Robot and robot system

Abstract

The invention provides a robot and a robot system capable of ensuring a sufficient part accommodating space in a base and realizing reduction of the installation area of the robot due to miniaturization of the base. The robot includes: a base; the first arm rotates around a first rotating shaft relative to the base; the second arm rotates around a second rotating shaft relative to the first arm; the pipeline is connected with the base and the second arm; and a first arm driving mechanism that rotates the first arm about the first rotation axis with respect to the base. In addition, the base has a housing in which the first arm driving mechanism is housed. In addition, the housing includes: a first portion having a mounting surface mounted on the surface to be mounted; and a second portion, which is located between the first portion and the first arm, is provided with a protruding portion that protrudes in a direction orthogonal to the first rotation axis with respect to the first portion, and is connected to the pipe.

Description

Technical Field

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

[0002] The SCARA robot (horizontally articulated robot) described in Patent Document 1 comprises a base; a first arm connected to the base so as to be rotatable about a first vertical rotation axis; a second arm connected to the first arm so as to be rotatable about a second vertical rotation axis; and a shaft disposed on the second arm, which rotates about a third vertical rotation axis and moves linearly along the third rotation axis. The robot also comprises a motor for rotating the first arm about the first rotation axis, a motor for rotating the second arm about the second rotation axis, a motor for rotating the shaft about the third rotation axis, and a motor for linearly moving the shaft along the third rotation axis. Furthermore, a motor-and-sensor connector is located on the back of the base. This connector is electrically connected to each motor via wiring routed into the robot.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2008-307637

[0004] However, in the robot of Patent Document 1, it is difficult to ensure a sufficient component storage space within the base and to reduce the installation area of ​​the robot by miniaturizing the base. Summary of the Invention

[0005] The robot of the present invention comprises: a base; a first arm connected to the base and rotating around a first rotation axis relative to the base; a second arm connected to the first arm and rotating around a second rotation axis parallel to the first rotation axis relative to the first arm; a pipe located on the outside of the first arm, connecting the base and the second arm; and a first arm driving mechanism that rotates the first arm around the first rotation axis relative to the base, the base having a shell for accommodating the first arm driving mechanism internally, the shell having: a first part having a loading surface placed on a loaded surface; and a second part located between the first part and the first arm, having a protrusion protruding relative to the first part in a direction perpendicular to the first rotation axis, and connected to the pipe.

[0006] The robot system of the present invention comprises: a robot; and a control device for controlling the drive of the robot, the robot comprising: a base; a first arm connected to the base and rotating about a first rotation axis relative to the base; a second arm connected to the first arm and rotating about a second rotation axis parallel to the first rotation axis relative to the first arm; a pipe located on the outside of the first arm, connecting the base and the second arm; and a first arm driving mechanism for rotating the first arm about the first rotation axis relative to the base, the base having a shell for accommodating the first arm driving mechanism therein, the shell comprising: a first part having a loading surface placed on a loaded surface; and a second part located between the first part and the first arm, having a protrusion protruding in a direction perpendicular to the first rotation axis relative to the first part, and connected to the pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a side view showing a robot according to a preferred embodiment.

[0008] Figure 2 is a cross-sectional view showing the base.

[0009] Figure 3 It is a rear view showing the back side of the base.

[0010] Figure 4 It is a cross-sectional view showing a modified example of the base.

[0011] Description of Reference Numerals

[0012] 1: Robot; 10: Base; 100: Robot system; 11: First arm; 110: Base end; 12: Second arm; 13: Working head; 131: Spline nut; 132: Ball screw nut; 133: Spline shaft; 14: Pipe; 140: Connecting portion; 2: Housing; 201: Insertion hole; 202: Loading portion; 21: First portion; 210: Loading surface; 211: Front surface; 212: Back surface; 212a: First opening; 213: Side surface; 2 14: Side; 216: First base; 217: First cover; 217a: Outer frame; 217b: Cover body; 218: Inner wall; 22: Second portion; 220: Upper surface; 221: Front surface; 222: Back surface; 222a: Second opening; 223: Side; 224: Side; 225: Lower surface; 226: Second base; 227: Second cover; 227a: Second cable connection; 227b: Pipe connection; 229: Protrusion; 3 11: Pipe connection connector; 313: Air tube; 321: Cable connection connector; 323: Cable; 331: Signal connector; 333: Cable; 351: First holding portion; 352: Second holding portion; 4: Fixing portion; 41: Cylindrical portion; 42: Flange portion; 51: First arm drive mechanism; 511: Speed ​​reducer; 511a: Rigid gear; 511b: Flexible gear; 511c: Wave generator; 512: Motor; 52: Second arm drive mechanism Structure; 522: Motor; 53: First driving mechanism of the spline shaft; 532: Motor; 54: Second driving mechanism of the spline shaft; 542: Motor; 611: First cable; 612: First cable; 621: Second cable; 622: Second cable; 9: Control device; D1: First spacing distance; D2: Second spacing distance; D3: Third spacing distance; F: Floor; J1: First rotating axis; J2: Second rotating axis; J3: Third rotating axis; Q: Area; U: Unit. DETAILED DESCRIPTION

[0013] Hereinafter, the robot and the robot system of the present invention will be described in detail based on the embodiments shown in the drawings.

[0014] Figure 1 This is a side view showing the robot according to the first embodiment. Figure 2 is a cross-sectional view showing the base. Figure 3 It is a rear view showing the back side of the base. Figure 4 It is a cross-sectional view showing a modified example of the base.

[0015] It should be noted that Figure 1 The up and down directions in the figure are consistent with the vertical direction. Therefore, the following will also Figure 1The upper side is referred to as "upper" and the lower side is referred to as "lower". In addition, in this specification, "vertical" refers not only to the case of being consistent with the vertical, but also includes the case of being inclined relative to the vertical within a range that can exert the effect of the present invention, such as the case of being inclined within ±5° relative to the vertical. Similarly, in this specification, "parallel" refers not only to the case of two objects being consistent with being parallel, but also includes the case of being inclined from parallel within a range that can exert the effect of the present invention, such as the case of being inclined within ±5° relative to parallel.

[0016] Figure 1 The robot system 100 shown includes a robot 1 and a control device 9 that controls the driving of the robot 1. The control device 9 includes, for example, a control substrate and a power substrate. However, this is not limiting, and the control substrate and the power substrate may be a single substrate.

[0017] Robot 1

[0018] The robot 1 is a SCARA robot (horizontally articulated robot) used for various operations such as holding, transporting, assembling, and inspecting workpieces such as electronic components. However, the application of the robot 1 is not particularly limited.

[0019] like Figure 1 As shown, the robot 1 includes: a base 10, which is placed on a floor F serving as a placement surface; a first arm 11, which is connected to the base 10 and rotates relative to the base 10 around a first rotation axis J1 along the vertical direction; a second arm 12, which is connected to the first arm 11 and rotates relative to the first arm 11 around a second rotation axis J2 along the vertical direction; a working head 13, which is arranged at the front end of the second arm 12; and a pipe 14, which is located outside the first arm 11 and connects the base 10 and the second arm 12.

[0020] In addition, if Figure 1 As shown, the working head 13 includes a spline nut 131 and a ball screw nut 132 coaxially arranged with the front end of the second arm 12; and a spline shaft 133 inserted through the spline nut 131 and the ball screw nut 132. Furthermore, although not shown, an end effector corresponding to the working purpose is mounted on the lower end of the spline shaft 133. In this working head 13, the spline shaft 133 rotates about the third rotation axis J3 and linearly moves (lifts and lowers) along the third rotation axis J3 through rotation of the spline nut 131. Rotation of the ball screw nut 132 causes the spline shaft 133 to linearly move along the third rotation axis J3, and rotation of both the spline nut 131 and the ball screw nut 132 causes the spline shaft 133 to rotate about the third rotation axis J3.

[0021] It should be noted that, since the first rotation axis J1 , the second rotation axis J2 and the third rotation axis J3 are all along the vertical direction, they are parallel to each other.

[0022] In addition, if Figure 1 As shown, the robot 1 includes a first arm drive mechanism 51 that connects the base 10 and the first arm 11 and rotates the first arm 11 relative to the base 10 about a first rotation axis J1; and a second arm drive mechanism 52 that connects the first arm 11 and the second arm 12 and rotates the second arm 12 relative to the first arm 11 about a second rotation axis J2. Furthermore, the robot 1 includes a first spline shaft drive mechanism 53 that rotates the spline nut 131 to rotate and linearly move the spline shaft 133; and a second spline shaft drive mechanism 54 that rotates the ball screw nut 132 to linearly move the spline shaft 133.

[0023] Furthermore, the first arm drive mechanism 51 includes a motor 512 as a drive source, the second arm drive mechanism 52 includes a motor 522 as a drive source, the first spline shaft drive mechanism 53 includes a motor 532 as a drive source, and the second spline shaft drive mechanism 54 includes a motor 542 as a drive source. Of these four mechanisms 51, 52, 53, and 54, the first arm drive mechanism 51 will be described in detail later, but detailed descriptions of the other three mechanisms 52, 53, and 54 will be omitted.

[0024] The above briefly describes the overall structure of the robot 1. Next, the base 10 will be described in detail.

[0025] like Figure 2 As shown, the base 10 has a step formed on its back side, and has a shape in which the upper part protrudes rearward relative to the lower part. Specifically, the base 10 has a housing 2 that accommodates the first arm drive mechanism 51. In addition, the housing 2 has an insertion hole 201 opened at its upper end portion and a loading portion 202 arranged around the insertion hole 201. Furthermore, the first arm drive mechanism 51 is inserted into the housing 2 through the insertion hole 201, and the fixing portion 4 of the first arm drive mechanism 51 described later is loaded on the loading portion 202. The fixing portion 4 loaded on the loading portion 202 is fixed to the housing 2 by a plurality of screws. However, the method of fixing the fixing portion 4 and the housing 2 is not particularly limited. According to such a structure, the assembly of the robot 1 becomes easier, for example, compared with a structure in which the fixing portion 4 is omitted and the first arm drive mechanism 51 is directly mounted on the housing 2.

[0026] In addition, if Figure 2As shown, the first arm drive mechanism 51 includes a fixed portion 4 fixed to the housing 2, a reducer 511 rotatably connecting the fixed portion 4 and the first arm 11, and a motor 512 with a built-in encoder. The reducer 511 is a wave gearing device, with a rigid gear 511a fixed to the fixed portion 4 and a flexible gear 511b fixed to the first arm 11. Furthermore, the rotating shaft of the motor 512 is fixed to the wave generator 511c. The motor 512 is located below the reducer 511 and fixed to the fixed portion 4. The motor 512 is a servo motor, specifically a three-phase motor driven by a three-phase AC current. In the first arm drive mechanism 51 with this structure, the wave generator 511c rotates as the motor 512 rotates, which in turn causes the flexible gear 511b to rotate relative to the rotation of the wave generator 511c at a predetermined reduction ratio. As a result, the first arm 11 rotates about the first rotation axis J1 relative to the base 10. However, the structure of the first arm drive mechanism 51 is not particularly limited.

[0027] The fixing portion 4 of such a first arm driving mechanism 51 is in the shape of a disk centered on the first rotation axis J1. That is, it has a cylindrical portion 41 extending along the first rotation axis J1 and a flange portion 42 protruding from the cylindrical portion 41 in a direction intersecting the first rotation axis J1. A motor 512 is fixed to the cylindrical portion 41, and a reducer 511 is fixed to the center side of the flange portion 42. The end side of the flange portion 42 is fixed to the housing 2. However, the shape of the fixing portion 4 is not particularly limited. For example, the reducer 511 may be fixed to the cylindrical portion 41 instead of the flange portion 42.

[0028] The housing 2 also includes a first portion 21 located below, i.e., on the side opposite the first arm 11, and having a placement surface 210 for placement on the floor F; and a second portion 22 located above the first portion 21, i.e., between the first portion 21 and the first arm 11, having an insertion hole 201 and a placement portion 202, and connected to the duct 14. It should be noted that, for ease of description, the direction in which the first rotation axis J1 and the connection portion 140 of the duct 14 connected to the base 10 are arranged is referred to as the front-to-back direction, with the first rotation axis J1 side being referred to as the "front" direction and the connection portion 140 side being referred to as the "rear" direction.

[0029] Here, the first arm 11 will be described temporarily. Figure 1 As shown, when the first arm 11 faces forward, the connection portion 140 of the pipe 14, the first rotation axis J1 and the second rotation axis J2 are arranged in a straight line from the connection portion 140 side as the reference posture. Figure 2As shown, in the reference state, the first spacing distance D1 between the first rotation axis J1 and the pipe 14 is greater than the second spacing distance D2 between the first rotation axis J1 and the end of the first arm 11 on the pipe 14 side, that is, the base end 110. That is, D1>D2. It should be noted that the first spacing distance D1 refers to the minimum value of the spacing distance between the first rotation axis J1 and the pipe 14 in the area Q overlapping with the base end 110 of the first arm 11 when viewed from above perpendicular to the first rotation axis J1. According to such a structure, the contact between the first arm 11 and the pipe 14 in the reference posture can be effectively suppressed. Therefore, the movable range of the robot 1 can be ensured to be wider.

[0030] Furthermore, in the reference posture, the third spacing distance D3 between the first rotation axis J1 and the end of the fixed portion 4 on the pipe 14 side is smaller than the second spacing distance D2. In other words, D1 > D2 > D3. This structure facilitates increasing the size of the first arm 11 and improving its rigidity.

[0031] The first arm 11 has been described above. Returning to the description of the base 10, as shown in FIG. Figure 2 and Figure 3 As shown, the first portion 21 is a cuboid having a rectangular mounting surface 210 and a wall extending upward from the outer edge of the mounting surface 210. The wall also has a front surface 211, a rear surface 212 opposing the front surface 211, and a pair of side surfaces 213 and 214. Similarly, the second portion 22 is a cuboid having a rectangular upper surface 220, which is formed with the insertion hole 201 and the mounting portion 202 and constitutes the upper end of the base 10, and a wall extending downward from the upper surface 220. The wall also has a front surface 221, a rear surface 222 opposing the front surface 221, and a pair of side surfaces 223 and 224.

[0032] The front surfaces 211 and 221 are coplanar and comprise a continuous, stepless surface. The side surfaces 213 and 223 are also coplanar and comprise a continuous, stepless surface. Furthermore, the side surfaces 214 and 224 are also coplanar and comprise a continuous, stepless surface. In contrast to these three surfaces (the front surface and the side surfaces), the back surfaces 212 and 222 are not coplanar, with a step formed between them. Specifically, the back surface 222 of the second portion 22 is located rearward of the back surface 212 of the first portion 21. The lower surface 225 of the second portion 22 is configured to connect the back surfaces 212 and 222. As described above, the housing 2 has a lower surface formed by the mounting surface 210; an upper surface formed by the upper surface 220; a front surface formed by the front surfaces 211 and 221; a rear surface formed by the rear surfaces 212 and 222 and the lower surface 225; one side surface formed by the side surfaces 213 and 223; and another side surface formed by the side surfaces 214 and 224. It can be said that the second portion 22 has a protrusion 229 protruding rearward from the first portion 21. It should be noted that within the housing 2, the first portion 21 and the second portion 22 are not separated, and their internal spaces are connected.

[0033] Thus, by configuring the second portion 22, which is the upper portion of the base 10, to have the protrusion 229 that protrudes rearward relative to the first portion 21, which is the lower portion, the mounting surface 210 can be kept small, while ensuring a larger space within the base 10. Therefore, a sufficient amount of component storage space can be ensured within the base 10, and the installation area of ​​the robot 1 can be reduced.

[0034] In addition, if Figure 2As shown, the first portion 21 includes a first base portion 216 having a first opening 212a formed on the back surface 212, i.e., the end portion in the direction in which the protrusion 229 protrudes, connecting the inside and outside of the first portion 21; and a first cover portion 217 fixed to the first base portion 216 to close the first opening 212a. Thus, the first cover portion 217 allows components to be placed within the housing 2 through the first opening 212a. This facilitates assembly of the robot 1. Furthermore, an inner wall portion 218 is formed within the first base portion 216, facing the first cover portion 217 when fixed to the back surface 212 of the first base portion 216. Furthermore, the first cover portion 217 includes a plate-shaped outer frame portion 217a fixed to the back surface 212 of the first base portion 216 and having an opening on its inside; and a plate-shaped cover body 217b fixed to the outer frame portion 217a to close the opening of the outer frame portion 217a. It should be noted that in this embodiment, the first base portion 216 and the outer frame portion 217a are fixed together by screw fastening, and the outer frame portion 217a and the cover body 217b are fixed together by screw fastening. However, these fixing methods are not particularly limited. For example, the inner wall portion 218 may be a separate component from the first base portion 216. However, a fixing method that allows for easy attachment and detachment, such as the screw fastening used in this embodiment, is preferred.

[0035] In addition, if Figure 2 As shown, three power / signal connectors 331 are disposed on the inner wall portion 218. These three power / signal connectors 331 are connected to various electronic devices within the robot 1, represented by motors 512, 522, 532, and 542, via cables 333. It should be noted that among the multiple cables 333, the cables 333 connected to the electronic devices disposed in the second arm 12 are routed from the base 10 through the conduit 14 into the second arm 12. This facilitates routing of the cables 333. However, the number of power / signal connectors 331 is not particularly limited.

[0036] In addition, if Figure 2 As shown, the robot 1 has two first cables 611 and 612 inserted through the cover body 217b. The first cables 611 and 612 each include a plurality of wirings. In addition, the first cable 611 mainly includes wirings for power supply of each electronic device, and the first cable 612 mainly includes wirings for sending and receiving signals with each electronic device. However, the number of first cables and the use of the wiring included in each first cable are not particularly limited. Such first cables 611 and 612 are respectively connected to three power / signal connectors 331 at one end thereof. In addition, although not shown in the figure, the first cables 611 and 612 are respectively connected to the control device 9 at the other end thereof. In addition, a first retaining portion 351 for retaining the first cable 611 and a second retaining portion 352 for retaining the first cable 612 are provided on the cover body 217b.

[0037] On the other hand, Figure 2 As shown, the second portion 22 includes a second base portion 226 having a second opening 222a formed across the back surface 222 and the top surface 220, connecting the inside and outside of the second portion 22; and a second cover portion 227 fixed to the second base portion 226 and closing the second opening 222a. The second cover portion 227 thus allows components to be placed within the housing 2 via the second opening 222a. This facilitates assembly of the robot 1. Furthermore, the second cover portion 227 includes a plate-shaped second cable connection portion 227a, formed in a right-angled L-shape, closing the portion of the second opening 222a on the back surface 222; and a plate-shaped duct connection portion 227b, closing the portion of the second opening 222a on the top surface 220. The second cables 621 and 622, described below, are connected to the second cable connection portion 227a, while the duct connection portion 227b is connected to the duct 14. In this embodiment, the second base portion 226 and the second cover portion 227 are fixed by screw fastening, but the fixing method is not particularly limited. However, a detachable fixing method such as the screw fastening used in this embodiment is preferred.

[0038] In addition, if Figure 3 As shown, four pipe connection connectors 311 are arranged on the second cable connection portion 227a of the second cover 227. These four pipe connection connectors 311 are connected to four user pipe connectors (not shown) arranged on the second arm 12 via air tubes 313. Figure 2 Although only a portion is shown in the figure, each air tube 313 is routed from the base 10 through the duct 14 to the second arm 12. This facilitates the routing of each air tube 313. However, the number of the pipe connection connectors 311 is not particularly limited.

[0039] In addition, if Figure 3 As shown, two cable connection connectors 321 are arranged on the second cable connection portion 227a of the second cover 227. The two cable connection connectors 321 are connected to two user cable connectors (not shown) arranged on the second arm 12 via cables 323. Figure 2 Although only a portion is shown in the figure, each cable 323 is routed from the base 10 through the duct 14 to the second arm 12. This facilitates routing of each cable 323. In this embodiment, one cable connection connector 321 is for a D-sub cable, and one cable connection connector 321 is for a LAN cable. However, the number and type of cable connection connectors 321 are not particularly limited.

[0040] In addition, if Figure 2As shown, the robot 1 has two second cables 621 and 622 that connect the two cable connection connectors 321 and the control device 9. Here, each of the first cables 611 and 612 is harder than each of the second cables 621 and 622. In other words, each of the first cables 611 and 612 is less likely to bend downward due to its own weight than each of the second cables 621 and 622. Thus, by placing the harder first cables 611 and 612 below the softer second cables 621 and 622, i.e., closer to the floor F, the first cables 611 and 612 can be positioned on the floor F at a portion closer to the base 10. Consequently, the stress on the first cover 217 from the first cables 611 and 612 can be reduced.

[0041] Here, as described above, in this embodiment, the second cover 227 holds the above-mentioned pipe connection connector 311 and cable connection connector 321, and also holds the pipe 14. Figure 2 As shown, the second cover 227, the pipe connection connector 311, the cable connection connector 321, the duct 14, the air tube 313 inserted into the duct 14 and connected at its base end to the pipe connection connector 311 and the cable connection connector 321, and the cable 323 can be formed into a single unit U. Therefore, by preparing this unit U in advance and attaching it to the housing 2 together, assembly of the robot 1 becomes easier. In particular, in this embodiment, at least a portion of the duct 14 overlaps with the protrusion 229 when viewed from above along the first rotation axis J1. This structure allows the duct 14 to be positioned closer to the back surface 222, thereby enabling a corresponding reduction in size and weight of the second cover 227. Consequently, the unit U can be reduced in size and weight, facilitating assembly of the robot 1. Furthermore, the first separation distance D1 can be increased, and accordingly, the second separation distance D2 can also be increased. This facilitates increasing the size of the first arm 11, and the resulting increase in rigidity of the first arm 11 can be achieved.

[0042] The base 10 has been described in detail above, but the structure of the base 10 is not particularly limited. Figure 4 As shown, the first cover 217 and the outer frame 217a may be formed integrally. According to such a structure, the first cover 217 and the second cover 227 can be fixed to the housing 2 at once, so that the assembly of the robot 1 becomes easy.

[0043] Control device 9

[0044] The control device 9 controls the driving of the motors 512, 522, 532, and 542 based on commands from a host computer (not shown). By independently controlling these components, the control device 9 enables the robot 1 to perform desired operations. The control device 9 is comprised of, for example, a computer having a processor for processing information, a memory communicatively connected to the processor, and an external interface. The memory also stores various programs executable by the processor, and the processor can read and execute the various programs stored in the memory.

[0045] The robot system 100 has been described above. The robot 1 included in this robot system 100 includes a base 10; a first arm 11 connected to the base 10 and capable of rotating relative to the base 10 about a first rotation axis J1; a second arm 12 connected to the first arm 11 and capable of rotating relative to the first arm 11 about a second rotation axis J2 parallel to the first rotation axis J1; a duct 14 located outside the first arm 11 and connecting the base 10 and the second arm 12; and a first arm drive mechanism 51 that rotates the first arm 11 relative to the base 10 about the first rotation axis J1. Furthermore, the base 10 includes a housing 2 that houses the first arm drive mechanism 51. The housing 2 includes a first portion 21 having a mounting surface 210 that is mounted on a floor F serving as a mounting surface; and a second portion 22 located between the first portion 21 and the first arm 11, having a protrusion 229 that protrudes relative to the first portion 21 in a direction perpendicular to the first rotation axis J1 and connected to the duct 14. According to this structure, the placement surface 210 can be kept small, and a large space can be ensured in the base 10. Therefore, a sufficient component storage space can be ensured in the base 10, and the installation area of ​​the robot 1 can be reduced.

[0046] Furthermore, as described above, in a reference posture in which the connection portion 140 of the duct 14 connected to the base 10, the first rotation axis J1, and the second rotation axis J2 are aligned in a straight line from the connection portion 140 side, a first spacing distance D1 between the first rotation axis J1 and the duct 14 is greater than a second spacing distance D2 between the first rotation axis J1 and the end portion of the first arm 11 on the duct 14 side, i.e., the base end portion 110. This configuration effectively prevents contact between the first arm 11 and the duct 14 in the reference posture, thereby ensuring a wider range of motion for the robot 1.

[0047] As described above, the first arm drive mechanism 51 includes a fixed portion 4 fixed to the housing 2. Furthermore, in the reference posture, the third spacing distance D3 between the first rotation axis J1 and the end of the fixed portion 4 on the pipe 14 side is smaller than the second spacing distance D2. This structure facilitates increasing the size of the first arm 11 and improving the rigidity of the first arm 11.

[0048] As described above, the first portion 21 includes a first base portion 216 having a first opening 212a formed on its back surface 212, which is the end portion in the direction in which the protrusion 229 projects; and a first cover portion 217 fixed to the first base portion 216 and covering the first opening 212a. Furthermore, the second portion 22 includes a second base portion 226 having a second opening 222a formed on its back surface 222, which is the end portion in the direction in which the protrusion 229 projects; and a second cover portion 227 fixed to the second base portion 226 and covering the second opening 222a. This structure allows components to be placed within the housing 2 via the first opening 212a and the second opening 222a. This facilitates assembly of the robot 1.

[0049] As described above, the duct 14 is connected to the second cover 227. With this structure, the second cover 227 and the duct 14 can be configured as one unit U. Therefore, by attaching the unit U to the housing 2, the robot 1 can be easily assembled.

[0050] As described above, the robot 1 includes the first cables 611 and 612 connected to the first cover 217 and the second cables 621 and 622 connected to the second cover 227. Furthermore, the first cables 611 and 612 are stiffer than the second cables 621 and 622. This configuration allows the first cables 611 and 612 to be positioned on the floor F at a portion closer to the base 10. Consequently, the stress on the first cover 217 from the first cables 611 and 612 can be reduced.

[0051] As described above, the first arm drive mechanism 51 includes a fixing portion 4 fixed to the housing 2. In the reference posture, the first separation distance D1 is greater than the second separation distance D2, and the third separation distance D3 is less than the second separation distance D2. Furthermore, the first portion 21 includes a first base portion 216 having a first opening 212a formed on its back surface 212, which is the end portion in the direction in which the protrusion 229 protrudes; and a first cover portion 217 fixed to the first base portion 216 and covering the first opening 212a. The second portion 22 includes a second base portion 226 having a second opening 222a formed on its back surface 222, which is the end portion in the direction in which the protrusion 229 protrudes, and across its top surface 220, which is the end portion on the first arm 11 side; and a second cover portion 227 fixed to the second base portion 226 and covering the second opening 222a. Furthermore, the duct 14 is connected to the second cover portion 227, and when viewed from above along the first rotation axis J1, the duct 14 overlaps with the protrusion 229. The robot 1 also includes first cables 611 and 612 connected to the first cover 217 and second cables 621 and 622 connected to the second cover 227. The first cables 611 and 612 are stiffer than the second cables 621 and 622. The second cover 227 also includes a second cable connection portion 227a that closes the opening of the back surface 222 at the end of the second opening 222a in the direction in which the protrusion 229 projects and connects the second cables 621 and 622. A duct connection portion 227b closes the opening of the top surface 220 at the end of the second opening 222a on the first arm 11 side and connects the duct 14. This structure effectively controls contact between the first arm 11 and the duct 14 in the reference posture, ensuring a wider range of motion for the robot 1. This also facilitates increasing the size of the first arm 11 and improving its rigidity. Furthermore, components can be placed within the housing 2 via the first and second openings 212a and 222a, simplifying assembly of the robot 1. Furthermore, the second cover 227 and the duct 14 can be configured as a single unit U, thereby facilitating assembly of the robot 1 . Furthermore, the first cover 217 can reduce stress received from the first cables 611 and 612 .

[0052] As previously described, the robot system 100 includes a robot 1 and a control device 9 for controlling the driving of the robot 1. The robot 1 includes a base 10; a first arm 11 connected to the base 10 and capable of rotating relative to the base 10 about a first rotation axis J1; a second arm 12 connected to the first arm 11 and capable of rotating relative to the first arm 11 about a second rotation axis J2 parallel to the first rotation axis J1; a duct 14 located outside the first arm 11 and connecting the base 10 and the second arm 12; and a first arm drive mechanism 51 for rotating the first arm 11 relative to the base 10 about the first rotation axis J1. The base 10 includes a housing 2 that houses the first arm drive mechanism 51. The housing 2 includes a first portion 21 having a mounting surface 210 that is mounted on a floor F serving as a mounting surface; and a second portion 22 located between the first portion 21 and the first arm 11, having a protrusion 229 that protrudes relative to the first portion 21 in a direction perpendicular to the first rotation axis J1 and connected to the duct 14. According to this structure, the placement surface 210 can be kept small, and a large space can be ensured in the base 10. Therefore, a sufficient component storage space can be ensured in the base 10, and the installation area of ​​the robot 1 can be reduced.

[0053] The robot and robot system of the present invention have been described above based on the illustrated embodiments, but the present invention is not limited thereto, and the structure of each part can be replaced with any structure having the same function. In addition, other arbitrary components can also be added to the present invention. For example, in the above embodiment, the robot 1 is a floor-standing horizontal multi-joint robot in which the base 10 is fixed to the floor, etc., but it can also be a suspended horizontal multi-joint robot in which the base 10 is suspended from the ceiling. In this case, the base 10 is suspended on a top plate located on the upper part of a stand having a frame-shaped leg, for example.

Claims

1. A robot, characterized in that: have: base; a first arm connected to the base and rotating relative to the base around a first rotation axis; a second arm connected to the first arm and rotating relative to the first arm about a second rotation axis parallel to the first rotation axis; a pipe, located outside the first arm, connecting the base and the second arm; as well as a first arm driving mechanism, causing the first arm to rotate relative to the base around the first rotation axis; The base has a housing that houses the first arm driving mechanism. The housing includes: a first portion having a placement surface placed on a placement surface; and a second portion located between the first portion and the first arm, having a protrusion protruding in a direction perpendicular to the first rotation axis relative to the first portion and connected to the pipe.

2. The robot according to claim 1, characterized in that In a reference posture in which the connecting portion of the pipe connected to the base, the first rotating axis, and the second rotating axis are arranged in a straight line in sequence from the connecting portion side, a first spacing distance between the first rotating axis and the pipe is greater than a second spacing distance between the first rotating axis and the end of the first arm on the pipe side.

3. The robot according to claim 2, characterized in that The first arm driving mechanism has a fixing portion fixed to the housing. In the reference posture, a third spacing distance between the first rotation axis and the end portion of the fixing portion on the pipe side is smaller than the second spacing distance.

4. The robot according to claim 1, characterized in that The first portion includes: a first base portion having a first opening formed at an end portion in a protruding direction of the protruding portion; and a first cover portion fixed to the first base portion and covering the first opening. The second portion has: a second base portion having a second opening formed at an end portion in a protruding direction of the protruding portion; and a second cover portion fixed to the second base portion and covering the second opening.

5. The robot according to claim 4, characterized in that The pipe is connected to the second cover portion.

6. The robot according to claim 4, characterized in that The robot has: a first cable connected to the first cover; and a second cable connected to the second cover portion, The first cable is stiffer than the second cable.

7. The robot according to claim 1, characterized in that The first arm driving mechanism has a fixing portion fixed to the housing. In a reference posture in which the connection portion of the pipe connected to the base, the first rotation axis, and the second rotation axis are arranged in a straight line from the connection portion side, a first spacing distance between the first rotation axis and the pipe is greater than a second spacing distance between the first rotation axis and the end portion of the first arm on the pipe side, and a third spacing distance between the first rotation axis and the end portion of the fixed portion on the pipe side is less than the second spacing distance. The first portion includes: a first base portion having a first opening formed at an end portion in a protruding direction of the protruding portion; and a first cover portion fixed to the first base portion and covering the first opening, The second portion includes: a second base portion having a second opening formed across an end portion in a protruding direction of the protruding portion and an end portion on the first arm side; and a second cover portion fixed to the second base portion and covering the second opening, The duct is connected to the second cover portion, and when viewed from above along the first rotation axis, the duct overlaps with the protrusion. The robot comprises: a first cable connected to the first cover; and a second cable connected to the second cover, the first cable being harder than the second cable, The second cover has: a second cable connection portion that blocks the portion of the second opening opened at the end in the protruding direction of the protruding portion and is connected to the second cable; and a pipe connection portion that blocks the portion of the second opening opened at the end on the first arm side and is connected to the pipe.

8. A robot system, characterized in that: have: Robots; and A control device controls the driving of the robot, The robot has: base; a first arm connected to the base and rotating relative to the base around a first rotation axis; a second arm connected to the first arm and rotating relative to the first arm about a second rotation axis parallel to the first rotation axis; a pipe, located outside the first arm, connecting the base and the second arm; as well as a first arm driving mechanism, causing the first arm to rotate relative to the base around the first rotation axis; The base has a housing that houses the first arm driving mechanism. The housing includes: a first portion having a placement surface placed on a placement surface; and a second portion located between the first portion and the first arm, having a protrusion protruding in a direction perpendicular to the first rotation axis relative to the first portion and connected to the pipe.

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