Vertical multi-joint robots and robot systems

Abstract

This application provides a vertical multi-joint robot and robot system that can improve detection accuracy. The vertical multi-joint robot includes: a base; a first drive mechanism connected to the base; a first arm (221) connected to the first drive mechanism and rotating about a rotation axis; a second drive mechanism connected to the first arm (221); a second arm connected to the second drive mechanism; and a motor (700) driving the second arm. The first arm (221) has: a first housing (300) connected to the first drive mechanism; a second housing (400) fixed to the first housing (300) and connected to the second drive mechanism; an inertial sensor module (600) fixed to the first housing (300) to detect at least one of the acceleration and angular velocity of the first arm (221); and the motor (700) fixed to the second housing (400) or the second arm.

Description

Technical Field

[0001] This invention relates to vertical multi-joint robots and robot systems. Background Technology

[0002] Patent document 1 discloses the configuration of a robot in which a first angular velocity sensor, functioning as an inertial sensor, is mounted on the first arm. Specifically, the inertial sensor is fixed in a housing connected to a motor and joints.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2014-205198 The technical problem that the invention aims to solve However, in the configuration described in Patent Document 1, since the inertial sensor is fixed to a housing connected to a motor or the like, there is a technical problem that vibrations from the motor or the like are easily transmitted to the inertial sensor, leading to a decrease in detection accuracy. Summary of the Invention

[0004] A vertical multi-joint robot includes: a root component; a first joint connected to the root component; an arm connected to the first joint and rotating about a first rotation axis; a second joint connected to the arm; a front end component connected to the second joint; and a motor driving the front end component. The arm has: a first housing connected to the first joint; a second housing fixed to the first housing and connected to the second joint; and an inertial sensor fixed to the first housing for detecting at least one of the arm's acceleration and angular velocity. The motor is fixed to the second housing or the front end component.

[0005] A robot system comprising: the vertical multi-joint robot described above; and a control device for performing computational processing of the inertial sensors. Attached Figure Description

[0006] Figure 1 This is a schematic diagram showing the structure of a robot system.

[0007] Figure 2 This is a three-dimensional diagram showing the structure of a vertical multi-joint robot.

[0008] Figure 3 It is shown in magnification Figure 2 The diagram shows a three-dimensional view of part A of the vertical multi-joint robot.

[0009] Figure 4 This is an exploded perspective view showing the structure of the first arm.

[0010] Figure 5 This is an exploded perspective view showing the structure of the first shell.

[0011] Figure 6 This is a three-dimensional view showing the internal structure of the first arm.

[0012] Figure 7 This is a top view showing the configuration of the first arm.

[0013] Figure 8 This is a three-dimensional diagram showing the structure of the first arm.

[0014] Figure 9 This is a three-dimensional diagram showing the structure of the first arm.

[0015] Figure 10 This is a side view showing the configuration of the first arm.

[0016] Figure 11 This is a side view showing the configuration of the first arm.

[0017] Figure 12 This is a side view showing the configuration of the first arm.

[0018] Figure 13 This is a side view showing the configuration of the first arm.

[0019] Explanation of reference numerals in the attached figures 1: Vertical multi-joint robot; 2: Robot body; 10: Controller as control device; 21: Base as root component; 22: Robotic arm; 24: End effector; 221: First arm as arm; 222: Second arm as front-end component; 223: Third arm; 224: Fourth arm; 225: Fifth arm; 226: Sixth arm; 231: First drive mechanism as first joint; 231a: Flange; 232: Second drive mechanism as second joint; 233: Third drive mechanism; 234: Fourth drive mechanism; 235: Fifth drive mechanism; 236: Sixth drive mechanism. 300: First housing; 310: First part; 310a: Protrusion; 311: First opening; 312: Rib; 313: Screw hole; 320: Second part; 320a: Substrate; 321: Fixing screw as bolt; 322: Support; 400: Second housing; 410: Cover; 420: Cover support; 421: Second opening; 500: Support; 510: First support; 520: Second support; 530: Belt; 600: Inertial sensor module; 610: Sensor substrate; 620: Cover; 630: Cable; 700: Motor; 1000: Robot system. Detailed Implementation

[0020] The following description, with reference to the accompanying drawings, explains the configuration of the vertical multi-joint robot 1 and the robot system 1000. In the following figures, three mutually orthogonal axes are referred to as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is designated as the "X-direction," the direction along the Y-axis as the "Y-direction," and the direction along the Z-axis as the "Z-direction." The direction of the arrow is the "+" direction, and the direction opposite to the "+" direction is designated as the "-" direction. It should be noted that viewing from the +Z or -Z direction is also referred to as a top-down view or a top-down perspective.

[0021] First, refer to Figure 1 and Figure 2 The composition of robot system 1000 is explained.

[0022] like Figure 1 and Figure 2 As shown, the robot system 1000 has a robot body 2 as a vertical multi-joint robot 1 and a controller 10 as a control device for controlling the drive of the robot body 2.

[0023] The vertical joint robot 1 is, for example, a 6-axis robot with 6 drive axes. The vertical joint robot 1 has: a base 21, which serves as a root component fixed to the ground; and a robotic arm 22, which is connected to the base 21.

[0024] The robotic arm 22 has a first arm 221 as an arm, a second arm 222 as a front end component, a third arm 223, a fourth arm 224, a fifth arm 225, and a sixth arm 226.

[0025] The first arm 221 is connected to the base 21 via a first drive mechanism 231, which serves as a first joint. The first arm 221 rotates relative to the base 21 about a rotation axis J1, which serves as a first rotation axis. The first arm 221 is connected to the second arm 222 via a second drive mechanism 232, which serves as a second joint. The second arm 222 rotates relative to the first arm 221 about a rotation axis J2.

[0026] The third arm 223 is connected to the second arm 222 and rotates relative to the second arm 222 about a rotation axis J3. The fourth arm 224 is connected to the third arm 223 and rotates relative to the third arm 223 about a rotation axis J4. The fifth arm 225 is connected to the fourth arm 224 and rotates relative to the fourth arm 224 about a rotation axis J5. The sixth arm 226 is connected to the fifth arm 225 and rotates relative to the fifth arm 225 about a rotation axis J6. An end effector 24 is connected to the front end of the sixth arm 226.

[0027] The robot body 2 has a first drive mechanism 231, a second drive mechanism 232, a third drive mechanism 233, a fourth drive mechanism 234, a fifth drive mechanism 235, and a sixth drive mechanism 236.

[0028] The first drive mechanism 231 causes the first arm 221 to rotate about the rotation axis J1 relative to the base 21. The second drive mechanism 232 causes the second arm 222 to rotate about the rotation axis J2 relative to the first arm 221. The third drive mechanism 233 causes the third arm 223 to rotate about the rotation axis J3 relative to the second arm 222. The fourth drive mechanism 234 causes the fourth arm 224 to rotate about the rotation axis J4 relative to the third arm 223. The fifth drive mechanism 235 causes the fifth arm 225 to rotate about the rotation axis J5 relative to the fourth arm 224. The sixth drive mechanism 236 causes the sixth arm 226 to rotate about the rotation axis J6 relative to the fifth arm 225.

[0029] The first drive mechanism 231 has a pulley, which is disposed within a hollow reducer and the hollow input shaft of the reducer. The pulley is connected to a motor mounted on a base via a belt. The center of the input shaft of the reducer is hollow. A sleeve passes through its hollow portion, protecting the cable 630 from contact with the reducer. The cable 630, described later, passes through the sleeve in the hollow portion and enters the interior of the first arm 221 from inside the base 21.

[0030] The controller 10 independently controls the drive mechanisms 231-236, enabling the robot body 2 to perform prescribed tasks. For example, the controller 10 is composed of a computer, having a processor for processing information, a memory communicatively connected to the processor, and an external interface. The memory stores various programs that can be executed by the processor. The processor can read and execute the various programs stored in the memory. Furthermore, the controller 10 controls the computational processing of the inertial sensor module 600, which will be described later.

[0031] Next, refer to Figure 3 and Figure 4 The structure of the first arm 221 will be explained.

[0032] like Figure 3 and Figure 4 As shown, the first arm 221 is connected to the base 21 via the first drive mechanism 231. As described above, the first arm 221 rotates about the rotation axis J1.

[0033] like Figure 4 As shown, the first arm 221 has a first housing 300 and a second housing 400.

[0034] The first housing 300 is plate-shaped and connected to the first drive mechanism 231, extending in a direction intersecting the rotation axis J1; in this embodiment, it extends in a direction orthogonal to the rotation axis J1. For example, the first housing 300 is fixed to the second housing 400 using pins, fixing screws, etc. The second housing 400 is connected to the second drive mechanism 232.

[0035] The second housing 400 is placed above the plate-shaped first housing 300 and extends toward the second arm 222, which serves as the front end member. In this embodiment, it has an upwardly extending support portion 500. It should be noted that in this embodiment, the second housing 400 has an internal space for accommodating the motor 700.

[0036] The first housing 300 is fixed with a sensor substrate 610. The inertial sensor module 600 detects at least one of the acceleration and angular velocity of the first arm 221. The second housing 400 has a rotation shaft J2 in the support portion 500 and a motor 700 for driving the second arm 222 is fixed thereon. The motor 700 is arranged in the second housing 400 with its rotation axis parallel to the rotation shaft J2. It should be noted that the motor 700 is not limited to being fixed to the second housing 400, but can also be fixed to the second arm 222.

[0037] The inertial sensor module 600 includes: a sensor substrate 610; and an angular velocity sensor 611 mounted on the sensor substrate 610, serving as an inertial sensor for detecting the angular velocity of the first arm 221 about the vertical axis. It should be noted that in this embodiment, the inertial sensor is suspended from the sensor substrate 610, thus being mounted on the sensor substrate 610.

[0038] Furthermore, the angular velocity sensor 611 includes a housing, and an angular velocity sensor element and circuit elements housed within the housing. For example, the angular velocity sensor element is a crystal oscillator. The angular velocity sensor element includes: a drive arm that drives vibration by applying a drive signal; and a detection arm that detects the vibration by the Coriolis force generated due to the applied angular velocity and outputs a signal corresponding to its magnitude. Additionally, the circuit elements include, for example, a drive circuit that applies a drive signal to vibrate the drive arm of the crystal oscillator; and a detection circuit that detects the angular velocity based on the signal from the detection arm.

[0039] The inertial sensor module 600, configured on the first arm 221, acquires vibration data around the periphery of the first arm 221. Specifically, it acquires vibration data in the direction of rotation around the rotation axis J1, thereby suppressing the vibration of the first arm 221 based on the vibration data. It should be noted that the inertial sensor module 600 is not limited to being configured on the first arm 221, but can also be configured on other arms.

[0040] Furthermore, a control circuit is formed on the sensor substrate 610. The control circuit controls the driving of the angular velocity sensor 611 based on instructions from the controller 10. The control circuit includes a CPU (Central Processing Unit) and ROM (Read Only Memory). The CPU reads and executes the programs and data stored in the ROM to achieve the above functions. The control circuit acquires signals from the angular velocity sensor 611 and sends them to the controller 10.

[0041] As an inertial sensor, it can be, for example, an accelerometer that detects acceleration along at least one of the X-axis and Y-axis, or a composite sensor that detects both acceleration and angular velocity. When the inertial sensor is a composite sensor, the inertial sensor module 600 can be an IMU (Inertial Measurement Unit). Furthermore, in this embodiment, the angular velocity sensor element is a crystal oscillator, but it is not limited to this; for example, it can also be a silicon-based MEMS that detects angular velocity based on the change in capacitance between a movable electrode and a fixed electrode.

[0042] It should be noted that when using the IMU as an inertial sensor module 600, a horizontal setting is required, but by configuring it in the first housing 300, a horizontal position can be ensured, thus enabling it to be effectively used for detection.

[0043] Thus, the inertial sensor module 600 is fixed to the first housing 300, and the motor 700 is fixed to the second housing 400 or the second arm 222. Therefore, the inertial sensor module 600 and the motor 700, which serves as the vibration source, are not fixed to the same housing. This prevents the vibration of the motor 700 from being directly transmitted to the inertial sensor module 600, thereby suppressing the influence of vibration. Consequently, the detection accuracy of the inertial sensor module 600 can be improved.

[0044] Next, refer to Figure 5 The structure of the first housing 300 will be described.

[0045] like Figure 5 As shown, the first housing 300 has a first portion 310 disposed on the side of the second housing 400; in other words, it has a first portion 310 connected to the second housing 400. Additionally, the first housing 300 has a second portion 320 that supports the inertial sensor module 600.

[0046] The first portion 310 is provided with a first opening 311 through which the sensor substrate 610 of the inertial sensor module 600 passes; in other words, a first opening 311 is provided for the sensor substrate 610 to be embedded. Around the first opening 311, ribs 312 are disposed to improve the rigidity of the first portion 310, especially around the first opening 311.

[0047] The rib 312 is provided with screw holes 313 for fixing the first part 310 and the second part 320. The second part 320 is provided with a fixing screw 321 as a bolt for fastening the screw to the screw hole 313. The second part 320 is fixed to the first part 310 using the screw hole 313 and the fixing screw 321, and the sensor substrate 610 of the second part 320 is disposed in the first opening hole 311 of the first part 310.

[0048] In the second part 320, support pillars 322 are respectively arranged at the four corners of the sensor substrate 610. Specifically, the support pillars 322 are arranged between the sensor substrate 610 and the substrate 320a. That is, the sensor substrate 610 is arranged at a position that extends upward from the substrate 320a, i.e., away from the support pillars 322 in the +Z direction.

[0049] Thus, ribs 312 are provided around the first opening 311, thereby improving the rigidity around the first opening 311. Furthermore, the first portion 310 and the second portion 320 are each separately separated, with the inertial sensor module 600 fixed in the second portion 320, thus suppressing the direct transmission of vibrations from the vibration source to the inertial sensor module 600. Further, the sensor substrate 610 is positioned separately from the substrate 320a by four support pillars 322, thereby suppressing vibrations transmitted to the inertial sensor module 600.

[0050] Next, refer to Figure 6 The internal structure of the first arm 221 will be described.

[0051] like Figure 6 As shown, the first arm 221 has a first housing 300 and a second housing 400. As described above, the first housing 300 has a first portion 310 and a second portion 320 disposed in a first opening 311 of the first portion 310.

[0052] In the second part 320, an inertial sensor module 600 is fixed below the sensor substrate 610 with the angular velocity sensor 611 positioned below it. A cover 620 is disposed above the sensor substrate 610 to cover it.

[0053] Inside the robot body 2, specifically, for example, inside the base 21 and across the first arm 221, there are cables 630 such as power lines and signal lines. The cover 620 is provided to prevent the cables 630 from contacting the sensor substrate 610 when the cables are moved along with the robot body 2.

[0054] Therefore, by providing a cover 620 to cover the sensor substrate 610, contact between the cables 630 and other components disposed around the sensor substrate 610, i.e., the inertial sensor module 600, and especially the angular velocity sensor 611, can be prevented. This improves the detection accuracy of the inertial sensor module 600. Furthermore, since the inertial sensor module 600 is fixed with the angular velocity sensor 611 positioned lower than the sensor substrate 610, contact between the cables 630 and other components and the angular velocity sensor 611 can be prevented.

[0055] Next, refer to Figures 7-11 The structure of the first arm 221 will be explained. Figure 7 This is a top view of the first arm 221, including the perspective portion, viewed from the top surface. Figure 8 and Figure 9 This is a perspective view showing the first arm 221, mainly showing the internal structure of the support 500. Figure 10 and Figure 11 This is a cross-sectional view showing the first arm 221, and mainly showing the internal structure of the first housing 300 and the second housing 400.

[0056] like Figure 8 and Figure 9 As shown, the first arm 221 has a first housing 300 and a second housing 400. The second housing 400 has a support portion 500, and the support portion 500 has two support portions 510 and 520 (see reference) such that it clamps the first housing 300 and the second housing 400. Figure 3 A motor 700 for driving the second arm 222 is disposed inside the second housing 400.

[0057] As described above, the first arm 221 and the second drive mechanism 232 (see reference) Figure 2 The second drive mechanism 232 has a pulley located on the reducer and the input shaft of the reducer. The pulley of the second drive mechanism 232 is connected to the motor 700 via belt 530 (see reference). Figure 3 Connection. Belt 530 is configured in support 500.

[0058] Thus, although vibration is easily generated when the second drive mechanism 232 is connected to the motor 700 via the belt 530, the vibration transmission to the inertial sensor module 600 can be suppressed because the inertial sensor module 600 is fixed to the first housing 300 and the inertial sensor module 600 is not directly connected to the vibration source (the motor 700 and the belt 530 that become the vibration source).

[0059] like Figure 7 , Figure 10 and Figure 11 As shown, the first arm 221 has a first housing 300 and a second housing 400. The first arm 221 is connected to the base 21 via a first drive mechanism 231. As described above, the first drive mechanism 231 causes the first arm 221 to rotate relative to the base 21 about a rotation axis J1.

[0060] Inside the second housing 400, the motor 700 is mounted on the shaft of the rotation shaft J1. Because the motor 700 is mounted on the shaft of the rotation shaft J1, the effect of the motor 700's inertia, i.e., its moment of inertia, is reduced when rotating around the rotation shaft J1. Therefore, vibration transmission to the inertial sensor module 600 can be suppressed.

[0061] The first arm 221 has two support portions 500, specifically, a first support portion 510 and a second support portion 520. For example... Figure 7 As shown, in a top-down view, the inertial sensor module 600 and the sensor substrate 610 are disposed on the first support portion 510 and the second support portion 520 (see reference). Figure 3 )between.

[0062] Specifically, such as Figure 5 and Figure 7 As shown, the first housing 300 protrudes outwards from the portion overlapping with the first drive mechanism 231 when viewed from above, specifically having a protrusion 310a protruding in the +X direction. The inertial sensor module 600 and sensor substrate 610 are disposed on the protrusion 310a. That is, the inertial sensor module 600 is configured not to overlap with the motor 700 and the two support portions 500 in the vertical, horizontal, and lateral directions, i.e., in the X, Y, and Z directions. In other words, the inertial sensor module 600 is not positioned directly below the vibration source, i.e., the motor 700.

[0063] Thus, since the inertial sensor module 600 is disposed between the two support portions 510 and 520 and the protrusion 310a of the first housing 300, the inertial sensor module 600 can be separated from the vibration source, specifically from the motor 700, belt 530, etc., thereby suppressing the transmission of vibration to the inertial sensor module 600.

[0064] In addition, such as Figure 9 and Figure 11 As shown, the first arm 221 is connected to the first drive mechanism 231. The first housing 300 has a cylindrical flange 231a extending along the rotation axis J1. In other words, the first housing 300 has the flange 231a between the first housing 300 and the base 21. The flange 231a is connected to the output side of the hollow reducer of the first drive mechanism 231 disposed on the base 21.

[0065] Thus, since the first housing 300 is connected to the base 21 via the flange portion 231a, it can be aligned with the length H1 of the flange portion 231a (refer to...). Figure 11 The amount of [something] separates the first housing 300 from the base 21. Therefore, it is possible to suppress interference between the first housing 300 and the base 21, thereby suppressing the transmission of noise caused by interference to the inertial sensor module 600.

[0066] Next, refer to Figure 12 and Figure 13 The maintenance methods for the inertial sensor module 600 and the sensor substrate 610 are explained.

[0067] like Figure 12 As shown, the first arm 221 has a first housing 300 and a second housing 400. The second housing 400, when viewed from above, has a cover 410 disposed on the side of the sensor substrate 610 opposite to the second portion, at least in the portion overlapping with the sensor substrate 610. The cover 410 is detachably mounted via screws or other fasteners.

[0068] like Figure 13 As shown, the second housing 400 has a cover support portion 420 with a second opening 421 disposed below the cover 410. The second opening 421 is located in the area that overlaps with the inertial sensor module 600 and the sensor substrate 610 when viewed from above.

[0069] Thus, because the first arm 221 is provided with a second opening 421, the inertial sensor module 600 and sensor substrate 610 can be maintained from the outside without disassembling the first arm 221, that is, without disassembling the first housing 300 and the second housing 400. In addition, when not being maintained, the second opening 421 is blocked by the cover 410, thereby suppressing the reduction of rigidity and preventing the intrusion of foreign objects.

[0070] As described above, the vertical multi-joint robot 1 of this embodiment includes: a base 21; a first drive mechanism 231 connected to the base 21; a first arm 221 connected to the first drive mechanism 231 and rotating about a rotation axis J1; a second drive mechanism 232 connected to the first arm 221; a second arm 222 connected to the second drive mechanism 232; and a motor 700 driving the second arm 222. The first arm 221 has: a first housing 300 connected to the first drive mechanism 231; a second housing 400 fixed to the first housing 300 and connected to the second drive mechanism 232; and an inertial sensor module 600 fixed to the first housing 300 to detect at least one of the acceleration and angular velocity of the first arm 221. The motor 700 is fixed to the second housing 400 or the second arm 222.

[0071] With this configuration, since the inertial sensor module 600 is fixed to the first housing 300 and the motor 700 is fixed to the second housing 400 or the second arm 222, the inertial sensor module 600 and the motor 700, which serves as the vibration source, are not fixed to the same housing. Therefore, the vibration of the motor 700 can be suppressed from being directly transmitted to the inertial sensor module 600, thereby suppressing the influence of vibration. This improves the detection accuracy of the inertial sensor module 600.

[0072] Furthermore, by decomposing the first arm 221 into a first housing 300 and a second housing 400, vibrations transmitted to the inertial sensor module 600 can be suppressed. Therefore, vibration suppression components such as anti-vibration rubber are not required between the first housing 300 and the second housing 400, thus simplifying the configuration. It should be noted that anti-vibration rubber or similar components can also be configured between the first housing 300 and the second housing 400.

[0073] Furthermore, in the vertical joint robot 1 of this embodiment, the second drive mechanism 232 and the motor 700 are preferably connected via a belt 530. With this configuration, although connecting the second drive mechanism 232 and the motor 700 via the belt 530 may easily cause vibration, since the inertial sensor module 600 is fixed to the first housing 300 and is not directly connected to the vibration source, vibration transmission to the inertial sensor module 600 can be suppressed.

[0074] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the first housing 300 has: a first portion 310 connected to the second housing 400; and a second portion 320 on which the inertial sensor module 600 is fixed. With this configuration, the first housing 300 is divided into the first portion 310 and the second portion 320, and the inertial sensor module 600 is disposed in the second portion 320. Therefore, the direct transmission of vibrations from the vibration source can be further suppressed, thereby improving the detection accuracy of the inertial sensor module 600.

[0075] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the first part 310 is provided with a first opening 311 for embedding the sensor substrate 610, and ribs 312 are provided around the first opening 311. The second part 320 is fixed to the first part 310 by inserting a fixing screw 321 fixed to the second part 320 into a screw hole 313 provided in the rib 312. With this configuration, because ribs 312 are provided around the first opening 311, the rigidity around the first opening 311 can be improved, thereby making it difficult to transmit vibrations. In addition, the first part 310 and the second part 320 are separated by fixing screws 321, which can suppress the transmission of vibrations from the vibration source to the inertial sensor module 600.

[0076] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that a cover 620 covering the sensor substrate 610 is disposed on the sensor substrate 610. With this configuration, because the cover 620 is provided, it is possible to prevent cables 630 and the like disposed around the sensor substrate 610 from contacting the sensor substrate 610, and specifically, the inertial sensor module 600. Therefore, the detection accuracy of the inertial sensor module 600 can be improved.

[0077] Furthermore, in the vertical joint robot 1 of this embodiment, preferably, the motor 700 is disposed on the shaft of the rotation axis J1 of the first drive mechanism 231. With this configuration, since the motor 700 is disposed on the shaft of the rotation axis J1, the moment of inertia, i.e., the torque of inertia, of the motor 700 can be reduced when rotating around the rotation axis J1. Therefore, vibration transmission to the inertial sensor module 600 can be suppressed.

[0078] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the second housing 400 has two support portions 500 supporting the second arm 222, and the inertial sensor module 600 is disposed between the two support portions 500. With this configuration, because the inertial sensor module 600 is disposed between the two support portions 500, it is possible to suppress the transmission of vibrations from the second arm 222 to the support portions 500 to the inertial sensor module 600.

[0079] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the first housing 300 has a protrusion 310a that protrudes outward from the portion overlapping with the first drive mechanism 231 when viewed from above, and the inertial sensor module 600 is disposed on the protrusion 310a. With this configuration, because the inertial sensor module 600 is disposed on the protrusion 310a of the first housing 300, the inertial sensor module 600 can be separated from vibration sources, specifically, from the motor 700, belt 530, etc., thereby suppressing the transmission of vibration to the inertial sensor module 600.

[0080] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the first housing 300 has a cylindrical flange portion 231a, which is connected to a first drive mechanism 231, which serves as the first joint, disposed on the base 21. With this configuration, since the first housing 300 is connected to the base 21 via the flange portion 231a, the first housing 300 and the base 21 can be separated according to the length of the flange portion 231a. Therefore, interference from the base 21 to the inertial sensor module 600 disposed on the first housing 300 can be suppressed, thereby suppressing noise transmission to the inertial sensor module 600.

[0081] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the portion of the first arm 221 that overlaps with the inertial sensor module 600 when viewed from above is provided with a second opening 421. With this configuration, because the first arm 221 is provided with the second opening 421, the inertial sensor module 600 can be maintained from the outside without disassembling the first arm 221, i.e., without disassembling the first housing 300 or the second housing 400.

[0082] Furthermore, the robot system 1000 of this embodiment includes the vertical joint robot 1 described above and a controller 10 that performs computational processing on the inertial sensor module 600. With this configuration, a robot system 1000 can be provided that improves the detection accuracy of the inertial sensor module 600.

[0083] Hereinafter, variations of the above-described embodiments will be described.

[0084] As described above, the base 21 is a component corresponding to the root component, the first arm 221 is a component corresponding to the arm, and the second arm 222 is a component corresponding to the front end component, but this is not limited to these, and the following combinations are also possible. Furthermore, the second housing 400 is not limited to the position corresponding to the motor 700; it could also be the second arm 222. It should be noted that the combination of the above embodiments is considered the first combination.

[0085] Specifically, in the second configuration, the first arm 221 corresponds to the root component, the second arm 222 corresponds to the arm component, and the third arm 223 corresponds to the front end component. The second housing of the second arm 222 can also be a location corresponding to the placement of the motor 700. It should be noted that the placement of the motor 700 can also be the third arm 223.

[0086] The third assembly consists of the second arm 222 corresponding to the root component, the third arm 223 corresponding to the arm, and the fourth arm 224 corresponding to the front component. The second housing of the third arm 223 can also be a location corresponding to the placement of the motor 700. It should be noted that the placement of the motor 700 can also be the fourth arm 224.

[0087] The fourth arrangement is as follows: the third arm 223 corresponds to the root component, the fourth arm 224 corresponds to the arm, and the fifth arm 225 corresponds to the front end component. The second housing of the fourth arm 224 can also be a part corresponding to the placement of the motor 700. It should be noted that the placement of the motor 700 can also be the fifth arm 225.

[0088] The fifth assembly consists of the fourth arm 224 corresponding to the root component, the fifth arm 225 corresponding to the arm, and the sixth arm 226 corresponding to the front end component. The second housing of the fifth arm 225 can also be a location corresponding to the placement of the motor 700. It should be noted that the placement of the motor 700 can also be the sixth arm 226.

Claims

1. A vertical multi-joint robot, characterized in that, have: Root components; The first joint is connected to the root component; An arm, connected to the first joint, rotates about the first rotation axis; The second joint is connected to the arm; The front end component is connected to the second joint; as well as The motor drives the front-end component. The arm has: A first housing is connected to the first joint; The second housing is fixed to the first housing and connected to the second joint; as well as An inertial sensor, fixed to the first housing, detects at least one of the arm's acceleration and angular velocity. The motor is fixed to the second housing or the front end component.

2. The vertical multi-joint robot according to claim 1, characterized in that, The second joint is connected to the motor via a belt.

3. The vertical multi-joint robot according to claim 1, characterized in that, The first housing has: The first part is connected to the second housing; and The second part is equipped with the inertial sensor.

4. The vertical multi-joint robot according to claim 3, characterized in that, The first part has a first opening hole for embedding the sensor substrate. Ribs are provided around the first opening. The second part is fixed to the first part by inserting a bolt fixed to the second part into a screw hole provided in the rib.

5. The vertical multi-joint robot according to claim 3, characterized in that, A cover is disposed on the sensor substrate to cover the sensor substrate.

6. The vertical multi-joint robot according to claim 1, characterized in that, The motor is mounted on the shaft of the first rotating shaft of the first joint.

7. The vertical multi-joint robot according to claim 1, characterized in that, The second housing has two support portions that support the front end component. The inertial sensor is disposed between the two support portions.

8. The vertical multi-joint robot according to claim 1, characterized in that, The first housing has a protrusion that extends outwards from the portion overlapping the first joint when viewed from above. The inertial sensor is disposed on the protrusion.

9. The vertical multi-joint robot according to claim 1, characterized in that, The first housing has a cylindrical flange extending along the first rotation axis, the flange being connected to the first joint disposed on the root component.

10. The vertical multi-joint robot according to claim 1, characterized in that, The portion of the arm that overlaps with the inertial sensor when viewed from above has a second opening.

11. A robot system, characterized in that, have: The vertical multi-joint robot according to any one of claims 1 to 10; and The control device performs computational processing on the inertial sensor.

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