Robot and method for manufacturing robot

Abstract

The invention provides a robot capable of reducing the size of an arm and a method for manufacturing the robot. A solution robot (1) is provided with: a lower arm section (9); an elbow section (11) rotatably connected to the lower arm section (9); a motor (23) which is accommodated in the lower arm part (9) and is provided with a motor shaft (31) that rotates around a motor axis (AxM); a first gear (33) connected to the motor shaft (31) and rotating about a motor axis (AxM); a second gear (37) linked with the first gear (33) and rotating around a gear shaft center (AxG) intersecting with the motor shaft center (AxM); and a speed reducer (27) that is provided with an input shaft (47) that rotates about a speed reducer axis (AxR) that coincides with the gear axis (AxG) in conjunction with the second gear (37), and an output shaft (51) that is connected to the elbow section (11), and that decelerates the rotation of the input shaft (47) and transmits the rotation to the output shaft (51).

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a robot and a method for manufacturing the robot. Background Art

[0002] For example, Patent Document 1 describes a joint structure of a robot. The joint structure of the robot includes a hollow first member, a second member, and a driver that causes the first member and the second member to rotate relative to each other around a first axis, the driver includes a motor, a reducer, and a power transmission mechanism, the reducer includes a hollow hole, and an input member supported around the first axis and used for power of the power transmission mechanism, the power transmission mechanism includes an output member supported around the second axis, the joint structure of the robot includes a first power transmission part, a second power transmission part that transmits power between a rotating shaft supported around a third axis and the output member, and a housing that accommodates them and supports the motor, the housing is detachably mounted on the first member at a position offset radially outward relative to the hollow hole, and the joint structure of the robot engages the power transmission mechanism with the input member.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-94612 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the above-mentioned prior art, the housing that accommodates the second power transmission part and supports the motor is installed at a position that is radially offset outward relative to the hollow hole of the reducer. Therefore, the distance between the first axis of the reducer and the end on the opposite side to the first axis of the motor becomes larger, which leads to the problem of enlarging the first component.

[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 motor housed in the first arm and having a rotating shaft rotating around a first axis; a first gear connected to the rotating shaft and rotating around the first axis; a second gear linked to the first gear and rotating around a second axis intersecting the first axis; and a reducer comprising an input shaft linked to the second gear and rotating around the second axis and an output shaft connected to the second arm, wherein the reducer reduces the rotation of the input shaft and transmits it to the output shaft.

[0011] In addition, according to another aspect of the present invention, a method for manufacturing a robot is applied, which robot has: a first arm; and a second arm, which is rotatably connected to the first arm, and the method for manufacturing the robot includes: connecting the second gear to the input shaft of the reducer in a manner that allows the second gear and the input shaft of the reducer to rotate around a second axis, wherein the second gear rotates in conjunction with the first gear, the first gear is connected to a rotating shaft that rotates around a first axis of a motor accommodated in the first arm and rotates around the first axis, the reducer has the input shaft that rotates around a second axis intersecting the first axis in conjunction with the second gear, and an output shaft connected to the second arm, and the reducer reduces the rotation of the input shaft and transmits it to the output shaft.

[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 the cover of the lower arm of the robot is removed.

[0016] Figure 3 This is a cross-sectional view showing an example of the structure of an actuator provided in a joint portion connecting the lower arm and the elbow.

[0017] Figure 4 This is a cross-sectional view showing an example of a state in which a gear unit is removed from a reduction gear in an actuator of a joint portion connecting a lower arm portion and an elbow portion.

[0018] Figure 5 This is an enlarged cross-sectional view of the connection portion between the second gear and the input shaft of the speed reducer.

[0019] Figure 6This is a cross-sectional view showing an example of the structure of the gear unit in a state where the motor is removed from the gear box. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments will be described with reference to the drawings.

[0021] <1. Robot composition>

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] The elbow 11 is supported at the top end of the lower arm 9 so as to be rotatable about a rotation axis Ax3 parallel to the rotation axis Ax2. The elbow 11 is driven by a driver Ac3 (see later described) provided at a joint J3 that rotatably connects the adjacent lower arm 9 and the elbow 11. Figure 2 The top end of the lower arm portion 9 is driven to rotate around the rotation axis Ax3.

[0029] 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.

[0030] The wrist 15 is supported at the top end of the upper arm 13 so as to be rotatable around a rotation axis Ax5 perpendicular to the rotation axis Ax4. The wrist 15 is driven to rotate around the rotation axis Ax5 relative to the top end of the upper arm 13 by a driver Ac5 (not shown) provided at a joint J5 that rotatably connects the adjacent upper arm 13 and the wrist 15.

[0031] The flange 17 is supported at the top end of the wrist 15 in a manner that allows rotation around a rotation axis Ax6 that is perpendicular to the rotation axis Ax5. The flange 17 is driven to rotate around the rotation axis Ax6 relative to the top end of the wrist 15 by driving an actuator Ac6 (not shown) provided at a joint J6 that rotatably connects the adjacent wrist 15 and the flange 17.

[0032] 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 .

[0033] 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 each composed of, for example, a motor and a speed reducer.

[0034] 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.

[0035] 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.

[0036] <2. Structure of the actuator of the joint>

[0037] Next, refer to Figure 2 to Figure 6 , an example of the structure of the driver Ac3 provided in the joint part J3 is described. Figure 2 1 is a perspective view showing an example of a state in which the cover of the lower arm 9 of the robot 1 is removed. Figure 3 is a cross-sectional view showing an example of the structure of the actuator Ac3 provided in the joint portion J3. Figure 4 is a cross-sectional view showing an example of a state in which the gear unit is removed from the speed reducer in the driver Ac3. Figure 5 This is an enlarged cross-sectional view of the connection between the second gear of the driver Ac3 and the input shaft of the speed reducer. Figure 6 This is a cross-sectional view showing an example of the structure of the gear unit in a state where the motor is removed from the gear box.

[0038] As described above, the lower arm 9 (an example of the first arm) and the elbow 11 (an example of the second arm) are connected to each other via the joint J3 so as to be rotatable around the rotation axis Ax3. Figure 2 As shown in FIG. 1 , the lower arm 9 has an opening 19 provided near the top end and a cover 21 that closes the opening 19. The cover 21 is fixed to the opening 19 by, for example, a plurality of bolts (not shown). Figure 2 As shown, in a state where the cover 21 is removed, the actuator Ac3 provided at the joint portion J3 is exposed.

[0039] Figure 3 An example of the structure of the driver Ac3 is shown in FIG. Figure 3 As shown, the driver Ac3 includes a motor 23 , a gear box 25 , and a speed reducer 27 .

[0040] The motor 23 is accommodated in the lower arm 9. The motor 23 includes: a motor housing 29 accommodating a rotor and a stator, etc.; a motor shaft 31 (an example of a rotating shaft) protruding from the motor housing 29 and rotating around a motor axis AxM (an example of a first axis); and a first gear 33 connected to the motor shaft 31 and rotating around the motor axis AxM. Although not shown in the figure, the motor 23 includes an encoder, a brake device, etc.

[0041] The gear box 25 includes a housing 35 (an example of a casing), a second gear 37, and a bearing 39. The housing 35 is a box-shaped member that accommodates the second gear 37 and rotatably supports the second gear 37 through the bearing 39. The bearing 39 is mounted on the housing 35 under appropriate pressure to support both the force in the meridian direction and the force in the thrust direction acting on the second gear 37. Figure 3The motor housing 29 is connected to the gear box 25 in a detachable manner, for example, by bolts. The motor 23 is connected to the gear box 25 to form a gear unit 28. The other end of the housing 35 ( Figure 3 The left end of the lower arm 9 is detachably connected to the support portion 40a of the housing 40 of the lower arm 9 by, for example, bolts or the like. That is, the gear unit 28 is detachably connected to the housing 40 of the lower arm 9.

[0042] The second gear 37 rotates around the gear axis AxG (an example of the second axis) in conjunction with the first gear 33 of the motor 23. The gear axis AxG is substantially consistent with the rotation axis Ax3. The first gear 33 and the second gear 37 are configured as, for example, bevel gears (bevel gears). The first gear 33, which is a bevel gear on the driving side, meshes with the second gear 37, which is a bevel gear on the driven side, and the motor axis AxM and the gear axis AxG intersect at an angle of, for example, approximately 90 degrees. "Intersecting" in this case means that the motor axis AxM and the gear axis AxG are on the same plane and intersect with each other. It should be noted that the motor axis AxM and the gear axis AxG may also be configured to intersect at an angle other than 90 degrees.

[0043] It should be noted that if the axes of the first gear 33 and the second gear 37 intersect with each other and rotate in conjunction with each other, a structure other than a bevel gear can be used. For example, the first gear and the second gear can also be configured as hypoid gears. In this case, "intersecting" means that the motor axis AxM and the gear axis AxG are on different planes, so that they are offset and in a torsion position that does not intersect each other. In addition, if the first gear 33 and the second gear 37 are configured to rotate in conjunction, they do not need to be a directly meshing structure, for example, a structure in which some power transmission mechanism such as other gears is sandwiched between them can be used.

[0044] The second gear 37 has a cylindrical hollow portion 41 (an example of a first hollow portion) formed in a cylindrical shape and extending along the gear axis AxG on the inside. In addition, the second gear 37 has a hole portion 43 for inserting the shaft portion 55 of the reducer 27 described later. The hole portion 43 has a concave-convex portion 45 extending along the gear axis AxG on the inner periphery. The concave-convex portion 45 will be described later. The hollow portion 41 is a space inside the hole portion 43.

[0045] The speed reducer 27 has an input shaft 47, a fixed portion 49, and an output shaft 51, and reduces the rotation of the input shaft 47 and transmits it to the output shaft 51. The fixed portion 49 is fixed to the support portion 40a of the housing 40 of the lower arm portion 9. The input shaft 47 is rotatably supported relative to the support portion 40a of the housing 40 of the lower arm portion 9 by a bearing 53, and rotates around the speed reducer axis AxR (an example of the second axis) in conjunction with the second gear 37. The speed reducer axis AxR is roughly consistent with the gear axis AxG and the rotation axis Ax3. The bearing 53 is assembled to the support portion 40a in a pressurized state to support both the force in the meridian direction and the force in the thrust direction acting on the input shaft 47.

[0046] The input shaft 47 has a shaft portion 55 inserted into the hole portion 43 of the second gear 37. The shaft portion 55 has a concave-convex portion 57 extending along the reducer axis AxR on the outer periphery. The concave-convex portion 57 will be described later. The second gear 37 and the input shaft 47 are connected by a so-called spline connection in which the concave-convex portion 45 provided on the inner periphery of the hole portion 43 and the concave-convex portion 57 provided on the outer periphery of the shaft portion 55 are engaged.

[0047] It should be noted that if the structure is capable of transmitting the force in the rotational direction and releasing the force in the thrust direction, the second gear 37 and the input shaft 47 may be connected by a structure other than a spline. For example, a keyway may be formed in either the shaft portion or the hole portion to connect them, or the shaft portion and the hole portion may be connected in a polygonal shape. In addition, if the second gear 37 and the input shaft 47 are configured to rotate in conjunction with each other around the axis, they may not be directly connected, and for example, a structure in which some power transmission mechanism such as other gears is sandwiched between them may be used.

[0048] The output shaft 51 rotates about the speed reducer axis AxR (ie, the rotation axis Ax3 ) relative to the fixed portion 49 . The output shaft 51 is fixed to the housing 59 of the elbow portion 11 .

[0049] The input shaft 47, the fixed portion 49, and the output shaft 51 have a cylindrical hollow portion 61 (an example of a second hollow portion) extending along the reducer axis AxR. The hollow portion 41 of the second gear 37 and the hollow portion 61 of the reducer 27 are connected in the direction of the reducer axis AxR when the second gear 37 is connected to the input shaft 47. A cylindrical tubular member 63 is inserted into the interior of the connected hollow portion 41 and the hollow portion 61. Gaps are provided between the outer circumferential surface of the tubular member 63 and the inner circumferential surface of the hollow portion 41 of the second gear 37 and between the outer circumferential surface of the tubular member 63 and the inner circumferential surface of the hollow portion 61 of the reducer 27. The tubular member 63 has a flange portion 63a at one end, and the flange portion 63a is detachably connected to the housing 35, for example, by bolts.

[0050] Figure 4FIG. 4 shows a state where the cover 21 is removed from the housing 40 of the lower arm 9 and the gear unit 28 is removed through the opening 19. Figure 4 As shown, the dimension L1 of the opening 19 in the motor axis AxM direction is larger than the sum of the dimension L2 of the housing 35 of the gear box 25 in the motor axis AxM direction and the dimension L3 of the motor housing 29 of the motor 23 connected to the housing 35 in the motor axis AxM direction, that is, the dimension (L2+L3) of the gear unit 28 in the motor axis AxM direction. Figure 2 and Figure 4 As shown, when the cover 21 is removed, the entire region including the entire length of the gear unit 28 in the motor axis AxM direction is exposed toward the side opposite to the reduction gear 27 .

[0051] Figure 5 FIG. 4 shows an enlarged view of the connection between the second gear 37 and the input shaft 47. Figure 5 In the figure, the cylindrical member 63 is omitted. Figure 5 As shown, the hole portion 43 of the second gear 37 has a concave-convex portion 45 (an example of a second concave-convex portion) extending along the gear axis AxG on the inner periphery. The concave-convex portion 45 has a plurality of groove-shaped concave portions 45a extending approximately parallel to the gear axis AxG and a plurality of linear convex portions 45b extending approximately parallel to the gear axis AxG. The concave portions 45a and the convex portions 45b are alternately arranged along the circumferential direction on the inner periphery of the hole portion 43. It should be noted that the concave-convex portion 45 includes a configuration in which only one of the concave portions 45a or the convex portions 45b is provided. In addition, the number of the concave portions 45a or the convex portions 45b is not limited to a plurality, and a configuration in which only one is provided is also included.

[0052] In addition, the shaft portion 55 of the input shaft 47 has a concave-convex portion 57 (an example of a first concave-convex portion) extending along the reducer axis AxR on the outer periphery. The concave-convex portion 57 has a plurality of groove-shaped concave portions 57a extending approximately parallel to the reducer axis AxR and a plurality of linear convex portions 57b extending approximately parallel to the reducer axis AxR. The concave portion 57a ​​of the shaft portion 55 is engaged with the convex portion 45b of the hole portion 43, and the convex portion 57b of the shaft portion 55 is engaged with the concave portion 45a of the hole portion 43. The concave portions 57a and the convex portions 57b are alternately arranged along the circumferential direction on the outer periphery of the shaft portion 55. It should be noted that the concave-convex portion 57 includes a configuration in which only one of the concave portion 57a ​​or the convex portion 57b is provided. In addition, the number of the concave portions 57a or the convex portion 57b is not limited to a plurality, and a configuration in which only one is provided is also included.

[0053] The hole portion 43 of the second gear 37 has a space S1 in the concave-convex portion 45. The concave-convex portion 45 of the hole portion 43 is engaged with the concave-convex portion 57 of the shaft portion 55. When the second gear 37 is connected to the input shaft 47, the concave-convex portion 57 can be moved along the direction of the gear axis AxG to the top end side of the shaft portion 55 ( Figure 5 In other words, the space S1 includes the space in the concave portion 45a where the convex portion 57b is not engaged. In addition, the shaft portion 55 of the input shaft 47 has a space S2 in the concave-convex portion 57. By engaging the concave-convex portion 57 of the shaft portion 55 with the concave-convex portion 45 of the hole portion 43, the space S2 allows the concave-convex portion 45 to move along the direction of the reducer axis AxR to the base end side of the shaft portion 55 when the second gear 37 and the input shaft 47 are connected. Figure 5 4). That is, the space S2 includes the space in the recessed portion 57a ​​where the convex portion 45b is not engaged. Thus, the shaft portion 55 and the hole portion 43 can be allowed to move relative to each other in the direction of the gear axis AxG (reducer axis AxR). Therefore, the force in the thrust direction generated by the second gear 37 can be prevented from being transmitted to the input shaft 47 of the reducer 27, and the force in the thrust direction generated by the input shaft 47 of the reducer 27 can be prevented from being transmitted to the second gear 37.

[0054] In addition, if Figure 5 As shown, a protrusion 40b, for example, in an annular shape, is formed on the support portion 40a of the housing 40 of the lower arm portion 9, and the housing 35 of the gear box 25 has an opening 35a having a shape (for example, a circular shape) corresponding to the outer periphery of the protrusion 40b. The opening 35a is fitted with the protrusion 40b, thereby positioning the gear box 25 in such a manner that the gear axis AxG of the second gear 37 and the reducer axis AxR of the input shaft 47 are substantially aligned. In addition, the top end of the opening 35a abuts against the end surface of the support portion 40a of the housing 40, thereby positioning the position of the gear box 25 in the gear axis AxG direction (reducer axis AxR direction).

[0055] Figure 6 2 shows the gear unit 28 in a state where the motor 23 is removed from the gear box 25. As described above, the first gear 33 and the second gear 37 are formed as bevel gears, so it is necessary to adjust the meshing of the first gear 33 and the second gear 37. Figure 6As shown, the meshing of the first gear 33 and the second gear 37 is adjusted in a state where the gear unit 28 is removed from the housing 40 of the lower arm 9. Specifically, the meshing of the first gear 33 and the second gear 37 is adjusted by removing the motor 23 from the gear box 25 and changing the thickness of the gasket 65 sandwiched between the motor housing 29 and the housing 35. It should be noted that the gasket can be provided between the first gear 33 and the motor shaft 31. It should be noted that the meshing adjustment can be performed in a state where the housing 35 is equipped with the cylindrical member 63, and can also be performed in a state where the cylindrical member 63 is removed from the housing 35.

[0056] The manufacturing method of the robot 1 as described above includes a process of connecting the second gear 37 to the input shaft 47 of the reducer 27 in such a manner that the second gear 37 and the input shaft 47 of the reducer 27 rotate around a common axis AxG, AxR, wherein the second gear 37 is connected to the motor shaft 31 of the motor 23 accommodated in the lower arm 9, and rotates in conjunction with the first gear 33 rotating around the motor axis AxM, and the reducer 27 has an input shaft 47 that rotates around the reducer axis AxR intersecting the motor axis AxM in conjunction with the second gear 37, and an output shaft 51 connected to the elbow 11, and the reducer 27 reduces the rotation of the input shaft 47 and transmits it to the output shaft 51.

[0057] <3. Effects of Implementation Methods>

[0058] As described above, in the robot 1 of the present embodiment, the rotation of the motor shaft 31 realized by the motor 23 accommodated in the lower arm 9 is transmitted to the input shaft 47 of the reducer 27 via the first gear 33 and the second gear 37, and the rotation of the input shaft 47 is reduced and transmitted to the output shaft 51 connected to the elbow 11, thereby rotating the elbow 11 relative to the lower arm 9. According to the present embodiment, the second gear 37 and the input shaft 47 of the reducer 27 rotate around the common axis AxG, AxR (gear axis AxG, reducer axis AxR) that intersects with the motor axis AxM. As a result, the distance L4 between the axis AxG, AxR and the end 29a located on the opposite side of the axis AxG, AxR of the motor 23 can be shortened (refer to Figure 4 ). Therefore, the lower arm portion 9 that accommodates the motor 23 can be miniaturized.

[0059] In addition, in the present embodiment, the robot 1 may include a housing 35 that rotatably supports the second gear 37 and is connected to the motor 23, and the housing 35 may be configured to be detachable from the lower arm 9. In this case, the motor 23 having the first gear 33 is connected to the housing 35, so that the first gear 33, the second gear 37, and the motor 23 can be unitized. Thus, in a state where the gear unit 28 is removed from the lower arm 9, the meshing of the first gear 33 and the second gear 37 can be adjusted, so that the adjustment operation can be facilitated and the assemblability can be improved.

[0060] In addition, in the present embodiment, the input shaft 47 of the speed reducer 27 may include a shaft portion 55 having a concave-convex portion 57 extending along the speed reducer axis AxR on the outer periphery, and the second gear 37 may include a hole portion 43 having a concave-convex portion 45 extending along the gear axis AxG and engaging with the concave-convex portion 57 on the inner periphery, into which the shaft portion 55 is inserted. In this case, the second gear 37 and the input shaft 47 can be connected by a so-called spline connection in which the concave-convex portion 57 provided on the outer periphery of the shaft portion 55 is engaged with the concave-convex portion 45 provided on the inner periphery of the hole portion 43. Thus, for example, compared with the case of connection via gears, there is no need to perform an adjustment operation of meshing, so the connection operation can be facilitated and the assembly property can be improved. In addition, compared with the case of connection via gears, noise can be reduced.

[0061] In addition, in the present embodiment, the shaft portion 55 may have a space S2 in the concavoconvex portion 57, which allows the concavoconvex portion 45 of the second gear 37 to move to the base end side of the shaft portion 55 along the direction of the reducer axis AxR, and the hole portion 43 may have a space S1 in the concavoconvex portion 45, which allows the concavoconvex portion 57 to move to the tip end side of the shaft portion 55 along the direction of the gear axis AxG. In this case, the shaft portion 55 and the hole portion 43 can be relatively moved in the directions of the axes AxG and AxR when the second gear 37 is connected to the input shaft 47 by the space S1 of the concavoconvex portion 45 and the space S2 of the concavoconvex portion 57. Thus, the force in the thrust direction generated by the second gear 37 can be prevented from being transmitted to the input shaft 47 of the reducer 27, and the force in the thrust direction generated by the input shaft 47 of the reducer 27 can be prevented from being transmitted to the second gear 37. Therefore, the second gear 37 and the input shaft 47 can be connected so as to transmit the force in the rotation direction and release the force in the thrust direction.

[0062] Furthermore, in the present embodiment, the second gear 37 may have a hollow portion 41 extending along the gear axis AxG, and the input shaft 47, the fixing portion 49, and the output shaft 51 may have a hollow portion 61 extending along the reducer axis AxR, and the hollow portion 41 and the hollow portion 61 are connected in the direction of the axis AxG and AxR when the second gear 37 and the input shaft 47 are connected. In this case, a cable can be inserted into the inside of the communicating hollow portion 41 and the hollow portion 61. Thus, the cable can be routed between the inside of the lower arm portion 9 and the inside of the elbow portion 11 by passing through the gear box 25 and the reducer 27.

[0063] In addition, in the present embodiment, the robot 1 may include a cylindrical member 63 inserted into the hollow portion 41 and the hollow portion 61 connected in the direction of the axis AxG and AxR. In this case, the cables routed in the hollow portion 41 and the hollow portion 61 can be prevented from rubbing against the second gear 37 and the input shaft 47, which are the surrounding rotating members, so that the cables can be protected. In addition, the grease of the gear box 25 and the speed reducer 27 can be prevented from leaking out of the hollow portions 41 and 61 where the cables are routed.

[0064] In addition, in the present embodiment, the cylindrical member 63 may also be configured to be detachable relative to the housing 35 of the gear box 25. In this case, the cylindrical member 63 can be removed when adjusting the meshing of the first gear 33 and the second gear 37 in the gear unit 28, so that the adjustment operation is easy. In addition, when the gear unit 28 is connected to the input shaft 47 of the speed reducer 27, the cylindrical member 63 can be connected in a state where it is assembled to the gear unit 28, and it can also be connected in a state where the cylindrical member 63 is removed from the gear unit 28, and the cylindrical member 63 is assembled to the gear unit 28 after the connection. Thus, the degree of freedom of the assembly operation can be improved. In particular, if the cylindrical member 63 is removed from the gear unit 28, when the gear unit 28 is assembled to the speed reducer 27, the relative position of the hole portion 43 of the second gear 37 and the shaft portion 55 of the input shaft 47 of the speed reducer 27 can be visually checked through the hollow portion 41, so that the assembly performance can be improved.

[0065] Furthermore, in the present embodiment, the lower arm 9 may include an opening 19 whose dimension L1 in the direction of the motor axis AxM is larger than the sum of the dimension L2 of the housing 35 and the dimension L3 of the motor 23 connected to the housing 35, and a cover 21 that blocks the opening 19. In this case, the dimension L1 of the opening 19 is larger than the dimension (L2+L3) of the gear unit 28, so that the operation of attaching or detaching the gear unit 28 to or from the speed reducer 27 through the opening 19 is facilitated, and the assemblability can be improved. Furthermore, after the gear unit 28 is attached, by blocking the opening 19 with the cover 21, the gear unit 28 can be protected, and the deterioration of the appearance of the robot 1 and the strength of the lower arm 9 can be suppressed.

[0066] Furthermore, in the present embodiment, the opening 19 may be provided so that the housing 35 and the entire motor 23 connected to the housing 35 are exposed on the opposite side of the reduction gear 27 in the direction of the axis AxG and AxR when the second gear 37 is connected to the input shaft 47. In this case, the opening 19 is provided so that the entire gear unit 28 is exposed, so that the gear unit 28 can be easily attached to or detached from the reduction gear 27 through the opening 19, thereby improving the assemblability. Furthermore, the gear unit 28 can be attached to or detached from the reduction gear 27 by moving along the axis AxG and AxR through the opening 19, so that the automation of the attachment or detachment of the gear unit 28 can be easily achieved.

[0067] <4. Modifications>

[0068] 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.

[0069] In the above, the case where the configuration of the above embodiment is applied to the driver Ac3 of the joint portion J3 that rotatably connects the lower arm portion 9 and the elbow portion 11 in the arm 7 of the robot 1 is described, but the application site is not limited to the driver Ac3. The configuration of the above embodiment can be applied, for example, to the driver Ac2 of the joint portion J2 that rotatably connects the rotating portion 5 and the lower arm portion 9, and can also be applied to the driver Ac5 of the joint portion J5 that rotatably connects the upper arm portion 13 and the wrist portion 15. That is, the configuration of the above embodiment uses a driver of the joint portion that rotates around a rotation axis that is perpendicular to the long dimension direction (or extension direction) of the arm 7.

[0070] In addition, for example, in the above embodiment, the second gear 37 has the hole portion 43 and the input shaft 47 has the shaft portion 55. Conversely, the second gear 37 may have a shaft portion and the input shaft 47 may have a hole portion for inserting the shaft portion of the second gear 37.

[0071] In addition, for example, in the above embodiment, the case where the first gear 33, the second gear 37 and the motor 23 are unitized is described, but if the second gear 37 and the input shaft 47 rotate around a common axis, the first gear 33, the second gear 37 and the motor 23 may not be unitized.

[0072] 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".

[0073] 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".

[0074] 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.

[0075] 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.

[0076] Description of Reference Numerals

[0077] 1: Robot;

[0078] 9: Lower arm (an example of the first arm);

[0079] 11: Elbow (an example of the second arm);

[0080] 19: opening;

[0081] 21: hood;

[0082] 23: Motor;

[0083] 25: gear box;

[0084] 27: reducer;

[0085] 28: gear unit;

[0086] 29: Motor housing;

[0087] 29: Motor;

[0088] 31: motor shaft (an example of a rotating shaft);

[0089] 33: first gear;

[0090] 35: housing (an example of a shell);

[0091] 37: Second gear;

[0092] 41: hollow part (an example of the first hollow part);

[0093] 43: hole;

[0094] 45: concavoconvex part (an example of the second concavoconvex part);

[0095] 47: input shaft;

[0096] 51: output shaft;

[0097] 55: shaft;

[0098] 57: concavoconvex part (an example of the first concavoconvex part);

[0099] 61: hollow part (an example of the second hollow part);

[0100] 63: cylindrical member;

[0101] 65: gasket;

[0102] Ax3: axis of rotation (an example of a second axis);

[0103] AxG: gear axis (an example of a second axis);

[0104] AxM: Motor axis (an example of the first axis);

[0105] AxR: reducer axis (an example of a second axis);

[0106] L1: size;

[0107] L2: size;

[0108] L3: size;

[0109] S1: Space;

[0110] S2: Space.

Claims

1. A robot comprising: First arm; a second arm rotatably connected to the first arm; a motor, housed in the first arm and having a rotating shaft that rotates around a first axis; A first gear connected to the rotating shaft and rotating around the first axis; A second gear, linked with the first gear, rotates around a second axis intersecting the first axis; and The speed reducer includes an input shaft that rotates around the second axis in conjunction with the second gear and an output shaft connected to the second arm, and the speed reducer reduces the rotation of the input shaft and transmits the reduced rotation to the output shaft.

2. The robot according to claim 1, wherein: The robot further comprises a housing, the housing rotatably supporting the second gear and being connected to the motor. The housing is configured to be attachable to and detachable from the first arm.

3. The robot according to claim 2, wherein: One of the second gear and the input shaft has a shaft portion. The shaft portion includes a first concavo-convex portion extending along the second axis on an outer periphery, and the second gear and the input shaft, the other of which is different from the first gear, have a hole. The hole portion includes a second concave-convex portion extending along the second axis and fitting with the first concave-convex portion on the inner periphery, and the shaft portion is inserted into the hole portion.

4. The robot according to claim 3, wherein: The shaft portion has a space in the first concave-convex portion, The space allows the second concave-convex portion to move to the base end side of the shaft portion along the direction of the second axis when the second gear is connected to the input shaft. The hole portion has a space in the second concavo-convex portion, The space allows the first concavo-convex portion to move to the front end side of the shaft portion along the direction of the second axis when the second gear is connected to the input shaft.

5. The robot according to claim 3 or 4, wherein: The second gear has a first hollow portion extending along the second axis. The input shaft has a second hollow portion extending along the second axis. The first hollow portion and the second hollow portion communicate with each other in the direction of the second axis when the second gear is coupled to the input shaft.

6. The robot according to claim 5, wherein: The robot further includes a cylindrical member inserted into the first hollow portion and the second hollow portion communicating with each other in the direction of the second axis.

7. The robot according to claim 6, wherein: The cylindrical member is configured to be attachable to and detachable from the housing.

8. The robot according to claim 2 or 3, wherein: The first arm has: an opening, wherein a dimension of the opening in the direction of the first axis is larger than a sum of a dimension of the housing in the direction of the first axis and a dimension of the motor connected to the housing in the direction of the first axis; as well as A cover is provided to block the opening.

9. The robot according to claim 8, wherein: The opening is configured as follows: In a state where the second gear is connected to the input shaft, the entirety of the housing and the motor connected to the housing is exposed on the side opposite to the speed reducer in the direction of the second axis.

10. A method for manufacturing a robot, the robot comprising: First arm; and The second arm is rotatably connected to the first arm, and the manufacturing method of the robot includes: The second gear is connected to the input shaft of the reducer in such a manner that the second gear and the input shaft of the reducer rotate around a second axis. The second gear rotates in conjunction with the first gear, and the first gear is connected to a rotating shaft that rotates around a first axis of a motor accommodated in the first arm and rotates around the first axis. The speed reducer includes the input shaft that rotates about a second axis intersecting the first axis in conjunction with the second gear, and an output shaft connected to the second arm, and the speed reducer reduces the rotation of the input shaft and transmits the rotation to the output shaft.

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