robot

Abstract

This invention provides a robot capable of easily adjusting the tension of an annular component constituting a power transmission section. The robot includes: a plurality of arms rotatably connected; a motor driving the arms to rotate; a power transmission section having a first rotational transmission member, a second rotational transmission member, and a first annular component surrounding the first and second rotational transmission members, disposed in a power transmission path from the motor to the arms, transmitting the rotational driving force of the motor; and a first adjustment section adjusting the axial distance between a first rotational axis of the first rotational transmission member and a second rotational axis of the second rotational transmission member, thereby adjusting the tension of the first annular component. The arms have an arm base housing the motor, the first rotational transmission member, the second rotational transmission member, and the first annular component, and the first adjustment section is disposed outside the arm base.

Description

Technical Field

[0001] This invention relates to robots. Background Technology

[0002] In recent years, due to rising labor costs and a shortage of skilled workers, factories have adopted robots with robotic arms to perform tasks such as handling, manufacturing, processing, and assembly of goods, thus automating manual tasks.

[0003] For example, Patent Document 1 discloses a robot that transmits the rotational driving force of a motor to an arm by means of a pulley / belt mechanism in which a belt is wound around a pair of pulleys. In this robot, the belt tension is adjusted by pressing a tensioner onto the portion of the belt between the pair of pulleys, thereby adjusting the degree of belt deflection. The tensioner is disposed inside the arm together with the pulley / belt mechanism.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2006-305637

[0005] However, in a winding transmission device such as a pulley / belt mechanism where a pair of rotating transmission components are wrapped with a ring-shaped component, and the tension adjustment part of the ring-shaped component is located inside the arm, operating the adjustment part is time-consuming. Summary of the Invention

[0006] The robot described in the application example of the present invention comprises: a plurality of arms connected in a rotatable manner; a motor for rotating the arms; a power transmission unit having a first rotation transmission member, a second rotation transmission member, and a first annular member surrounding the first and second rotation transmission members, disposed in the power transmission path from the motor to the arms, for transmitting the rotational driving force of the motor; and a first adjustment unit for adjusting the axial distance between the first rotation axis of the first rotation transmission member and the second rotation axis of the second rotation transmission member, thereby adjusting the tension of the first annular member, wherein the arms have an arm base that houses the motor, the first rotation transmission member, the second rotation transmission member, and the first annular member, and the first adjustment unit is disposed on the outside of the arm base. Attached Figure Description

[0007] Figure 1 This is a perspective view showing the robot and robot system equipped with the robot according to the first embodiment of the present invention.

[0008] Figure 2 It means Figure 1 A left-side view of a portion of the robot.

[0009] Figure 3 It means Figure 1 A right-side view of a portion of the robot.

[0010] Figure 4 It is along Figure 2 A cross-sectional view along line IV-IV.

[0011] Figure 5 It is along Figure 1 A cross-sectional view of the VV line.

[0012] Figure 6 It is along Figure 1 A sectional view along line VI-VI.

[0013] Figure 7 It is along Figure 2 A sectional view along line VII-VII.

[0014] Figure 8 It means Figure 1 Left side view of the robot's adjustment section.

[0015] Figure 9 It means Figure 8 A three-dimensional view of the adjustment section.

[0016] Figure 10 This is a left-side view showing the adjustment section of the second embodiment.

[0017] Explanation of reference numerals in the attached figures

[0018] 1…robot system, 10…robot, 20…control device, 61…bearing, 62…bearing, 63…bearing bracket, 63a…first cylindrical part, 63b…second cylindrical part, 63c…third cylindrical part, 64a…through hole, 64b…through hole, 65a…through hole, 65b…through hole, 67…cylindrical component, 71…rotating component, 72…fixed component, 73…threaded component, 73a…external thread, 73b…screw head, 73c…washer, 74…rotating main body, 74a…fulcrum component, 74b…bracket insertion hole, 74c…screw, 74h1…through hole, 74h2…through hole, 74h3…through hole, 74h4…through hole, 74h5…through hole, 74h6… Through hole, 75… Rotating erection part, 75h… Through hole, 76… Fixed main body part, 77… Fixed erection part, 77h… Threaded hole, 81… Rotating component, 82… Fixed component, 83… Threaded component, 83a… External thread part, 83b… Screw head, 83c… Nut, 84… Rotating main body part, 85… Rotating erection part, 85h… Through hole, 86… Fixed main body part, 87… Fixed erection part, 87h… Threaded hole, 91… Mark, 92… Scale, 93… Mark, 94… Scale, 110… Base, 121… First arm, 121a… Arm base, 121b… Base plate part, 121c… Side plate part, 121d… Side plate part, 121e… Linkage support component, 121f… Main body part, 121g …protrusion, 122…second arm, 123…third arm, 124…fourth arm, 125…first joint, 126…second joint, 126a…shaft (third rotation axis), 126b…bearing part, 126c…bearing part, 127…third joint, 128…fourth joint, 131…linkage mechanism, 131a…linkage, 131b…linkage, 131c…pivot, 131d…pivot, 131h…through hole, 132…linkage mechanism, 132a…linkage, 132b…linkage, 132c…linkage, 132d…pivot, 132e…pivot, 132f…pivot, 132g…pivot, 140…first drive unit, 150…second drive unit, 151…second motor, 151 a…Second output shaft, 151b…Second housing, 151c…Mounting base, 152…Second power transmission unit, 153a…Input-side rotary transmission component, 153b…Output-side rotary transmission component, 153c…Annular component, 153s…Rotating shaft (first rotating shaft), 153t…Bearing unit, 154a…Input-side rotary transmission component (first rotating transmission component), 154b…Output-side rotary transmission component (second rotating transmission component), 154c…Annular component (first annular component), 154s…Rotating shaft (second rotating shaft), 154t…Bearing unit, 155a…Input-side rotary transmission component (third rotating transmission component), 155b…Output-side rotary transmission component (fourth rotating transmission component).155c…Annular component (second annular component), 157…Adjustment part (first adjustment part), 158…Adjustment part (second adjustment part), 160…Third drive unit, 161…Third motor, 161a…Third output shaft, 161b…Third housing, 161c…Mounting base, 162…Third power transmission part, 163a…Input-side rotary transmission component, 163b…Output-side rotary transmission component, 163c…Annular component, 163s…Rotating shaft, 163t…Bearing part, 164a…Input-side rotary transmission component, 164b…Output-side rotary transmission component, 164c…Annular component, 164s…Rotating shaft, 164t…Bearing part, 165a…Input-side rotary transmission component, 165b…Output-side rotary transmission component, 165c…Annular component, 166…Bearing part, 166a…Bearing, 167…Adjustment part, 16 8…Adjustment section, 170…Fourth drive unit, 200…Mechanical arm, 257…Adjustment section, 258…Adjustment section, 273…Threaded component, 273e…Cylindrical component, 273f…Spring, 283…Threaded component, 283c…Washer, 283d…Nut, 283e…Cylindrical component, 283f…Spring, A1…First axis, A2…Second axis, A3…Third axis, A4…Fourth axis, A5…Fifth axis D1…First direction, D2…Second direction, D3…Third direction, E1…End effector, R1…Center, R2…Pivot, R3…Center, R4…Pivot, L1…Line, L2…Line, L3…Line, L4…Line, L5…Line, L6…Line, L74…Line, L95…Line, ΔL21…Inter-axis distance, ΔL22…Inter-axis distance, ΔL31…Inter-axis distance, ΔL32…Inter-axis distance. Detailed Implementation

[0019] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, the following description does not limit the scope of the claimed technology or the meaning of the terms used. Additionally, the scale of the drawings has been exaggerated for ease of explanation and may sometimes differ from the actual scale.

[0020] <First Implementation>

[0021] Figure 1 This is a perspective view showing the robot 10 and the robot system 1 equipped with the robot 10 according to this embodiment. Figure 2 It means Figure 1 Left-side view of a portion of robot 10. Figure 3 It means Figure 1 A right-side view of a portion of robot 10. Figure 4 It is along Figure 2 A cross-sectional view along line IV-IV. Figure 5 It is along Figure 1 A cross-sectional view of the VV line. Figure 6 It is along Figure 1 A sectional view along line VI-VI. Figure 7 It is along Figure 2 A sectional view along line VII-VII.

[0022] For ease of explanation, the x-axis, y-axis, and z-axis are illustrated with arrows in the figures below, representing three mutually orthogonal axes. In this embodiment, the x-axis is an axis along a direction in the horizontal direction, the y-axis is an axis along a direction perpendicular to the x-axis in the horizontal direction, and the z-axis is an axis along the vertical direction. Furthermore, the front end of each arrow in the illustrations is designated as the "positive side (+ side)," and the base end is designated as the "negative side (- side)." Additionally, the z-axis direction + side is referred to as "up" or "above," and the z-axis direction - side is referred to as "down" or "below."

[0023] Furthermore, in this specification, the terms "orthogonal," "parallel," "identical in position, height, and size," and "symmetrical" all refer to these terms within the permissible range of manufacturing tolerances. Specifically, "orthogonal" means substantially orthogonal, including the range where the angle between two straight lines or two planes is 80 degrees or more and less than 100 degrees. "Parallel" means substantially parallel, including the range where the angle between two straight lines or two planes is 0 degrees or more and less than 10 degrees. "Identical in size" means that two dimensions are substantially identical, including the range where the error between the two dimensions is ±10%. "Symmetrical" means substantially symmetrical, including the range where, when one of the two elements overlaps the other, the ratio of the overlapping area to the total area of ​​one element is 90% or more and less than 100%.

[0024] In addition, Figure 7 In the middle, the imaginary representation of the location is shown by a double-dotted line. Figure 7 The second motor 151 is located on the y-axis side of the cross section.

[0025] Robot 10 in Robot System 1 is a parallel link robot, for example, used in the broad sense of food manufacturing, including food handling, food filling, food packaging, and food processing. In this case, the workpiece (object of operation) in Robot System 1 becomes food or food packaging. However, the application of Robot System 1 and the type of workpiece are not limited to the above.

[0026] Reference Figure 1In summary, the robot system 1 includes a robot 10 and a control device 20 that controls the movements of various parts of the robot 10. The robot 10 includes: a base 110 on which a drive unit 140 is mounted; and a robotic arm 200, rotatably connected to the base 110 via joints 125, and rotating relative to the base 110 by the drive unit 140. The robotic arm 200 sequentially includes multiple arms 121, 122, 123, 124 rotatably connected, multiple joints 126, 127, 128, linkage mechanisms 131, 132, and multiple drive units 150, 160, 170. The various parts of the robot system 1 will be described in detail below.

[0027] The base 110 is a support for the robotic arm 200. The base 110 is, for example, set on a horizontal plane (setting surface) parallel to the xy plane, such as the floor or ceiling of a factory.

[0028] Hereinafter, arm 121 of the robotic arm 200 will also be referred to as "first arm 121", arm 122 as "second arm 122", arm 123 as "third arm 123", and arm 124 as "fourth arm 124". Additionally, joint 125 will also be referred to as "first joint 125", joint 126 as "second joint 126", joint 127 as "third joint 127", and joint 128 as "fourth joint 128". Furthermore, in the robot 10, robotic arm 200, and each arm 121, 122, 123, 124, etc., the side of the base 110 will also be referred to as the "base end side" or "base end point", and its opposite side will also be referred to as the "front end side" or "front end point".

[0029] The shapes of the first arm 121, the second arm 122, the third arm 123, and the fourth arm 124 are not particularly limited, but in this embodiment, their overall shape is a long strip or a similar shape.

[0030] The first arm 121 is positioned above the base 110 along a first axis A1 parallel to the z-axis. The base end (lower end) of the first arm 121 is connected to the base 110 via a first joint 125 in a manner that allows it to rotate around the first axis A1. When the first arm 121 rotates relative to the base 110 in a predetermined direction by the drive unit 140, the entire robotic arm 200, including the second joint 126, second arm 122, third joint 127, third arm 123, fourth joint 128, fourth arm 124, and linkage mechanisms 131 and 132 located on the front side of the first arm 121, rotates to the left or right around the first axis A1.

[0031] The base of the second arm 122 is connected to the front (upper) end of the first arm 121 via a second joint 126 in a manner that allows rotation about a second axis A2. This second axis A2 is in a direction not parallel to the first axis A1, but in this embodiment, orthogonal to the first axis A1 (the rotation angle of the first arm 121 is within...). Figure 1 The second arm 122 extends along a direction orthogonal to the second axis A2 (as shown in the x-axis direction).

[0032] The portion between the base end and the front end of the third arm 123 is connected to the front end of the second arm 122 via a third joint 127 in a manner that allows it to rotate about a third axis A3 parallel to the second axis A2. The third arm 123 extends in a direction orthogonal to the third axis A3.

[0033] The base of the fourth arm 124 is connected to the front end of the third arm 123 via the fourth joint 128 in a manner that allows it to rotate (swing) about the fourth axis A4, which is parallel to the second axis A2.

[0034] An end effector E1 is detachably mounted at the front end of the fourth arm 124, capable of holding a workpiece (e.g., food) by gripping or adsorption. The end effector E1 is mounted at the front end of the fourth arm 124 in a manner that allows it to rotate about a fifth axis A5 parallel to the z-axis direction. The end effector E1 may or may not be a component of the robot 10.

[0035] Hereinafter, the direction along the first axis A1 will be referred to as "first direction D1", the direction along the second axis A2 will be referred to as "second direction D2", and the direction orthogonal to the first direction D1 and the second direction D2 will be referred to as "third direction D3". In this embodiment, the first direction D1 is aligned with the z-axis direction. In this embodiment, the second direction D2 and the third direction D3 are directions parallel to the xy plane, and their orientation changes with the rotation of the first arm 121. The first direction D1, the second direction D2, and the third direction D3 are illustrated with arrows in each figure. Regarding the first direction D1, the second direction D2, and the third direction D3, the front end of each arrow will be designated as the "positive side (+ side)" and the base end as the "negative side (- side)".

[0036] Drive unit 140 drives the first arm 121 to rotate. Hereinafter, drive unit 140 will also be referred to as "first drive unit 140". Drive unit 150 drives the second arm 122 to rotate. Hereinafter, drive unit 150 will also be referred to as "second drive unit 150". Drive unit 160 drives the third arm 123 to rotate. Hereinafter, drive unit 160 will also be referred to as "third drive unit 160". Second drive unit 150 and third drive unit 160 are disposed on the first arm 121. Drive unit 170 drives the end effector E1 to rotate. Hereinafter, drive unit 170 will also be referred to as "fourth drive unit 170". Fourth drive unit 170 is disposed on the fourth arm 124.

[0037] Although not shown, the first drive unit 140 and the fourth drive unit 170 each have a motor and a power transmission unit that transmits the rotational driving force of the motor (hereinafter referred to as "power"). The drive of each motor is controlled by the control device 20, described later, via a motor driver (not shown). Preferably, the power transmission unit includes a speed reducer that reduces the rotational speed to transmit the motor's power. Examples of speed reducers include planetary gears, wave gears, and other gear devices, as well as coiled transmission devices. A coiled transmission device is a device that transmits power by coiling a ring-shaped member around a pair of rotating transmission members. Examples of combinations of rotating transmission members and ring-shaped members include a pulley / belt mechanism where the rotating transmission member is a pulley and the ring-shaped member is a belt, a sprocket / chain mechanism where the rotating transmission member is a sprocket and the ring-shaped member is a chain, and a wheel / cable mechanism where the rotating transmission member is a wheel and the ring-shaped member is a cable. Details regarding the structure of the second drive unit 150 and the third drive unit 160 will be described later.

[0038] The linkage mechanism 131 transmits the power output from the third drive unit 160 to the third arm 123. For example... Figure 2 As shown, the linkage mechanism 131 has a plate-shaped link 131a, a rod-shaped link 131b, a pivot 131c, and a pivot 131d.

[0039] Details will be described later. The base end of connecting rod 131a is mounted on the second axis A2. Connecting rod 131a extends in a direction orthogonal to the second axis A2 and, driven by the third drive unit 160, rotates independently of the second arm 122 about the second axis A2. The front end of connecting rod 131a is connected to the base end of connecting rod 131b via pivot 131c in a manner that allows rotation about an axis parallel to the second axis A2. The front end of connecting rod 131b is connected to the base end of the third arm 123 via pivot 131d in a manner that allows rotation about an axis parallel to the second axis A2.

[0040] The length of line L1 connecting the second axis A2 and the central axis of pivot 131c is the same as the length of line L2 connecting the third axis A3 and the central axis of pivot 131d. The distance between the second axis A2 and the third axis A3 is the same as the distance between the central axes of pivot 131c and pivot 131d. Therefore, when viewed from the second direction D2 (in... Figure 2 (In the state of x-axis direction), the line segments connecting the second axis A2, the central axis of pivot 131c, the central axis of pivot 131d, and the third axis A3 in sequence form a parallelogram.

[0041] Therefore, when viewed from the second direction D2, line L1 is parallel to line L2. Thus, when link 131a rotates under the drive of the third drive unit 160, line L1 also rotates, and the third arm 123 rotates about the third axis A3 with line L2 parallel to line L1.

[0042] like Figure 1 As shown, linkage 132 is located on the second direction D2+ side of linkage 131. Linkage 132 maintains the posture of the fourth arm 124 at a constant position, ensuring that the rotation axis of the end effector E1 mounted on the fourth arm 124, i.e., the fifth axis A5, is always parallel to the z-axis direction. Figure 3 As shown, the linkage mechanism 132 has a rod-shaped link 132a, a plate-shaped link 132b, a rod-shaped link 132c, a pivot 132d, a pivot 132e, a pivot 132f, and a pivot 132g. The link 132b has a triangular shape with rounded corners when viewed from above, but is not limited to this.

[0043] At the ends of the first arm 121 on the second direction D2+ side and the third direction D3+ side (the ends opposite to the side opposite to the fourth arm 124), a connecting rod support member 121e is provided that protrudes upward from the upper end of the first arm 121. The base end of the connecting rod 132a is connected to the front end (upper end) of the connecting rod support member 121e via a pivot 132d in a manner that allows it to rotate about a rotation axis parallel to the second axis A2.

[0044] The front end of link 132a is connected to one corner of link 132b via pivot 132e in a manner rotatable about an axis of rotation parallel to the second axis A2. The other corners of the plate-shaped link 132b are connected to the base end of link 132c via pivot 132f in a manner rotatable about an axis of rotation parallel to the second axis A2. The front end of link 132c and the portion at the base end of the fourth arm 124 that separates from the fourth joint 128 are connected via pivot 132g in a manner rotatable about an axis of rotation parallel to the second axis A2. The remaining corners of link 132b are connected to the third arm 123 via the third joint 127 in a manner rotatable about the third axis A3.

[0045] The length of line L3 connecting the second axis A2 and the central axis of pivot 132d is the same as the length of line L4 connecting the third axis A3 and the central axis of pivot 132e. The distance between the second axis A2 and the third axis A3 is the same as the distance between the central axes of pivot 132d and pivot 132e. Therefore, from the second direction D2 (in Figure 3 When viewed from the x-axis direction (in the state of x), line L3 is parallel to line L4.

[0046] Furthermore, the length of the straight line L5 connecting the third axis A3 and the central axis of pivot 132f is the same as the length of the straight line L6 connecting the fourth axis A4 and the central axis of pivot 132g. The distance between the third axis A3 and the fourth axis A4 is the same as the distance between the central axis of pivot 132f and the central axis of pivot 132g. Therefore, from the second direction D2 (in Figure 3 When viewed from the x-axis direction (in the state of x), line L5 is parallel to line L6.

[0047] The angle of line L3 relative to the xy-plane does not change based on the rotation angles (postures) of the second arm 122 and the third arm 123. Therefore, the angle of line L4 relative to the xy-plane is constant. Therefore, the posture of link 132b is also constant. Therefore, the angle of line L5 relative to the xy-plane is also constant. Therefore, the angle of line L6 relative to the xy-plane is also constant. Thus, regardless of the rotation angles (postures) of the second arm 122 and the third arm 123, the posture of the fourth arm 124 remains constant.

[0048] Based on the above, by controlling the rotation angles of the first arm 121, the second arm 122, and the third arm 123, the fifth axis A5, which serves as the rotation axis of the end effector E1, can be kept parallel to the z-axis direction, and the position of the end effector E1 in the xyz coordinate system can be adjusted. Furthermore, by rotating the end effector E1 around the fifth axis A5, the workpiece held by the end effector E1 can be rotated. In addition, the specific shapes of each arm 121, 122, 123, 124, the linkage mechanism 131, and the linkage mechanism 132 are not specifically limited to the shapes shown in the accompanying drawings.

[0049] like Figure 1As shown, the control device 20 is connected to the robot 10 via wired or wireless means to transmit and receive signals, and controls the actions of various parts of the robot 10. The control device 20 includes a processor such as a CPU (Central Processing Unit), a storage unit consisting of volatile memory such as RAM (Random Access Memory) and non-volatile memory such as ROM (Read Only Memory), and a communication unit for transmitting and receiving signals with the robot 10. In this embodiment, the control device 20 is disposed on the outside of the robot 10. However, the control device 20 may also be disposed on a base 110 or the like.

[0050] Next, the first arm 121, the second joint 126, the second drive unit 150, and the third drive unit 160 will be described in detail.

[0051] The first arm 121 has an arm base 121a on which a second drive unit 150 and a third drive unit 160 are provided.

[0052] like Figure 1 As shown, the arm base 121a includes: a base plate portion 121b having an upper surface parallel to the xy plane; and a pair of side plate portions 121c and 121d, connected to the two ends of the base plate portion 121b in a second direction D2, extending along the z-axis. The arm base 121a is constructed of a frame, which has the following shape: the upper surface (the surface parallel to the xy plane) is open, and portions of the surfaces (the surfaces parallel to the xz plane) that are orthogonal to the side plate portions 121c and 121d and on the + and - sides of the third direction D3, respectively, are open. A space is formed inside the frame to accommodate the main parts of the second drive unit 150 and the main parts of the third drive unit 160.

[0053] like Figure 4 As shown, the bottom plate portion 121b has a quadrilateral shape with rounded corners when viewed from above. In this embodiment, the first axis A1 is located at the center of the bottom plate portion 121b when viewed from above.

[0054] A side plate portion 121c is connected to the end of the bottom plate portion 121b in the second direction D2. The side plate portion 121c has a flat body portion 121f parallel to the first direction D1 and the third direction D3, and a pair of protrusions 121g protruding from the two ends of the body portion 121f in the third direction D3 toward the other side plate portion 121d.

[0055] Another side plate portion 121d is connected to the end of the base plate portion 121b on the second direction D2+ side. The other side plate portion 121d has a shape that is identical to one side plate portion 121c when rotated 180 degrees about the first axis A1. That is, the pair of side plate portions 121c and 121d are rotationally symmetrical about the first axis A1. Therefore, the pair of side plate portions 121c and 121d can use parts of the same shape.

[0056] However, the shape of the arm base 121a of the first arm 121 is not limited to the shape described above. For example, the arm base 121a may also have a front panel portion that is mounted on the third-direction D3- side end of the base plate portion 121b and extends along the z-axis, and a back panel portion that is mounted on the third-direction D3+ side end of the base plate portion 121b and extends along the z-axis. In addition, the arm base 121a may also be a structure in which the base plate portion 121b, the side plate portion 121c, and the side plate portion 121d are integrally formed, for example, it may be a structure in which a metal sheet is formed into the desired shape by stamping or the like. In addition, the first axis A1 may also be located off-center when the first arm 121 is viewed from above.

[0057] like Figure 7 As shown, a second joint 126, which connects the second arm 122 in a manner rotatable relative to the first arm 121 about a second axis A2, is provided on the upper part of a pair of side plate portions 121c and 121d. The second joint 126 has: a shaft 126a, which is disposed along the second axis A2; a bearing portion 126b, which rotatably holds one end of the shaft 126a; and a bearing portion 126c, which rotatably holds the other end of the shaft 126a.

[0058] Viewed from the first direction D1 (z-axis direction), shaft 126a is located at the center of the third direction D3 of the base plate portion 121b, extending along the second direction D2 from one side plate portion 121c to the other side plate portion 121d. Therefore, in this embodiment, the second axis A2, which serves as the central axis of shaft 126a, is orthogonal to the first axis A1. The base end of the second arm 122 is fixed in the portion between the pair of side plate portions 121c and 121d of shaft 126a, and the second arm 122 rotates in conjunction with shaft 126a. Each bearing portion 126b and 126c includes a bearing whose inner ring is fixed to the outer circumference of shaft 126a, and a bearing bracket that holds the outer ring of the bearing and is mounted on the arm base 121a of the first arm 121. Bearing portion 126b is mounted on the upper part of side plate portion 121c of the first arm 121. Bearing portion 126c is mounted on the upper part of side plate portion 121d of the first arm 121.

[0059] Furthermore, a through hole 131h with a diameter larger than that of the shaft 126a and extending through the connecting rod 131a in the thickness direction is formed at the base end of the connecting rod 131a of the linkage mechanism 131. With the shaft 126a inserted through the through hole 131h, the connecting rod 131a is disposed separately from the second arm 122 on the second direction D2+ side.

[0060] Additionally, a second drive unit 150 and a third drive unit 160 are provided on the arm base 121a of the first arm 121. The second drive unit 150 includes a second motor 151, a second power transmission section 152 that transmits power from the second motor 151 to the shaft 126a, and adjustment sections 157 and 158. Adjustment section 157 corresponds to a first adjustment section, and adjustment section 158 corresponds to a second adjustment section. Similarly, the third drive unit 160 includes a third motor 161, a third power transmission section 162 that transmits power from the third motor 161 to the connecting rod 131a of the linkage mechanism 131, and adjustment sections 167 and 168.

[0061] like Figure 4 As shown, the second motor 151 and the third motor 161 are disposed between a pair of side plates 121c and 121d and on the base plate 121b. That is, the second motor 151 and the third motor 161 are housed in the arm base 121a. However, a portion of the second motor 151 and the third motor 161 may also extend outward from the arm base 121a.

[0062] The second motor 151 includes: a rotor and a stator (not shown); a second output shaft 151a fixed to the rotor; and a second housing 151b housing the rotor and stator, with the front end of the second output shaft 151a exposed. Figure 7 As shown, the second motor 151 is mounted on the upper surface of the base plate 121b via the mounting bracket 151c. Figure 1 , Figure 2 as well as Figure 4 As shown, the second motor 151 is positioned such that the second output shaft 151a extends along the second direction D2 and protrudes from the second housing 151b toward the second direction D2 side. Furthermore, viewed from the first direction D1 (z-axis direction), the second motor 151 is positioned further to the third direction D3 side than the second axis A2.

[0063] Similarly, the third motor 161 includes: a rotor and a stator (not shown); a third output shaft 161a fixed to the rotor; and a third housing 161b housing the rotor and stator, with the front end of the third output shaft 161a exposed. Figure 7 As shown, the third motor 161 is mounted on the upper surface of the base plate 121b via a mounting bracket 161c. Figure 3 and Figure 4As shown, the third motor 161 is positioned such that the third output shaft 161a extends along the second direction D2 and protrudes from the third housing 161b toward the second direction D2+ side. Furthermore, viewed from the first direction D1 (z-axis direction), the third motor 161 is positioned further toward the third direction D3+ side than the second axis A2.

[0064] However, the structure and configuration of the second motor 151 and the third motor 161 are not limited to the structure and configuration described above.

[0065] In this embodiment, the second power transmission unit 152 of the second drive unit 150 includes a speed reducer that reduces the rotational speed to transmit power to the second motor 151. In this embodiment, the speed reducer is a multi-stage reduction type winding transmission device, more specifically, a multi-stage reduction type pulley / belt mechanism. If a gear mechanism is used as the speed reducer, lubricating oil needs to be periodically applied between the gears to suppress gear wear. In contrast, if a pulley / belt mechanism is used as the speed reducer, lubricating oil does not need to be applied between the pulley and the belt. Therefore, maintenance of the robot 10 becomes easier, and it is possible to prevent lubricating oil from leaking or splashing from the robot 10 and contaminating the workpiece, surface, etc. As mentioned above, when the workpiece is food or food packaging, it is necessary to prevent the adhesion or mixing of lubricating oil, requiring additional and sufficient preventative measures. However, in this embodiment, such measures are not necessary, or simpler measures are sufficient.

[0066] Furthermore, the winding transmission device is lighter and cheaper than gear devices such as planetary gears and wave gears. Therefore, it is possible to achieve a lighter robotic arm 200 and a lower cost for the robot 10. By making the robotic arm 200 lighter, the inertial force during the rotation drive of the first arm 121 and other components of the robotic arm 200 is reduced, thus enabling higher speed rotation drive of the first arm 121 and other components, thereby increasing work efficiency through increased operating speed.

[0067] Specifically, such as Figure 5As shown, the second power transmission unit 152, as a speed reducer, includes: an input-side rotary transmission member 153a, disposed on the second output shaft 151a; a first-stage rotary shaft 153s, separated obliquely upward from the second output shaft 151a; an output-side rotary transmission member 153b, disposed on the first-stage rotary shaft 153s; and an annular member 153c, wrapped around the input-side rotary transmission member 153a and the output-side rotary transmission member 153b. Hereinafter, these members will also be referred to as the "first-stage speed reduction unit". The input-side rotary transmission member 153a is a small-diameter pulley, the output-side rotary transmission member 153b is a large-diameter pulley with a diameter larger than that of the input-side rotary transmission member 153a, and the annular member 153c is an annular belt. Furthermore, the first-stage rotary shaft 153s corresponds to the first rotary shaft.

[0068] Furthermore, as a speed reducer, the second power transmission unit 152 includes: an input-side rotary transmission member 154a, disposed on the first-stage rotary shaft 153s; a second-stage rotary shaft 154s, separated upward from the first-stage rotary shaft 153s; an output-side rotary transmission member 154b, disposed on the second-stage rotary shaft 154s; and an annular member 154c, wound around the input-side rotary transmission member 154a and the output-side rotary transmission member 154b. Hereinafter, these members will also be referred to as the "second-stage speed reduction unit". The input-side rotary transmission member 154a is a small-diameter pulley with the same diameter as the first-stage input-side rotary transmission member 153a. The output-side rotary transmission member 154b is a large-diameter pulley with the same diameter as the first-stage output-side rotary transmission member 153b. The annular member 154c is an annular belt with the same width, thickness, and circumference as the first-stage annular member 153c. Furthermore, the second-stage input-side rotary transmission component 154a is equivalent to the first rotary transmission component, the output-side rotary transmission component 154b is equivalent to the second rotary transmission component, and the rotary shaft 154s is equivalent to the second rotary shaft.

[0069] Furthermore, as a speed reducer, the second power transmission unit 152 includes: an input-side rotary transmission member 155a, disposed on the second-stage rotating shaft 154s; an output-side rotary transmission member 155b, disposed on the shaft 126a of the second joint 126; and an annular member 155c, wrapped around the input-side rotary transmission member 155a and the output-side rotary transmission member 155b. Hereinafter, these components will also be referred to as the "third-stage speed reduction unit". The input-side rotary transmission member 155a is a small-diameter pulley, the output-side rotary transmission member 155b is a large-diameter pulley with a diameter larger than that of the input-side rotary transmission member 155a, and the annular member 155c is an annular belt. Figure 7As shown, the output-side rotary transmission component 155b is disposed between the second arm 122 and the side plate portion 121c. Furthermore, the third-stage input-side rotary transmission component 155a corresponds to the third rotary transmission component, the output-side rotary transmission component 155b corresponds to the fourth rotary transmission component, and the shaft 126a corresponds to the third rotary shaft.

[0070] The diameter of the third-stage input-side rotary transmission component 155a is larger than the diameter of the first-stage input-side rotary transmission component 153a. The diameter of the third-stage output-side rotary transmission component 155b is larger than the diameter of the first-stage output-side rotary transmission component 153b. The width of the third-stage annular component 155c is larger than the width of the first-stage annular component 153c, and the thickness of the third-stage annular component 155c is larger than the thickness of the first-stage annular component 153c.

[0071] At the end of the first-stage rotating shaft 153s on the second direction D2- side, a bearing portion 153t is provided to hold the first-stage rotating shaft 153s in a rotatable manner. The bearing portion 153t is provided in an adjustment portion 157 for adjusting the tension of the second-stage annular member 154c. Details of the bearing portion 153t and the adjustment portion 157 will be described later. On the first-stage rotating shaft 153s, the first-stage output-side rotation transmission member 153b and the second-stage input-side rotation transmission member 154a are sequentially and separately arranged towards the second direction D2+ side.

[0072] Similarly, at the end of the second-stage rotating shaft 154s on the second direction D2- side, a bearing portion 154t is provided to hold the second-stage rotating shaft 154s in a rotatable manner. The bearing portion 154t is provided in an adjustment portion 158 for adjusting the tension of the third-stage annular member 155c. Details of the bearing portion 154t and the adjustment portion 158 will be described later. On the second-stage rotating shaft 154s, the third-stage input-side rotation transmission member 155a and the second-stage output-side rotation transmission member 154b are sequentially and separately arranged towards the second direction D2+ side.

[0073] Furthermore, the input-side rotary transmission components 153a, 154a, 155a, the output-side rotary transmission components 153b, 154b, 155b, and the annular components 153c, 154c, 155c constituting the second power transmission unit 152 are all disposed between a pair of side plate portions 121c, 121d of the first arm 121. That is, these components are housed in the arm base 121a of the first arm 121. Therefore, even if foreign objects such as chips from the annular components 153c, 154c, 155c are scattered from the second power transmission unit 152, the side plate portions 121c, 121d function as defensive walls, preventing foreign objects from scattering to the outside of the arm base 121a. As described above, when the workpiece is food or food packaging, it is necessary to prevent the attachment and contamination of foreign objects; therefore, it is meaningful to apply the robot 10 with the above structure to food manufacturing.

[0074] As described above, when the second output shaft 151a rotates under the drive of the second motor 151, the first-stage input-side rotary transmission member 153a of the second power transmission unit 152 rotates in conjunction. In conjunction with this, the first-stage annular member 153c, the output-side rotary transmission member 153b, the first-stage rotating shaft 153s, and the second-stage input-side rotary transmission member 154a rotate. Furthermore, in conjunction with this, the second-stage annular member 154c, the output-side rotary transmission member 154b, the rotating shaft 154s, and the third-stage input-side rotary transmission member 155a rotate. Furthermore, in conjunction with this, the third-stage annular member 155c, the output-side rotary transmission member 155b, and the shaft 126a of the second joint 126 rotate. As a result, the second arm 122 rotates.

[0075] Similarly, the third power transmission unit 162 includes a speed reducer that reduces the rotational speed of the third motor 161 and transmits the power. In this embodiment, the speed reducer is a multi-stage reduction type winding transmission device, and more specifically, a multi-stage reduction type pulley / belt mechanism.

[0076] Specifically, such as Figure 6 As shown, the third power transmission unit 162, as a speed reducer, includes: an input-side rotary transmission member 163a, disposed on the third output shaft 161a of the third motor 161; a first-stage rotary shaft 163s, separated obliquely upward from the third output shaft 161a; an output-side rotary transmission member 163b, disposed on the first-stage rotary shaft 163s; and an annular member 163c, wrapped around the input-side rotary transmission member 163a and the output-side rotary transmission member 163b. Hereinafter, these components will also be referred to as the "first-stage speed reduction unit".

[0077] Furthermore, as a speed reducer, the third power transmission unit 162 includes: an input-side rotary transmission member 164a, disposed on the first-stage rotary shaft 163s; a second-stage rotary shaft 164s, separated upward from the first-stage rotary shaft 163s; an output-side rotary transmission member 164b, disposed on the second-stage rotary shaft 164s; and an annular member 164c, wrapped around the input-side rotary transmission member 164a and the output-side rotary transmission member 164b. Hereinafter, these components will also be referred to as the "second-stage speed reduction unit".

[0078] Furthermore, as a speed reducer, the third power transmission unit 162 includes: an input-side rotary transmission member 165a, disposed on the second-stage rotary shaft 164s; an output-side rotary transmission member 165b, disposed on the shaft 126a of the second joint 126 via a bearing portion 166s; and an annular member 165c, wrapped around the input-side rotary transmission member 165a and the output-side rotary transmission member 165b. Hereinafter, these components will also be referred to as the "third-stage speed reduction unit." Figure 7 As shown, the output-side rotation transmission component 165b is disposed between the connecting rod 131a and the side plate portion 121d.

[0079] In this embodiment, the bearing section 166 consists of two bearings 166a. The outer ring of each bearing 166a is fixed to the inner circumferential surface of the output-side rotary transmission component 165b, and the inner ring of each bearing 166a is fixed to the outer circumferential surface of the shaft 126a of the second joint 126. Furthermore, the connecting rod 131a is fixed to the side of the output-side rotary transmission component 165b. Thus, the connecting rod 131a rotates independently of the rotation of the shaft 126a of the second joint 126, in conjunction with the third drive unit 160.

[0080] At the end of the first-stage rotating shaft 163s on the second direction D2+ side, a bearing portion 163t is provided to hold the first-stage rotating shaft 163s in a rotatable manner. The bearing portion 163t is provided in an adjustment portion 167 for adjusting the tension of the second-stage annular member 164c. Details of the bearing portion 163t and the adjustment portion 167 will be described later. On the first-stage rotating shaft 163s, the first-stage output-side rotation transmission member 163b and the second-stage input-side rotation transmission member 164a are sequentially and separately arranged towards the second direction D2- side.

[0081] Similarly, at the end of the second-stage rotating shaft 164s on the second direction D2+ side, a bearing portion 164t is provided to hold the second-stage rotating shaft 164s in a rotatable manner. The bearing portion 164t is provided in an adjustment portion 168 for adjusting the tension of the third-stage annular member 165c. Details of the bearing portion 164t and the adjustment portion 168 will be described later. On the second-stage rotating shaft 164s, the third-stage input-side rotation transmission member 165a and the second-stage output-side rotation transmission member 164b are sequentially and separately arranged towards the second direction D2- side.

[0082] Furthermore, the input-side rotary transmission components 163a, 164a, 165a, the output-side rotary transmission components 163b, 164b, 165b, and the annular components 163c, 164c, 165c constituting the third power transmission unit 162 are all disposed between a pair of side plate portions 121c, 121d of the first arm 121. That is, these components are housed in the arm base 121a of the first arm 121.

[0083] As described above, when the third output shaft 161a rotates under the drive of the third motor 161, the first-stage input-side rotational transmission component 163a rotates in conjunction. In conjunction with this, the first-stage annular component 163c, the output-side rotational transmission component 163b, the first-stage rotating shaft 163s, and the second-stage input-side rotational transmission component 164a rotate. Furthermore, in conjunction with this, the second-stage annular component 164c, the output-side rotational transmission component 164b, the rotating shaft 164s, and the third-stage input-side rotational transmission component 165a rotate. Furthermore, in conjunction with this, the third-stage annular component 165c and the output-side rotational transmission component 165b rotate. Consequently, the connecting rod 131a of the linkage mechanism 131 rotates.

[0084] Thus, both the second power transmission unit 152 and the third power transmission unit 162 are constructed using a three-stage reduction pulley / belt mechanism. Furthermore, in this embodiment, the second power transmission unit 152 and the third power transmission unit 162 use the same type of components in the input-side rotary transmission components (small-diameter pulleys), the output-side rotary transmission components (large-diameter pulleys), the annular components (belts), and the bearings, all of which are located at the same stage.

[0085] That is, in the second power transmission section 152 and the third power transmission section 162, the input-side rotary transmission components (small-diameter pulleys) of the same level have the same type, diameter, width, and other dimensions and materials of pulleys such as V-grooves and toothed pulleys. Similarly, in the second power transmission section 152 and the third power transmission section 162, the output-side rotary transmission components (large-diameter pulleys) of the same level have the same type, size, and materials of pulleys. In addition, in the second power transmission section 152 and the third power transmission section 162, the annular components (belts) of the same level have the same type, width, thickness, circumference, and other dimensions and materials of belts such as V-groove belts and toothed belts (toothed belts).

[0086] However, the structures of the second power transmission unit 152 and the third power transmission unit 162 are not limited to the structures described above. For example, the reducer can also be other winding transmission devices such as a sprocket / chain mechanism or a wheel / cable mechanism. Furthermore, the second power transmission unit 152 and the third power transmission unit 162 may not include a reducer, transmitting the power output from the second motor 151 and the third motor 161 without speed reduction. Additionally, the types, varieties, performance, and dimensions of the corresponding constituent elements in the second power transmission unit 152 and the third power transmission unit 162 can also differ.

[0087] Next, the bearing sections 153t, 154t, 163t, and 164t, as well as the adjusting sections 157, 158, 167, and 168, will be described in detail. Hereinafter, bearing sections 153t and 163t will also be referred to as "first-stage bearing sections 153t and 163t," and bearing sections 154t and 164t will also be referred to as "second-stage bearing sections 154t and 164t." Furthermore, adjusting sections 157 and 167 will also be referred to as "first-stage adjusting sections 157 and 167," and adjusting sections 158 and 168 will also be referred to as "second-stage adjusting sections 158 and 168."

[0088] like Figure 7 As shown, the first-stage bearing section 153t of the second power transmission section 152 supports one end of the first-stage rotating shaft 153s in a rotatable manner. The other end of the rotating shaft 153s is a free end. The bearing section 153t includes: bearings 61 and 62, the inner ring of which is fixed to the rotating shaft 153s; and a bearing support 63, which is cylindrical and has bearings 61 and 62 embedded inside, holding the outer rings of bearings 61 and 62.

[0089] Bearing 61 is disposed at the end of the rotating shaft 153s on the second direction D2- side. Bearing 62 is separated from bearing 61 on the second direction D2+ side and disposed between bearing 61 and the first-stage output-side rotary transmission component 153b.

[0090] The bearing support 63 includes: a first cylindrical portion 63a, in which a bearing 61 is embedded; a second cylindrical portion 63b, in which a bearing 62 is embedded; and a third cylindrical portion 63c, located between the first cylindrical portion 63a and the second cylindrical portion 63b. The inner diameter of the first cylindrical portion 63a is the same as the inner diameter of the second cylindrical portion 63b, and is larger than the inner diameter of the third cylindrical portion 63c. The outer diameter of the first cylindrical portion 63a is the same as the outer diameter of the second cylindrical portion 63b, and is smaller than the outer diameter of the third cylindrical portion 63c.

[0091] The rotating shaft 153s is cantilevered by the bearing section 153t. Therefore, the first-stage adjustment section 157, described later, allows the rotating shaft 153s to rotate, and the position of the rotating shaft 153s in the first direction D1 can be easily adjusted with a simple structure.

[0092] A cylindrical member 67 is provided between bearings 61 and 62, abutting against the inner rings of both bearings 61 and 62. Additionally, a step is provided on the rotating shaft 153s, located on the second direction D2+ side of the inner ring of bearing 62 and abutting against it. Furthermore, by pressing and fixing the cylindrical member (not shown) to the inner ring of bearing 61 from the second direction D2- side, preload can be applied to the inner rings of bearings 61 and 62. Thus, even with a cantilever support, the bearing bracket 63 can reliably hold bearings 61 and 62 with a simple structure, suppressing shaft vibration of the rotating shaft 153s.

[0093] The other bearing sections 154t, 163t, and 164t also have the same constituent elements as bearing section 153t. That is, each bearing section 154t, 163t, and 164t also has: bearings 61 and 62, with their inner rings fixed to the corresponding rotating shafts; and a bearing support 63, which is cylindrical and has bearings 61 and 62 embedded inside to hold the outer rings of bearings 61 and 62. Bearing sections 154t, 163t, and 164t also have the same function and effect as the aforementioned bearing section 153t.

[0094] The second-stage bearing 154t of the second power transmission unit 152 is arranged in the same orientation as the first-stage bearing 153t. The first-stage bearing 163t of the third power transmission unit 162 is arranged in an orientation in which the first-stage bearing 153t of the second power transmission unit 152 is rotated 180 degrees about the first shaft A1. Similarly, the second-stage bearing 164t of the third power transmission unit 162 is arranged in an orientation in which the second-stage bearing 154t of the second power transmission unit 152 is rotated 180 degrees about the first shaft A1.

[0095] A through hole 64a is formed in a side plate portion 121c, extending through the side plate portion 121c in the thickness direction, for accommodating the second cylindrical portion 63b of the first-stage bearing bracket 63 of the second power transmission portion 152; and a through hole 64b, extending through the side plate portion 121c in the thickness direction, for accommodating the second cylindrical portion 63b of the second-stage bearing bracket 63. The diameter of each through hole 64a and 64b is larger than the diameter of each second cylindrical portion 63b.

[0096] Similarly, another side plate portion 121d has: a through hole 65a extending through the other side plate portion 121d in the thickness direction, for the second cylindrical portion 63b of the first-stage bearing bracket 63 of the third power transmission portion 162 to be disposed; and a through hole 65b extending through the side plate portion 121c in the thickness direction, for the second cylindrical portion 63b of the second-stage bearing bracket 63 to be disposed. The diameter of each through hole 65a, 65b is larger than the diameter of each second cylindrical portion 63b.

[0097] The first-stage adjustment section 157 of the second drive unit 150 holds the first-stage bearing section 153t and adjusts the position of the bearing section 153t in the first direction D1. This adjusts the inter-axis distance ΔL21 between the first-stage rotating shaft 153s, which is equipped with the second-stage input-side rotating transmission member 154a, and the second-stage rotating shaft 154s, which is equipped with the second-stage output-side rotating transmission member 154b. Consequently, the tension of the second-stage annular member 154c is adjusted. Furthermore, in this specification, "inter-axis distance" refers to the distance between the central axes (rotation center axes) of the two shafts.

[0098] Similarly, the second-stage adjustment section 158 of the second drive unit 150 maintains the second-stage bearing section 154t and adjusts the position of the bearing section 154t in the first direction D1. This adjusts the interaxial distance ΔL31 between the second-stage rotating shaft 154s, on which the third-stage input-side rotating transmission member 155a is provided, and the shaft 126a of the second joint 126, on which the third-stage output-side rotating transmission member 155b is provided. As a result, the tension of the third-stage annular member 155c is adjusted.

[0099] Furthermore, the tension of the first-stage annular component 153c can be adjusted, for example, by having the mounting base 151c function as a motor position adjustment part, and by adjusting the position of the second motor 151 through the mounting base 151c.

[0100] Consider the following scenario: a tensioner is installed in the second-stage annular component 154c, located between the input-side rotary transmission component 154a and the output-side rotary transmission component 154b. The tensioner is pressed against the annular component 154c to adjust the degree of deflection of the annular component 154c, thereby adjusting the tension of the annular component 154c without changing the inter-axis distance ΔL21. In this case, the tensioner needs to be positioned between the input-side rotary transmission component 154a and the output-side rotary transmission component 154b. Correspondingly, the input-side rotary transmission component 154a and the output-side rotary transmission component 154b need to be separated by a sufficiently long distance in the first direction D1. Therefore, the arm base 121a is enlarged in the first direction D1. Furthermore, space is needed on the side of the annular component 154c in the third direction D3 for the tensioner and its moving pressing mechanism, so the arm base 121a is also enlarged in the third direction D3.

[0101] In contrast, in this embodiment, the first-stage adjustment unit 157 adjusts the inter-axis distance ΔL21 by holding the first-stage bearing unit 153t, thereby adjusting the tension of the annular member 154c. The first-stage adjustment unit 157 and the rotating shaft 153s are arranged substantially coaxially, thus enabling miniaturization of the arm base 121a in the first direction D1. Furthermore, since the space required for the aforementioned tensioner and its moving pressing mechanism is not needed, the arm base 121a can be miniaturized in the third direction D3.

[0102] Figure 8 It means Figure 1 Left side view of the adjustment parts 157 and 158 of robot 10. Figure 9 It means Figure 8 A three-dimensional view of the adjustment part 157.

[0103] like Figure 8 As shown, the first-stage adjustment part 157 is provided on the outer side of the side plate part 121c of the arm base 121a. The adjustment part 157 includes: a rotating member 71, which is provided to rotate about a fulcrum R2 that is separated from the center R1 of the bearing part 153t; a fixing member 72, which is separated from the rotating member 71 downward (in the first direction D1-side) and fixed to the outer side of the side plate part 121c; and a threaded member 73, which is screwed into the fixing member 72 and abuts against the rotating member 71, so that the inter-axis distance ΔL21 is adjusted by rotating the rotating member 71 about the fulcrum R2.

[0104] like Figure 9As shown, the rotating component 71 includes: a flat rotating main body portion 74 parallel to the side of the side plate portion 121c; and a plate-shaped rotating upright portion 75 connected to the lower end (first direction D1-side) of the rotating main body portion 74, and protruding in a direction from the side plate portion 121c toward the rotating main body portion 74 (second direction D2-side). Such a rotating component 71 can be manufactured, for example, by bending a plate, welding and connecting two plates.

[0105] like Figure 8 As shown, viewed from the second direction D2, the rotating main body 74 extends across the first axis A1 in the third direction D3. A through hole (not shown) is formed at the end of the rotating main body 74 on the third direction D3 side. A fulcrum member 74a, such as a screw or pin, is fixed to the side plate portion 121c with the through hole inserted through it. Therefore, the rotating member 71 rotates along the outer side of the side plate portion 121c with the central axis of the fulcrum member 74a as the fulcrum R2.

[0106] like Figure 7 and Figure 8 As shown, a bracket insertion hole 74b is formed approximately at the center of the rotating main body 74 in the third direction D3. This hole extends through the rotating main body 74 in the thickness direction and allows the second cylindrical portion 63b of the first-stage bearing bracket 63 to pass through. The bearing bracket 63 is fixed to the rotating main body 74 by multiple screws or the like when inserted through the bracket insertion hole 74b. As a result, the first-stage bearing portion 153t and the rotating shaft 153s rotate around the fulcrum R2 in conjunction with the rotating component 71. Consequently, the position of the first-stage rotating shaft 153s in the first direction D1 changes. Furthermore, the first cylindrical portion 63a and the third cylindrical portion 63c of the bearing portion 153t are located outside the arm base 121a. Thus, at least a portion of the bearing portion 153t is located outside the arm base 121a, allowing for easy supply of lubricating oil to the bearings 61 and 62 of the bearing portion 153t. Furthermore, if lubricating oil is injected through the gap between the inner and outer rings of the outer bearing 61, the lubricating oil can be adequately supplied to the inner bearing 62. Additionally, the entire bearing portion 153t can be exposed to the outside.

[0107] like Figure 8 As shown, through holes 74h1, 74h2, 74h3, 74h4, 74h5, and 74h6 are formed in the rotating main body 74, consisting of multiple elongated holes that penetrate the rotating main body 74 along the thickness direction. These through holes 74h1, 74h2, 74h3, 74h4, 74h5, and 74h6 are formed in an arc shape centered on the fulcrum R2.

[0108] In the third direction D3, the through holes 74h1 and 74h2 are located between the position of the first-stage bearing portion 153t and the position of the fulcrum R2. Hereinafter, viewed from the second direction D2, the straight line connecting the center R1 of the bearing portion 153t and the fulcrum R2 is referred to as "straight line L74". Viewed from the second direction D2, the through holes 74h1 and 74h2 are formed on opposite sides of each other, with straight line L74 as the boundary line. Furthermore, viewed from the second direction D2, the through holes 74h1 and 74h2 are symmetrical about straight line L74.

[0109] Through holes 74h3 and 74h4 are located between the bearing portion 153t and the end of the rotating main body portion 74 on the third direction D+ side. Viewed from the second direction D2, through holes 74h3 and 74h4 are formed on opposite sides of each other, with a straight line L74 as the boundary line. Furthermore, viewed from the second direction D2, through holes 74h3 and 74h4 are symmetrical about the straight line L74. The arc length of the arc-shaped through holes 74h3 and 74h4 is longer than the arc length of the arc-shaped through holes 74h1 and 74h2.

[0110] Through holes 74h5 and 74h6 are located between through holes 74h3 and 74h4 and the end of the rotating main body 74 on the third direction D+ side. Viewed from the second direction D2, through holes 74h5 and 74h6 are formed on opposite sides of each other, with a straight line L74 as the boundary line. Furthermore, viewed from the second direction D2, through holes 74h5 and 74h6 are symmetrical about the straight line L74. The arc length of the arc-shaped through holes 74h5 and 74h6 is longer than the arc length of the arc-shaped through holes 74h3 and 74h4.

[0111] Each screw 74c is screwed into the side plate portion 121c with each through hole 74h1, 74h2, 74h3, 74h4, 74h5, and 74h6 inserted through them. By loosening each screw 74c relative to the side plate portion 121c, the rotating member 71 is able to rotate within the range limited by the multiple through holes 74h1, 74h2, 74h3, 74h4, 74h5, and 74h6. Furthermore, by tightening each screw 74c relative to the side plate portion 121c, the rotating member 71 is fixed relative to the side plate portion 121c. Thus, in this embodiment, the rotating member 71 is fixed to the side plate portion 121c at six locations, but the number of fixed locations is not limited to six; it can be one to five locations, or even seven or more locations.

[0112] The rotating upright portion 75 extends from the end of the rotating main body portion 74 on the third-to-D3+ side toward the third-to-D3- side. For example... Figure 9As shown, a through hole 75h is formed in the rotating upright portion 75, extending through the rotating upright portion 75 along the thickness direction (first direction D1). The through hole 75h is an elongated hole extending along the third direction D3. Figure 8 As shown, when viewed from the second direction D2, the through hole 75h is located on the third direction D3+ side, which is closer to the center R1 of the first bearing section 153t.

[0113] like Figure 9 As shown, the fixing member 72 separates from the rotating member 71 downwards (in the first direction D1-side). The fixing member 72 includes: a flat fixing body portion 76, parallel to the side of the side plate portion 121c; and a fixing support portion 77, connected to the upper end (in the first direction D1+side) of the fixing body portion 76, protruding in the direction from the side plate portion 121c toward the fixing body portion 76 (in the second direction D2-side). Such a fixing member 72 can be manufactured, for example, by bending a plate, welding and connecting two plates.

[0114] The main body 76 is fixed to the side plate 121c by a plurality of screws. The fixed support 77 is opposite to the rotating support 75 in the first direction D1. A threaded hole 77h is formed in the fixed support 77, which penetrates the fixed support 77 along the thickness direction (first direction D1). When viewed from the first direction D1, the through hole 75h of the rotating support 75 partially overlaps with the threaded hole 77h of the fixed support 77.

[0115] In this embodiment, the threaded component 73 includes: an external thread portion 73a extending in a first direction D1, which engages with the threaded hole 77h of the fixed upright portion 77 and passes through the through hole 75h of the rotating upright portion 75; a screw head 73b disposed at the upper end of the external thread portion 73a, located above the rotating upright portion 75; and a washer 73c located between the screw head 73b and the rotating upright portion 75, abutting against the upper surface of the rotating upright portion 75. The washer 73c is inserted through the external thread portion 73a. The inner diameter of the washer 73c is smaller than that of the screw head 73b, and the outer diameter of the washer 73c is larger than the width of the through hole 75h of the rotating upright portion 75 in the second direction D2.

[0116] like Figure 8 As shown, when viewed from the direction extending from the first-stage rotation axis 153s (second direction D2), the fulcrum R2, the fixing component 72, and the threaded component 73 are located on opposite sides of each other, with the straight line L95 passing through the first-stage rotation axis 153s and the second-stage rotation axis 154s as the boundary.

[0117] On the outer side of the side plate portion 121c, a mark 91 is provided indicating the position of the rotating member 71, which applies a predetermined tension to the second-stage annular member 154c. Here, "predetermined tension" refers to a tension such that, for example, if the tension of the annular member 154c is too low, the annular member 154c will not slip (free-spin) relative to the input-side rotary transmission member 154a and the output-side rotary transmission member 154b; or conversely, if the tension of the annular member 154c is too high, it will not hinder the rotation of the input-side rotary transmission member 154a and the output-side rotary transmission member 154b. In other words, "predetermined tension" is a tension within an appropriate range that enables efficient transmission of the power of the motor 151.

[0118] Depending on the conditions of the belt used as the annular component 154c, such as the belt type, width, thickness, material, elasticity, and other structural and characteristics, the appropriate tension range varies. Users sometimes select and use belts with different conditions depending on the purpose. Furthermore, the appropriate tension range also varies depending on the weight of the robotic arm 200, the weight of the workpiece held by the end effector E1, etc. Therefore, in this embodiment, multiple markings 91 are provided in the rotation direction of the rotating component 71. That is, on the outer side of the side plate portion 121c, a scale 92 is provided that progressively indicates the position of the rotating component 71 in accordance with the tension of the second-stage annular component 154c. This allows the position of the rotating component 71 to be adjusted to a position that imparts an appropriate tension to the annular component 154c corresponding to the structure of the second-stage annular component 154c, the weight of the workpiece, etc.

[0119] Next, the operation method for adjusting based on the first-stage adjustment part 157 will be described. For example, when replacing the second-stage annular part 154c, the user performs the following operation. First, the user loosens each screw 74c that secures the rotating main body part 74. Next, the user rotates the threaded part 73 in a way that it is loosened relative to the fixed upright part 77. As a result, the screw head 73b and the external thread part 73a move upward (towards the first direction D1+). Furthermore, the gap between the screw head 73b and the upper surface of the rotating upright part 75 increases.

[0120] Next, the user moves the rotating component 71 about the fulcrum R2 in a direction that separates it from the fixed component 72. Figure 8 (Clockwise) rotation. As a result, the first-stage rotating shaft 153s moves upward, and the distance ΔL21 between the first-stage rotating shaft 153s and the second-stage rotating shaft 154s decreases. Therefore, the distance between the input-side rotational transmission component 154a and the output-side rotational transmission component 154b decreases, and the second-stage annular component 154c (refer to...) Figure 7The tension of the ring member 154c is reduced. As a result, the ring member 154c can be easily removed from the second-stage input-side rotary transmission member 154a and the output-side rotary transmission member 154b. Furthermore, during this operation, the output-side rotary transmission member 153b moves upward together with the rotating shaft 153s, thus slightly increasing the tension of the ring member 153c, but this is reduced by the subsequent rotation member 71. Figure 8 It recovers by rotating counterclockwise, so there is no problem.

[0121] Next, the user attaches the new annular component 154c to the second-stage input-side rotary transmission component 154a and the output-side rotary transmission component 154b. Then, the user rotates the threaded component 73 in a way that it is secured relative to the fixed support portion 77. This causes the screw head 73b and the external thread portion 73a to move downwards (towards the first direction D1). As a result, the screw head 73b presses against the washer 73c. ​​The washer 73c abuts against the upper surface of the rotating support portion 75, pressing the rotating support portion 75 downwards. This causes the rotating component 71 to move about the fulcrum R2 in a direction closer to the fixed component 72 (…). Figure 8 The first-stage rotating shaft 153s moves downwards when rotated counterclockwise. With this movement, the distance between the input-side rotational transmission component 154a and the output-side rotational transmission component 154b increases, and the tension of the annular component 154c increases. Then, the position of the rotating component 71 is aligned with the mark 91 indicating the desired tension. While maintaining this position, the user tightens each screw 74c of the rotating component 71 relative to the side plate portion 121c. Thus, the position of the rotating component 71 relative to the side plate portion 121c is fixed. Based on the above, the annular component 154c can be replaced with a new annular component, and the tension of the new annular component 154c can be adjusted to a predetermined tension that allows for proper power transmission.

[0122] Furthermore, the removal of the annular component 154c and the installation of a new annular component 154c can be carried out by passing through the gap between the ends of the rotating shafts 153s and 163s located on the first shaft A1 and the gap between the ends of the rotating shafts 154s and 164s.

[0123] Thus, the adjustment part 157 is located on the outer side of the arm base 121a, allowing the user to easily operate it. On the other hand, the main parts of the second motor 151 and the second power transmission part 152 are housed within the arm base 121a of the first arm 121, thus preventing contact between the main parts of the second motor 151 and the second power transmission part 152 and surrounding objects. Furthermore, when a predetermined tension is desired to be applied to the second-stage annular member 154c, the rotating member 71 can be positioned at a position corresponding to the predetermined tension using the marking 91 provided on the outer side of the arm base 121a. Therefore, without needing to measure the tension of the annular member 154c on the inner side of the arm base 121a using a measuring device, a predetermined tension, i.e., an appropriate tension, can be easily applied to the annular member 154c.

[0124] Furthermore, when the annular member 154c is wound around the input-side rotary transmission member 154a and the output-side rotary transmission member 154b, the inter-axis distance ΔL21 is increased as described above. At this time, as the inter-axis distance ΔL21 increases, the tension applied to the annular member 154c increases, but simultaneously, the reaction force applied to the rotating member 71 by the annular member 154c via the rotating shaft 153s and the bearing portion 153t also increases. The reaction force is the force in the direction that reduces the inter-axis distance ΔL21, that is, the force in the direction that separates the rotating member 71 from the fixed member 72. When the inter-axis distance ΔL21 is increased, the threaded member 73 abuts against the upper surface of the rotating upright portion 75, so the fixed member 72 can bear the reaction force via the threaded member 73. Therefore, the force required by the user to increase the inter-axis distance ΔL21 can be reduced.

[0125] Furthermore, the contact point between the threaded component 73 and the rotating component 71 corresponds to the point where the user applies force to increase the inter-axis distance ΔL21, and the center R1 of the first-stage bearing portion 153t corresponds to the point of application of the reaction force from the annular component 154c. The distance between the point of force and the fulcrum R2 is longer than the distance between the point of application and the fulcrum R2. Therefore, when increasing the inter-axis distance ΔL21, the force applied by the user to the point of force can be smaller than the reaction force from the annular component 154c acting on the point of application. Thus, the force required by the user to increase the inter-axis distance ΔL21 can be reduced.

[0126] The second-level adjustment unit 158 ​​has the same main components as the first-level adjustment unit 157, but the arrangement and orientation of each component are different. Hereinafter, for the components in the second-level adjustment unit 158 ​​that are the same as those in the first-level adjustment unit 157, the same names will be used and descriptions will be omitted where appropriate. The main focus will be on the differences between the second-level adjustment unit 158 ​​and the first-level adjustment unit 157. Furthermore, the adjustment operation method based on the adjustment unit 158 ​​is largely the same as the adjustment operation method based on the aforementioned adjustment unit 157, therefore detailed descriptions are omitted.

[0127] The second-stage adjustment part 158 ​​is located above the adjustment part 157 and is disposed on the outer side of the side plate part 121c of the arm base 121a. The second-stage adjustment part 158 ​​includes: a rotating member 81, which is disposed so as to be able to rotate about a fulcrum R4 that is separated from the center R3 of the second-stage bearing part 154t; a fixing member 82, which is separated from the rotating member 81 upward (to the first direction D1+ side) and fixed to the outer side of the side plate part 121c; and a threaded member 83, which is screwed into the fixing member 82 and abuts against the rotating member 81, and the inter-axis distance ΔL31 is adjusted by rotating the rotating member 81 about the fulcrum R4.

[0128] The rotating member 81 has a shape that allows the rotating member 71 of the first-stage adjustment section 157 to rotate 180 degrees in a plane including the first direction D1 and the third direction D3. Therefore, in the rotating member 81, the fulcrum R4 is located on the third direction D3+ side, which is closer to the center R3 of the second-stage bearing section 154t. In addition, the rotating upright portion 85 of the rotating member 81 is connected to the upper end (first direction + side) of the rotating main body portion 84. Furthermore, the through hole 85h formed in the rotating upright portion 85 is located on the third direction D3- side, which is closer to the center R3 of the bearing section 154t.

[0129] The fixing member 82 has a shape that allows the fixing member 72 of the first-stage adjustment part 157 to rotate 180 degrees in a plane including the first direction D1 and the third direction D3. In addition, the fixing member 82 is fixed to the side plate part 121c in a state that is separated from the rotating member 81 upward (first direction D1+ side) and located on the third direction D3- side of the bearing part 126b of the second joint 126.

[0130] The fixing member 82 has a fixing stand-up portion 87 connected to the lower end (first direction D1-side) of the fixing body portion 86, and a threaded hole 87h is formed that passes through the fixing stand-up portion 87 in the thickness direction (first direction D1). When viewed from the first direction D1, the through hole 85h of the rotating stand-up portion 85 partially overlaps with the threaded hole 87h of the fixing stand-up portion 87.

[0131] In this embodiment, the threaded component 83 includes: an external thread portion 83a extending in a first direction D1, engaging with a threaded hole 87h in the fixed support portion 87, and penetrating a through hole 85h in the rotating support portion 85; a screw head 83b disposed at the upper end of the external thread portion 83a, located above the fixed support portion 87; and a nut 83c located between the fixed support portion 87 and the rotating support portion 85, abutting against the upper surface of the rotating support portion 85. The nut 83c is fixed to the external thread portion 83a in a state of penetrating the external thread portion 83a. The outer diameter of the nut 83c is larger than the width of the through hole 85h in the second direction D2 of the rotating support portion 85. Furthermore, the outer diameter of the nut 83c refers to the diameter of the inscribed circle of the nut 83c.

[0132] Viewed from the direction extending from the second-stage rotation axis 154s (second direction D2), the fulcrum R4, the fixing member 82, and the threaded member 83 are located on opposite sides of each other, with the straight line L95 passing through the second-stage rotation axis 154s and the axis 126a as the boundary. Specifically, viewed from the second direction D2, with the straight line L95 as the boundary, the first-stage fixing member 72, the threaded member 73, and the second-stage fulcrum R4 are located on one side (third direction D3+ side), and the first-stage fulcrum R2, the second-stage fixing member 82, and the threaded member 83 are located on the other side (third direction D3- side). In addition, the direction from the first-stage rotating member 71 toward the fixing member 72 is the opposite direction to the direction from the second-stage rotating member 81 toward the fixing member 82. As a result, the arm base 121a can be miniaturized in the direction in which the input-side rotation transmission member 154a and the output-side rotation transmission member 154b are arranged (first direction D1).

[0133] When the user loosens the threaded component 83 relative to the fixed support portion 87 to reduce the inter-axis distance ΔL31, the nut 83c moves upward (to the first direction D1+ side) together with the external thread portion 83a. As a result, the nut 83c separates from the rotating support portion 85. Therefore, the user can move the rotating component 81 about the fulcrum R4 in a direction closer to the fixed component 82 (in... Figure 8 (Counterclockwise) rotation. As a result, the rotating shaft 154s and the input-side rotation transmission component 155a move upward, and the tension of the annular component 155c decreases.

[0134] On the other hand, when the user tightens the threaded component 83 relative to the fixed support portion 87 to increase the interaxial distance ΔL31, the nut 83c and the external thread portion 83a move downward (towards the first direction D1). As a result, the nut 83c abuts against the rotating support portion 85, and the rotating component 81 moves about the fulcrum R4 in the direction separating from the fixed component 82 (in... Figure 8 (Clockwise) rotation. As a result, the rotating shaft 154s and the input-side rotation transmission component 155a move downwards, and the tension of the annular component 155c increases.

[0135] On the outer side of the side plate portion 121c, a mark 93 is provided to indicate the position of the rotating member 81, which applies a predetermined tension to the third-stage annular member 155c. In this embodiment, multiple marks 93 are provided in the rotation direction of the rotating member 81. That is, on the outer side of the side plate portion 121c, a scale 94 is provided to indicate the position of the rotating member 81 in stages corresponding to the tension applied to the third-stage annular member 155c.

[0136] Furthermore, when the adjustment unit 158 ​​is operated, the output-side rotary transmission member 154b also moves upward or downward along with the rotation shaft 154s. Therefore, when the annular member 154c is wound between the output-side rotary transmission member 154b and the input-side rotary transmission member 154a, the tension of the annular member 154c also changes. Therefore, it is preferable to adjust the tension of the annular member 154c and the tension of the annular member 155c in a balanced manner by appropriately combining the adjustment based on the adjustment unit 157 and the adjustment based on the adjustment unit 158.

[0137] like Figure 7 As shown, the first-stage adjustment section 167 of the third drive unit 160 holds the first-stage bearing section 163t and adjusts the position of the first-stage bearing section 163t in the first direction D1. This adjusts the inter-axis distance ΔL22 between the first-stage rotating shaft 163s, which is equipped with the second-stage input-side rotating transmission member 164a, and the second-stage rotating shaft 164s, which is equipped with the second-stage output-side rotating transmission member 164b. Consequently, the tension of the second-stage annular member 164c is adjusted.

[0138] like Figure 3 As shown, the first-stage adjustment unit 167 has the same constituent elements as the first-stage adjustment unit 157 of the second drive unit 150. That is, the first-stage adjustment unit 167 has a rotating member 71, a fixing member 72, and a threaded member 73. Figure 7 As shown, viewed from a third-party perspective (D3), the first-stage adjustment unit 167 of the third drive unit 160 rotates 180 degrees around the first axis A1, making the same component as the first-stage adjustment unit 157 of the second drive unit 150 rotate 180 degrees. The operation method for adjustment based on the adjustment unit 167 is largely the same as the aforementioned operation method for adjustment based on the adjustment unit 157, therefore detailed description is omitted.

[0139] Similarly, the second-stage adjustment section 168 of the third drive unit 160 maintains the second-stage bearing section 164t and adjusts the position of the second-stage bearing section 164t in the first direction D1. This adjusts the inter-axis distance ΔL32 between the second-stage rotating shaft 164s, on which the third-stage input-side rotating transmission member 165a is provided, and the shaft 126a, on which the third-stage output-side rotating transmission member 165b is provided. Consequently, the tension of the third-stage annular member 165c is adjusted.

[0140] like Figure 3 As shown, the second-stage adjustment unit 168 has the same constituent elements as the second-stage adjustment unit 158 ​​of the second drive unit 150. That is, the second-stage adjustment unit 168 has a rotating member 81, a fixing member 82, and a threaded member 83. Figure 7As shown, viewed from a third-party perspective (D3), the second-stage adjustment unit 168 of the third drive unit 160 rotates 180 degrees around the first axis A1, making the same component as the second-stage adjustment unit 158 ​​of the second drive unit 150 rotate 180 degrees. The operation method for adjustment based on the adjustment unit 168 is largely the same as the aforementioned operation method for adjustment based on the adjustment unit 158, therefore detailed description is omitted.

[0141] Furthermore, the tension of the first-stage annular member 163c of the third power transmission unit 162 can be adjusted, for example, by having the mounting base 161c function as a motor position adjustment unit, and by adjusting the position of the third motor 161 through the mounting base 161c.

[0142] Therefore, the same assembly can be used for an assembly including a side plate 121c, a second power transmission section 152, a first-stage adjustment section 157, and a second-stage adjustment section 158, and an assembly including another side plate 121d, a third power transmission section 162, a first-stage adjustment section 167, and a second-stage adjustment section 168. This reduces the number of parts required for manufacturing the robot 10, thus enabling efficient manufacturing of the robot 10. Consequently, the productivity of the robot 10 is increased. Furthermore, during use, the number of parts required for replacing deteriorated or malfunctioning parts is reduced, simplifying the maintenance of the robot 10.

[0143] Furthermore, the structure of the adjusting part 157 is not limited to the structure described above. For example, the adjusting part 157 may adjust the inter-axis distance ΔL21 not by rotating the bearing part 153t around the fulcrum R2, but by moving the bearing part 153t linearly along the first direction D1, the third direction D3, and the directions intersecting them. The same applies to the other adjusting parts 158, 167, and 168. In addition, the specific structures of the rotating parts 71 and 81, the fixing parts 72 and 82, and the threaded parts 73 and 83 are not limited to the structures described above. For example, the rotating parts 71 and 81 and the fixing parts 72 and 82 may be block-shaped instead of plate-shaped.

[0144] Alternatively, a tension measuring device capable of measuring the tension of the annular components 154c, 155c, 164c, and 165c, and a display unit for displaying the measured values ​​of the tension measuring device can be provided in the robot system 1. The user can adjust the positions of the rotating components 71 and 81 based on the measured values ​​displayed on the display unit. In this case, the control device 20 can also provide the user with an appropriate tension range via the display unit based on information about the structure and characteristics of the annular components 154c, 155c, 164c, and 165c, such as their type, width, thickness, material, and elasticity, as well as the weight information of the workpiece. Examples of tension measuring devices include ultrasonic tension measuring devices and accelerometer-type tension measuring devices.

[0145] Furthermore, the reasons and timing for operating adjustment units 157, 158, 167, and 168 are not limited to those mentioned above. Adjustment unit 157 can also be used, for example, in situations such as adjusting (restoring) the tension of loose ring member 154c, etc., when manufacturing heavy workpieces, when the robotic arm 200 operates continuously at a relatively high speed, when using the robot 10 for extended periods, or when the temperature, humidity, etc., of the robot 10's operating environment rises or falls and applies a load; and in cases of repairing, strengthening, or replacing ring member 154c, etc. Additionally, adjustment unit 157 can also be used to adjust the tension of ring member 154c according to changes in the weight of the workpiece held by the end effector E1. This allows the robot 10 to ensure more appropriate movement corresponding to the weight of the workpiece, etc. The same applies to the other adjustment units 158, 167, and 168.

[0146] Furthermore, when the power transmission section of the first drive unit 140 is composed of a winding transmission device, the adjustment sections 157 and 158 can also be applied to the first drive unit 140. This allows adjustment of the interaxial distance between the pair of rotary transmission members constituting the winding transmission device of the first drive unit 140, and adjustment of the tension of the annular member wound around the pair of rotary transmission members. In this case, the adjustment section is provided on the outer surface of the base 110, such as the upper surface or side surface.

[0147] As described above, the robot 10 includes: a plurality of arms 121, 122, 123, and 124 rotatably connected; a motor 151 for rotating the arms 122; a power transmission unit 152 disposed in the power transmission path from the motor 151 to the arms 122, for transmitting the rotational driving force of the motor 151; and an adjustment unit 157 (first adjustment unit). The power transmission unit 152 has a first rotation transmission member 154a, a second rotation transmission member 154b, and a first annular member 154c wound around the first rotation transmission member 154a and the second rotation transmission member 154b. The first adjustment unit 157 adjusts the interaxial distance ΔL21 between the first rotation axis 153s of the first rotation transmission member 154a and the second rotation axis 154s of the second rotation transmission member 154b, thereby adjusting the tension of the first annular member 154c. The arm 121 has an arm base 121a that houses a motor 151, a first rotation transmission member 154a, a second rotation transmission member 154b, and a first annular member 154c. A first adjustment part 157 is disposed on the outside of the arm base 121a.

[0148] Thus, since the first adjustment part 157 is located on the outside of the arm base 121a, the user can easily adjust the tension of the first annular member 154c. On the other hand, since the arm base 121a houses the motor 151, the first rotation transmission member 154a, the second rotation transmission member 154b, and the first annular member 154c, it can prevent them from contacting surrounding components.

[0149] Furthermore, since the first adjustment part 157 adjusts the inter-axis distance ΔL21, the arm base 121a can be miniaturized compared to the case where the degree of deflection of the first annular member 154c is adjusted by pressing the portion between the first rotation transmission member 154a and the second rotation transmission member 154b of the first annular member 154c by the tensioner.

[0150] In addition, the power transmission unit 152 also has a bearing part 153t that supports one end of the first rotating shaft 153s in a rotatable manner, and a first adjustment part 157 is provided on the side of the arm base 121a in such a way that the position of the bearing part 153t relative to the arm base 121a can be adjusted.

[0151] Therefore, the first rotating shaft 153s can be rotated, and the first adjusting part 157 is disposed on the outside of the arm base 121a.

[0152] In addition, at least a portion of the bearing portion 153t is located on the outside of the arm base 121a.

[0153] Therefore, maintenance of the bearing section 153t, such as injecting lubricating oil into the bearings 61 and 62, can be easily performed.

[0154] Furthermore, the first adjustment part 157 includes a rotating member 71, a fixing member 72, and a threaded member 73. The rotating member 71 holds the bearing part 153t and is disposed on the side of the arm base 121a in such a way that it can rotate about a fulcrum R2 that is separate from the center R1 of the bearing part 153t. The fixing member 72 is separate from the rotating member 71 and fixed to the side of the arm base 121a. The threaded member 73 is screwed into the fixing member 72 and abuts against the rotating member 71. The inter-axis distance ΔL21 is adjusted by rotating the rotating member 71 about the fulcrum R2. Viewed from the direction extending from the first rotation axis 153s, the fulcrum R2, the fixing member 72, and the threaded member 73 are located on opposite sides of each other, with the straight line L95 passing through the first rotation axis 153s and the second rotation axis 154s as the boundary.

[0155] Therefore, when the interaxial distance ΔL21 is increased, the reaction force from the first annular member 154c to the rotating member 71 can be borne by the fixed member 72 via the threaded member 73. Furthermore, the distance from the fulcrum R2 to the contact point (force point) between the threaded member 73 and the rotating member 71 can be made longer than the distance from the fulcrum R2 to the center R1 (point of action) of the bearing portion 153t. Therefore, the force required to increase the interaxial distance ΔL21 can be reduced. Additionally, since the fulcrum R2, the fixed member 72, and the threaded member 73 are arranged in a direction intersecting the straight line L95, the arm base 121a can be miniaturized in the direction in which the first rotational transmission member 154a and the second rotational transmission member 154b are arranged.

[0156] Additionally, a mark 91 is provided on the side of the arm base 121a to indicate the position of the rotating member 71 that applies a predetermined tension to the first annular member 154c.

[0157] Therefore, the user only needs to observe the mark 91 while adjusting the position of the rotating component 71, without having to check the tension of the first annular component 154c housed in the arm base 121a while adjusting the position of the rotating component 71. Thus, the tension of the first annular component 154c can be easily adjusted to the specified tension by means of the first adjustment part 157.

[0158] In addition, the second rotary transmission component 154b is located on the output side of the transmission path closer to the first rotary transmission component 154a than the first rotary transmission component 154a, and the diameter of the second rotary transmission component 154b is larger than the diameter of the first rotary transmission component 154a.

[0159] Therefore, by utilizing the power transmission section 152 to increase torque and by utilizing the first adjustment section 157 to make the tension of the first annular member 154c appropriate, the increased torque from the power transmission section 152 can be transmitted more reliably.

[0160] Additionally, the power transmission unit 152 also includes: a third rotation transmission member 155a with a second rotation shaft 154s; a fourth rotation transmission member 155b; and a second annular member 155c, which is wound around the third rotation transmission member 155a and the fourth rotation transmission member 155b. The robot 10 also includes a second adjustment unit 158 ​​that adjusts the tension of the second annular member 155c by adjusting the interaxial distance ΔL31 between the second rotation shaft 154s and the third rotation shaft 126a of the fourth rotation transmission member 155b. The third rotation transmission member 155a, the fourth rotation transmission member 155b, and the second annular member 155c are housed in an arm base 121a. The second adjustment unit 158 ​​is disposed on the outer side of the arm base 121a.

[0161] Therefore, the tension of the second annular component 155c can be easily adjusted. In addition, even when the power transmission unit 152 is configured as a multi-stage type, since the structure adjusts the inter-axis distances ΔL21 and ΔL31, it is possible to prevent the arm base 121a from becoming too large.

[0162] <Second Implementation>

[0163] Figure 10 This is a left-side view showing the adjustment parts 257 and 258 in this embodiment.

[0164] The first-stage adjustment part 257 of this embodiment differs from the adjustment part 157 in the first embodiment in the structure of the threaded component 273. Similarly, the second-stage adjustment part 258 of this embodiment differs from the adjustment part 158 ​​in the structure of the threaded component 283. Hereinafter, the differences from the embodiments described above will be primarily explained. For structures identical to those described above, the same reference numerals will be used, and descriptions will be omitted as appropriate.

[0165] In addition to the external threaded portion 73a, screw head 73b, and washer 73c, the first-stage threaded component 273 also has a cylindrical component 273e and a spring 273f.

[0166] The cylindrical component 273e has an internally arranged external thread 73a located between the screw head 73b and the washer 73c. ​​The axial length of the cylindrical component 273e is set to the length that applies appropriate tension to the second-stage annular component 154c when the spring 273f (described later) is compressed and the length of the spring 273f is the same as the length of the cylindrical component 273e.

[0167] The spring 273f has a cylindrical component 273e and an externally threaded portion 73a internally disposed between the screw head 73b and the washer 73c. ​​The natural length of the spring 273f is longer than the axial length of the cylindrical component 273e.

[0168] If the external threaded portion 73a is tightened relative to the fixed upright portion 77 to increase the interaxial distance ΔL21, the reaction force from the second-stage annular component 154c acts on the rotating component 71, and the spring 273f is compressed. The spring 273f, compressed to a length shorter than its natural length, presses against the washer 73c. ​​The washer 73c presses against the rotating upright portion 75. As a result, the rotating component 71 moves about the fulcrum R2 towards the fixed component 72 (in... Figure 10 Rotate counterclockwise.

[0169] Furthermore, the length of the external threaded portion 73a fastened relative to the fixed upright portion 77 to the spring 273f is the same as the length of the cylindrical member 273e. This applies a predetermined tension to the second-stage annular member 154c.

[0170] The second-stage threaded component 283 has an external threaded portion 83a and a screw head 83b, and a washer 283c replaces the nut 83c. In addition, the threaded component 283 also has a nut 283d, a cylindrical component 283e, and a spring 283f.

[0171] Washer 283c is inserted through external thread 83a. Washer 283c is disposed between fixed upright part 87 and rotating upright part 85, and abuts against the upper surface of rotating upright part 85.

[0172] When the nut 283d is engaged with the external thread 83a, it is located between the fixed upright part 87 and the washer 283c.

[0173] The cylindrical component 283e has an internally arranged external threaded portion 83a located between the nut 283d and the washer 283c. The axial length of the cylindrical component 283e is set to the length that applies appropriate tension to the third-stage annular component 155c when the spring 283f (described later) is compressed and the length of the spring 283f is the same as the length of the cylindrical component 283e.

[0174] Spring 283f has a cylindrical component 283e and an externally threaded portion 83a internally disposed between nut 283d and washer 283c. The natural length of spring 283f is longer than the axial length of cylindrical component 283e.

[0175] If the external threaded portion 83a is tightened relative to the fixed upright portion 87 to increase the interaxial distance ΔL31, the reaction force from the third-stage annular component 155c acts on the rotating component 81, and the spring 283f is compressed. The spring 283f, compressed to a length shorter than its natural length, presses against the washer 283c. The washer 283c presses against the rotating upright portion 85. As a result, the rotating component 81 moves about the fulcrum R4 in the direction separating from the fixed component 82 ( Figure 10 Rotate clockwise.

[0176] Furthermore, the length of the external threaded portion 83a fastened to the spring 283f relative to the fixed upright portion 87 is the same as the length of the cylindrical member 283e. This applies a predetermined tension to the third-stage annular member 155c. Thus, the springs 273f and 283f can also press the rotating members 71 and 81, thereby widening the inter-axis distances ΔL21 and ΔL31. Additionally, the springs 273f and 283f, which apply a predetermined tension to the annular members 154c and 155c, can be understood through the cylindrical members 273e and 283e.

[0177] As described above, the robot 10 with adjustment parts 257 and 258 of this embodiment also achieves the same effect as the robot 10 of the first embodiment. Furthermore, compared to the adjustment parts 157 and 158 in the robot 10 of the first embodiment, the adjustment parts 257 and 258 of this embodiment have springs 273f and 283f. Therefore, the tension applied to the annular parts 154c and 155c when the threaded parts 73 and 83 are rotated can change smoothly. Therefore, when the threaded parts 73 and 83 are over-rotated, breakage of the annular parts 154c and 155c can be suppressed.

[0178] In addition, Figure 10 Although not shown, the robot 10 shown can also have the same structure as the adjustment parts 257 and 258 in the adjustment parts 167 and 168 of the third drive unit 160, and the effect is as described above.

[0179] Furthermore, the structure of robot system 1 is not limited to the structure described above. For example, robot 10 is not limited to a parallel link robot; it can also be a horizontal multi-joint robot (SCARA robot), a 6-axis vertical multi-joint robot, a dual-arm robot, a self-propelled robot, or other robots.

[0180] Alternatively, in cases where the two power transmission units, such as the second power transmission unit 152 and the third power transmission unit 162, are not arranged in a row, the rotating shaft of the rotating transmission member can be supported at both ends, and adjustment parts can be provided at both ends of the rotating shaft.

[0181] The robot system and robot of the present invention have been described above with reference to the illustrated embodiments, but the present invention is not limited thereto. Furthermore, the various parts of the robot system and robot can be replaced with any structure capable of performing the same function. Additionally, any structure may be added to the robot system and robot.

Claims

1. A robot, characterized in that, have: Multiple arms are connected in a rotatable manner; A motor drives the arm to rotate. The power transmission unit has a first rotational transmission component, a second rotational transmission component, and a first annular component that is wrapped around the first rotational transmission component and the second rotational transmission component. The power transmission unit is arranged in the power transmission path from the motor to the arm and transmits the rotational driving force of the motor. as well as The first adjustment unit adjusts the distance between the first rotating shaft of the first rotational transmission component and the second rotating shaft of the second rotational transmission component, thereby adjusting the tension of the first annular component. The arm has an arm base that houses the motor, the first rotary transmission component, the second rotary transmission component, and the first annular component. The first adjustment part is disposed on the outside of the arm base.

2. The robot according to claim 1, characterized in that, The power transmission unit also includes a bearing portion that rotatably supports one end of the first rotating shaft. The first adjustment part is provided on the side of the arm base in such a way that the position of the bearing part relative to the arm base can be adjusted.

3. The robot according to claim 2, characterized in that, At least a portion of the bearing portion is located on the outside of the arm base.

4. The robot according to claim 2 or 3, characterized in that, The first adjustment part has: A rotating component is provided on the side of the arm base to hold the bearing portion and to rotate about a pivot point that is separate from the center of the bearing portion. A fixed component, separate from the rotating component, and fixed to the side of the arm base; and A threaded component engages with the fixed component and abuts against the rotating component. The distance between the shafts is adjusted by rotating the rotating component around the fulcrum. Viewed from the direction extending from the first rotation axis, the fulcrum, the fixed component, and the threaded component are located on opposite sides of each other with a straight line passing through the first and second rotation axes as the boundary.

5. The robot according to claim 4, characterized in that, The side of the arm base is marked with a mark indicating the position of the rotating component that applies a specified tension to the first annular component.

6. The robot according to any one of claims 1 to 3, characterized in that, The second rotary transfer component is located on the output side of the transfer path closer to the first rotary transfer component. The diameter of the second rotary transmission component is larger than the diameter of the first rotary transmission component.

7. The robot according to any one of claims 1 to 3, characterized in that, The power transmission unit further includes: a third rotational transmission component disposed on the second rotational shaft; a fourth rotational transmission component; and a second annular component wrapped around the third and fourth rotational transmission components. The robot also includes a second adjustment unit, which adjusts the interaxial distance between the second rotating axis and the third rotating axis of the fourth rotating transmission component, thereby adjusting the tension of the second annular component. The third rotary transmission component, the fourth rotary transmission component, and the second annular component are housed in the arm base. The second adjustment part is disposed on the outside of the arm base.

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