Vertical multi-joint robot

Abstract

A vertical multi-joint robot capable of improving motion performance is provided. A fourth arm (224) has a first protruding portion (610) that is cylindrical, protrudes along a rotation axis (J5), and has a shoulder portion (611) on an inner side, and an outer ring clamping portion (612) that clamps an outer ring (640B) of a fourth bearing (640) from a direction of the rotation axis (J5) together with the shoulder portion (611) and is fixed to the first protruding portion (610). A fifth arm (225) has a second protruding portion (620) that has a first opening portion (110) on an inner side, has an inner ring (640A) of the fourth bearing (640) disposed on an outer side, and protrudes along the rotation axis (J5), and a first bevel gear (300) that transmits power from a motor and passes through the first opening portion (110).

Description

Technical Field

[0001] This utility model relates to a vertical multi-joint robot. Background Technology

[0002] Patent Document 1 discloses a robot configuration having a movable housing supported by a bearing shaft with a cylindrical shaft portion formed in a recess. In other words, a bearing is disposed inside the recess, and a cylindrical shaft portion is disposed inside the bearing.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2010-269400

[0004] However, in the configuration described in the aforementioned Patent Document 1, there is a technical problem that the mass of the movable housing increases and the operating performance decreases because the bearings and shafts are supported by the movable housing that functions as an arm. Utility Model Content

[0005] A vertical multi-joint robot comprises: a root arm component having a motor; a first arm component disposed on the root arm component and rotating about a first axis; a second arm component disposed on the first arm component and rotating about a second axis intersecting the first axis; and an annular first bearing component supporting the first arm component to be rotatable relative to the root arm component, having an inner ring and an outer ring disposed outside the inner ring. The root arm component has: a cylindrical first protrusion protruding along the first axis and having a shoulder on its inner side; and an outer ring clamping portion clamping the outer ring of the first bearing component together with the shoulder and fixed to the first protrusion. The first arm component has: a second protrusion having an opening on its inner side, with the inner ring of the first bearing component disposed on its outer side and protruding along the first axis; and a power transmission mechanism transmitting power from the motor through the opening.

[0006] The opening of the second protrusion is cylindrical in shape, and a portion of the opening is provided with the outer ring of a second bearing component, which supports the power transmission mechanism to be rotatable.

[0007] The second protrusion has a shape in which the thickness gradually decreases towards the front end, and the first bearing component is positioned further towards the front end than the second bearing component.

[0008] The second protrusion is provided with: a fixing plate that supports the outer ring of the second bearing component; and a fixing bolt that fixes the fixing plate to the second protrusion.

[0009] The second protrusion has a convex portion located on the side of the second shaft further than the portion where the first bearing component is disposed, and an oil seal is disposed between the front end of the first protrusion and the convex portion of the second protrusion.

[0010] The second arm component has: a flange; a speed reducer connected to the flange to amplify the force received and drive the flange; and a fitting component inserted into the speed reducer and embedded in the first arm component in a detachable manner.

[0011] The first arm component has a first bevel gear and a second bevel gear. The first bevel gear is inserted into the opening and has: a first shaft portion extending along the first shaft; an input portion disposed at one end of the first shaft portion and subjected to force from the motor; and a first bevel tooth portion disposed at the other end of the first shaft portion. The second bevel gear has: a second shaft portion extending along the second shaft; and a second bevel tooth portion disposed at one end of the second shaft portion and subjected to force by meshing with the first bevel tooth portion. The first bevel gear has a third bearing component disposed at the front end of the first bevel tooth portion, and the second bevel gear has a hollow structure. Attached Figure Description

[0012] Figure 1 This is a side view showing the configuration of a vertical multi-jointed robot.

[0013] Figure 2 This is a cross-sectional view showing the configuration of the front end of a vertical articulated robot.

[0014] Figure 3 It is shown in magnification Figure 2 The diagram shows a cross-sectional view of part A of the vertical articulated robot.

[0015] Figure 4 It is shown in magnification Figure 3 The diagram shows a cross-sectional view of part B of the vertical articulated robot.

[0016] Figure 5 This is a cross-sectional view showing the configuration of a modified vertical articulated robot.

[0017] Figure 6 This is a cross-sectional view showing the configuration of a modified vertical articulated robot.

[0018] Explanation of reference numerals in the attached figures

[0019] 1: Vertical multi-joint robot; 2: Robot body; 10: Controller; 21: Base; 22: Robotic arm; 24: End effector; 31: Housing; 32: Cover; 41: Motor; 43: Pulley; 45: Power transmission belt; 61: Motor; 63: Pulley; 65: Power transmission belt; 100: Cover; 110: First opening as an opening; 120: Second opening; 111: Part; 221: First arm; 222: Second arm; 223: Third arm; 224: Fourth arm as a root arm component; 2 24a: Upper front end; 224b: Lower front end; 225, 225A: Fifth arm as a first arm component; 226: Sixth arm as a second arm component; 231: First drive mechanism; 232: Second drive mechanism; 233: Third drive mechanism; 234: Fourth drive mechanism; 235: Fifth drive mechanism; 236: Sixth drive mechanism; 300, 300A: First bevel gear; 310: First shaft portion; 310a: One end; 310b: The other end; 311: Input portion; 312, 312A: First bevel gear portion; 350, 350B, 350C: First bearing; 350A: First bearing as a component of the second bearing; 350A1: Outer ring; 350C: First bearing as a component of the third bearing; 400, 400A: Second bevel gear; 410: Second shaft portion; 410a: One end; 410b: The other end; 411: Connecting portion; 411a: Protrusion; 412: Second bevel gear portion; 420: Internal thread portion; 500: Flange; 510: Reducer; 520: Fitting component; 520a: Recess; 520 A: Fitting component; 521, 521A: Through hole; 540: Third bearing as a third bearing component; 610: First protrusion; 610a: Stepped portion; 611: Shoulder; 612: Outer ring clamping portion; 613: Fixing bolt; 614: Fixing plate; 620: Second protrusion; 620a: Stepped portion; 640: Fourth bearing as a first bearing component; 640A: Inner ring; 640B: Outer ring; 710: Oil seal; 710a: Sealing component; 720: Protrusion; 730: Front end portion; 800: Reducer. Detailed Implementation

[0020] The configuration of the vertical joint robot 1 will now be described with reference to the accompanying drawings. In the following figures, three axes, which are imaginary straight lines and mutually orthogonal, will be referred to as the X-axis, Y-axis, and Z-axis. The direction along the X-axis or along an imaginary straight line parallel to the X-axis will be designated as the "X-direction," the direction along the Y-axis or along an imaginary straight line parallel to the Y-axis will be designated as the "Y-direction," and the direction along the Z-axis or along an imaginary straight line parallel to the Z-axis will be designated as the "Z-direction." The direction of the arrow is the "+" direction, and the direction opposite to the "+" direction is designated as the "-" direction. It should be noted that viewing from the +Z or -Z direction is also referred to as a top-down view or a top-down perspective.

[0021] First, refer to Figure 1 The structure of the vertical multi-joint robot 1 will be described.

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

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

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

[0025] The first arm 221 is connected to the base 21 and rotates about the rotation axis J1 relative to the base 21. The second arm 222 is connected to the first arm 221 and rotates about the rotation axis J2 relative to the first arm 221. The third arm 223 is connected to the second arm 222 and rotates about the rotation axis J3 relative to the second arm 222. The fourth arm 224 is connected to the third arm 223 and rotates about the rotation axis J4 relative to the third arm 223. The fifth arm 225 is connected to the fourth arm 224 and rotates about the rotation axis J5, which serves as the first axis, relative to the fourth arm 224. The sixth arm 226 is connected to the fifth arm 225 and rotates about the rotation axis J6, which serves as the second axis, relative to the fifth arm 225. An end effector 24 is connected to the front end of the sixth arm 226. It should be noted that each rotation axis is an imaginary straight line.

[0026] The robot body 2 has a first drive mechanism 231, a second drive mechanism 232, a third drive mechanism 233, a fourth drive mechanism 234, a fifth drive mechanism 235 and a sixth drive mechanism 236.

[0027] The first drive mechanism 231 causes the first arm 221 to rotate about the rotation axis J1 relative to the base 21. The second drive mechanism 232 causes the second arm 222 to rotate about the rotation axis J2 relative to the first arm 221. The third drive mechanism 233 causes the third arm 223 to rotate about the rotation axis J3 relative to the second arm 222. The fourth drive mechanism 234 causes the fourth arm 224 to rotate about the rotation axis J4 relative to the third arm 223. The fifth drive mechanism 235 causes the fifth arm 225 to rotate about the rotation axis J5 relative to the fourth arm 224. The sixth drive mechanism 236 causes the sixth arm 226 to rotate about the rotation axis J6 relative to the fifth arm 225.

[0028] The controller 10 independently controls the drive mechanisms 231-236, enabling the robot body 2 to perform prescribed tasks. The controller 10 is, for example, a computer, and includes a processor for processing information, a memory communicatively connected to the processor, and an external interface. The memory stores various programs that can be executed by the processor. The processor can read and execute the various programs stored in the memory.

[0029] Then, while referring to Figure 2 and Figure 3 On the one hand, the structure of the forearm, specifically the fourth arm 224 to the sixth arm 226, will be explained.

[0030] like Figure 2 and Figure 3 As shown, the front end of the fourth arm 224 is divided into two sections, with the fifth arm 225 supported by both sides of the rotation axis J5 between them. A sixth drive mechanism 236 is disposed at the upper front end 224a, and a fifth drive mechanism 235 is disposed at the lower front end 224b. In this way, by supporting the fifth arm 225 by both sides, the rotational accuracy of the fifth arm 225 is improved, while ensuring sufficient space for the fifth drive mechanism 235 and the sixth drive mechanism 236.

[0031] The fourth arm 224 has a housing 31 and a cover 32 mounted on the housing 31. The base end of the housing 31 is rotatably connected to the third arm 223. The front end of the housing 31 is rotatably connected to the fifth arm 225.

[0032] The housing 31 is fixed with: an encoder-integrated motor 41; a pulley 43 mounted on the output shaft of the motor 41; and a power transmission belt 45 wound around the pulley. Additionally, the housing 31 is fixed with: an encoder-integrated motor 61; a pulley 63 mounted on the output shaft of the motor 61; and a power transmission belt 65 wound around the pulley 63.

[0033] like Figure 3 As shown, the fifth arm 225 has a cover 100, a first bevel gear 300, a first bearing 350, a second bevel gear 400, and a second bearing 450.

[0034] The housing 100 has a first opening 110 and a second opening 120 located at a different position from the first opening 110. The first opening 110 and the second opening 120 are internally connected.

[0035] The first bevel gear 300 is inserted into the first opening 110. The first bevel gear 300 has: a first shaft portion 310 extending along a rotation axis J5 that serves as a first shaft; an input portion 311 provided at one end 310a of the first shaft portion 310; and a first bevel gear portion 312 provided at the other end 310b of the first shaft portion 310.

[0036] The first shaft portion 310 has a stepped shape in which the diameter increases from the input portion 311 to the first bevel tooth portion 312. The first bearing 350 has a plurality of first bearings 350A, 350B arranged corresponding to the stepped shape.

[0037] The first bearing 350 rotatably supports the first shaft portion 310 relative to the housing 100. The first bearing 350 has: a first bearing 350A, which is a second bearing component, disposed on one end 310a side of the first shaft portion 310; and a first bearing 350B, disposed on the other end 310b side of the first shaft portion 310.

[0038] The second bevel gear 400 is inserted into the second opening 120. The second bevel gear 400 has: a second shaft portion 410 extending along a rotation axis J6 that serves as a second shaft; a second bevel tooth portion 412 disposed at one end 410a of the second shaft portion 410, which is subjected to force by meshing with the first bevel tooth portion 312; and a connecting portion 411 disposed at the other end 410b of the second shaft portion 410.

[0039] The second shaft portion 410 has a stepped shape in which the diameter increases from the connecting portion 411 to the second bevel tooth portion 412. The second bearing 450 has a plurality of second bearings 450A and 450B arranged corresponding to the stepped shape.

[0040] The second bearing 450 rotatably supports the second shaft portion 410 relative to the housing 100. The second bearing 450 includes: a second bearing 450A disposed at one end 410a of the second shaft portion 410; and a second bearing 450B disposed at the other end 410b of the second shaft portion 410.

[0041] Thus, the first shaft portion 310 and the second shaft portion 410 have a stepped shape with the diameter increasing towards the center of the housing 100, so that multiple bearings 350A, 350B, 450A, and 450B can be inserted sequentially, making the assembly of the fifth arm 225 easier.

[0042] The sixth arm 226 includes: a flange 500; a reducer 510 connected to the flange 500 and amplifying the force received to drive the flange 500; and a fitting member 520 inserted into the reducer 510 and inserted into the connecting portion 411 of the second shaft portion 410 in a detachable manner.

[0043] A recess 520a is provided in a portion of the fitting member 520, specifically on the side of the connecting portion 411 of the second bevel gear 400. A protrusion 411a is provided in a portion of the connecting portion 411 of the second bevel gear 400. The second bevel gear 400 and the fitting member 520 are configured such that the recess 520a and the protrusion 411a fit together.

[0044] In this way, the recess 520a and the protrusion 411a engage, thus determining the position of the second bevel gear 400 and the engaging member 520; in other words, determining the position of the fifth arm 225 and the reducer 510. Specifically, the second bevel gear 400 is supported by two second bearings 450A and 450B, so even when the reducer 510 is mounted on the second bevel gear 400, twisting of the second bevel gear 400 can be suppressed. Furthermore, the length of the large-diameter engaging member 520 can be shortened, thus reducing material costs.

[0045] The fitting member 520 is provided with a through hole 521. The end of the second bevel gear 400 on the side of the connecting portion 411 is provided with an internal thread portion 420. The fitting member 520 is supported by the engagement of the recess 520a and the protrusion 411a, and is fixed to the internal thread portion 420 of the second bevel gear 400 by a fixing screw 530 passing through the through hole 521.

[0046] In this way, the fixed fitting component 520 and the second bevel gear 400 are connected, so the fifth arm 225 with the second bevel gear 400 and the reducer 510 with the fitting component 520 inserted can be easily disassembled and assembled.

[0047] The reducer 510 is, for example, a wave reducer with a wave generator. A third bearing 540 is disposed on the outer periphery of the sixth arm 226 side of the fitting member 520. Thus, the fifth arm 225 side of the reducer 510, into which the fitting member 520 is inserted, is supported by the engagement of the recess 520a of the fitting member 520 with the protrusion 411a of the second bevel gear 400. On the other hand, the sixth arm 226 side of the reducer 510 into which the fitting member 520 is inserted is supported by the third bearing 540. In other words, since the wave generator of the reducer 510 has a double-support structure, it is possible to suppress eccentricity of the reducer 510 and the abnormal wear of the tooth surface caused by eccentricity.

[0048] Then, while referring to Figure 4 The structure of the connection between the fourth arm 224 and the fifth arm 225 will be explained in detail.

[0049] like Figure 4 As shown above, the robot body 2 has a fourth arm 224 and a fifth arm 225.

[0050] The fourth arm 224 has a cylindrical first protrusion 610 that projects along the rotation axis J5 in the -Z direction. The first protrusion 610 has a stepped portion 610a on its inner side. Specifically, the first protrusion 610 is configured to gradually increase in thickness in the +Z direction.

[0051] The first protrusion 610 has a shoulder 611 on a portion of the stepped portion 610a. The shoulder 611 has: a wall extending along an imaginary straight line parallel to the rotation axis J5; and a bottom extending along an imaginary first straight line intersecting, and particularly orthogonal to, the rotation axis J5. A fourth bearing 640, serving as a first bearing member, is disposed inside the shoulder 611. The fourth bearing 640 is an annular member that supports the fifth arm 225 so that it can rotate relative to the fourth arm 224, and has an inner ring 640A and an outer ring 640B disposed outside the inner ring 640A.

[0052] The fourth bearing 640 clamps and fixes the outer ring 640B via the bottom of the shoulder 611 of the first protrusion 610 and the outer ring clamping portion 612. The outer ring clamping portion 612 extends along an imaginary second straight line that intersects, and is particularly orthogonal to, the rotation axis J5, and is pressed toward the rotation axis J5 by a fixing bolt 613, specifically, in the +Z direction, thereby fixing it to the first protrusion 610. Although the first straight line is parallel to the second straight line, i.e., the bottom of the shoulder 611 is parallel to the outer ring clamping portion 612, the first straight line and the second straight line may not be parallel.

[0053] The fifth arm 225 has a generally cylindrical second protrusion 620 projecting along the rotation axis J5 in the +Z direction. The second protrusion 620 is part of the aforementioned cover 100. The second protrusion 620 has stepped portions 620a on its inner and outer sides. Specifically, the second protrusion 620 is configured to gradually increase in thickness in the -Z direction.

[0054] As described above, a first opening 110 is provided on the inner side of the second protrusion 620, which serves as the opening into which the first bevel gear 300 constituting the power transmission mechanism is inserted. The inner ring 640A of the fourth bearing 640 is supported on the outer side of the second protrusion 620. The outer ring 350A1 of the first bearing 350A is supported on the inner side of the second protrusion 620.

[0055] In this way, the outer ring 640B of the fourth bearing 640 is fixed to the first protrusion 610 by the outer ring clamping part 612. In other words, by fixing the fourth bearing 640 to the fourth arm 224, the fifth arm 225 can be made lighter compared to the case where the fourth bearing 640 and the first protrusion 610 are arranged in the fifth arm 225. Therefore, the operating performance of the fifth arm 225 can be improved.

[0056] As described above, a first bevel gear 300 is inserted into the first opening 110 of the second protrusion 620. An outer ring 350A1 of a first bearing 350A is disposed in a portion 111 of the first opening 110, and the first bearing 350A supports the first bevel gear 300 so that it can rotate.

[0057] At the front end of the second protrusion 620, i.e., the end on the +Z direction side, a fixing plate 614 is disposed to support the outer ring 350A1 of the first bearing 350A. It should be noted that another fixing plate for thickness adjustment can be disposed between the fixing plate 614 and the first bearing 350A to eliminate gaps. The fixing plate 614 is pressed towards the direction of the rotation shaft J5, specifically towards the -Z direction, by fixing bolts 613, thereby fixing it to the second protrusion 620.

[0058] In this way, since the first bearing 350A is supported by the fixed plate 614 and the fixed bolt 613, it can suppress the micro-vibration wear caused by the difference in thermal expansion, that is, it can suppress the generation of micro-friction loss, or the generation of sound and vibration.

[0059] Furthermore, a first bearing 350A is disposed on a portion 111 of the first opening 110 of the second protrusion 620, and a fourth bearing 640 is disposed on the outer side of the second protrusion 620. Since the second protrusion 620 can be supported by two bearings 350A and 640, its size can be made more compact, thereby enabling the fifth arm 225 to be miniaturized. Specifically, this helps to shorten the arm length of the fifth arm 225 and reduce its inertia, thus helping to reduce the moment of inertia and improve operational performance.

[0060] Furthermore, the second protrusion 620 is designed to gradually thin towards the front end, i.e., towards the +Z direction. The fourth bearing 640 is positioned closer to the front end than the first bearing 350A. Thus, because the fourth bearing 640 is positioned on the front end of the gradually thinning second protrusion 620, the size of the second protrusion 620 including the fourth bearing 640 can be made more compact, thereby enabling a smaller size for the fifth arm 225.

[0061] In addition, such as Figure 2 As shown, a reducer 800 for the rotating shaft J5 is disposed on the lower side of the rotating shaft J5. Since the diameter D2 of the second protrusion 620 is smaller than the diameter D1 of the reducer 800, the fifth arm 225 can be prevented from becoming larger even when the second protrusion 620 is provided.

[0062] As described above, the vertical multi-joint robot 1 of this embodiment includes: a fourth arm 224 having motors 41 and 61; a fifth arm 225 disposed on the fourth arm 224 and rotating about a rotation axis J5; a sixth arm 226 disposed on the fifth arm 225 and rotating about a rotation axis J6 intersecting the rotation axis J5; and an annular fourth bearing 640 supporting the fifth arm 225 so that it can rotate relative to the fourth arm 224, and having an inner ring 640A and an outer ring 640B disposed outside the inner ring 640A. The fourth arm 224 has: a cylindrical first protrusion. The first protrusion 610 protrudes along the rotation axis J5 and has a shoulder 611 on its inner side; and the outer ring clamping part 612, together with the shoulder 611, clamps the outer ring 640B of the fourth bearing 640 from the direction of the rotation axis J5 and is fixed to the first protrusion 610. The fifth arm 225 has: a second protrusion 620, which has a first opening 110 on its inner side and the inner ring 640A of the fourth bearing 640 is disposed on its outer side and protrudes along the rotation axis J5; and a first bevel gear 300, which transmits power from the motors 41 and 61 and passes through the first opening 110.

[0063] With this configuration, the outer ring 640B of the fourth bearing 640 is fixed to the first protrusion 610 by the outer ring clamping part 612. In other words, since the fourth bearing 640 and the outer ring clamping part 612 can be fixed to the fourth arm 224, the fifth arm 225 can be made lighter compared to the case where the fourth bearing 640 and the outer ring clamping part 612 are arranged on the fifth arm 225. Therefore, the operating performance of the fifth arm 225 can be improved.

[0064] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the first opening 110 of the second protrusion 620 is cylindrical, and the outer ring 350A1 of the first bearing 350A is disposed on a portion 111 of the first opening 110, supporting the first bevel gear 300 so that it can rotate. With this configuration, the first bearing 350A is disposed on the first opening 110 of the second protrusion 620, and a fourth bearing 640 is disposed on the outer side of the second protrusion 620. Since the second protrusion 620 can be supported by two bearings 350A and 640, the size of the second protrusion 620 can be made more compact, thereby enabling the miniaturization of the fifth arm 225. Specifically, this helps to shorten the arm length of the fifth arm 225 and reduce the moment of inertia of the fifth arm 225, thus helping to reduce the moment of inertia and improve motion performance.

[0065] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the second protrusion 620 has a shape in which the thickness gradually decreases towards the front end, and the fourth bearing 640 is disposed closer to the front end than the first bearing 350A. With this configuration, since the fourth bearing 640 is disposed on the front end side of the gradually thinning second protrusion 620, the size of the second protrusion 620 including the fourth bearing 640 can be made more compact, thereby enabling the fifth arm 225 to be miniaturized.

[0066] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the second protrusion 620 is provided with: a fixing plate 614 supporting the outer ring 350A1 of the first bearing 350A; and a fixing bolt 613 fixing the fixing plate 614 to the second protrusion 620. With this configuration, since the first bearing 350A is supported by the fixing plate 614 and the fixing bolt 613, micro-vibration wear caused by thermal expansion difference can be suppressed, that is, the generation of minute frictional losses, or the generation of abnormal sounds or vibrations can be suppressed.

[0067] Furthermore, in the vertical multi-joint robot 1 of this embodiment, preferably, the sixth arm 226 includes: a flange 500; a reducer 510 connected to the flange 500 and amplifying the received force to drive the flange 500; and a fitting member 520 inserted into the reducer 510 and detachably embedded in the fifth arm 225. With this configuration, the fitting member 520, being detachable from the fifth arm 225 and the sixth arm 226, specifically from the reducer 510, can suppress the meshing gap between the fifth arm 225 and the sixth arm 226, thereby improving the operational performance of both the fifth arm 225 and the sixth arm 226.

[0068] Hereinafter, variations of the above-described embodiments will be described.

[0069] As described above, this is not limited to components where no seal is provided between the first protrusion 610 and the second protrusion 620, such as... Figure 5 As shown, an oil seal 710 can also be configured.

[0070] like Figure 5 As shown, in the modified example, the vertical articulated robot 1 is located further from the rotation axis J6 in the second protrusion 620 than in the portion where the fourth bearing 640 is disposed (see reference). Figure 3 A protrusion 720 is provided on one side. An oil seal 710 is disposed between the front end portion 730 of the first protrusion 610 and the protrusion 720 of the second protrusion 620. It should be noted that other sealing components 710a besides the oil seal 710 may also be disposed between the front end portion 730 of the first protrusion 610 and the protrusion 720 of the second protrusion 620. Alternatively, there may be no sealing component 710a, and only oil seals 710.

[0071] As described above, in the modified vertical multi-joint robot 1, preferably, a protrusion 720 is provided in the second protrusion 620 at a position closer to the rotation axis J6 than the portion where the fourth bearing 640 is disposed, and an oil seal 710 is disposed between the front end 730 of the first protrusion 610 and the protrusion 720 of the second protrusion 620.

[0072] Thus, since an oil seal 710 is disposed between the first protrusion 610 and the second protrusion 620, oil leakage to the outside can be prevented, thereby suppressing wear on the components constituting the fifth arm 225. Therefore, the operational performance of the fifth arm 225 can be improved. Furthermore, the waterproofing effect on the fifth arm 225 can be improved. In addition, by arranging the fourth bearing 640 and the oil seal 710 in an overlapping manner when viewed from above, the fifth arm 225 can be miniaturized.

[0073] As described above, the first bevel gear 300, the second bevel gear 400, and the mating member 520 can also be configured as follows: Figure 6 The structure shown.

[0074] Specifically, in the modified example, the fifth arm 225A has a first bevel tooth portion 312A at the front end of the first bevel gear 300A, i.e., a portion in the +Z direction, and a first bearing 350C, serving as a third bearing component, is also provided at a portion of the front end. Furthermore, the interior of the second bevel gear 400A has a hollow structure S. The fitting member 520A, similar to the embodiment, has a through hole 521A. That is, the interior from the fitting member 520A to the second bevel gear 400A forms a hollow structure S.

[0075] As described above, in the modified vertical multi-joint robot 1, the fifth arm 225 has: a first bevel gear 300 and a second bevel gear 400. The first bevel gear 300 is inserted into the first opening 110 and has: a first shaft portion 310 extending along the rotation axis J5; an input portion 311 located at one end 310a of the first shaft portion 310 and receiving force from the motor 61; and a first bevel tooth portion 312 located at the other end 310b of the first shaft portion 310. The second bevel gear 400 has: a second shaft portion 410 extending along the rotation axis J6; and a second bevel tooth portion 412 located at one end 410a of the second shaft portion 410 and receiving force by meshing with the first bevel tooth portion 312. The first bevel gear 300 has a first bearing 350C disposed at the front end of the first bevel tooth portion 312, and the second bevel gear 400 has a hollow structure S. This configuration enables the fifth arm 225 to be lightweight, thereby improving the motion performance of the fifth arm 225 and the sixth arm 226.

[0076] As described above, the outer ring clamping portion 612 that fixes the outer ring 640B of the fourth bearing 640 is not limited to being configured separately from the first protrusion 610, but may also be integrally provided with the first protrusion 610.

Claims

1. A vertical multi-joint robot, characterized in that, have: The root arm component includes a motor; The first arm component is located on the root arm component and rotates about the first axis; A second arm component, disposed on the first arm component, rotates about a second axis intersecting the first axis; and A ring-shaped first bearing component supports the first arm component so as to be rotatable relative to the root arm component, and has an inner ring and an outer ring disposed outside the inner ring. The root arm component has: A cylindrical first protrusion, projecting along the first axis, having a shoulder on its inner side; and The outer ring clamping portion, together with the shoulder portion, clamps the outer ring of the first bearing component and is fixed to the first protrusion. The first arm component has: The second protrusion has an opening on its inner side, and the inner ring of the first bearing component is disposed on its outer side, protruding along the first axis; and A power transmission mechanism that transmits power from the motor and passes through the opening.

2. The vertical multi-joint robot according to claim 1, characterized in that, The opening of the second protrusion is cylindrical in shape. A portion of the opening is provided with the outer ring of a second bearing component, which supports the power transmission mechanism to enable rotation.

3. The vertical multi-joint robot according to claim 2, characterized in that, The second protrusion has a shape in which the thickness gradually decreases towards the front end. The first bearing component is positioned further towards the front end than the second bearing component.

4. The vertical multi-joint robot according to claim 2, characterized in that, The second protrusion is provided with: a fixing plate that supports the outer ring of the second bearing component; and a fixing bolt that fixes the fixing plate to the second protrusion.

5. The vertical multi-joint robot according to claim 1, characterized in that, The second protrusion has a protrusion located on the side of the second shaft further than the portion where the first bearing component is disposed. An oil seal is disposed between the front end of the first protrusion and the protrusion of the second protrusion.

6. The vertical multi-joint robot according to claim 1, characterized in that, The second arm component has: Flange; A speed reducer, connected to the flange, amplifies the applied force to drive the flange; and The fitting component is inserted into the reducer and is embedded into the first arm component in a detachable manner.

7. The vertical multi-joint robot according to claim 1, characterized in that, The first arm component has a first bevel gear and a second bevel gear. The first bevel gear is inserted into the opening and has: a first shaft extending along the first shaft; and an input portion disposed at one end of the first shaft, which is subjected to a force from the motor. And a first bevel gear portion, located at the other end of the first shaft portion. The second bevel gear has: a second shaft portion extending along the second shaft; and a second bevel tooth portion disposed at one end of the second shaft portion, which receives force by meshing with the first bevel tooth portion. The first bevel gear has a third bearing component disposed at the front end of the first bevel tooth portion. The second bevel gear has a hollow structure.

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