Robot

Abstract

The invention relates to a robot. The robot includes: a first link; a second link aligned with the first link along a rotational axis and extending away from the rotational axis; and an actuator accommodated in the first link to rotate the second link about the rotation axis relative to the first link. And a second link including a first sub-link and a second sub-link clamping the actuator along the rotation axis, the first sub-link attached to the actuator and the second sub-link attached to the actuator. And the second sub-link is attached to the first sub-link in a state in which the second sub-link is not constrained by the first link in a direction intersecting the rotation axis.

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 to be rotatable about a first axis. The second structure is coupled to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is coupled to the second structure to be rotatable about a third axis parallel to the second axis. The second structure includes a main structure portion, an auxiliary structure portion, and a coupling portion that couples 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 Problem

[0004] The present disclosure provides a robot that effectively reduces appearance non-uniformity and improves positioning accuracy.

[0005] Solution to the Problem

[0006] A robot according to an aspect of the present disclosure includes: a first link; a second link that is aligned with the first link along a rotation axis and extends away from the rotation axis; and an actuator that is accommodated in the first link to rotate the second link relative to the first link about the rotation axis. The second link includes a first sub-link and a second sub-link that sandwich the actuator along the rotation axis, the first sub-link is attached to the actuator, and the second sub-link is attached to the first sub-link in a state of not being constrained by the first link in a direction intersecting the rotation axis.

[0007] Advantageous Effects of the Invention

[0008] According to the present disclosure, there is provided a robot that effectively reduces appearance non-uniformity and improves positioning accuracy. Description of the Drawings

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

[0010] Figure 2 is a perspective view showing an example of the 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 the drive 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 links;

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

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

[0018] Figure 10 is a perspective view showing a part of a robot in a state where a cover is removed; and

[0019] Figure 11 is a cross-sectional view schematically showing an example of a bearing provided between links.

[0020] List of Reference Numerals

[0021] 1 Robot

[0022] 10 Base Link

[0023] 20 Rotating Link

[0024] S2 Interior Space

[0025] 24, 28 Opening

[0026] 30 Arm Link

[0027] 40 Drive Link

[0028] 42, 46 Connection Section

[0029] 42a, 46a Connection Base Section

[0030] 42b, 46b Surrounding Wall

[0031] 44 Link Base Section

[0032] 48 Reinforcement Section

[0033] 48a Protruding Section

[0034] S4 Interior Space

[0035] Ax0 Axis

[0036] 48b, 48c Rib

[0037] 50 Auxiliary connecting rod

[0038] S5 Wiring space

[0039] 52 Connecting rod body

[0040] 58 Protruding section

[0041] 54 Inspection cover

[0042] 55 Connecting member

[0043] 56 Inspection cover

[0044] 60 Arm connecting rod

[0045] 62 Arm base

[0046] S6 Internal space

[0047] 66, 67 Openings

[0048] 64 Rotating arm

[0049] 90 Wiring harness

[0050] 92, 96, 98 Inspection covers

[0051] 93, 97 Inspection seals

[0052] 94 Sub - 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 surfaces

[0058] 174a, 184a Sealing elements

[0059] 178, 188 Bearings Detailed implementation manners

[0060] In the following, the implementation manners 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 implementation manner is shown. Figure 1The shown robot 1 is a vertically articulated robot. The robot 1 automatically performs various operations on a work object. The robot 1 is, for example, an industrial robot, and in one example, automatically performs various transfers, machining, assembly, etc. on components or assemblies in a production line of a product. The application of the robot 1 is not limited to industrial uses. Hereinafter, first, an outline of the structure of the robot 1 will be described, and then details of some components included in the robot 1 will be described.

[0062] [Outline of Robot Structure]

[0063] The robot 1 includes a base 2 and an articulated arm 4. The base 2 is a part 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 referred to as the base and is fixed to a mounting surface. The mounting surface can be a surface that forms a work area where the robot 1 performs work. The mounting surface is, for example, the bottom surface of the work area. The base link 10 can be fixed to a horizontal mounting surface. The base link 10 can 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 (turn) about a 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 can be set to pass through the base link 10 and the rotating link 20. The rotating link 20 can be arranged on the base link 10 to rotate about a vertical rotation axis Ax1.

[0066] In the present disclosure, when describing the structure of the robot 1, "up" and "down" are used to indicate the arrangement relationship. "Up" and "down" refer to "up" and "down" 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 does not have to be arranged in this way. The base 2 can be arranged such that, for example, the rotating link 20 is positioned below the base link 10, or such that the rotating link 20 is positioned on one side of the base link 10. The base link 10 can be fixed to a wall surface of the work area or can be fixed to the top surface of the 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 about the rotation axis Ax2. The rotation axis Ax2 intersects with the rotation axis Ax1, for example. In the present disclosure, "intersect" also includes a skewed relationship similar to the so-called hierarchical classification. The arm link 30 may extend away from the rotation axis Ax2. The arm link 30 (the second link) may be aligned with the rotating link 20 (the first link) along the rotation axis Ax2. The rotation axis Ax2 may be orthogonal to the rotation axis Ax1. The rotation axis Ax2 may be set to pass through the proximal ends of the rotating link 20 and the arm link 30.

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

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

[0071] The arm link 70 is connected to the arm link 60 to rotate about a rotation axis Ax5 that intersects with the rotation axis Ax4. The arm link 70 is attached to, for example, the distal end of the 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 set to pass through the arm link 70 and the distal end 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 that intersects with the rotation axis Ax5. The rotation axis Ax6 may be orthogonal to the rotation axis Ax5. The rotation axis Ax6 may be set to pass through the arm link 70 and the tool attachment portion 80. An operating tool is attached to the tool attachment portion 80. Examples of the operating tool are a suction nozzle configured to suck a workpiece, a hand configured to clamp a workpiece, a welding torch, a screw fastening 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. InFigure 1 in which each actuator is schematically shown by a dashed line in a simplified manner, and the illustration of each actuator is omitted in Figure 2 . Each actuator may include a motor and a speed reducer.

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

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

[0076] [Arm link]

[0077] Next, the structure 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 sub-links. As Figure 1 or Figure 2 shown, the arm link 30 may include a drive link 40 (link) and an auxiliary link 50 as two sub-links.

[0078] The drive link 40 (the first sub-link) and the auxiliary link 50 (the second sub-link) may clamp the actuator 120 along the rotation axis Ax2. When observing the components 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 observing the components 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 (the second material) having a rigidity and a specific gravity less than those of the material (the first material) forming the drive link 40. The rigidity of the material forming the auxiliary link 50 may be less 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 less than the specific gravity of the material forming the drive link 40. For example, when 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 link>

[0081] The drive link 40 is a link driven by the actuator 120. For example, the driving force of the actuator 120 is directly transmitted to the drive link 40. The drive link 40 can be connected to the rotating link 20. The actuator 120 causes the drive link 40 to rotate relative to the rotating link 20 about the rotation axis Ax2. Figure 3 A cross-section taken along Figure 2 the line III-III in is shown. The actuator 120 is connected to any part of the drive link 40. The drive link 40 (second link) can be aligned with the rotating link 20 (first link) along the rotation axis Ax2. The drive link 40 can extend away from the rotation axis Ax2.

[0082] The actuator 120 can be housed in the rotating link 20. The rotating link 20 may include an internal space S2 and an opening 24 (see also Figure 8 ). The internal space S2 is a space for housing the actuator 120. At least a part of the actuator 120 can be housed in the internal space S2. The rotating link 20 includes a housing 21. The housing 21 is formed by the wall that forms the internal space S2. The opening 24 is an opening formed in the housing 21.

[0083] In Figure 3 , the motor included in the actuator 120 is denoted by "122", and the speed reducer included in the actuator 120 is denoted 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 relative to the rotating link 20 about the rotation axis Ax2. The motor 122 can be housed in the internal space S2 in the rotating link 20. The motor 122 can be arranged such that the motor body 122a is housed in the internal space S2 in the rotating link 20. The motor 122 can be mounted such that the output shaft 122b is horizontal. The output shaft 122b of the motor 122 is connected to the speed reducer 124. In one example, the output shaft of the speed 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 causes the arm base 62 to rotate relative to the drive link 40 of the arm link 30 about the rotation axis Ax3. The actuator 130 is connected to any part 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 can be connected to the end of the drive link 40. The arm base 62 (second link) of the arm link 60 can be aligned with the drive link 40.

[0085] The actuator 130 can be housed in the arm base 62 of the arm link 60. The arm base 62 of the arm link 60 may include an internal space S6 and an opening 66 (see also Figure 10)。The internal space S6 is a space for accommodating the actuator 130. At least a part 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 constituted by the wall forming the internal space S6. The opening 66 is an opening formed in the housing 65.

[0086] In Figure 3 , the motor included in the actuator 130 is represented by "132", and the speed 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 relative to the drive link 40 about the rotation axis Ax3. The motor 132 can be accommodated in the arm base 62. The motor 132 can be arranged such that the motor body 132a is accommodated in the internal space S6 in the arm base 62. The motor 132 can be mounted such that the output shaft 132b is horizontal. The output shaft 132b of the motor 132 is connected to the speed reducer 134. In one example, the output shaft of the speed 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 and a side view of the drive link 40 viewed from the direction along the rotation axis Ax2 is shown. Figure 6 It is a schematic view in the case of viewing the side surface of the drive link 40 from a direction orthogonal to the plane including the rotation axis Ax2 and the rotation axis Ax3. As Figure 4 shown, etc., 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 can be along the line segment connecting the rotation axis Ax2 and the rotation axis Ax3 at the shortest distance.

[0088] The drive link 40 can be attached to the actuator 120. The drive link 40 can be attached to the actuator 130. The drive link 40 includes, for example, a connection section 42, a connection section 46, a link base section 44, and a reinforcement section 48. When viewing the drive link 40 from the rotation axis Ax2 toward the rotation axis Ax3, the connection section 42, the link base section 44, and the connection section 46 are aligned in this order.

[0089] The connection section 42 is the part connected to the actuator 120. For example, the output shaft of the speed 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. The space for accommodating at least a part of the actuator 120 (for example, the speed 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 the part connected to the actuator 120. For example, the output shaft of the speed reducer 124 of the actuator 120 is connected to the connecting base section 42a. The connecting base section 42a can be formed to expand along a plane intersecting the rotation axis Ax2. The thickness of the connecting base section 42a may not be constant, and at least a part of each of the pair of main surfaces of the connecting base section 42a may not be planar. When viewed from the rotation axis Ax2, the shape of the connecting base section 42a can be circular.

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

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

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

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

[0095] The connecting rod base section 44 is a portion that extends from the connecting section 42 and intersects 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 can be formed to expand along a plane that intersects the rotation axis Ax2. The thickness of at least a part of the connecting rod base section 44 may not be constant, and at least a part of each of the pair of main surfaces of the connecting rod base section 44 may not be planar.

[0096] When viewed from the axial directions 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 integrally formed.

[0097] Here, when viewed from a direction parallel to the rotation axis Ax2 and the rotation axis Ax3, the direction orthogonal to the virtual straight line passing through the rotation axis Ax2 and the rotation axis Ax3 is defined as the "width direction" in the driving connecting rod 40. The connecting rod base section 44 is formed such 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 connecting rod base section 44 in the width direction increases as it approaches the connecting section 42 starting from the central portion between the rotation axis Ax2 and the rotation axis Ax3. The dimension of the connecting rod base section 44 in the width direction increases as it approaches the connecting section 46 starting from the central portion between the rotation axis Ax2 and the rotation axis Ax3.

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

[0099] The reinforcing section 48 includes a protruding section 48a. The protruding section 48a is a portion that protrudes from the link base section 44 at positions away from each of the ends (ends closer to the rotation axis Ax3) of the connecting section 42 and the link base section 44. The protruding section 48a may be formed in an annular shape around an axis Ax0 that intersects the link base section 44. The axis Ax0 is a virtual axis that intersects the direction in which the link base section 44 extends and passes through the link 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 centroid 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 about 0.8 times 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 part of the protruding section 48a may be formed such that the dimension in the width direction decreases as it moves away from the link base section 44. Instead of or in addition to the width direction, at least a part of the protruding section 48a may be formed such that the dimension in the direction in which the link base section 44 extends decreases as the distance from the link base section 44 increases. When viewed from a direction parallel to the rotation axis Ax2 and the rotation axis Ax3, the end face (the end face along the direction intersecting the axis Ax0) of the protruding section 48a in the direction parallel to the rotation axis Ax2 and the rotation axis Ax3 may be positioned inside the outer edge of the link base section 44. In the width direction, the maximum width of the end face of the protruding section 48a is smaller than the minimum width of the link base section 44. The protruding height of the protruding section 48a from the link 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 reinforcing section 48 may include one or more ribs 48b. The ribs 48b may be formed to protrude from the link base section 44 and may be connected to at least the protruding section 48a. As Figure 4 shown, etc., the ribs 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. And Figure 4Unlike the example shown in etc., rib 48b can be connected to protruding section 48a without being connected to connecting section 42. In one example, protruding section 48a and rib 48b protrude in the same direction as the surrounding wall 42b of connecting section 42, and rib 48b (the other end of rib 48b) is connected to surrounding wall 42b. At least in the direction in which link base section 44 extends, the protruding height of rib 48b relative to link base section 44 can increase as the distance from protruding section 48a decreases. Even in the direction intersecting the direction in which link base section 44 extends, the protruding height of rib 48b relative to link base section 44 can increase as the distance from protruding section 48a decreases.

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

[0103] Reinforcing section 48 may include one of one or more ribs 48b and one or more ribs 48c, or may include both one or more ribs 48b and one or more ribs 48c. Reinforcing section 48 may include protruding section 48a without having both one or more ribs 48b and one or more ribs 48c. Hereinafter, the case of providing both one or more ribs 48b and one or more ribs 48c will be exemplified.

[0104] The protruding height of the end face of protruding section 48a facing away from link base section 44 may be substantially constant. The protruding height of a certain point of reinforcing section 48 is defined by the shortest distance between this point and a reference position set in link base section 44 along a line passing through this point and extending in the axial direction of 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 observing a portion of the protruding section 48a perpendicular to the rotation axis Ax2, this portion may be annular or may be solid (a state where the interior of the object is blocked). 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) that connects 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. When paying attention to each rib 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 interval between the plurality of ribs 48b may increase as the distance from the protruding section 48a increases. The interval between the plurality of ribs 48b is defined by the shortest distance in the width direction between one rib 48b and another rib 48b. When three or more ribs 48b are provided, the interval between any selected at least a 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 this pair of ribs 48b, the interval between this 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 (a plurality of second ribs) is a rib (protrusion) that connects 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. When paying attention to each rib 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 spacing between the plurality of ribs 48c may increase as the distance from the protruding section 48a increases. The spacing between the plurality of ribs 48c is defined by the shortest distance in the width direction between one rib 48c and another rib 48c. In the case where there are three or more ribs 48c, the spacing between any selected at least a 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 this pair of ribs 48c, the spacing between this pair of ribs 48c may increase as the distance from the protruding section 48a increases.

[0111] For at least a part 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 part 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] <Auxiliary link>

[0113] Referring again 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 about 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 the 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 disposed between the connection section 42 of the drive link 40 and the proximal end portion (the end portion through which the rotation axis Ax2 passes) of the auxiliary link 50. The actuator 130 may be disposed between the connection section 46 of the drive link 40 and the distal end portion (the end portion through which the rotation axis Ax3 passes) of the auxiliary link 50.

[0115] The robot 1 may include a wire harness 90. For example, the wire harness 90 is at least connected to the actuator 120. The wire harness 90 may be at least connected to the actuator 130 via the internal space S2 of the rotating link 20. The wire harness 90 may include two or more cables. The wire harness 90 may be at least connected to the actuator 120 and the actuator 130. In the wire harness 90, the cable connected to the actuator 120 may be different from the cable connected to the actuator 130. The wire harness 90 may be physically and electrically connected to each of the actuator 120 and the actuator 130. The wire 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 receiving a signal from the actuator 120, and a cable for sending a signal to or / and receiving a signal from the actuator 130. The wire harness 90 may be at least connected to the motor 132 via the interior (interior space S2) of the rotating link 20. The wire harness 90 may be at least connected to 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 such 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 wire harness 90 may be routed through the opening 24 and the wiring space S5. The opening 66 (second opening) of the 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 wire 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 wire harness 90 from the interior (interior space S2) of the rotating link 20 to the interior (interior space S6) of the arm base 62.

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

[0119] The auxiliary link 50 may include a link body 52 (sub-link body) and a protruding section 58 (sub-protruding section) (see also Figure 2 ). The link body 52 is the main body portion of the auxiliary link 50 and is the portion extending between the rotation axis Ax2 and the rotation axis Ax3. The protruding section 58 is the portion protruding from the link 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 drive link 40. The protruding section 58 may include an end face facing the drive link 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 contacts the corresponding end face of the protruding section 48a of the reinforcing section 48.

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

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

[0122] [Seal]

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

[0124] The seal 170 may 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 the axis of rotation 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 axis of rotation Ax2. The first member 172 and the second member 174 are arranged to face each other in the axial direction of the axis of rotation 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 part of the proximal end portion of the auxiliary link 50, which is attached to the rotating link 20.

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

[0126] The second member 174 includes a sealing element 174a. The sealing element 174a is an element (part) that displaces along the sealing surface 172a while being in close contact with the sealing surface 172a of the first member 172 according to the relative displacement between the auxiliary link 50 and the rotating link 20. The seal 170 is formed such that even when relative displacement occurs between the auxiliary link 50 and the rotating link 20, the state where 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 axis of rotation Ax2. The sealing element 174a may be formed to expand radially from the main body portion of the second member 174 in a state inclined with respect to the axis of rotation Ax2 in the radial direction of a circle centered on the axis of rotation Ax2.

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

[0128] In addition to the seal 170, the robot 1 may include a seal 180 (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 portion between the auxiliary link 50 and the arm base 62 of the arm link 60, so that a liquid such as water can be prevented from entering the internal space S6 of the arm link 60 from the outside, and a liquid such as water can be prevented from entering the wiring space S5 via the connection portion.

[0129] The seal 180 may 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 forming the opening 66 in the arm base 62. The second member 184 is connected to a part of the distal end portion of the auxiliary link 50 that is attached to the arm base 62.

[0130] The first member 182 and the second member 184 are in contact with each other while allowing relative displacement therebetween. The first member 182 includes a sealing surface 182a. The sealing surface 182a is a surface along a plane intersecting the rotation axis Ax3. The sealing surface 182a may be along a plane orthogonal to the rotation axis Ax3. The sealing surface 182a is formed in 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 displaces along the sealing surface 182a while being in close contact with the sealing surface 182a of the first member 182 according to the relative displacement between the auxiliary link 50 and the arm link 60. The seal 180 is formed such that even when relative displacement occurs between the auxiliary link 50 and the arm link 60, the state where 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 may be formed to expand in the radial direction of the circle centered on the rotation axis Ax3 in a state inclined with respect to the rotation axis Ax3 from the main body portion of the second member 184.

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

[0133] When the materials forming the drive link 40 and the auxiliary link 50 are different from each other, the deformation of the drive link 40 and the deformation of the auxiliary link 50 due to thermal expansion or the like can 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, a position deviation (for example, a deviation of the rotation axis) caused by the deformation difference between the links can be allowed.

[0134] [Maintenance Structure of the Motor]

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

[0136] As Figure 8 shown, an opening 24 is provided in the rotating link 20. The opening 24 (inspection opening) can be an opening that allows the motor 122 of the actuator 120 to enter and exit the rotating link 20 in the direction D1 (first direction) along the rotation axis Ax2. The opening 24 can have a size that allows the motor 122 to enter and exit. The housing 21 forming the internal space S2 of the rotating link 20 can include a pair of side walls intersecting the rotation axis Ax2 and a peripheral wall connecting the outer edges of the pair of side walls around the rotation axis Ax2. The opening 24 can be provided in the side wall 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 in the direction D1. The direction D1 is, for example, the direction in which the rotating link 20 and the drive link 40 are aligned on the rotation axis Ax2. The direction D1 can be orthogonal to the plane including the opening 24 (the plane including the opening edge forming the opening 24). The motor 122 can be inserted into the internal space S2 or 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 accessed by, for example, a worker.

[0138] The robot 1 may include an access cover 54. The access cover 54 is a cover that covers the opening 24 provided in the rotating link 20. The access 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 access cover 54 may be a part of the auxiliary link 50. The proximal end portion of the auxiliary link 50 may be used as the access cover 54. When a worker attaches the motor 122, for example, the worker detaches the access 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 speed reducer 124 accommodated in the connection 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 visual identification of the actuator 120 from a direction D2 (second direction) that intersects 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 through the opening 26. The direction D2 is a direction that intersects the plane including the opening 26 (the plane including the 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 part of the component in the direction D2 may be a component pointing vertically downward. The opening 26 may have a size that prevents the motor 122 from entering and exiting through 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 identification 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 identifying a state such as the output shaft 122b being inclined 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 liquid are prevented from entering the internal space S2 from the outside through the connection portion between the inspection cover 92 and the rotating link 20, and substances such as liquid are prevented from leaking from the internal space S2 to the outside.

[0142] In addition to the openings 24 and 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 can approach the motor 122 from a direction D3 (third direction) that intersects the directions D1 and D2. Being able to approach the motor 122 means that the worker himself can contact the motor 122 or the tool operated by the worker can contact the motor 122. The direction D3 is a direction that intersects the plane including the opening 28 (the plane including the opening edge forming the opening 28).

[0143] The actuator 110 may 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 speed reducer included in the actuator 110 is referred to as "speed reducer 114". The motor 112 (base motor) is accommodated in the rotating link 20 and rotates the rotating link 20 about 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, the worker can insert the motor 112 into the internal space S2 in the rotating link 20 and can take out the motor 112 from the internal space S2 via the opening 28.

[0144] The robot 1 may include a sub-inspection cover 94. The sub-inspection cover 94 is a cover that covers the opening 28 provided in the rotating link 20. The sub-inspection 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 the worker attaches the motor 122, the worker detaches the sub-inspection 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] As Figure 9 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, while 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 among the motor 112, the motor 122, and the opening 28 refers to the relationship in the state where the motor 112 and the motor 122 are attached. In Figure 9 it, the position of the upper edge of the opening 28 in the axial direction of the rotation axis Ax1 is represented by "H2", and the position of the lower edge of the opening 28 in the axial direction of the rotation axis Ax1 is represented by "H1".

[0146] As Figure 10As shown, the opening 66 may be provided in the arm base 62. The opening 66 (second inspection opening) may be an opening that allows the motor 132 of the actuator 130 to enter and exit the arm base 62 in 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 a pair of side walls that intersect the rotation axis Ax3. The opening 66 may be provided on the side wall of the pair of side walls of the housing 65 that is closer to the auxiliary link 50.

[0147] The motor 132 may enter and exit the internal space S6 of the arm base 62 in the direction D11. The direction D11 is, for example, the direction in which the arm base 62 and the drive link 40 are aligned on the rotation axis Ax3. The direction D11 may be orthogonal to the plane including the opening 66 (the plane including the opening edge forming the opening 66). The motor 132 may be inserted into the internal space S6 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 accessed by, for example, a worker.

[0148] The robot 1 may include an inspection cover 56 (second inspection cover). The inspection cover 56 is a cover that covers the opening 66. The inspection cover 56 may be configured to be attached to the arm base 62 to cover the motor 132 from the direction D11, and detached from the arm base 62 to allow the motor 132 to enter and exit the arm base 62 in the direction D11. The inspection 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 inspection cover 56.

[0149] In the case where a part of the auxiliary link 50 serves as the inspection cover 54 covering the motor 122 and another part of the auxiliary link 50 serves as the inspection cover 56 covering the motor 132, the robot 1 includes a connecting member 55 that constitutes the auxiliary link 50 (sub-link). The connecting member 55 is a part that couples the inspection cover 54 and the inspection cover 56 of the auxiliary link 50 and extends from the inspection cover 54 to the inspection 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 inspection cover 54, and the other end of the connecting member 55 is connected to the inspection cover 56. The connecting member 55 is attached to the drive 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 a part of the inspection cover 54, the inspection cover 56, and the connecting member 55, and the protruding section 58 may be formed by another part of the connecting member 55. As described above, the connecting member 55 may be attached to the drive link 40 by fixing the protruding section 58 of the connecting member 55 to the reinforcing section 48 (protruding section 48a) of the drive link 40.

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

[0152] When the worker attaches the motor, for example, after the worker removes the inspection cover 56, the worker inserts the motor 132 into the internal space S6 such that the output shaft 132b is connected to the speed reducer 134 housed in the connection section 46 of the drive 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 recognized from the direction D4 (fourth direction) that intersects the rotation axis Ax3. The opening 67 allows the worker to visually recognize the motor 132 when the motor 132 is inserted and removed. The worker can visually recognize the motor 132 from the direction D4 via the opening 67. The direction D4 is a direction that intersects the plane including the opening 67 (the plane including the 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 removed from the arm base 62 to make the motor 132 visible from the direction D4. For example, when the worker attaches the motor 132, the worker removes the inspection cover 96 and works while visually recognizing a state such as the output shaft 132b being inclined 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 inserted 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 liquid are prevented from entering the internal space S6, and substances such as liquid are prevented from leaking from the internal space S6 to the outside via the connection portion between the inspection cover 96 and the arm base 62.

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

[0157] The motor 142 can enter and exit the internal space S6 of the arm base 62 from a direction D4 (for example, the direction along the rotation axis Ax4). The motor 142 can be inserted into the internal space S6 or 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 accessed by a worker, for example. The opening 67 can 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 can be provided in the arm base 62 (the housing 65). The opening 68 (the third inspection opening) allows the motor 142 to be visually identified from a direction D5 that intersects the rotation axis Ax4. The opening 68 allows the 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 that intersects the plane including the opening 68 (the plane including the opening edge forming the opening 68).

[0159] The robot 1 can include an inspection cover 98 (the 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 can be configured to be attached to the arm base 62 to cover the motor 142 from the direction D5, and detached from the arm base 62 to allow the motor 142 to be visually identified from the direction D5. For example, when the worker attaches the motor 142, the worker detaches the inspection cover 98 and works while visually identifying 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 detached from another member and the motors 122 and 132 enter and exit has been described. Instead of the entire auxiliary link 50, the motors 122 and 132 can enter and exit by detaching the cover portion included in the auxiliary link 50 from other parts of the auxiliary link 50. As Figure 3 shown, the link body 52 of the auxiliary link 50 can include a main body portion 52a and a cover portion 52b (see also Figure 7 and Figure 8 ).

[0161] The cover portion 52b can be attached to the main body portion 52a via a fixing member 52c. A part of the seal 170 and a part of the seal 180 can be provided in the main body portion 52a. In a state where the cover portion 52b is detached from the main body portion 52a (the state before being attached to the main body portion 52a), a worker can perform the attachment work via the 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 in a state of being fixed to the drive link 40 (the state before being attached to the main body portion 52a), a worker can perform the work of routing 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 via the opened wiring space S5 and the opening 24, and the motor 132 can enter and exit via the opened wiring space S5 and the opening 66. In the cover portion 52b which is 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 inspection cover 54 mentioned above. In the cover portion 52b which is 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 inspection cover 56 mentioned above.

[0163] [Variant Example]

[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 the heat received from the actuators is different between the drive link 40 and the auxiliary link 50. As a result, even when 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 or the like can be different. Therefore, even when the drive link 40 and the auxiliary link 50 are made of the same material, the seals 170 and 180 that do not restrict the movement of the auxiliary link 50 in the direction intersecting the rotation axis can be provided to allow the position deviation (for example, the deviation of the rotation axis) caused by the deformation difference between the links.

[0165] As Figure 11 shown, the robot 1 can include a bearing 178 and a bearing 188 instead of the seals 170 and 180. The bearing 178 is a bearing member that holds the auxiliary link 50 to rotate around the rotation axis Ax2. Since the bearing 178 is provided, the relative movement of the auxiliary link 50 with respect to the rotating link 20 can be restricted in the direction intersecting the rotation axis Ax2.

[0166] The bearing 188 (second bearing) is a bearing member that holds the auxiliary link 50 in rotation relative to the arm base 62 about the rotation axis Ax3. With the bearing 188 provided, the relative movement of the auxiliary link 50 relative to the arm base 62 can thus be restricted in a direction intersecting 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 the bearing 178. In addition to the seal 180, the robot 1 may also include the bearing 188.

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

[13] .

[0171] [1] A robot (1), the robot (1) including: a first link (20); a second link (30) that is aligned with the first link (20) along a rotation axis (Ax2) and extends away from the rotation axis (Ax2); and an actuator (120) that is housed in the first link (20) to rotate the second link (30) relative to the first link (20) about the rotation axis (Ax2), wherein the second link (30) includes a first sub-link (40) and a second sub-link (50) that sandwich the actuator (120) along the rotation axis (Ax2), the first sub-link (40) being attached to the actuator (120), and the second sub-link (50) being attached to the first sub-link (40) in a state where the second sub-link (50) is not constrained by the first link (20) in a direction intersecting the rotation axis (Ax2).

[0172] In the robot (1), the actuator (120) is accommodated between the first sub-link (40) and the second sub-link (50), so that the non-uniformity of the appearance can be reduced. In addition, since the second sub-link (50) is not restricted by the first link (20) in the direction intersecting the rotation axis (Ax2), the influence of the second sub-link (50) on the positioning accuracy of the distal end of the second link (30) can be suppressed. Therefore, the robot (1) is effective in both reducing the appearance non-uniformity and improving the positioning accuracy.

[0173] [2] The robot (1) according to [1] above, wherein the first link (20) includes an internal space (S2) and an opening (24), the internal space (S2) is configured to accommodate the actuator (120), the opening (24) is configured to allow the internal space (S2) and the outside of the internal space (S2) to communicate with each other, and the robot (1) further includes a seal (170), the seal (170) is inserted between the second sub-link (50) and the first link (20) around the opening (24).

[0174] In this case, it is possible to suppress the leakage of substances from the inside of the robot (1) to the outside through between the second sub-link (50) and the first link (20), and it is possible to suppress the intrusion of substances from the outside of the robot (1) to the inside through between the second sub-link (50) and the first link (20).

[0175] [3] The robot (1) according to [2] above, the robot (1) further includes: a wire harness (90), the wire harness (90) is at least connected to the actuator (120), wherein the second sub-link (50) includes a wiring space (S5) for guiding the wire harness (90).

[0176] In this case, the inside of the second sub-link (50) can be effectively used for the wiring of the wire harness (90).

[0177] [4] The robot (1) according to [3] above, wherein the opening (24) allows the internal space (S2) to communicate with the wiring space (S5), and the wire harness (90) is routed through the opening (24) and the wiring space (S5).

[0178] In this case, the inside of the second sub-link (50) and the inside of the first link (20) can be effectively used for the wiring of the wire harness (90).

[0179] [5] The robot (1) according to any one of [2] to [4] above, wherein the seal (170) is configured to be interposed between the second sub-link (50) and the first link (20), while allowing relative displacement between the second sub-link (50) and the first link (20) in a direction intersecting the rotation axis (Ax2).

[0180] In this case, the gap between the second sub-link (50) and the first link (20) can be closed without increasing the influence of the second sub-link (50) on the positioning accuracy of the distal end of the second link (30).

[0181] [6] The robot (1) according to [5] above, wherein the seal (170) includes: a sealing surface (172a) along a plane intersecting the rotation axis (Ax2); and a sealing element (174a) configured to shift along the sealing surface (172a) while being in close contact with the sealing surface (172a) according to the relative displacement between the second sub-link (50) and the first link (20).

[0182] In this case, the relative displacement between the second sub-link (50) and the first link (20) can be allowed by the shift of the sealing element (174a) along the sealing surface (172a), while the gap between the second sub-link (50) and the first link (20) is closed by the close contact between the sealing surface (172a) and the sealing element (174a).

[0183] [7] The robot (1) according to [1] above, the robot (1) further includes: a third link (60 or 62) aligned with the second link (30) along a second rotation axis (Ax3) parallel to the rotation axis (Ax2) and extending away from the second rotation axis (Ax3); and a second actuator (130) housed in the third link (60 or 62) to rotate the third link (60 or 62) relative to the second link (30), wherein the first sub-link (40) and the second sub-link (50) clamp the second actuator (130) along the second rotation axis (Ax3), the first sub-link (40) is attached to the second actuator (130), and the second sub-link (50) is attached to the first sub-link (40) in a state not being constrained by the first link (20) in a direction intersecting the rotation axis (Ax2) and not being constrained by the third link (60 or 62) in a direction intersecting the second rotation axis (Ax3).

[0184] In this case, the actuator (120) and the second actuator (130) are accommodated between the first sub-link (40) and the second sub-link (50), and the unevenness of the appearance of the robot (1) can be further reduced. In addition, since the second sub-link (50) is not constrained by the third link (60 or 62) in the direction intersecting the second rotation axis (Ax3), the influence of the second sub-link (50) on the positioning accuracy of the distal end of the third link (60 or 62) can be further suppressed.

[0185] [8] The robot (1) according to the above [9], wherein the first link (20) includes an internal space (S2) configured to accommodate the actuator (120) and an opening (24) configured to allow the interior of the internal space (S2) to communicate with the exterior of the internal space (S2), the third link (60 or 62) includes a second internal space (S6) configured to accommodate the second actuator (130) and a second opening (66) configured to allow the interior of the second internal space (S6) to communicate with the exterior of the second internal space (S6), and the robot (1) further includes a seal (170) inserted between the second sub-link (50) and the first link (20) around the opening (24) and a second seal (180) inserted between the second sub-link (50) and the third link (60 or 62) around the second opening (66).

[0186] In this case, it is possible to suppress the leakage of substances from the interior of the robot (1) to the exterior through the second sub-link (50) and each of the first link (20) and the third link (60 or 62), or to suppress the intrusion of substances from the exterior of the robot (1) into the interior through the second sub-link (50) and each of the first link (20) and the third link (60 or 62).

[0187] [9] The robot (1) according to the above [8], the robot (1) further includes: a wire harness (90), the wire harness (90) is connected at least to the second actuator (130) via the internal space (S2), wherein the second sub-link (50) includes a wiring space (S5) for guiding the wire harness (90) from the internal space (S2) to the second actuator (130).

[0188] In this case, the interior of the second sub-link (50) can be effectively used to route the wire harness (90) from the actuator (120) to the second actuator (130).

[0189]

[10] The robot (1) according to [8] above, wherein the opening (24) allows the internal space (S2) to communicate with the wiring space (S5), the second opening (66) allows the second internal space (S6) to communicate with the wiring space (S5), and the wire harness (90) passes through the opening (24), the wiring space (S5), and the second opening (66) to route the wire harness from the internal space (S2) to the second internal space (S6).

[0190] In this case, the inner side of the second sub-link (50), the inner side of the first link (20), and the inner side of the third link (60 or 62) can be effectively used for routing the wire harness (90).

[0191]

[11] The robot (1) according to any one of [8] to

[10] above, wherein the seal (170) is configured to be inserted between the second sub-link (50) and the first link (20), while allowing relative displacement between the second sub-link (50) and the first link (20) in a direction intersecting the rotation axis (Ax2), and the second seal (180) is configured to be inserted between the second sub-link (50) and the third link (60 or 62), while allowing relative displacement between the second sub-link (50) and the third link (60 or 62) in a direction intersecting the second rotation axis (Ax3).

[0192] In this case, the gap between the second sub-link (50) and the first link (20) and the third link (60 or 62) can be closed without increasing the influence of the second sub-link (50) on the positioning accuracy of the distal end of the second link (30).

[0193]

[12] The robot (1) according to any one of [1] to

[11] above, the robot (1) further includes: a base link (10), the base link (10) is fixed to the mounting surface, wherein the first link (20) is connected to the base link (10) to rotate about a rotation axis (Ax1) intersecting the rotation axis (Ax2).

[0194] In this case, in the second link (30) of the robot (1) close to the mounting surface, the influence of the second sub-link (50) on the positioning accuracy of the distal end of the second link (30) is suppressed, and thus, the positioning accuracy of the distal end of the robot (1) can be further improved.

[0195]

[13] The robot (1) according to any one of [1] to

[12] above, wherein the first sub-link (40) is made of a first material, and the second sub-link (50) is made of a second material having a rigidity and specific gravity less than that of the first material.

[0196] When the first sub-link (40) and the second sub-link (50) are made of different materials from each other, the deformation of the first sub-link (40) and the deformation of the second sub-link (50) caused by thermal expansion or the like can also be different. Therefore, in the robot (1), the positioning accuracy of the distal end of the second link (30) is further improved by suppressing the influence of the second sub-link (50).

Claims

1. A robot, comprising: First connecting rod; a second link aligned with the first link along the axis of rotation and extending away from the axis of rotation; as well as an actuator housed in the first link to rotate the second link relative to the first link about the rotation axis, wherein The second link includes a first secondary link and a second secondary link that clamp the actuator along the rotation axis. The first secondary link is attached to the actuator, and The second sub-link is attached to the first sub-link in a state where the second sub-link is not constrained by the first link in a direction intersecting the rotation axis.

2. The robot according to claim 1, wherein: The first connecting rod comprises: an internal space configured to accommodate the actuator; and an opening configured to allow the interior space and the outside of the interior space to communicate with each other, and The robot further includes a seal interposed between the second secondary link and the first link around the opening.

3. The robot according to claim 2, further comprising: a wiring harness connected to at least the actuator, wherein The second sub-link includes a wiring space for guiding the wire harness.

4. The robot according to claim 3, wherein: The opening allows the internal space to communicate with the wiring space, and The wiring harness is routed through the opening and the routing space.

5. The robot according to claim 2, wherein: The seal is configured to be interposed between the second sub-link and the first link while allowing relative displacement between the second sub-link and the first link in a direction intersecting the rotation axis.

6. The robot according to claim 5, wherein: The sealing member comprises: a sealing surface along a plane intersecting the rotational axis; and A sealing element is configured to be displaced along the sealing surface according to a relative displacement between the second sub-link and the first link while being in close contact with the sealing surface.

7. The robot according to claim 1, further comprising: a third link aligned with the second link along a second rotational axis parallel to the rotational axis and extending away from the second rotational axis; as well as a second actuator received in the third link to rotate the third link relative to the second link, wherein: The first secondary link and the second secondary link clamp the second actuator along the second rotation axis, The first secondary link is attached to the second actuator, and The second sub-link is attached to the first sub-link in a state where it is not constrained by the first link in a direction intersecting the rotation axis and is not constrained by the third link in a direction intersecting the second rotation axis.

8. The robot according to claim 7, wherein: The first connecting rod comprises: an internal space configured to accommodate the actuator; and an opening configured to allow the interior space and the outside of the interior space to communicate with each other, The third connecting rod comprises: a second interior space configured to accommodate the second actuator; and a second opening configured to allow the second interior space and the outside of the second interior space to communicate with each other, and The robot also includes: a seal interposed between the second secondary link and the first link about the opening; and A second seal is interposed between the second secondary link and the third link around the second opening.

9. The robot according to claim 8, further comprising: a wiring harness connected to at least the second actuator via the internal space, wherein The second sub-link includes a wiring space for guiding the wire harness from the internal space to the second actuator.

10. The robot according to claim 9, wherein: The opening allows the internal space to communicate with the wiring space, The second opening allows the second internal space to communicate with the wiring space, and The wiring harness is routed from the internal space to the second internal space through the opening, the routing space, and the second opening.

11. The robot according to claim 8, wherein: The seal is configured to be interposed between the second secondary link and the first link while allowing relative displacement between the second secondary link and the first link in a direction intersecting the rotation axis, and The second seal is configured to be interposed between the second sub-link and the third link while allowing relative displacement between the second sub-link and the third link in a direction intersecting the second rotation axis.

12. The robot according to any one of claims 1 to 11, further comprising: a base link secured to a mounting surface, wherein The first link is connected to the base link to rotate about a rotation axis that intersects the rotation axis.

13. The robot according to any one of claims 1 to 11, wherein: The first secondary connecting rod is made of a first material, and The second secondary connecting rod is made of a second material having a lower rigidity and a lower specific gravity than the first material.

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