within the scope of the gist thereof.

[0089] The problems and effects to be solved by the above-described embodiments and variants are not limited to the above-described contents. The above-described problems or effects not described above can also be solved by the embodiments or variants, and sometimes only a part of the described problems or a part of the described effects can be solved.

[0090] Description of Reference Numerals

[0091] 1: Robot;

[0092] 13: upper arm (an example of the third arm);

[0093] 15: wrist (an example of the first arm);

[0094] 17: flange portion (an example of the second arm);

[0095] 23: motor (an example of the first motor);

[0096] 25: reducer (an example of the first reducer);

[0097] 27: brake device (an example of the first brake device);

[0098] 29: Intermediate gear device;

[0099] 31: motor housing (an example of the first housing);

[0100] 35: first gear;

[0101] 39: Second gear;

[0102] 43: output shaft (an example of a first output shaft);

[0103] 46: hollow part;

[0104] 47: brake housing (an example of a second housing);

[0105] 51: third gear;

[0106] 57: Fourth gear;

[0107] 59: motor (an example of a second motor);

[0108] 61: reducer (an example of a second reducer);

[0109] 63: brake device (an example of the second brake device);

[0110] 65: intermediate gear device;

[0111] 67: motor housing (an example of the third housing);

[0112] 71: fifth gear;

[0113] 75: Sixth gear;

[0114] 79: output shaft (an example of a second output shaft);

[0115] 83: hollow part (an example of the second hollow part);

[0116] 85: brake housing (an example of the fourth housing);

[0117] 89: Seventh gear;

[0118] 95: Eighth gear;

[0119] AxB1: brake axis (an example of the third axis);

[0120] AxB2: brake axis (an example of the seventh axis);

[0121] AxG1: gear axis (an example of the fourth axis);

[0122] AxG2: gear axis;

[0123] AxM1: motor axis (an example of the first axis);

[0124] AxM2: motor axis (an example of the fifth axis);

[0125] AxR1: reducer axis (an example of the second axis);

[0126] AxR2: reducer axis (an example of the sixth axis);

[0127] L1: size;

[0128] L2: size;

[0129] L3: size;

[0130] L4: size;

[0131] P: plane;

[0132] S1: wiring space (an example of the first space);

[0133] S2: wiring space (an example of the second space);

[0134] S3: Wiring space (an example of the third space).

Claims

1. A robot, comprising: First arm; a second arm rotatably connected to the first arm; A first motor is housed in the first arm and includes a first gear that rotates around a first axis; a first speed reducer including a second gear and a first output shaft, wherein the second gear rotates in conjunction with the rotation of the first gear about a second axis parallel to the first axis and offset from the first axis, the first output shaft is connected to the second arm, and the first speed reducer reduces the rotation of the second gear and transmits it to the first output shaft; The first brake device is housed in the first arm in a manner opposite to the first motor in a direction perpendicular to the first axis, and has a third gear. The third gear rotates around a third axis that is parallel to the first axis and the second axis and deviates from the first axis and the second axis respectively, and rotates in conjunction with the first gear at a position separated from the second gear. The first brake device brakes the rotation of the first gear.

2. The robot according to claim 1, wherein: The first gear is connected to the second gear. The third gear is provided to have a gap between the third gear and the second gear.

3. The robot according to claim 1 or 2, wherein: A dimension of the first motor in the direction of the first axis is longer than a dimension of the first brake device in the direction of the third axis.

4. The robot according to claim 1 or 2, wherein: The first reducer has a first hollow portion, The first hollow portion extends along the second axis between the second gear and the first output shaft. The first motor has a first housing, The first shell is arranged radially outside a first space formed by extending the first hollow portion in the direction of the second axis. The first brake device has a second housing, The second housing is disposed radially outside the first space.

5. The robot according to claim 4, wherein: The robot has at least one fourth gear, which is accommodated in the first arm and rotates around a fourth axis that is parallel to the first axis, the second axis and the third axis and deviates from the first axis, the second axis and the third axis respectively, thereby transmitting the braking force of the third gear to the first gear.

6. The robot according to claim 1 or 2, wherein: The number of teeth of the third gear is less than the number of teeth of the first gear.

7. The robot according to claim 4, wherein: The robot also has: a third arm rotatably connected to the first arm at a position different from the second arm; a second motor housed in the first arm and having a fifth gear rotating about a fifth axis; a second speed reducer including a sixth gear and a second output shaft, wherein the sixth gear rotates in conjunction with the rotation of the fifth gear about a sixth axis that is parallel to the fifth axis and deviates from the fifth axis and intersects with the second axis, the second output shaft is connected to the third arm, and the second speed reducer reduces the rotation of the sixth gear and transmits it to the second output shaft; and The second brake device is housed in the first arm in a manner opposed to the second motor in a direction perpendicular to the fifth axis, and includes a seventh gear, the seventh gear rotates around a seventh axis parallel to the fifth axis and the sixth axis and deviated from the fifth axis and the sixth axis respectively, and rotates in conjunction with the fifth gear at a position separated from the sixth gear, the second brake device brakes the rotation of the fifth gear, The second reducer has a second hollow portion, The second hollow portion extends along the sixth axis between the sixth gear and the second output shaft. The second motor has a third housing, The third housing is arranged radially outside a second space formed by extending the second hollow portion in the direction of the sixth axis. The second brake device has a fourth housing, The fourth housing is arranged radially outside the second space. The first motor, the first brake device, the second motor, and the second brake device are respectively arranged so as not to interfere with a third space having a zigzag shape connecting the first space and the second space.

8. The robot according to claim 7, wherein: The first axis of the first motor is arranged on one side of a plane including the second axis and the sixth axis that intersect each other. The fifth axis of the second motor is disposed on the other side of the plane.

9. A method for manufacturing a robot, the robot comprising: a first arm; and a second arm rotatably connected to the first arm; The manufacturing method of the robot includes installing a first motor and a first reducer in the following manner: The first motor is accommodated in the first arm and includes a first gear that rotates around a first axis. The first speed reducer includes a second gear and a first output shaft. The second gear rotates in conjunction with the rotation of the first gear around a second axis that is parallel to the first axis and deviates from the first axis. The first output shaft is connected to the second arm. The first speed reducer reduces the rotation of the second gear and transmits it to the first output shaft. A first brake device having a third gear rotating around a third axis and braking the rotation of the first gear is placed opposite to the first motor in a direction perpendicular to the first axis, so that the third axis is parallel to the first axis and the second axis and separated from the first axis and the second axis respectively, and the third gear rotates in conjunction with the first gear at a position separated from the second gear.

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