Robot

Abstract

The invention relates to a robot. The robot includes a link and an actuator configured to rotate the link about an axis of rotation. The link includes a connection section connected to the actuator, a link base section intersecting the axis of rotation to extend from the connection section, and a protruding section between the connection section and an end of the link base section, the connecting rod base section protrudes from the connecting rod base section at a position away from each of the connecting section and the end of the connecting rod base section.

Description

Technical Field

[0001] The present disclosure relates to a robot. Background Art

[0002] Japanese Unexamined Patent Publication No. 2012-161868 discloses a robot including a base, a first structure, a second structure, and a third structure. The first structure is coupled to the base so as to be rotatable around a first axis. The second structure is coupled to the first structure so as to be rotatable around a second axis orthogonal to the first axis. The third structure is coupled to the second structure so as to be rotatable around a third axis parallel to the second axis. The second structure includes a main structure portion, an auxiliary structure portion, and a coupling portion coupling the main structure portion to the auxiliary structure portion. Each of the first structure and the third structure is interposed between the main structure portion and the auxiliary structure portion. Summary of the invention

[0003] Technical issues

[0004] The present disclosure provides a robot that can effectively reduce weight and effectively improve rigidity.

[0005] Solution to the problem

[0006] A robot according to one aspect of the present disclosure includes a link and an actuator configured to rotate the link around a rotation axis. The link includes a connecting section connected to the actuator, a link base section intersecting the rotation axis to extend from the connecting section, and a protruding section between the connecting section and ends of the link base section, the protruding section protruding from the link base section at a position away from each of the ends of the connecting section and the link base section.

[0007] Advantageous Effects of the Invention

[0008] According to the present disclosure, a robot is provided that can effectively reduce weight and effectively improve rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a perspective view showing an example of a robot;

[0010] Figure 2 is a perspective view showing an example of a robot;

[0011] Figure 3 is a cross-sectional view showing an example of the interior of the robot;

[0012] Figure 4 is a perspective view showing an example of a driving link;

[0013] Figure 5 is a side view showing an example of a drive link;

[0014] Figure 6 is a side view schematically showing an example of a drive link;

[0015] Figure 7 is a cross-sectional view schematically showing an example of a seal provided between connecting rods;

[0016] Figure 8 is a perspective view showing a portion of the robot in a state where a cover is removed;

[0017] Fig. 9 is a cross-sectional view showing an example of the inside of the rotating link.

[0018] Fig.10 is a perspective view showing a portion of the robot in a state where a cover is removed; and

[0019] Fig.11 is a cross-sectional view schematically showing an example of a bearing provided between connecting rods.

[0020] Reference numerals list

[0021] 1. Robot

[0022] 10 Base connecting rod

[0023] 20 Rotating connecting rod

[0024] S2 Interior Space

[0025] 24, 28 Opening

[0026] 30 Arm Link

[0027] 40 Driving connecting rod

[0028] 42, 46 connection section

[0029] 42a, 46a Connecting base section

[0030] 42b, 46b Around the wall

[0031] 44 Connecting rod base section

[0032] 48 Strengthening Section

[0033] 48a Protruding section

[0034] S4 Interior

[0035] Ax0 axis

[0036] 48b, 48c Rib

[0037] 50 Auxiliary connecting rod

[0038] S5 Wiring Space

[0039] 52 Connecting rod body

[0040] 58 Highlight Section

[0041] 54 Access cover

[0042] 55 Connecting components

[0043] 56 Access cover

[0044] 60 arm link

[0045] 62 Arm base

[0046] S6 Interior

[0047] 66, 67 Opening

[0048] 64 Rotating arm

[0049] 90 Harness

[0050] 92, 96, 98 Inspection cover

[0051] 93, 97 Check seals

[0052] 94 Auxiliary inspection cover

[0053] Ax1, Ax2, Ax3, Ax4 rotation axes

[0054] 110, 120, 130, 140 Actuators

[0055] 112, 122, 132, 142 motors

[0056] 170, 180 seals

[0057] 172a, 182a Sealing surface

[0058] 174a, 184a Sealing element

[0059] 178, 188 bearings DETAILED DESCRIPTION

[0060] Hereinafter, the embodiments will be described with reference to the accompanying drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0061] Figure 1 and Figure 2 A robot according to an embodiment is shown. Figure 1The robot 1 shown is a vertical articulated robot. The robot 1 automatically performs various works on a work object. The robot 1 is, for example, an industrial robot, and in one example, automatically performs various conveying, processing, assembling, etc. on parts or components in a production line of a product. The application of the robot 1 is not limited to industrial use. Hereinafter, the outline of the structure of the robot 1 will be described first, and then the details of some components included in the robot 1 will be described.

[0062] [Overview of the robot structure]

[0063] The robot 1 includes a base 2 and an articulated arm 4. The base 2 is a portion that supports the articulated arm 4. The articulated arm 4 is attached to the base 2 in a rotatable state, and includes a serial link structure.

[0064] The base 2 includes a base link 10 and a rotating link 20. The base link 10 is also called a base and is fixed to a mounting surface. The mounting surface may be a surface forming a working area where the robot 1 performs work. The mounting surface is, for example, the bottom surface of the working area. The base link 10 may be fixed to a horizontal mounting surface. The base link 10 may be fixed to a mounting surface on a moving body such as an automated guided vehicle (AGV).

[0065] The rotating link 20 is connected to the base link 10 to rotate (rotate) around the rotation axis Ax1 (rotation axis). For example, the rotating link 20 is attached to the base link 10 to be positioned above the base link 10. The rotation axis Ax1 may be provided to pass through the base link 10 and the rotating link 20. The rotating link 20 may be provided on the base link 10 to rotate around the vertical rotation axis Ax1.

[0066] In the present disclosure, when describing the structure of the robot 1, "upper" and "lower" are used to indicate the arrangement relationship. "Up" and "lower" refer to "upper" and "lower" in a state where the rotation axis Ax1 is vertically positioned and the rotating link 20 is positioned on the base link 10, but the base 2 may not necessarily be arranged in this manner. The base 2 may be arranged, for example, so that the rotating link 20 is positioned below the base link 10, or so that the rotating link 20 is positioned on one side of the base link 10. The base link 10 may be fixed to a wall surface of a work area or may be fixed to a top surface of a work area.

[0067] The articulated arm 4 includes, for example, an arm link 30, an arm link 60, an arm link 70, and a tool attachment portion 80. Each of the arm link 30, the arm link 60, and the arm link 70 is also simply referred to as an arm.

[0068] The arm link 30 is connected to the rotating link 20 to rotate around the rotation axis Ax2. The rotation axis Ax2, for example, intersects with the rotation axis Ax1. In the present disclosure, "intersecting" also includes a skewed relationship similar to the so-called grade classification. The arm link 30 can extend away from the rotation axis Ax2. The arm link 30 (second link) can be aligned with the rotating link 20 (first link) along the rotation axis Ax2. The rotation axis Ax2 can be orthogonal to the rotation axis Ax1. The rotation axis Ax2 can be arranged to pass through the proximal end of the rotating link 20 and the arm link 30.

[0069] The arm link 60 is connected to the arm link 30 to rotate around a rotation axis Ax3 (second rotation axis) parallel to the rotation axis Ax2. The arm link 60 is connected to, for example, a distal end portion (end portion) of the arm link 30. The arm link 60 may extend away from the rotation axis Ax3. The arm link 60 (third link) may be aligned with the arm link 30 along the rotation axis Ax3. The rotation axis Ax3 may be arranged to pass through the distal end portion of the arm link 30 and the proximal end portion of the arm link 60.

[0070] The arm link 60 includes an arm base 62 and a swivel arm 64. The arm base 62 (third link) is a link connected to the distal end of the arm link 30 to rotate around the rotation axis Ax3. The arm base 62 can extend away from the rotation axis Ax3. The arm base 62 can be aligned with the arm link 30 along the rotation axis Ax3. The swivel arm 64 (fourth link) is a link connected to the arm base 62 to rotate around the rotation axis Ax4 intersecting the rotation axis Ax3. The swivel arm 64 can extend from the arm base 62 in the direction in which the arm base 62 extends. The rotation axis Ax4 can be orthogonal to the rotation axis Ax3. The rotation axis Ax4 can be arranged to pass through the arm base 62 and the swivel arm 64.

[0071] The arm link 70 is connected to the arm link 60 to rotate about a rotation axis Ax5 intersecting the rotation axis Ax4. The arm link 70 is attached to, for example, a distal end portion of a rotating arm 64 of the arm link 60. The rotation axis Ax5 may be orthogonal to the rotation axis Ax4. The rotation axis Ax5 may be provided to pass through the arm link 70 and the distal end portion of the rotating arm 64.

[0072] The tool attachment portion 80 is connected to the arm link 70 to rotate about a rotation axis Ax6 intersecting the rotation axis Ax5. The rotation axis Ax6 may be orthogonal to the rotation axis Ax5. The rotation axis Ax6 may be arranged to pass through the arm link 70 and the tool attachment portion 80. A working tool is attached to the tool attachment portion 80. Examples of the working tool are a suction nozzle configured to suck a workpiece, a hand configured to clamp a workpiece, a welding torch, a screw tightening tool, or a polishing tool.

[0073] The robot 1 includes an actuator 110, an actuator 120, an actuator 130, an actuator 140, an actuator 150, and an actuator 160. Figure 1 In FIG. 1 , each actuator is schematically shown by a dashed line in a simplified manner, and the diagram of each actuator is shown in FIG. Figure 2 Each actuator may include a motor and a reducer.

[0074] The actuator 110 rotates the rotating link 20 about the rotating axis Ax1 relative to the base link 10. The actuator 120 rotates the arm link 30 about the rotating axis Ax2 relative to the rotating link 20. The actuator 130 (second actuator) rotates the arm base 62 of the arm link 60 about the rotating axis Ax3 relative to the arm link 30.

[0075] The actuator 140 rotates the rotating arm 64 of the arm link 60 about the rotation axis Ax4 relative to the arm base 62. The actuator 150 rotates the arm link 70 about the rotation axis Ax5 relative to the rotating arm 64 of the arm link 60. The actuator 160 rotates the tool attachment portion 80 about the rotation axis Ax6 relative to the arm link 70.

[0076] [Arm link]

[0077] Next, the structures of the arm link 30 and some components located inside or around the arm link 30 will be described in detail. The arm link 30 may include two secondary links. Figure 1 or Figure 2 As shown, the arm link 30 may include a driving link 40 (link) and an auxiliary link 50 as two sub-links.

[0078] The drive link 40 (first secondary link) and the auxiliary link 50 (second secondary link) may clamp the actuator 120 along the rotation axis Ax2. When the member is viewed along the rotation axis Ax2, the drive link 40, the actuator 120, and the auxiliary link 50 may be arranged in this order. The drive link 40 and the auxiliary link 50 may clamp the actuator 130 along the rotation axis Ax3. When the member is viewed on the rotation axis Ax3, the drive link 40, the actuator 130, and the auxiliary link 50 may be arranged in this order.

[0079] The auxiliary link 50 may be made of a material (second material) having a lower rigidity and a lower specific gravity than the material (first material) forming the drive link 40. The rigidity of the material forming the auxiliary link 50 may be lower than the rigidity of the material forming the drive link 40, and the specific gravity of the material forming the auxiliary link 50 may be lower than the specific gravity of the material forming the drive link 40. For example, in the case where the material forming the drive link 40 is an iron-containing material, the material forming the auxiliary link 50 is an aluminum-containing material. The thermal expansion coefficient (linear expansion coefficient) between the material forming the drive link 40 and the material forming the auxiliary link 50 may be different.

[0080] <Drive connecting rod>

[0081] The driving link 40 is a link driven by the actuator 120. For example, the driving force of the actuator 120 is directly transmitted to the driving link 40. The driving link 40 may be connected to the rotating link 20. The actuator 120 rotates the driving link 40 relative to the rotating link 20 about the rotation axis Ax2. Figure 3 Shown along Figure 2 The actuator 120 is connected to any part of the drive link 40. The drive link 40 (second link) may be aligned with the rotating link 20 (first link) along the rotation axis Ax2. The drive link 40 may extend away from the rotation axis Ax2.

[0082] The actuator 120 may be accommodated in the rotating link 20. The rotating link 20 may include an inner space S2 and an opening 24 (see also Figure 8 ). The internal space S2 is a space for accommodating the actuator 120. At least a portion of the actuator 120 can be accommodated in the internal space S2. The rotating link 20 includes a housing 21. The housing 21 is composed of a wall forming the internal space S2. The opening 24 is an opening formed in the housing 21.

[0083] exist Figure 3 , the motor included in the actuator 120 is represented by "122", and the reducer included in the actuator 120 is represented by "124". The motor 122 includes a motor body 122a and an output shaft 122b. The motor 122 causes the drive link 40 to rotate around the rotation axis Ax2 relative to the rotating link 20. The motor 122 can be accommodated in the internal space S2 in the rotating link 20. The motor 122 can be arranged so that the motor body 122a is accommodated in the internal space S2 in the rotating link 20. The motor 122 can be installed so that the output shaft 122b is horizontal. The output shaft 122b of the motor 122 is connected to the reducer 124. In one example, the output shaft of the reducer 124 of the actuator 120 is connected to the drive link 40.

[0084] The actuator 130 for driving the arm base 62 of the arm link 60 rotates the arm base 62 about the rotation axis Ax3 relative to the drive link 40 of the arm link 30. The actuator 130 is connected to any portion of the drive link 40. For example, the driving force of the actuator 130 is applied to the drive link 40, and thus, the arm base 62 rotates relative to the drive link 40. The arm base 62 (second link) of the arm link 60 may be connected to an end of the drive link 40. The arm base 62 (second link) of the arm link 60 may be aligned with the drive link 40.

[0085] The actuator 130 may be housed in the arm base 62 of the arm link 60. The arm base 62 of the arm link 60 may include an inner space S6 and an opening 66 (see also Fig.10). The internal space S6 is a space for accommodating the actuator 130. At least a portion of the actuator 130 can be accommodated in the internal space S6. The arm base 62 of the arm link 60 has a housing 65. The housing 65 is composed of a wall forming the internal space S6. The opening 66 is an opening formed in the housing 65.

[0086] exist Figure 3 , the motor included in the actuator 130 is represented by "132", and the reducer included in the actuator 130 is represented by "134". The motor 132 includes a motor body 132a and an output shaft 132b. The motor 132 (second motor) rotates the arm base 62 around the rotation axis Ax3 relative to the drive link 40. The motor 132 can be accommodated in the arm base 62. The motor 132 can be arranged so that the motor body 132a is accommodated in the internal space S6 in the arm base 62. The motor 132 can be installed so that the output shaft 132b is horizontal. The output shaft 132b of the motor 132 is connected to the reducer 134. In one example, the output shaft of the reducer 134 of the actuator 130 is connected to the drive link 40.

[0087] Figure 4 A perspective view of the drive link 40 is shown, Figure 5 A side view of the drive link 40 viewed from a direction along the rotation axis Ax2 is shown. Figure 6 1 is a schematic diagram of a case where the side surface of the driving link 40 is viewed from a direction orthogonal to a plane including the rotation axis Ax2 and the rotation axis Ax3. Figure 4 As shown in FIG. 1 , the drive link 40 is formed to extend on the rotation axis Ax2 and the rotation axis Ax3. The direction in which the entire drive link 40 extends may be along a line segment connecting the rotation axis Ax2 and the rotation axis Ax3 at the shortest distance.

[0088] The drive link 40 may be attached to the actuator 120. The drive link 40 may be attached to the actuator 130. The drive link 40 includes, for example, a connecting section 42, a connecting section 46, a link base section 44, and a reinforcing section 48. In the case where the drive link 40 is viewed from the rotation axis Ax2 toward the rotation axis Ax3, the connecting section 42, the link base section 44, and the connecting section 46 are aligned in this order.

[0089] The connection section 42 is a portion connected to the actuator 120. For example, the output shaft of the reducer 124 of the actuator 120 is connected to the connection section 42. The connection section 42 may include a connection base section 42a and a surrounding wall 42b. A space for accommodating at least a portion of the actuator 120 (for example, the reducer 124 of the actuator 120) is formed by the connection base section 42a and the surrounding wall 42b.

[0090] The connecting base section 42a is a portion connected to the actuator 120. For example, the output shaft of the reducer 124 of the actuator 120 is connected to the connecting base section 42a. The connecting base section 42a may be formed to be unfolded along a plane intersecting the rotation axis Ax2. The thickness of the connecting base section 42a may not be constant, and at least a portion of each of a pair of main surfaces of the connecting base section 42a may not be a plane. When viewed from the rotation axis Ax2, the shape of the connecting base section 42a may be circular.

[0091] The surrounding wall 42b is a portion protruding from the connection base section 42a to surround at least a portion of the actuator 120. For example, the surrounding wall 42b is formed in an annular shape to surround at least a portion of the speed reducer 124. The surrounding wall 42b protrudes in a predetermined direction from the outer edge portion (the outer edge and the portion near it) of the connection base section 42a. The surrounding wall 42b protrudes in the axial direction extending, for example, along the rotation axis Ax2.

[0092] The connection section 46 (second connection section) is a portion connected to the actuator 130 (second actuator). For example, the output shaft of the reducer 134 of the actuator 130 is connected to the connection section 46. The connection section 46 may include a connection base section 46a (second connection base section) and a surrounding wall 46b (second surrounding wall). A space for accommodating at least a portion of the actuator 130 (for example, the reducer 134 of the actuator 130) is formed by the connection base section 46a and the surrounding wall 46b.

[0093] The connecting base section 46a is a portion connected to the actuator 130. For example, the output shaft of the reducer 134 of the actuator 130 is connected to the connecting base section 46a. The connecting base section 46a may be formed to be unfolded along a plane intersecting the rotation axis Ax2. The thickness of at least a portion of the connecting base section 46a may not be constant, and at least a portion of each of a pair of main surfaces of the connecting base section 46a may not be a plane. When viewed from the rotation axis Ax3, the shape of the connecting base section 46a may be circular.

[0094] The surrounding wall 46b is a portion protruding from the connection base section 46a to surround at least a portion of the actuator 130. For example, the surrounding wall 46b is formed in an annular shape to surround at least a portion of the speed reducer 134. The surrounding wall 46b protrudes in a predetermined direction from the outer edge portion (the outer edge and a portion near it) of the connection base section 46a. The surrounding wall 46b protrudes in the axial direction extending, for example, along the rotation axis Ax3.

[0095] The connecting rod base section 44 is a portion extending from the connecting section 42 while intersecting the rotation axis Ax2. The connecting rod base section 44 is connected to the connecting section 46 and also intersects the rotation axis Ax3. The connecting rod base section 44 may be formed to unfold along a plane intersecting the rotation axis Ax2. The thickness of at least a portion of the connecting rod base section 44 may not be constant, and at least a portion of each of a pair of main surfaces of the connecting rod base section 44 may not be a plane.

[0096] When viewed from the axial direction of the rotation axis Ax2 and the rotation axis Ax3, the connecting rod base section 44 is formed to extend along a virtual line segment connecting the rotation axis Ax2 and the rotation axis Ax3. The connecting base section 42a of the connecting section 42 continues to the connecting rod base section 44, and the connecting base section 46a of the connecting section 46 continues to the connecting rod base section 44. The connecting section 42 (the connecting base section 42a and the surrounding wall 42b), the connecting rod base section 44, and the connecting section 46 (the connecting base section 46a and the surrounding wall 46b) may be formed integrally.

[0097] Here, when viewed from a direction parallel to the rotation axis Ax2 and the rotation axis Ax3, a direction orthogonal to a virtual straight line passing through the rotation axis Ax2 and the rotation axis Ax3 is defined as a "width direction" in the drive link 40. The link base section 44 is formed so that the dimension in the width direction decreases at the central portion between the rotation axis Ax2 and the rotation axis Ax3. The dimension of the link base section 44 in the width direction increases as it approaches the connection section 42 from the central portion between the rotation axis Ax2 and the rotation axis Ax3. The dimension of the link base section 44 in the width direction increases as it approaches the connection section 46 from the central portion between the rotation axis Ax2 and the rotation axis Ax3.

[0098] The reinforcement section 48 is formed to increase rigidity while reducing the weight of the driving link 40. The reinforcement section 48 may be formed to protrude from the link base section 44 between the connecting section 42 and the end of the link base section 44 (the end close to the rotation axis Ax3). For example, the reinforcement section 48 is formed integrally with the link base section 44 to protrude from the link base section 44 between the connecting section 42 and the connecting section 46. The reinforcement section 48 may protrude in the same direction as the surrounding wall 42b and the surrounding wall 46b, and may be connected to the surrounding wall 42b and the surrounding wall 46b.

[0099] The reinforcement section 48 includes a protruding section 48a. The protruding section 48a is a portion protruding from the connecting rod base section 44 at a position away from each of the ends of the connecting section 42 and the connecting rod base section 44 (the end close to the rotation axis Ax3). The protruding section 48a may be formed in an annular shape around the axis Ax0 intersecting with the connecting rod base section 44. The axis Ax0 is a virtual axis intersecting with the direction in which the connecting rod base section 44 extends and passing through the connecting rod base section 44. When viewed from a direction parallel to the rotation axis Ax2 and the rotation axis Ax3, the protruding section 48a surrounds the axis Ax0. The axis Ax0 may pass through the center of gravity of the area defined by the opening edge at the inner edge of the annular protruding section 48a. The length of the line segment connecting the rotation axis Ax2 and the axis Ax0 at the shortest distance may be approximately 0.8 to 1.2 times the length of the line segment connecting the rotation axis Ax3 and the axis Ax0 at the shortest distance.

[0100] At least a portion of the protruding section 48a may be formed such that the dimension in the width direction decreases as it moves away from the connecting rod base section 44. Instead of the width direction or in addition to the width direction, at least a portion of the protruding section 48a may be formed such that the dimension in the direction in which the connecting rod base section 44 extends decreases as the distance from the connecting rod base section 44 increases. When viewed from the direction parallel to the rotation axis Ax2 and the rotation axis Ax3, the end surface of the protruding section 48a in the direction parallel to the rotation axis Ax2 and the rotation axis Ax3 (the end surface along the direction intersecting with the axis Ax0) may be positioned inside the outer edge of the connecting rod base section 44. In the width direction, the maximum width of the end surface of the protruding section 48a is smaller than the minimum width of the connecting rod base section 44. The protruding height of the protruding section 48a from the connecting rod base section 44 may be higher than the protruding height of the surrounding wall 42b from the connecting base section 42a, or may be higher than the protruding height of the surrounding wall 46b from the connecting base section 46a.

[0101] The reinforcement section 48 may include one or more ribs 48b. The ribs 48b may be formed to protrude from the connecting rod base section 44 and may be connected to at least the protruding section 48a. Figure 4 As shown in FIG. 4A and FIG. 4B , the rib 48b may be formed to connect the protruding section 48a and the connecting section 42. One end of the rib 48b may be connected to the protruding section 48a, and the other end of the rib 48b may be connected to the connecting section 42. Figure 4Unlike the examples shown in the figure, the rib 48b may be connected to the protruding section 48a without being connected to the connecting section 42. In one example, the protruding section 48a and the rib 48b protrude in the same direction as the surrounding wall 42b of the connecting section 42, and the rib 48b (the other end of the rib 48b) is connected to the surrounding wall 42b. At least in the direction in which the connecting rod base section 44 extends, the protruding height of the rib 48b relative to the connecting rod base section 44 may increase as the distance from the protruding section 48a decreases. Even in the direction intersecting with the direction in which the connecting rod base section 44 extends, the protruding height of the rib 48b relative to the connecting rod base section 44 may increase as the distance from the protruding section 48a decreases.

[0102] The reinforcement section 48 may include one or more ribs 48c (second ribs). The ribs 48c may be formed to protrude from the connecting rod base section 44 and may be connected to at least the protruding section 48a. Figure 4 As shown in FIG. 4A and FIG. 4B , the rib 48c may be formed to connect the protruding section 48a and the connecting section 46. One end of the rib 48c may be connected to the protruding section 48a, and the other end of the rib 48c may be connected to the connecting section 46. Figure 4 Unlike the examples shown in the figure, the rib 48c may be connected to the protruding section 48a without being connected to the connecting section 46. In one example, the protruding section 48a and the rib 48c protrude in the same direction as the surrounding wall 46b of the connecting section 46, and the rib 48c (the other end of the rib 48c) is connected to the surrounding wall 46b. At least in the direction in which the connecting rod base section 44 extends, the protruding height of the rib 48c relative to the connecting rod base section 44 may increase as the distance from the protruding section 48a decreases. Even in the direction intersecting with the direction in which the connecting rod base section 44 extends, the protruding height of the rib 48c relative to the connecting rod base section 44 may increase as the distance from the protruding section 48a decreases.

[0103] The reinforcement section 48 may include one of the one or more ribs 48b and the one or more ribs 48c, or may include both the one or more ribs 48b and the one or more ribs 48c. The reinforcement section 48 may include the protruding section 48a without both the one or more ribs 48b and the one or more ribs 48c. Hereinafter, the case where both the one or more ribs 48b and the one or more ribs 48c are provided will be exemplified.

[0104] The protruding height of the protruding section 48a from the end surface of the connecting rod base section 44 can be substantially constant. The protruding height of a certain point of the reinforcing section 48 is defined by the shortest distance between the point and a reference position set in the connecting rod base section 44 along a line passing through the point and extending in the axial direction of the rotation axis Ax2.

[0105] The protruding section 48a may be a solid rib (protrusion) rather than a rib (protrusion) formed in an annular shape. When a portion of the protruding section 48a perpendicular to the rotation axis Ax2 is observed, the portion may be annular, or may be solid (a state of being blocked inside an object). In one example, the reinforcing section 48 includes a plurality of ribs 48b as one or more ribs 48b, and includes a plurality of ribs 48c as one or more ribs 48c.

[0106] Each of the plurality of ribs 48b is a rib (protrusion) connecting the protruding section 48a and the surrounding wall 42b of the connecting section 42. Each of the plurality of ribs 48b extends from one of the protruding section 48a and the surrounding wall 42b toward the other. In the case of noting that each of the ribs 48b included in the plurality of ribs 48b, one end of the rib 48b is connected to the protruding section 48a, and the other end of the rib 48b is connected to the surrounding wall 42b.

[0107] The intervals between the plurality of ribs 48b may increase as the distance from the protruding section 48a increases. The intervals between the plurality of ribs 48b are defined by the shortest distance between one rib 48b and another rib 48b in the width direction. In the case where three or more ribs 48b are provided, the interval between any selected at least one pair of ribs 48b may increase as the distance from the protruding section 48a increases. Among the three or more ribs 48b, for all combinations of the pair of ribs 48b, the intervals between the pair of ribs 48b may increase as the distance from the protruding section 48a increases.

[0108] For at least a portion of the plurality of ribs 48b, the protruding height of the rib 48b may decrease as the distance from the protruding section 48a increases. In other words, for at least a portion of the plurality of ribs 48b, the protruding height of the rib 48b may increase as the distance from the protruding section 48a decreases. For all of the plurality of ribs 48b, the protruding height of the rib 48b may decrease as the distance from the protruding section 48a increases.

[0109] Each of the plurality of ribs 48c (plurality of second ribs) is a rib (protrusion) connecting the protruding section 48a and the surrounding wall 46b of the connecting section 46. Each of the plurality of ribs 48c extends from one of the protruding section 48a and the surrounding wall 46b toward the other. In the case of noting that each of the ribs 48c included in the plurality of ribs 48c, one end of the rib 48c is connected to the protruding section 48a, and the other end of the rib 48c is connected to the surrounding wall 46b.

[0110] The intervals between the plurality of ribs 48c may increase as the distance from the protruding section 48a increases. The intervals between the plurality of ribs 48c are defined by the shortest distance between one rib 48c and another rib 48c in the width direction. In the case where three or more ribs 48c are provided, the interval between any selected at least one pair of ribs 48c may increase as the distance from the protruding section 48a increases. Among the three or more ribs 48c, for all combinations of the pair of ribs 48c, the intervals between the pair of ribs 48c may increase as the distance from the protruding section 48a increases.

[0111] For at least a portion of the plurality of ribs 48c, the protruding height of the rib 48c may decrease as the distance from the protruding section 48a increases. In other words, for at least a portion of the plurality of ribs 48c, the protruding height of the rib 48c may increase as the distance from the protruding section 48a decreases. For all of the plurality of ribs 48c, the protruding height of the rib 48c may decrease as the distance from the protruding section 48a increases.

[0112] <Assist Link>

[0113] Refer to Figure 3 , the auxiliary link 50 is a link that rotates when the drive link 40 is driven. The auxiliary link 50 may extend between the rotation axis Ax2 and the rotation axis Ax3, and may rotate around the rotation axis Ax2 together with the drive link 40. The actuator 120 that rotates the arm link 30 may not be connected to the auxiliary link 50, and the driving force of the actuator 120 may not be directly transmitted. The actuator 130 that rotates the arm link 60 may not be connected to the auxiliary link 50.

[0114] Similar to the drive link 40, the auxiliary link 50 may be formed to extend along a line segment connecting the rotation axis Ax2 and the rotation axis Ax3 at the shortest distance. Each of the actuator 120 and the actuator 130 is located between the drive link 40 and the auxiliary link 50. The actuator 120 may be arranged between the connecting section 42 of the drive link 40 and the proximal end portion (the end through which the rotation axis Ax2 passes) of the auxiliary link 50. The actuator 130 may be arranged between the connecting section 46 of the drive link 40 and the distal end portion (the end through which the rotation axis Ax3 passes) of the auxiliary link 50.

[0115] The robot 1 may include a harness 90. For example, the harness 90 is connected to at least the actuator 120. The harness 90 may be connected to at least the actuator 130 via the internal space S2 of the rotating link 20. The harness 90 may include two or more cables. The harness 90 may be connected to at least the actuator 120 and the actuator 130. In the harness 90, the cable connected to the actuator 120 may be different from the cable connected to the actuator 130. The harness 90 may be physically and electrically connected to each of the actuator 120 and the actuator 130. The harness 90 may include at least one of a cable for supplying power to the actuator 120, a cable for supplying power to the actuator 130, a cable for sending a signal to or / and from the actuator 120, and a cable for sending a signal to or / and from the actuator 130. The harness 90 may be connected to at least the motor 132 via the inside (internal space S2) of the rotating link 20. The wiring harness 90 may be connected to at least the motor 122 and the motor 132 .

[0116] The auxiliary link 50 may include a wiring space S5 for guiding the wire harness 90. The wiring space S5 may be a space for guiding the wire harness 90 from the internal space S2 to the actuator 130. The wire harness 90 may be accommodated in the wiring space S5 formed by the auxiliary link 50. The auxiliary link 50 may accommodate the wire harness 90 so that the wire harness 90 is not exposed to the outside.

[0117] The opening 24 of the above-mentioned rotating link 20 may be an opening that allows the internal space S2 of the rotating link 20 to communicate with the outside of the internal space S2. The opening 24 may allow the internal space S2 of the rotating link 20 to communicate with the wiring space S5. The wiring harness 90 may be routed through the opening 24 and the wiring space S5. The opening 66 (second opening) of the above-mentioned arm link 60 may be an opening that allows the internal space S6 (second internal space) of the arm link 60 to communicate with the outside of the internal space S6. The opening 66 may allow the internal space S6 of the arm link 60 to communicate with the wiring space S5. The wiring harness 90 may be routed from the internal space S2 to the internal space S6 via the opening 24, the wiring space S5 and the opening 66. The wiring space S5 may be a space for guiding the wiring harness 90 from the inside (internal space S2) of the rotating link 20 to the inside (internal space S6) of the arm base 62.

[0118] The auxiliary link 50 may be attached to the reinforcement section 48 of the drive link 40. For example, the auxiliary link 50 is fixed to the end surface of the protruding section 48a of the reinforcement section 48 facing the auxiliary link 50 by a fixing member. The internal space S4 (a space inside the protruding section 48a formed in an annular shape) and the wiring space S5 in the auxiliary link 50 may be connected to each other at the connection portion between the auxiliary link 50 and the reinforcement section 48.

[0119] The auxiliary link 50 may include a link body 52 (secondary link body) and a protruding section 58 (secondary protruding section) (see also Figure 2 ). The connecting rod body 52 is a main body portion of the auxiliary connecting rod 50, and is a portion extending between the rotation axis Ax2 and the rotation axis Ax3. The protruding section 58 is a portion protruding from the connecting rod body 52 toward the reinforcing section 48, and may be formed in an annular shape. The protruding section 58 may be attached to the reinforcing section 48 of the driving connecting rod 40. The protruding section 58 may include an end face facing the driving connecting rod 40, and the protruding section 58 and the reinforcing section 48 may be fixed to each other in a state where the end face of the protruding section 58 is in contact with the corresponding end face of the protruding section 48a of the reinforcing section 48.

[0120] The auxiliary link 50 may be attached to the driving link 40 in a state where it is not constrained by the rotating link 20 in a direction intersecting the rotation axis Ax2. The auxiliary link 50 may be fixed to the driving link 40 in a state where relative movement with respect to the rotating link 20 is possible in a direction intersecting the rotation axis Ax2. The robot 1 may include a bearing that holds the auxiliary link 50 so as to rotate about the rotation axis Ax2.

[0121] The auxiliary link 50 may be attached to the driving link 40 in a state where it is not constrained by the rotating link 20 in a direction intersecting the rotation axis Ax2 and is not constrained by the arm base 62 (arm link 60) in a direction intersecting the rotation axis Ax3. The auxiliary link 50 may be fixed to the driving link 40 in a state where relative movement with respect to the rotating link 20 is possible in a direction intersecting the rotation axis Ax2 and relative movement with respect to the arm base 62 (arm link 60) is possible in a direction intersecting the rotation axis Ax3. The robot 1 may include a bearing that holds the auxiliary link 50 so as to rotate about the rotation axis Ax3.

[0122] [Seals]

[0123] Figure 7 yes Figure 3 An enlarged view of the portion indicated by "A" and "B" in FIG. Figure 7 A seal installed between the links is schematically shown. The robot 1 may include a seal 170. The seal 170 is a member (sealing member) inserted between the auxiliary link 50 and the rotating link 20 around the opening 24. The seal 170 may be configured to seal between the auxiliary link 50 and the rotating link 20 (to close the gap between the auxiliary link 50 and the rotating link 20). For example, the seal 170 is inserted at the connection between the auxiliary link 50 and the rotating link 20, so that liquids such as water can be prevented from entering the internal space S2 of the rotating link 20 from the outside, and liquids such as water can be prevented from entering the wiring space S5 via the connection.

[0124] The seal 170 can be configured to be inserted between the auxiliary link 50 and the rotating link 20 (to seal between the auxiliary link 50 and the rotating link 20) ​​while allowing relative displacement between the auxiliary link 50 and the rotating link 20 in a direction intersecting with the rotation axis Ax2. The seal 170 includes, for example, a first member 172 and a second member 174. Each of the first member 172 and the second member 174 is formed in an annular shape around the rotation axis Ax2. The first member 172 and the second member 174 are arranged to face each other in the axial direction of the rotation axis Ax2. The first member 172 is connected to the inner wall surface forming the opening 24 in the rotating link 20. The second member 174 is connected to a portion of the proximal end of the auxiliary link 50, which is attached to the rotating link 20.

[0125] The first member 172 and the second member 174 contact each other while allowing relative displacement between them. The first member 172 includes a sealing surface 172a. The sealing surface 172a is a surface along a plane intersecting with the rotation axis Ax2. The sealing surface 172a can be along a plane orthogonal to the rotation axis Ax2. The sealing surface 172a is formed into an annular shape around the rotation axis Ax2.

[0126] The second member 174 includes a sealing element 174a. The sealing element 174a is an element (part) that is displaced along the sealing surface 172a according to the relative displacement between the auxiliary link 50 and the rotating link 20 while in close contact with the sealing surface 172a of the first member 172. The seal 170 is formed so that even if a relative displacement occurs between the auxiliary link 50 and the rotating link 20, the state in which the sealing element 174a is in contact with the sealing surface 172a is maintained. The sealing element 174a is formed in an annular shape around the rotation axis Ax2. The sealing element 174a can be formed to unfold from the main body of the second member 174 in the radial direction of a circle centered on the rotation axis Ax2 in a state inclined relative to the rotation axis Ax2.

[0127] The seal 170 including the sealing surface 172 a and the sealing element 174 a may be formed in any manner. The first member 172 including the sealing surface 172 a may be provided on the auxiliary link 50 , and the second member 174 including the sealing element 174 a may be provided on the rotating link 20 .

[0128] In addition to the seal 170, the robot 1 may include a seal 180 (a second seal). The seal 180 is a member (sealing member) inserted between the auxiliary link 50 and the arm base 62 of the arm link 60 around the opening 66. The seal 180 may be formed to seal between the auxiliary link 50 and the arm base 62 (to close the gap between the auxiliary link 50 and the arm base 62). For example, the seal 180 is inserted at the connection between the auxiliary link 50 and the arm base 62 of the arm link 60, so that liquids such as water can be prevented from entering the internal space S6 of the arm link 60 from the outside, and liquids such as water can be prevented from entering the wiring space S5 via the connection.

[0129] The seal 180 can be formed to be inserted between the auxiliary link 50 and the arm base 62 (to seal between the auxiliary link 50 and the arm base 62) while allowing relative displacement between the auxiliary link 50 and the arm base 62 in a direction intersecting the rotation axis Ax3. The seal 180 includes, for example, a first member 182 and a second member 184. The first member 182 and the second member 184 are arranged to face each other in the axial direction of the rotation axis Ax3. The first member 182 is connected to the inner wall surface of the opening 66 formed in the arm base 62. The second member 184 is connected to a portion of the distal end of the auxiliary link 50, which is attached to the arm base 62.

[0130] The first member 182 and the second member 184 contact each other while allowing relative displacement between them. The first member 182 includes a sealing surface 182a. The sealing surface 182a is a surface along a plane intersecting with the rotation axis Ax3. The sealing surface 182a can be along a plane orthogonal to the rotation axis Ax3. The sealing surface 182a is formed into an annular shape around the rotation axis Ax3.

[0131] The second member 174 includes a sealing element 184a. The sealing element 184a is an element (part) that is displaced along the sealing surface 182a according to the relative displacement between the auxiliary link 50 and the arm link 60 while in close contact with the sealing surface 182a of the first member 182. The seal 180 is formed so that even if a relative displacement occurs between the auxiliary link 50 and the arm link 60, the state in which the sealing element 184a is in contact with the sealing surface 182a is maintained. The sealing element 184a is formed in an annular shape around the rotation axis Ax3. The sealing element 184a can be formed to unfold from the main body of the second member 184 in a radial direction of a circle centered on the rotation axis Ax3 in a state inclined relative to the rotation axis Ax3.

[0132] The seal 180 including the sealing surface 182 a and the sealing element 184 a may be formed in any manner. The first member 182 including the sealing surface 182 a may be provided on the auxiliary link 50 , and the second member 184 including the sealing element 184 a may be provided on the arm base 62 .

[0133] In the case where the materials forming the driving link 40 and the auxiliary link 50 are different from each other, the deformation of the driving link 40 and the deformation of the auxiliary link 50 due to thermal expansion, etc. may be different according to the difference between the thermal expansion coefficients of the materials. On the contrary, since the seals 170 and 180 do not restrict the movement of the auxiliary link 50 in the direction intersecting the rotation axis, the position deviation (for example, the deviation of the rotation axis) caused by the difference in deformation between the links can be allowed.

[0134] [Motor maintenance structure]

[0135] Next, there will be described a structure for performing maintenance of a motor of an actuator included in the robot 1. The maintenance of the motor may include replacement of the motor. Figure 8 The robot 1 is shown in a state in which some components are moved so that the inside of the rotating link 20 can be seen. Fig. 9 2 is a cross-sectional view showing the interior of the rotating link 20 . Fig.10 The robot 1 is shown in a state in which some components are moved so that the inside of the arm base 62 of the arm link 60 can be seen.

[0136] like Figure 8 As shown, the opening 24 is provided in the rotating link 20. The opening 24 (inspection opening) may be an opening that allows the motor 122 of the actuator 120 to enter and exit the rotating link 20 from the direction D1 (first direction) along the rotation axis Ax2. The opening 24 may have a size that allows the motor 122 to enter and exit. The housing 21 that forms the internal space S2 of the rotating link 20 may include a pair of side walls that intersect the rotation axis Ax2 and a peripheral wall that connects the outer edges of the pair of side walls around the rotation axis Ax2. The opening 24 may be provided in a side wall that is closer to the auxiliary link 50 among the pair of side walls.

[0137] The motor 122 can enter and exit the internal space S2 of the rotating link 20 from the direction D1. The direction D1 is, for example, the direction in which the rotating link 20 and the driving link 40 are aligned on the rotation axis Ax2. The direction D1 can be orthogonal to the plane including the opening 24 (including the plane forming the opening edge of the opening 24). The motor 122 can be inserted into the internal space S2 or can be taken out from the internal space S2 in a state where the output shaft 122b is horizontal and along the direction D1. The motor 122 is entered and exited by, for example, a worker.

[0138] The robot 1 may include an inspection cover 54. The inspection cover 54 is a cover that covers the opening 24 provided in the rotating link 20. The inspection cover 54 may be configured to be attached to the rotating link 20 to cover the motor 122 from the direction D1, and to be detached from the rotating link 20 so that the motor 122 can enter and exit the rotating link 20 from the direction D1. The inspection cover 54 may be a part of the auxiliary link 50. The proximal end portion of the auxiliary link 50 may serve as the inspection cover 54. When a worker attaches the motor 122, for example, the worker detaches the inspection cover 54, and then the worker inserts the motor 122 into the internal space S2, so that the output shaft 122b is connected to the reducer 124 accommodated in the connecting section 42 of the drive link 40.

[0139] In addition to the opening 24, an opening 26 may be provided in the rotating link 20 (housing 21). The opening 26 may be provided in the peripheral wall of the housing 21. The opening 26 (inspection opening) is an opening that allows the actuator 120 to be visually identified from the direction D2 (second direction) intersecting the rotation axis Ax2. The opening 26 allows a worker to visually identify the motor 122 when the motor 122 enters and exits. The worker can visually identify the motor 122 from the direction D2 via the opening 26. The direction D2 is a direction that intersects with a plane including the opening 26 (a plane including an opening edge forming the opening 26). The opening 26 is formed to be located above the motor 122 attached in the internal space S2. At least a portion of the component in the direction D2 may be a component that points vertically downward. The opening 26 may have a size that prevents the motor 122 from entering and exiting via the opening.

[0140] The robot 1 may include an inspection cover 92. The inspection cover 92 is a cover that covers the opening 26 provided in the rotating link 20. The inspection cover 92 may be configured to be attached to the rotating link 20 to cover the motor 122 from the direction D2, and to be detached from the rotating link 20 to allow visual recognition of the motor 122 from the direction D2. The inspection cover 92 may be attached to the rotating link 20 to cover the motor 122 from above. For example, when a worker attaches the motor 122, the worker detaches the inspection cover 92, and works while visually recognizing a state such as that the output shaft 122b is tilted from the opening 26.

[0141] The robot 1 may include an inspection seal 93 (first inspection seal). The inspection seal 93 is a sealing member interposed between the inspection cover 92 and the rotating link 20. The inspection seal 93 may be configured to seal between the inspection cover 92 and the rotating link 20. For example, the inspection seal 93 is provided along the opening edge forming the opening 26. By providing the inspection seal 93, substances such as liquids are prevented from entering the internal space S2 from the outside via the connection between the inspection cover 92 and the rotating link 20, and substances such as liquids are prevented from leaking from the internal space S2 to the outside.

[0142] In addition to the opening 24 and the opening 26, an opening 28 may be formed in the housing 21. The opening 28 (sub-inspection opening) may be provided in the peripheral wall of the housing 21. The opening 28 is an opening that enables access to the motor 122 from a direction D3 (third direction) that intersects the direction D1 and the direction D2. Access to the motor 122 means that the worker himself can contact the motor 122 or a tool operated by the worker can contact the motor 122. The direction D3 is a direction that intersects with a plane including the opening 28 (a plane including an opening edge forming the opening 28).

[0143] The actuator 110 can be accommodated in the internal space S2 in the housing 21. The motor included in the actuator 110 is referred to as "motor 112", and the reducer included in the actuator 110 is referred to as "reducer 114". The motor 112 (base motor) is accommodated in the rotating link 20 and rotates the rotating link 20 around the rotation axis Ax1 (base axis). The opening 28 may have a size that allows the motor 112 to enter and exit the rotating link 20. For example, a worker can insert the motor 112 into the internal space S2 in the rotating link 20, and can remove the motor 112 from the internal space S2 via the opening 28.

[0144] The robot 1 may include a sub-access cover 94. The sub-access cover 94 is a cover that covers the opening 28 provided in the rotating link 20. The sub-access cover 94 may be configured to be attached to the rotating link 20 to cover the motor 122 from the direction D3, and to be detached from the rotating link 20 to allow access to the motor 122 from the direction D3. For example, when a worker attaches the motor 122, the worker detaches the sub-access cover 94, puts his or her hand into the internal space S2 via the opening 28, and performs the attachment work of the motor 122 so that the output shaft 122b of the motor 122 is connected to the speed reducer 124 while supporting the motor 122 from below.

[0145] like Fig. 9 As shown, the lower end of the motor 122 may be positioned above the upper end of the motor 112. The upper edge of the opening 28 may be positioned above the upper end of the motor 112, and the lower edge of the opening 28 may be positioned below the upper end of the motor 122. The upper edge of the opening 28 may be positioned above the lower end of the motor 122. The positional relationship between the motor 112, the motor 122, and the opening 28 refers to the relationship between the motor 112 and the motor 122 in a state where they are attached. Fig. 9 , the position of the upper edge of the opening 28 in the axial direction of the rotation axis Ax1 is denoted by “ H2 ”, and the position of the lower edge of the opening 28 in the axial direction of the rotation axis Ax1 is denoted by “ H1 ”.

[0146] like Fig.10As shown, an opening 66 may be provided in the arm base 62. The opening 66 (second access opening) may be an opening that allows the motor 132 of the actuator 130 to enter and exit the arm base 62 from the direction D11 (third direction) along the rotation axis Ax3. The opening 66 may have a size that allows the motor 132 to enter and exit. The housing 65 in the arm base 62 may include at least one pair of side walls that intersect the rotation axis Ax3. The opening 66 may be provided on a side wall that is closer to the auxiliary link 50 among a pair of side walls of the housing 65.

[0147] The motor 132 can enter and exit the internal space S6 of the arm base 62 from the direction D11. The direction D11 is, for example, a direction in which the arm base 62 and the drive link 40 are aligned on the rotation axis Ax3. The direction D11 can be orthogonal to a plane including the opening 66 (a plane including an opening edge forming the opening 66). The motor 132 can be inserted into or removed from the internal space S6 in a state where the output shaft 132b is horizontal and along the direction D11. The motor 132 is entered and exited by, for example, a worker.

[0148] The robot 1 may include an access cover 56 (second access cover). The access cover 56 is a cover that covers the opening 66. The access cover 56 may be configured to be attached to the arm base 62 to cover the motor 132 from the direction D11, and to be detached from the arm base 62 to allow the motor 132 to enter and exit the arm base 62 from the direction D11. The access cover 56 may be a part of the auxiliary link 50. The distal end portion of the auxiliary link 50 may be used as the access cover 56.

[0149] In the case where a part of the auxiliary link 50 is used as an access cover 54 covering the motor 122 and another part of the auxiliary link 50 is used as an access cover 56 covering the motor 132, the robot 1 includes a connecting member 55 constituting the auxiliary link 50 (sub-link). The connecting member 55 is a portion that connects the access cover 54 and the access cover 56 of the auxiliary link 50 and extends from the access cover 54 to the access cover 56. For example, the connecting member 55 is formed to extend along a line segment connecting the rotation axis Ax2 and the rotation axis Ax3 at the shortest distance, one end of the connecting member 55 is connected to the access cover 54, and the other end of the connecting member 55 is connected to the access cover 56. The connecting member 55 is attached to the driving link 40.

[0150] As described above, the auxiliary link 50 may include a link body 52 and a protruding section 58. The link body 52 may be formed by the access cover 54, the access cover 56, and a portion of the connecting member 55, and the protruding section 58 may be formed by another portion of the connecting member 55. As described above, by fixing the protruding section 58 of the connecting member 55 to the reinforcing section 48 (protruding section 48a) of the driving link 40, the connecting member 55 may be attached to the driving link 40.

[0151] The access cover 54 may be formed of a portion of the link body 52 covering the motor 122 and a portion connected to a seal 170. The seal 170 (first access seal) may be interposed between the rotating link 20 and the access cover 54 while allowing the auxiliary link 50 to rotate relative to the rotating link 20. The access cover 56 may be formed of a portion of the link body 52 covering the motor 132 and a portion connected to a seal 180. The seal 180 (second access seal) may be interposed between the arm base 62 and the access cover 56 while allowing the auxiliary link 50 to rotate relative to the arm base 62.

[0152] When a worker attaches the motor, for example, after the worker removes the access cover 56 , the worker inserts the motor 132 into the internal space S6 so that the output shaft 132 b is connected to the speed reducer 134 accommodated in the connecting section 46 of the driving link 40 .

[0153] In addition to the opening 66, an opening 67 may be provided in the arm base 62 (housing 65). The opening 67 (second inspection opening) allows the motor 132 to be visually identified from a direction D4 (fourth direction) intersecting the rotation axis Ax3. The opening 67 allows a worker to visually identify the motor 132 when the motor 132 enters and exits. The worker can visually identify the motor 132 via the opening 67 from the direction D4. The direction D4 is a direction intersecting a plane including the opening 67 (a plane including an opening edge forming the opening 67).

[0154] The robot 1 may include an inspection cover 96 (second inspection cover). The inspection cover 96 is a cover that covers the opening 67 provided in the arm base 62. The inspection cover 96 may be configured to be attached to the arm base 62 to cover the motor 132 from the direction D4, and to be detached from the arm base 62 to make the motor 132 visible from the direction D4. For example, when a worker attaches the motor 132, the worker detaches the inspection cover 96, and works while visually recognizing a state such as that the output shaft 132b is tilted from the opening 67.

[0155] The robot 1 may include an inspection seal 97 (second inspection seal). The inspection seal 97 is a sealing member interposed between the inspection cover 96 and the arm base 62. The inspection seal 97 may be configured to seal between the inspection cover 96 and the arm base 62. For example, the inspection seal 97 is provided along the opening edge forming the opening 67. By providing the inspection seal 97, substances such as liquids are prevented from entering the internal space S6, and substances such as liquids are prevented from leaking from the internal space S6 to the outside via the connection between the inspection cover 96 and the arm base 62.

[0156] The actuator 140 includes a motor 142 (third motor). For example, the motor 142 rotates the rotating arm 64 relative to the arm base 62 about a rotation axis Ax4 (third rotation axis), and the rotation axis Ax4 is along the direction in which the arm base 62 extends. The motor 142 can be accommodated in the arm base 62. The motor 142 can be installed so that the output shaft is horizontal.

[0157] The motor 142 can enter and exit the internal space S6 of the arm base 62 from the direction D4 (for example, along the direction of the rotation axis Ax4). The motor 142 can be inserted into the internal space S6 or can be removed from the internal space S6 in a state where the output shaft is horizontal and along the rotation axis Ax4. The motor 142 is entered and exited by, for example, a worker. The opening 67 may have a size that allows the motor 142 to enter and exit the arm base 62. The worker can visually identify the motor 132, and the motor 142 can enter and exit the arm base 62 via the opening 67.

[0158] In addition to the opening 66 and the opening 67, an opening 68 may be provided in the arm base 62 (housing 65). The opening 68 (third inspection opening) allows the motor 142 to be visually identified from a direction D5 intersecting the rotation axis Ax4. The opening 68 allows a worker to visually identify the motor 142 when the motor 142 enters and exits. The worker can visually identify the motor 142 from the direction D5 via the opening 68. The direction D5 is a direction intersecting a plane including the opening 68 (a plane including an opening edge forming the opening 68).

[0159] The robot 1 may include an inspection cover 98 (third inspection cover). The inspection cover 98 is a cover that covers the opening 68 provided in the arm base 62. The inspection cover 98 may be configured to be attached to the arm base 62 to cover the motor 142 from the direction D5, and to be detached from the arm base 62 to allow visual recognition of the motor 142 from the direction D5. For example, when a worker attaches the motor 142, the worker detaches the inspection cover 98, and works while visually recognizing a state such as the motor 142 being tilted from the opening 68.

[0160] In the above example, the case where the entire auxiliary link 50 is removed from another member and the motor 122 and the motor 132 are moved in and out has been described. Instead of the entire auxiliary link 50, the motor 122 and the motor 132 may be moved in and out by removing the cover portion included in the auxiliary link 50 from other parts of the auxiliary link 50. Figure 3 As shown, the connecting rod body 52 of the auxiliary connecting rod 50 may include a main body portion 52a and a cover portion 52b (see also Figure 7 and Figure 8 ).

[0161] The cover portion 52b may be attached to the main body portion 52a via a fixing member 52c. A portion of the above-mentioned seal 170 and a portion of the seal 180 may be provided in the main body portion 52a. In a state where the cover portion 52b is detached from the main body portion 52a (a state before being attached to the main body portion 52a), a worker may perform an attachment work via a fixing member between the protruding section 58 of the auxiliary link 50 and the reinforcing section 48 of the drive link 40. In a state where the cover portion 52b is detached from the main body portion 52a while being fixed to the drive link 40 (a state before being attached to the main body portion 52a), a worker may perform a work of wiring the wiring harness 90.

[0162] By detaching the cover portion 52b from the main body portion 52a in a state of being fixed to the drive link 40, the motor 122 can enter and exit through the opened wiring space S5 and the opening 24, and the motor 132 can enter and exit through the opened wiring space S5 and the opening 66. In the cover portion 52b as a part of the drive link 40, the portion covering the opening 24 from the direction D1 along the rotation axis Ax2 can be used as the above-mentioned inspection cover 54. In the cover portion 52b as a part of the drive link 40, the portion covering the opening 66 from the direction D11 along the rotation axis Ax3 can be used as the above-mentioned inspection cover 56.

[0163] [Modifications]

[0164] In the arm link 30, the drive link 40 and the auxiliary link 50 can be made of the same material. For example, the drive link 40 can be made of a material including aluminum, and the auxiliary link 50 can be made of a material including aluminum. Since the actuator 120 and the actuator 130 are connected to the drive link 40, the influence of heat received from the actuator is different between the drive link 40 and the auxiliary link 50. As a result, even in the case where the drive link 40 and the auxiliary link 50 are made of the same material, the deformation of the drive link 40 and the deformation of the auxiliary link 50 caused by thermal expansion, etc. can also be different. Therefore, even in the case where the drive link 40 and the auxiliary link 50 are made of the same material, a seal 170 and a seal 180 that do not limit the movement of the auxiliary link 50 in a direction intersecting the axis of rotation can be provided so as to allow position deviations (e.g., deviations of the axis of rotation) caused by the deformation differences between the links.

[0165] like Fig.11 As shown, the robot 1 may include bearings 178 and 188 instead of the seals 170 and 180. The bearing 178 is a bearing member that keeps the auxiliary link 50 rotating around the rotation axis Ax2. The bearing 178 is provided, so that the relative movement of the auxiliary link 50 relative to the rotating link 20 can be limited to the direction intersecting the rotation axis Ax2.

[0166] The bearing 188 (second bearing) is a bearing member that keeps the auxiliary link 50 rotating relative to the arm base 62 around the rotation axis Ax3. The bearing 188 is provided, so that the relative movement of the auxiliary link 50 relative to the arm base 62 can be limited in the direction intersecting with the rotation axis Ax3. Each of the bearings 178 and 188 can be any type of bearing member, and is, for example, a ball bearing or a roller bearing. In addition to the seal 170, the robot 1 may also include a bearing 178. In addition to the seal 180, the robot 1 may also include a bearing 188.

[0167] In reference Figures 1 to 10 In the described example, the material forming the drive link 40 and the material forming the auxiliary link 50 are different from each other, and the bearings 178 and the bearings 188 are not provided. In the case where the material forming the drive link 40 and the material forming the auxiliary link 50 are different from each other, the bearings 178 and the bearings 188 may be provided. In the case where the material forming the drive link 40 and the material forming the auxiliary link 50 are the same, the bearings 178 and the bearings 188 may not be provided, but the bearings 178 and the bearings 188 may be provided.

[0168] In one example of the various examples described above, at least a part of the matters described in another example may be combined.

[0169] [Summary of the present disclosure]

[0170] The present disclosure includes the following configurations [1] to

[17] .

[0171] [1] A robot (1), comprising: a link (40); and an actuator (120), wherein the actuator (120) is configured to rotate the link (40) around a rotation axis (Ax2), wherein the link (40) comprises a connecting section (42) connected to the actuator (120), a link base section (44) intersecting with the rotation axis (Ax2) to extend from the connecting section (42), and a protruding section (48a), wherein the protruding section (48a) protrudes from the link base section (44) between the ends of the connecting section (42) and the link base section (44) at a position away from each of the ends of the connecting section (42) and the link base section (44).

[0172] In the robot (1), the link base section (44) can be made thinner while imparting high rigidity to the link base section (44) by the protruding section (48a). Therefore, the robot (1) is effective in both weight reduction and rigidity improvement.

[0173] [2] The robot (1) according to the above [1], wherein the link (40) further includes a rib (48b) protruding from the link base section (44), and the rib (48b) is connected to at least the protruding section (48a).

[0174] In this case, the connecting rod base section (44) is reinforced by the protruding section (48a) and the rib (48b). Therefore, it is possible to impart higher rigidity to the connecting rod base section (44).

[0175] [3] The robot (1) according to the above-mentioned [2], wherein the rib (48b) connects the protruding section (48a) and the connecting section (42).

[0176] In this case, since the reinforcing effect of the portion including the protruding section (48a) is extended to the connecting section (42), the connecting rod base section (44) can be further thinned while further imparting higher rigidity to the connecting rod base section (44). Therefore, it is effective to further achieve weight reduction and rigidity improvement.

[0177] [4] A robot (1) according to the above-mentioned [2] or [3], wherein the protruding height of the rib (48b) relative to the connecting rod base section (44) increases as the distance from the protruding section (48a) decreases at least in the direction in which the connecting rod base section (44) extends.

[0178] In this case, the protruding height of the rib (48b) increases as the distance from the protruding section (48a) decreases, and at the same time, the reinforcement effect is widened to the distal end of the protruding section (48a) by including the portion of the protruding section (48a), thereby further achieving weight reduction and improved rigidity.

[0179] [5] A robot (1) according to the above-mentioned [4], wherein, even in a direction intersecting with the direction in which the link base section (44) extends, the protruding height of the rib (48b) relative to the link base section (44) increases as the distance from the protruding section (48a) decreases.

[0180] In this case, in the intersecting direction, the protruding height of the rib (48b) increases as the distance from the protruding section (48a) decreases, and therefore, weight reduction and rigidity improvement can be further achieved.

[0181] [6] A robot (1) according to any one of [3] to [5] above, wherein the connecting section (42) includes a connecting base section (42a) and a surrounding wall (42b), the connecting base section (42a) continues to the link base section (44) to be connected to the actuator (120), the surrounding wall (42b) protrudes from the connecting base section (42a) to surround at least a portion of the actuator (120), the protruding section (48a) and the rib (48b) protrude in the same direction as the surrounding wall (42b), and the rib (48b) is connected to the surrounding wall (42b).

[0182] In this case, the connecting base section (42a) can be thinned while being given high rigidity by the surrounding wall (42b). In addition, by connecting the protruding section (48a) to the surrounding wall (42b) via the rib (48b), the rigidity of the entire connecting rod (40) can be further improved. Therefore, it is effective to further achieve weight reduction and rigidity improvement.

[0183] [7] A robot (1) according to the above-mentioned [6], wherein the connecting rod (40) includes: a plurality of ribs (48b) including the rib (48b), each rib (48b) in the plurality of ribs (48b) connects the protruding section (48a) and the surrounding wall (42b), and the intervals between the plurality of ribs (48b) increase as the distance from the protruding section (48a) increases.

[0184] In this case, the bending rigidity and torsional rigidity of the connecting rod base section (44) can be improved.

[0185] [8] The robot (1) according to any one of [1] to [7] above, wherein the protruding section (48a) is formed into an annular shape around an axis (Ax0) intersecting with the link base section (44).

[0186] In this case, the weight of the protruding section (48a) can be reduced.

[0187] [9] According to the robot (1) described in any one of the above [3] to [5], the robot (1) also includes: a second link (60 or 62), the second link (60 or 62) is connected to the end of the link (40); and a second actuator (130), the second actuator (130) is configured to rotate the second link (60 or 62) around a second rotation axis (Ax3) parallel to the rotation axis (Ax2), wherein the link (40) also includes a second connecting section (46) connected to the second actuator (130) and a second rib (48c) connecting the protruding section (48a) and the second connecting section (46).

[0188] In this case, the protruding section (48a) is connected to the connecting section (42) and the second connecting section (46) via the rib (48b) and the second rib (48c), so that the connecting rod base section (44) can be made thinner while further imparting higher rigidity to the connecting rod base section (44). The increased rigidity of the connecting rod base section (44) also helps to improve the positioning accuracy of the distal end of the second connecting rod (60 or 62).

[0189]

[10] According to the robot (1) described in [9] above, the connecting section (42) includes: a connecting base section (42a), the connecting base section (42a) continues to the connecting rod base section (44) to connect to the actuator (120); and a surrounding wall (42b), the surrounding wall (42b) protrudes from the connecting base section (42a) to surround at least a portion of the actuator (120), and the second connecting section (46) includes: a second connecting base section (46a), the second connecting base section (46a) continues to the connecting rod base section (44) segment (44) to connect to the second actuator (130); and a second surrounding wall (46b), the second surrounding wall (46b) protruding from the second connecting base segment (46a) to surround at least a portion of the second actuator (130), the protruding segment (48a), the rib (48b) and the second rib (48c) protruding in the same direction as the surrounding wall (42b) and the second surrounding wall (46b), the rib (48b) being connected to the surrounding wall (42b), and the second rib (48c) being connected to the second surrounding wall (46b).

[0190] In this case, the connecting base section (42a) can be thinned while being given high rigidity by the surrounding wall (42b). Similarly, the second connecting base section (46a) can be thinned while being given high rigidity by the second surrounding wall (46b). In addition, the protruding section (48a) is connected to the surrounding wall (42b) and the second surrounding wall (46b) via the rib (48b) and the second rib (48c), and therefore, the rigidity of the entire connecting rod (40) can be further improved. Therefore, it is effective to further achieve weight reduction and rigidity improvement.

[0191]

[11] According to the robot (1) described in

[10] above, the connecting rod (40) includes: a plurality of ribs (48b) including the rib (48b); and a plurality of second ribs (48c) including the second rib (48c), each rib (48b) of the plurality of ribs (48b) connecting the protruding section (48a) and the surrounding wall (42b), each second rib (48c) of the plurality of second ribs (48c) connecting the protruding section (48a) and the second surrounding wall (46b), the spacing between the plurality of ribs (48b) increases as the distance from the protruding section (48a) increases, and the spacing between the plurality of second ribs (48c) increases as the distance from the protruding section (48a) increases.

[0192] In this case, the bending rigidity and torsional rigidity of the connecting rod base section (44) can be further improved.

[0193]

[12] According to the robot (1) described in any one of the above [9] to

[11] , the robot (1) also includes: a secondary link (50), the secondary link (50) is configured to extend between the rotation axis (Ax2) and the second rotation axis (Ax3), and rotate around the rotation axis (Ax2) together with the link (40), wherein each of the actuator (120) and the second actuator (130) is positioned between the link (40) and the secondary link (50), and the secondary link (50) is attached to the protruding section (48a).

[0194] In this case, the actuator (120) and the second actuator (130) are accommodated between the link (40) and the sub-link (50), and the unevenness of the appearance of the robot (1) can be reduced.

[0195]

[13] According to the robot (1) described in

[12] above, the robot (1) also includes: a wiring harness (90), the wiring harness (90) is connected to at least the second actuator (130) via a space for accommodating the actuator (120), wherein the secondary link (50) includes a wiring space (S5) for guiding the wiring harness (90) from the space for accommodating the actuator (120) to the second actuator (130).

[0196] In this case, the interior of the sub-link (50) can be effectively used for routing the wire harness (90).

[0197]

[14] A robot (1) according to the above-mentioned

[13] , wherein the protruding section (48a) is formed into an annular shape around an axis (Ax0) intersecting with the connecting rod base section (44), and the internal space (S4) of the protruding section (48a) and the wiring space (S5) are connected to each other at the connection portion between the secondary connecting rod (50) and the protruding section (48a).

[0198] In this case, the weight of the arm link (30) can be further reduced.

[0199]

[15] A robot (1) according to any one of the above

[12] to

[14] , wherein the secondary link (50) includes a secondary link body (52) extending between the rotation axis (Ax2) and the second rotation axis (Ax3) and a secondary protruding section (58) protruding from the secondary link body (52) toward the protruding section (48a), and the secondary protruding section (58) is attached to the protruding section (48a).

[0200] In this case, it is easy to position the secondary link (50) relative to the link (40).

[0201]

[16] According to the robot (1) described in any one of the above

[12] to

[15] , the robot (1) also includes: a bearing (178), the bearing (178) is configured to hold the secondary link (50) to rotate around the rotation axis (Ax2); and a second bearing (188), the second bearing (188) is configured to hold the secondary link (50) to rotate around the second rotation axis (Ax3) relative to the second link (60 or 62).

[0202] In this case, the connecting rod (40) can be reinforced by the secondary connecting rod (50).

[0203]

[17] A robot (1) according to any one of

[12] to

[16] above, wherein the link (40) is made of a first material, and the secondary link (50) is made of a second material having a rigidity and a specific gravity smaller than that of the first material.

[0204] In this case, since a material corresponding to each of a portion requiring rigidity and a portion not requiring high rigidity is used, further weight reduction and rigidity improvement can be achieved.

[0205]

[18] According to the robot (1) described in any one of the above [9] to

[17] , the robot (1) also includes: a base link (10), the base link (10) is fixed to the mounting surface; and a rotating link (20), the rotating link (20) is connected to the base link (10) to rotate around a rotation axis (Ax1) intersecting the rotation axis (Ax2), wherein the link (40) is connected to the rotating link (20), the actuator (120) is configured to cause the link (40) to rotate around the rotation axis (Ax2) relative to the rotating link (20), and the second link (60 or 62) extends away from the second rotation axis (Ax3).

[0206] In this case, in the link of the robot (1) close to the mounting surface, weight reduction and rigidity improvement are achieved, and therefore, weight reduction and rigidity improvement of the entire robot can be achieved.

Claims

1. A robot, comprising: link; as well as an actuator configured to rotate the connecting rod about a rotation axis, wherein The connecting rod comprises: a connecting section, the connecting section being connected to the actuator, a connecting rod base section intersecting the rotation axis to extend from the connecting section; and A protruding section is between the connecting section and the end of the connecting rod base section, and protrudes from the connecting rod base section at a position away from each of the ends of the connecting section and the connecting rod base section.

2. The robot according to claim 1, wherein: The connecting rod further includes a rib protruding from the connecting rod base section, and The rib is connected to at least the protruding section.

3. The robot according to claim 2, wherein: The rib connects the protruding section and the connecting section.

4. The robot according to claim 2 or 3, wherein: A protruding height of the rib relative to the connecting rod base section increases as the distance from the protruding section decreases at least in the direction in which the connecting rod base section extends.

5. The robot according to claim 4, wherein: Even in a direction intersecting with a direction in which the connecting rod base section extends, the protruding height of the rib relative to the connecting rod base section increases as the distance from the protruding section decreases.

6. The robot according to claim 3, wherein: The connecting section comprises: a connecting base section that continues to the link base section to connect to the actuator; and a surrounding wall protruding from the connection base section to surround at least a portion of the actuator, The protruding section and the rib protrude in the same direction as the surrounding wall, and The rib is connected to the surrounding wall.

7. The robot according to claim 6, wherein: The connecting rod comprises: a plurality of ribs including the rib, Each rib of the plurality of ribs connects the protruding section and the surrounding wall, and The intervals between the plurality of ribs increase as the distance from the protruding section increases.

8. The robot according to any one of claims 1 to 3, wherein: The protruding section is formed in an annular shape about an axis intersecting the connecting rod base section.

9. The robot according to claim 3, further comprising: a second link connected to an end of the link; as well as a second actuator configured to rotate the second link about a second rotation axis parallel to the rotation axis, wherein The connecting rod also includes: a second connecting section connected to the second actuator; and A second rib connecting the protruding section and the second connecting section.

10. The robot according to claim 9, wherein: The connecting section comprises: a connecting base section that continues to the link base section to connect to the actuator; and a surrounding wall protruding from the connection base section to surround at least a portion of the actuator, The second connection section comprises: a second connecting base section that continues to the connecting rod base section to connect to the second actuator; and a second surrounding wall protruding from the second connection base section to surround at least a portion of the second actuator, The protruding section, the rib and the second rib protrude in the same direction as the surrounding wall and the second surrounding wall, The rib is connected to the surrounding wall, and The second rib is connected to the second surrounding wall.

11. The robot according to claim 10, wherein: The connecting rod comprises: a plurality of ribs including the rib; and a plurality of second ribs including the second rib, Each rib of the plurality of ribs connects the protruding section and the surrounding wall, Each of the plurality of second ribs connects the protruding section and the second surrounding wall, The intervals between the plurality of ribs increase as the distance from the protruding section increases, and Intervals between the plurality of second ribs increase as the distance from the protruding section increases.

12. The robot according to claim 9, further comprising: a secondary connecting rod, the secondary connecting rod being configured to extend between the rotation axis and the second rotation axis and to rotate together with the connecting rod about the rotation axis, wherein Each of the actuator and the second actuator is positioned between the link and the secondary link, and The secondary link is attached to the protruding section.

13. The robot according to claim 12, further comprising: a wiring harness connected to at least the second actuator via a space for accommodating the actuator, wherein The sub-link includes a wiring space for guiding the wire harness from a space for accommodating the actuator to the second actuator.

14. The robot according to claim 13, wherein: The protruding section is formed in an annular shape about an axis intersecting the connecting rod base section, and The inner space of the protruding section and the wiring space communicate with each other at a connection portion between the sub-link and the protruding section.

15. The robot according to any one of claims 12 to 14, wherein: The secondary connecting rod comprises: a secondary link body extending between the rotational axis and the second rotational axis; and a secondary protruding section protruding from the secondary link body toward the protruding section, and The secondary protruding section is attached to the protruding section.

16. The robot according to any one of claims 12 to 14, further comprising: a bearing configured to hold the secondary link for rotation about the rotation axis; as well as A second bearing is configured to retain the secondary link for rotation relative to the second link about the second axis of rotation.

17. The robot according to any one of claims 12 to 14, wherein: The connecting rod is made of a first material, and The secondary connecting rod is made of a second material having a lower rigidity and a lower specific gravity than the first material.

18. The robot according to any one of claims 9 to 14, further comprising: a base link secured to a mounting surface; as well as a rotating link connected to the base link to rotate about a rotating axis intersecting the rotating axis, wherein The connecting rod is connected to the rotating connecting rod, The actuator is configured to rotate the link relative to the rotating link about the rotation axis, and The second link extends away from the second rotation axis.

Images