Multi-joint robot, control method of the same, robot system, and article manufacturing method

Abstract

To prevent dust and powder dust etc. in air from entering a robot and prevent grease and dust etc. in the robot from being scattered to the outside of the robot.SOLUTION: A robot 10 includes: a joint mechanism JEr3 which connects a hollow link LK1 provided with an opening Hlk1a with a hollow link LK2 provided with an opening Hlk2a and rotates the link LK2 relative to the link LK1; a joint mechanism JEp1 which moves the joint mechanism JEr3 relative to the link LK1 along a direction De1 in which the link LK1 extends; a joint mechanism JEp2 which moves the link LK2 relative to the joint mechanism JEr3 along a direction De2 in which the link LK2 extends; a shield mechanism SL1 which closes the opening Hlk1a; and a shield mechanism SL2 which closes the opening Hlk2a. The shield mechanism SL1 maintains a state that the opening Hlk1a is closed regardless of movement of the joint mechanism JEr3. The shield mechanism SL2 maintains a state that the opening Hlk2a is closed regardless of movement of the joint mechanism JEr3.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an articulated robot, a control method for the articulated robot, a robot system, and a method for manufacturing an article. [Background technology]

[0002] Articulated robots are known as robots that perform the same movements as humans (see, for example, Patent Document 1). Linear movement robots that are driven by linear motion are also known. In linear movement robots, for example, an opening is provided on the surface of the robot to move a slider or the like linearly using a motor. Note that, for linear movement robots, configurations have been proposed to prevent dust and other particles in the air from entering the robot through the opening and to prevent grease and dust from inside the robot from scattering outside the robot through the opening. For example, a linear movement robot has been proposed in which the opening is covered except for the slider with a bellows that expands and contracts as the slider moves (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 62-74594 [Patent Document 2] Japanese Patent Application Publication No. 10-217165 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, even in articulated robots, a configuration is desired that prevents dust and other particles in the air from entering the robot and prevents grease, dust, and other particles from scattering outside the robot. [Means for solving the problem]

[0005] According to a preferred aspect of the present invention, there is provided an articulated robot including a base, a tip, a hollow first link having a first opening formed therein, and a hollow second link having a second opening formed therein, the articulated robot including: a plurality of links connecting the base and the tip; a first drive mechanism connecting the first link and the second link and rotating the second link relative to the first link about an axis that forms an angle with a first direction in which the first link extends that is greater than a predetermined angle; a first movement mechanism moving the first drive mechanism relative to the first link along the first direction; the first drive mechanism is inserted into the first opening and the second opening, with a portion of it located inside the first link and at least a portion of the other portion located inside the second link, the first shielding mechanism maintains a state in which the first opening is blocked regardless of movement of the first drive mechanism relative to the first link by the first movement mechanism, and the second shielding mechanism maintains a state in which the second opening is blocked regardless of movement of the first drive mechanism relative to the second link by the second movement mechanism.

[0006] A control method for a multi-joint robot according to a preferred embodiment of the present invention is a control method for the multi-joint robot described above, wherein a control device that controls the operation of the multi-joint robot controls the operation of the multi-joint robot by controlling a first motor that drives the first drive mechanism, a second motor that drives the first moving mechanism, and a third motor that drives the second moving mechanism.

[0007] A robot system according to a preferred embodiment of the present invention comprises the above-mentioned articulated robot, an end effector attached to the tip, and a control device that controls the operation of the articulated robot and the end effector, wherein the control device controls the operation of the articulated robot by controlling a first motor that drives the first drive mechanism, a second motor that drives the first moving mechanism, and a third motor that drives the second moving mechanism.

[0008] In a method for manufacturing an article according to a preferred embodiment of the present invention, a part is assembled or removed by the above-mentioned robot system. Effect of the Invention

[0009] According to the present invention, it is possible to prevent dust, particles, etc. in the air from entering the robot, and to prevent grease, dust, etc. inside the robot from scattering outside the robot. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an explanatory diagram for explaining an overview of a robot system according to an embodiment. [Diagram 2] FIG. 2 is an explanatory diagram for explaining an example of the joint mechanism shown in FIG. [Diagram 3] 2 is an explanatory diagram for explaining one example of the two shielding mechanisms shown in FIG. 1.

[0023] FIG. [Figure 4] 4 is an explanatory diagram for explaining an outline of the operation of the shielding mechanism shown in FIG. 3. [Diagram 5] 1. FIG. 4 is an explanatory diagram for explaining the other example of the two shielding mechanisms shown in FIG. [Figure 6] 6 is an explanatory diagram for explaining an outline of the operation of the shielding mechanism shown in FIG. 5. [Figure 7] 6 is a schematic diagram showing an example of a state in which the link shown in FIG. 3 and the link shown in FIG. 5 are connected. [Figure 8] 2 is a diagram illustrating an example of a hardware configuration of a robot controller illustrated in FIG. 1. [Figure 9] FIG. 11 is an explanatory diagram for explaining an example of a link according to a first modified example. [Figure 10] FIG. 11 is an explanatory diagram for explaining an example of a shielding mechanism according to a second modified example. [Figure 11] FIG. 13 is an explanatory view for explaining an example of a tip portion according to a fourth modified example. [Figure 12] FIG. 11 is an explanatory diagram for explaining an example of turning. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments of the present invention will be described with reference to the drawings. In each drawing, the dimensions and scale of each part are appropriately different from the actual ones. In addition, the embodiments described below are preferred examples of the present invention, and therefore various technically preferable limitations are attached, but the scope of the present invention is not limited to these embodiments unless otherwise specified in the following description to the effect that the present invention is limited.

[0012] [1. Embodiment] First, an example of an overview of a robot system 1 according to an embodiment will be described with reference to FIG.

[0013] FIG. 1 is an explanatory diagram for explaining an overview of a robot system 1 according to an embodiment.

[0014] The robot system 1 includes, for example, a robot 10, an end effector 20 that is detachably attached to the robot 10, and a robot controller 30 that controls the operations of the robot 10 and the end effector 20. The robot 10 is an example of a "multi-joint robot," and the robot controller 30 is an example of a "control device."

[0015] The robot 10 and the robot controller 30 are connected to each other so as to be able to communicate with each other, for example, by a wired connection. The connection between the robot 10 and the robot controller 30 may be a wireless connection, or a connection using both wires and wireless connections. The robot controller 30 is capable of communicating with the end effector 20 attached to the robot 10. The robot controller 30 may be any information processing device capable of communicating with other devices. The configuration of the robot controller 30 will be described later with reference to FIG. 8.

[0016] The robot 10 is an articulated robot used for work in, for example, farms, factories, warehouses, etc. Specifically, the robot 10 is an eight-axis articulated robot in which two joint mechanisms JEp (JEp1 and JEp2) corresponding to linear joints are added to a six-axis articulated robot having six joint mechanisms JEr (JEr1, JEr2, JEr3, JEr4, JEr5, and JEr6) corresponding to rotary joints. For example, the robot 10 has six joint mechanisms JEr, two joint mechanisms JEp, a body part BDP, two links LK (LK1 and LK2), and a tip part TP1. In the example shown in FIG. 1, the joint mechanism JEr1 is included in the body part BDP, and the joint mechanisms JEr5 and JEr6 are included in the tip part TP1. The joint mechanism JEp1 is provided in the link LK1, and the joint mechanism JEp2 is provided in the link LK2. Hereinafter, the joint mechanisms JEr and JEp are also referred to as the joint mechanism JE without any particular distinction. For example, the robot 10 further includes a plurality of motors MO (see FIG. 2) that drive the plurality of joint mechanisms JE. In FIG. 1, in order to make the drawing easier to see, the motors MO that drive the plurality of joint mechanisms JE, the reducers and encoders provided in each of the plurality of motors MO, and the like are omitted.

[0017] The body part BDP is an example of a "base part." In addition, the link LK1 is an example of a "first link," and the link LK2 is an example of a "second link." Therefore, the links LK1 and LK2 correspond to "multiple links." For example, the links LK1 and LK2 connect the body part BDP and the tip part TP1.

[0018] Here, for example, the connection of members includes both cases where two members are directly connected and cases where two members are indirectly connected. Two members being directly connected includes a state where two members are in contact with each other, and a state that can be regarded as equivalent to a state where two members are in contact with each other. A state that can be regarded as equivalent to a state where two members are in contact with each other is, for example, a state where one of the two members is fixed to the other by an adhesive or the like. Also, two members being indirectly connected means that another member is disposed between the two members.

[0019] Joint mechanism JEr1 is an example of a "second driving mechanism," and joint mechanism JEr2 is an example of a "third driving mechanism." Joint mechanism JEr3 is an example of a "first driving mechanism," and joint mechanism JEr4 is an example of a "fourth driving mechanism." Joint mechanism JEr5 is an example of a "fifth driving mechanism," and joint mechanism JEr6 is an example of a "sixth driving mechanism." Joint mechanism JEp1 is an example of a "first moving mechanism," and joint mechanism JEp2 is an example of a "second moving mechanism."

[0020] The body part BDP includes, for example, a base part BDPba fixed to a predetermined location such as a floor, and a joint mechanism JEr1 connected to the joint mechanism JEr2. The joint mechanism JEr1 rotates a part of the body part BDP around an axis Ax1 perpendicular to the bottom surface BDPbt of the body part BDP as a rotation axis. For example, the joint mechanism JEr1 rotates an outer wall including a part of the joint mechanism JEr1 connected to the joint mechanism JEr2, relative to the base part BDPba, around the axis Ax1 as a rotation axis. That is, the joint mechanism JEr1 rotates the joint mechanism JEr2 relative to the body part BDP, around the axis Ax1 as a rotation axis. The axis Ax1 is an example of a "second rotation axis."

[0021] Here, "vertical" includes not only strict vertical but also substantial vertical (e.g., vertical within a margin of error). Similarly, "parallel" described below includes not only strict parallel but also substantial parallel (e.g., parallel within a margin of error). The rotation direction Dr1 in FIG. 1 indicates the rotation direction of a portion of the body part BDP when the portion of the body part BDP rotates around the axis Ax1 as a rotation axis.

[0022] The joint mechanism JEr2 connects the body part BDP and the link LK1, and rotates the link LK1 relative to the body part BDP around an axis Ax2 parallel to the bottom surface BDPbt of the body part BDP. The rotation direction Dr2 in FIG. 1 indicates the rotation direction of the link LK1 when the link LK1 rotates around the axis Ax2. The axis Ax2 is an example of a "third rotation axis."

[0023] The link LK1 rotates relative to the body part BDP about an axis Ax1 as a rotation axis by a joint mechanism JEr1, and rotates relative to the body part BDP about an axis Ax2 as a rotation axis by a joint mechanism JEr2.

[0024] For example, the link LK1 is hollow and formed to be long. The link LK1 has an opening Hlk1a extending in a direction De1 in which the link LK1 extends. The opening Hlk1a is an example of a "first opening", and an opening Hlk2a, which will be described later, is an example of a "second opening". The direction De1 is an example of a "first direction".

[0025] The opening Hlk1a is formed, for example, on a surface of the link LK1 including a portion facing the link LK2. A part of the joint mechanism JEr3 and the joint mechanism JEp1 are provided inside the link LK1. For example, a part of the joint mechanism JEr3 is located inside the link LK1, and the other part of the joint mechanism JEr3 protrudes from the opening Hlk1a to the outside of the link LK1. Note that, of the joint mechanism JEr3, the part protruding outside the link LK1 or a part of the part protruding outside the link LK1 passes through an opening Hlk2a of the link LK2 described later and is located inside the link LK2. That is, the joint mechanism JEr3 is inserted through the openings Hlk1a and Hlk2a, a part of it is located inside the link LK1, and at least a part of the other part is located inside the link LK2.

[0026] In this embodiment, the opening Hlk1a is blocked by a shielding mechanism SL1. That is, in this embodiment, the robot 10 has a shielding mechanism SL1 that blocks the opening Hlk1a. For example, the opening Hlk1a is blocked by the shielding mechanism SL1 and the joint mechanism JEr3. The shielding mechanism SL1 is an example of a "first shielding mechanism." Details of the shielding mechanism SL1 will be described later with reference to FIGS. 3 and 4.

[0027] The joint mechanism JEr3 connects the link LK1 and the link LK2, and rotates the link LK2 relative to the link LK1 about an axis Ax3 perpendicular to the direction De1 in which the link LK1 extends. The rotation direction Dr3 in FIG. 1 indicates the rotation direction of the link LK2 when the link LK2 rotates about the axis Ax3. The axis Ax3 is an example of a "first rotation axis."

[0028] The joint mechanism JEp1 moves the joint mechanism JEr3 relative to the link LK1 along the direction De1. In the example shown in FIG. 1, when the joint mechanism JEp1 moves the joint mechanism JEr3 along the direction De1, the opening Hlk1a of the link LK1 corresponds to the movable area of ​​the joint mechanism JEr3. That is, the opening Hlk1a of the link LK1 corresponds to the movement area ARmv1 in which the joint mechanism JEr3 moves along the direction De1 by the joint mechanism JEp1. Note that, as the joint mechanism JEr3 moves along the direction De1, the link LK2 moves relative to the link LK1 along the direction De1.

[0029] The link LK2 is, for example, hollow and long. The link LK2 has an opening Hlk2a extending in a direction De2 in which the link LK2 extends. The direction De2 is an example of a "second direction."

[0030] The opening Hlk2a is formed, for example, in a surface of the link LK2 that includes a portion facing the link LK1. A part of the joint mechanism JEr3 and the joint mechanism JEp2 are provided inside the link LK2. For example, a part of the joint mechanism JEr3 is located inside the link LK2, and another part of the joint mechanism JEr3 protrudes from the opening Hlk2a to the outside of the link LK2.

[0031] In this embodiment, the opening Hlk2a is blocked by a shielding mechanism SL2. That is, in this embodiment, the robot 10 has a shielding mechanism SL1 that blocks the opening Hlk2a. For example, the opening Hlk2a is blocked by the shielding mechanism SL2 and the joint mechanism JEr3. The shielding mechanism SL2 is an example of a "second shielding mechanism." Details of the shielding mechanism SL2 will be described later with reference to FIGS. 5 and 6.

[0032] The joint mechanism JEp2 moves the link LK2 relative to the joint mechanism JEr3 along the direction De2 in which the link LK2 extends. As a result, the link LK2 moves relative to the joint mechanism JEr3 along the direction De2. That is, the link LK2 moves relative to the link LK1 along the direction De2.

[0033] In this way, the link LK2 moves relative to the link LK1 along the direction De1 by the joint mechanism JEp1, and moves relative to the link LK1 along the direction De2 by the joint mechanism JEp2.

[0034] Here, the movement of the link LK2 relative to the joint mechanism JEr3 can be said to be the movement of the joint mechanism JEr3 relative to the link LK2. Therefore, the joint mechanism JEp2 can also be regarded as a joint mechanism JE that moves the joint mechanism JEr3 relative to the link LK2 along the direction De2. In the example shown in FIG. 1, when the joint mechanism JEp2 moves the joint mechanism JEr3 along the direction De2, the opening Hlk2a of the link LK2 corresponds to the movable area of ​​the joint mechanism JEr3. In other words, the opening Hlk2a of the link LK2 corresponds to the movement area ARmv2 in which the joint mechanism JEr3 moves along the direction De2 by the joint mechanism JEp2.

[0035] The joint mechanism JEr4 connects the link LK2 and the tip part TP1, and rotates the tip part TP1 relative to the link LK2. In this embodiment, the joint mechanism JEr4 rotates the tip part TP1 relative to the link LK2 around an axis Ax4 perpendicular to the direction De2 as a rotation axis. The rotation direction Dr4 in FIG. 1 indicates the rotation direction of the tip part TP1 when the tip part TP1 rotates around the axis Ax4 as a rotation axis. The axis Ax4 is an example of a "fourth rotation axis."

[0036] For example, an end effector 20 that grips an article is attached to the tip part TP1. For example, the end effector 20 is attached to an end face TP1sf of the tip part TP1. The tip part TP1 includes a first part TP11 connected to the link LK2, a second part TP12 connected to the first part TP11, a joint mechanism JEr5, and a joint mechanism JEr6. The first part TP11 is connected to the link LK2 via, for example, a joint mechanism JEr4. Therefore, the first part TP11 rotates relative to the link LK2 around the axis Ax4 as a rotation axis.

[0037] The joint mechanism JEr5 connects the first part TP11 and the second part TP12, and rotates the second part TP12 relative to the first part TP11 around an axis Ax5 perpendicular to the axis Ax4. The rotation direction Dr5 in FIG. 1 indicates the rotation direction of the second part TP12 when the second part TP12 rotates around the axis Ax5. The axis Ax5 is an example of the "fifth rotation axis."

[0038] The joint mechanism JEr6 rotates at least a part of the tip part TP1 around an axis Ax6 perpendicular to the axis Ax5. In the example shown in FIG. 1, the joint mechanism JEr6 rotates the end face TP1sf of the tip part TP1 around the axis Ax6. That is, the joint mechanism JEr6 rotates a part (end face TP1sf) of the tip part TP1 to which the end effector 20 is attached around the axis Ax6. The rotation direction Dr6 in FIG. 1 indicates the rotation direction of the end face TP1sf when the end face TP1sf rotates around the axis Ax6. The axis Ax6 is an example of a "sixth rotation axis."

[0039] 1, the surface of the joint mechanism JEr6 corresponds to the end surface TP1sf. In a configuration in which the joint mechanism JEr6 is included in the second part TP12, the end surface of the second part TP12 may be the end surface TP1sf.

[0040] Furthermore, the work performed by the end effector 20 is not limited to gripping an object. As the end effector 20, an appropriate part (e.g., a robot hand, a robot finger, etc.) can be applied depending on the work purpose of the robot 10. That is, an end effector 20 suitable for various works is attached to the tip portion TP1.

[0041] In this embodiment, a rotation about an axis whose angle with a specific direction is greater than a predetermined angle is sometimes referred to as a "turn" to distinguish it from a rotation about an axis whose angle with a specific direction is equal to or smaller than the predetermined angle. The predetermined angle may be, for example, 45°. Note that the predetermined angle is not limited to 45°.

[0042] For example, in the rotation about each of the axes Ax1 and Ax2 as the rotation axis, the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP corresponds to the specific direction. In this case, the axis Ax1 corresponds to an axis whose angle with the direction Dv1 perpendicular to the bottom surface BDPbt of the body part BDP is equal to or smaller than a predetermined angle, and the axis Ax2 corresponds to an axis whose angle with the direction Dv1 is greater than a predetermined angle. Therefore, the rotation of the link LK1 about the axis Ax2 as the rotation axis corresponds to a turn. Note that in this embodiment, since the body part BDP extends along the direction Dv1 perpendicular to the bottom surface BDPbt, the direction Deb in which the body part BDP extends may be the specific direction.

[0043] In addition, in the rotation about the axis Ax3, the direction De1 in which the link LK1 extends corresponds to a specific direction, and in the rotation about the axis Ax4, the direction De2 in which the link LK2 extends corresponds to a specific direction. In this case, the axis Ax3 corresponds to an axis that forms an angle with the direction De1 in which the link LK1 extends that is larger than a predetermined angle, and the axis Ax4 corresponds to an axis that forms an angle with the direction De2 in which the link LK2 extends that is larger than a predetermined angle. Therefore, the rotation of the link LK2 about the axis Ax3 and the rotation of the first part TP11 about the axis Ax4 correspond to turning.

[0044] In addition, in the rotation about the axis Ax5, the direction De11 corresponds to a specific direction, and in the rotation about the axis Ax6, the direction De12 corresponds to a specific direction. The direction De11 is a direction from an end of the first part TP11 opposite to a specific end to which the joint mechanism JEr5 is connected toward the specific end. The direction De11 may be regarded as a direction in which the first part TP11 extends. The direction De12 is a direction from an end of the second part TP12 opposite to a specific end (end including the end face TP1sf) to which the joint mechanism JEr6 is connected toward the specific end. The direction De12 may be regarded as a direction in which the second part TP12 extends.

[0045] When the direction De11 is a specific direction, the axis Ax5 corresponds to an axis whose angle with the direction De11 is equal to or smaller than a predetermined angle. When the direction De12 is a specific direction, the axis Ax6 corresponds to an axis whose angle with the direction De12 is equal to or smaller than a predetermined angle. In this embodiment, it is assumed that the direction De11 is perpendicular to the axis Ax4, and the direction De12 is perpendicular to the axis Ax5. In this case, the axis Ax5 whose angle with the direction De11 is equal to or smaller than a predetermined angle corresponds to an axis whose angle with the axis Ax4 is larger than a predetermined angle, and the axis Ax6 whose angle with the direction De12 is equal to or smaller than a predetermined angle corresponds to an axis whose angle with the axis Ax5 is larger than a predetermined angle.

[0046] In this manner, in this embodiment, each of the multiple parts of the robot 10 (such as the body part BDP, the link LK1, the link LK2, and the tip part TP1) can rotate about each of the axes Ax1, Ax2, Ax3, Ax4, Ax5, and Ax6 as a rotation axis, thereby enabling the robot 10 to perform the same movements as a human being.

[0047] For example, the link LK1 between the joint mechanism JEr2 and the joint mechanism JEr3 corresponds to the upper arm, and the link LK2 between the joint mechanism JEr3 and the joint mechanism JEr4 corresponds to the forearm. The robot 10 can perform an action simulating the twisting of a human waist by the joint mechanism JEr1, and can perform an action simulating the rotation of a shoulder by the joint mechanism JEr2. The robot 10 can perform an action simulating the rotation of an elbow by the joint mechanism JEr3, and can perform an action simulating the rotation of a wrist by the joint mechanism JEr4. The robot 10 can perform an action simulating the twisting of a wrist by the joint mechanism JEr5, and can perform an action simulating the twisting of a fingertip by the joint mechanism JEr6.

[0048] Furthermore, in this embodiment, the joint mechanism JEp1 provided in the link LK1 can move the link LK2 relative to the link LK1 along the direction De1 in which the link LK1 extends. Also, in this embodiment, the joint mechanism JEp2 provided in the link LK2 can move the link LK2 relative to the link LK1 along the direction De2 in which the link LK2 extends. Therefore, in this embodiment, the joint mechanisms JEp1 and JEp2 can easily move the tip part TP1 of the robot 10 to the periphery of the body part BDP. Also, in this embodiment, the joint mechanisms JEp1 and JEp2 can widen the area that the tip part TP1 (more specifically, the end face TP1sf) can reach, and therefore the area that the end effector 20 attached to the robot 10 can reach can be widened.

[0049] The configuration of the robot system 1 is not limited to the example shown in FIG. 1. For example, the robot controller 30 may be built into the robot 10. Although FIG. 1 assumes a case where the robot 10 is fixed to a predetermined location such as a floor, the robot 10 itself may be movable without being fixed to a predetermined location. The base part BDPba of the body part BDP may be fixed to a predetermined location such as a floor via a joint mechanism JEr1. In this case, the body part BDP may be defined without including the joint mechanism JEr1. In a configuration in which the base part BDPba is fixed to a predetermined location via the joint mechanism JEr1, the joint mechanism JEr1 may rotate the base part BDPba around the axis Ax1 as a rotation axis. In a configuration in which the base part BDPba is fixed to a predetermined location via the joint mechanism JEr1, the base part BDPba may be connected to the joint mechanism JEr2.

[0050] Next, an example of the joint mechanisms JEp1 and JEp2 will be described with reference to FIG.

[0051] FIG. 2 is an explanatory diagram for explaining an example of the joint mechanism JE shown in FIG. 1. In FIG. 2, the joint mechanisms JEp1 and JEp2 and the joint mechanism JEr3 will be mainly described. In FIG. 2, the shielding mechanisms SL1 and SL2 are omitted in order to make the drawing easier to see. In this embodiment, it is assumed that the motor MOr3 that drives the joint mechanism JEr3 moves integrally with the joint mechanism JEr3. For example, the motor MOr3 may be fixed to the joint mechanism JEr3. The motor MOr3 is an example of a "first motor." First, the joint mechanism JEp1 will be described.

[0052] The joint mechanism JEp1 and the motor MOp1 that drives the joint mechanism JEp1 are disposed inside the link LK1. For example, the motor MOp1 is attached inside the link LK1 at the end LK1ed1, which is closer to the body part BDP, of the two ends LK1ed (LK1ed1 and LK1ed2) of the link LK1. The motor MOp1 is an example of a "second motor." Note that, of the two ends LK1ed of the link LK1, the end LK1ed farther from the body part BDP.

[0053] The joint mechanism JEp1 includes, for example, a screw portion JEp11 extending along a direction De1, a nut JEp12, a connecting portion JEp13, and a rail JEp14.

[0054] One end of the threaded portion JEp11 is attached to the motor MOp1. For example, the threaded portion JEp11 is attached to the motor MOp1 so that the central axis of the threaded portion JEp11 (the central axis along the direction De1) coincides with the rotation axis of the motor MOp1, and is inserted into a nut JEp12. Then, the threaded portion JEp11 rotates around the central axis along the direction De1 as the rotation axis of the motor MOp1.

[0055] The connection part JEp13 includes, for example, a slider part JEp13a connected to the rail JEp14 so as to be movable along the direction De1, and a support part JEp13b supporting the nut JEp12 and the motor MOr3. For example, the nut JEp12 is fixed to the support part JEp13b so as not to rotate together with the screw part JEp11. In addition, the motor MOr3 is fixed to the support part JEp13b so as not to rotate itself.

[0056] It is not necessary to strictly distinguish between the slider part JEp13a and the support part JEp13b. For example, the motor MOr3 may be fixed to the slider part JEp13a. The nut JEp12 may be fixed to the motor MOr3 without the support part JEp13b. That is, the nut JEp12 only needs to be connected to the connection part JEp13 or the like so that the relative position of the nut JEp12 with respect to the joint mechanism JEr3 does not change. In this way, the nut JEp12 is connected to the joint mechanism JEr3 via the connection part JEp13 or the like.

[0057] The rail JEp14 includes two rod-shaped members JEp14a and JEp14b extending along the direction De1 and arranged parallel to each other. The shapes of the rod-shaped members JEp14a and JEp14b and the slider part JEp13a are not particularly limited as long as the rod-shaped members JEp14a and JEp14b can support the slider part JEp13a. The rail JEp14 is arranged, for example, between the opening Hlk1a and the screw part JEp11 in the direction Dax3 along the axis Ax3, and is attached to the inside of the link LK1. The direction Dax3 is a direction from the link LK1 to the link LK2 among the directions along the axis Ax3. Note that the rail JEp14 does not have to be arranged between the opening Hlk1a and the screw part JEp11 in the direction Dax3 as long as the joint mechanism JEr3 can move along the direction De1 with a part of the joint mechanism JEr3 protruding from the opening Hlk1a. Here, a direction Ds1 in FIG. 2 indicates a direction perpendicular to both the direction Dax3 and the direction De1.

[0058] The nut JEp12 is fixed to the connection part JEp13 so as not to rotate together with the threaded part JEp11, and therefore moves relative to the threaded part JEp11 along the direction De1 as the threaded part JEp11 rotates. As described above, the nut JEp12 is fixed to the connection part JEp13, etc. so that the relative position to the joint mechanism JEr3 does not change. That is, the joint mechanism JEr3 moves along the direction De1 together with the nut JEp12. For example, the joint mechanism JEr3 moves relative to the link LK1 as the nut JEp12 moves. In this way, the joint mechanism JEp1 movably supports the joint mechanism JEr3. It is preferable that the movement range of the joint mechanism JEr3, i.e., the movement area ARmv1, is movable from a region closer to the end LK1ed1 than the end LK1ed2 of the link LK1 to a region closer to the end LK1ed2 than the end LK1ed1. This allows the substantial length of the link LK1 (the length under control) to be set to half or less of the length of the link LK1 or more than half of the length of the link LK1. The substantial length of the link LK1 is, for example, the length along the direction De1 from the end LK1ed1 (for example, the intersection of the link LK1 and the axis Ax2) to the joint mechanism JEr3 (more precisely, the axis Ax3).

[0059] Here, the moving direction of the nut JEp12, i.e., the moving direction of the joint mechanism JEr3, is switched between the direction De1 and the opposite direction to the direction De1 by switching the rotation direction of the motor MOp1. For example, when the motor MOp1 rotates in a first rotation direction, the nut JEp12 moves in the direction De1, and when the motor MOp1 rotates in a second rotation direction that is the opposite rotation to the first rotation direction, the nut JEp12 moves in the opposite direction to the direction De1. Next, the joint mechanism JEp2 will be described.

[0060] The joint mechanism JEp2 and the motor MOp2 that drives the joint mechanism JEp2 are disposed inside the link LK2. For example, the motor MOp2 is attached inside the link LK2 at the end LK2ed1, which is the farthest from the tip end TP1, of the two ends LK2ed (LK2ed1 and LK2ed2) of the link LK2. The motor MOp2 is an example of a "third motor." Note that, of the two ends LK2ed of the link LK2, the end LK2ed2 is the end LK2ed closer to the tip end TP1.

[0061] The joint mechanism JEp2 includes, for example, a screw portion JEp21 extending along the direction De2, a nut JEp22, a connecting portion JEp23, and a rail JEp24.

[0062] One end of the threaded portion JEp21 is attached to the motor MOp2. For example, the threaded portion JEp21 is attached to the motor MOp2 so that the central axis of the threaded portion JEp21 (the central axis along the direction De2) coincides with the rotation axis of the motor MOp2, and is inserted into the nut JEp22. Then, the threaded portion JEp21 rotates around the central axis along the direction De2 as the rotation axis of the motor MOp2.

[0063] The connection part JEp23 includes, for example, a slider part JEp23a connected to the rail JEp24 so as to be relatively movable along the direction De2, and a support part JEp23b supporting the nut JEp22 and the joint mechanism JEr3. For example, the nut JEp22 is fixed to the support part JEp23b so as not to rotate together with the screw part JEp21. In addition, the support part JEp23b is connected to the joint mechanism JEr3 so as to rotate about the axis Ax3 as the rotation axis in accordance with the rotation of the motor MOr3. That is, the joint mechanism JEr3 rotates the support part JEp23b about the axis Ax3 as the rotation axis in accordance with the rotation of the motor MOr3.

[0064] It is not necessary to strictly distinguish between the slider part JEp23a and the support part JEp23b. For example, the joint mechanism JEr3 may be connected to the slider part JEp23a. The nut JEp22 may be fixed to the slider part JEp23a. That is, the nut JEp22 only needs to be connected to the connection part JEp23 or the like so that the relative position of the nut JEp22 with respect to the joint mechanism JEr3 does not change. In this way, the nut JEp22 is connected to the joint mechanism JEr3 via the connection part JEp23 or the like.

[0065] The rail JEp24 includes two rod-shaped members JEp24a and JEp24b that extend along the direction De2 and are arranged parallel to each other. The shapes of the rod-shaped members JEp24a and JEp24b and the slider portion JEp23a are not particularly limited as long as the rod-shaped members JEp24a and JEp24b can support the slider portion JEp23a. The rail JEp24 is arranged, for example, between the opening Hlk2a and the screw portion JEp21 in the direction Dax3 and is attached to the inside of the link LK2. Note that the rail JEp24 does not have to be arranged between the opening Hlk2a and the screw portion JEp21 in the direction Dax3 as long as the joint mechanism JEr3 can move along the direction De2 with a part of the joint mechanism JEr3 protruding from the opening Hlk2a. Here, the direction Ds2 in FIG. 2 indicates one direction perpendicular to both the direction Dax3 and the direction De2.

[0066] The nut JEp22 is fixed to the connection part JEp23 so as not to rotate together with the threaded part JEp21, and therefore moves relative to the threaded part JEp21 along the direction De2 as the threaded part JEp21 rotates. As described above, the nut JEp22 is fixed to the connection part JEp23 and the like so that the relative position to the joint mechanism JEr3 does not change. In addition, when the threaded part JEp11 is not rotating, that is, when the motor MOp1 is not rotating, the joint mechanism JEr3 is supported by the joint mechanism JEp1 so that the relative position of the joint mechanism JEr3 to the link LK1 does not change. Therefore, the link LK2 moves relative to the joint mechanism JEr3 along the direction De2 as the nut JEp22 moves relative to the threaded part JEp21. In this way, the joint mechanism JEp2 movably supports the link LK2. It is preferable that the movement range of the joint mechanism JEr3, i.e., the movement area ARmv2, is movable from a region closer to the end LK2ed1 than the end LK2ed2 of the link LK2 to a region closer to the end LK2ed2 than the end LK2ed1. This makes it possible to set the substantial length of the link LK2 (the length under control) to a length equal to or less than half the length of the link LK2 to a length equal to or more than half the length of the link LK2. The substantial length of the link LK2 is, for example, the length along the direction De2 from the joint mechanism JEr3 (more precisely, the axis Ax3) to the end LK2ed2 (for example, the intersection of the link LK2 and the axis Ax4).

[0067] When the screw portion JEp21 is not rotating, i.e., when the motor MOp2 is not rotating, the joint mechanism JEr3 is supported by the joint mechanism JEp2 so that the relative position with respect to the link LK2 does not change. The joint mechanism JEr3 can rotate the link LK2 with respect to the link LK1 regardless of the relative position with respect to the link LK1. The joint mechanism JEr3 can rotate the link LK2 with respect to the link LK1 regardless of the relative position with respect to the link LK2.

[0068] Here, the moving direction of the nut JEp22 relative to the threaded portion JEp21, i.e., the moving direction of the link LK2, is switched between the direction De2 and the direction opposite to the direction De2 by switching the rotation direction of the motor MOp2. For example, when the motor MOp2 rotates in a first rotation direction, the link LK2 moves in the direction opposite to the direction De2, and when the motor MOp2 rotates in a second rotation direction that is opposite to the first rotation direction, the link LK2 moves in the direction De2.

[0069] The configuration of the joint mechanism JEp is not limited to the example shown in Fig. 2. For example, a ball screw having multiple balls between a screw part JEp11 and a nut JEp12 may be used as an element of the joint mechanism JEp1. Similarly, a ball screw having multiple balls between a screw part JEp21 and a nut JEp22 may be used as an element of the joint mechanism JEp2.

[0070] Also, for example, the motor MOr3 may be regarded as one element of the joint mechanism JEr3. Similarly, the motor MOp1 may be regarded as one element of the joint mechanism JEp1, and the motor MOp2 may be regarded as one element of the joint mechanism JEp2. Also, for example, a part of the motor MOr3 may be located inside the link LK1, another part of the motor MOr3 may be located outside the link LK1 from the opening Hlk1a, and the entire joint mechanism JEr3 may be located inside the link LK2. In this case, the motor MOr3 is regarded as one element of the joint mechanism JEr3. Also, for example, the joint mechanism JEr3 may have a storage section that stores the motor MOr3. That is, the motor MOr3 may be provided inside the joint mechanism JEr3.

[0071] Next, the joint mechanisms JEr1, JEr2, JEr4, JEr5 and JEr6 will be briefly described.

[0072] The joint mechanism JEr1 has, for example, a rotating part JEr11 and a housing JEr12 that houses the rotating part JEr11. The rotating part JEr11 rotates around the axis Ax1 as a rotation axis with the rotation of the motor MOr1 that drives the joint mechanism JEr1. For example, the rotating part JEr11 is attached to the motor MOr1 so as to be rotatable around the base part BDPba around the axis Ax1 as a rotation axis. In addition, the housing JEr12 rotates around the axis Ax1 as a rotation axis with the rotating part JEr11 as a rotation axis with the base part BDPba. For example, the housing JEr12 is connected to the base part BDPba so as to be rotatable around the axis Ax1 as a rotation axis with the base part BDPba. Furthermore, the housing JEr12 is connected to the joint mechanism JEr2. As a result, the joint mechanism JEr2 rotates around the axis Ax1 as a rotation axis with the rotation of the rotating part JEr11 as a rotation axis with the base part BDPba.

[0073] The motor MOr1 may be regarded as one element of the joint mechanism JEr1. The housing JEr12 may be fixed to the base BDPba, and the joint mechanism JEr2 may be attached to the rotating part JEr11 so as to be rotatable with respect to the housing JEr12 about the axis Ax1 as the rotation axis. In this case, the housing JEr12 may be regarded as one element of the base BDPba.

[0074] The joint mechanism JEr2 has, for example, a rotating part JEr21 and a housing JEr22 that houses a motor MOr2 that drives the joint mechanism JEr2. The rotating part JEr21 rotates around an axis Ax2 as a rotation axis with the rotation of the motor MOr2. For example, the rotating part JEr21 is attached to the motor MOr2 so as to be rotatable with respect to the housing JEr22 around the axis Ax2 as a rotation axis. Furthermore, the rotating part JEr21 is connected to a link LK1. Furthermore, the link LK1 is connected to the housing JEr22 so as to be rotatable with respect to the housing JEr22. As a result, the link LK1 rotates with respect to the housing JEr22 around the axis Ax2 as a rotation axis with the rotation of the rotating part JEr21. Furthermore, the motor MOr2 is attached inside the housing JEr22.

[0075] The motor MOr2 may be regarded as one element of the joint mechanism JEr2. In the example shown in Fig. 2, a part of the rotating part JEr21 is located inside the link LK1, and another part of the rotating part JEr21 is located inside the housing JEr22, but the entire rotating part JEr21 may be located inside the link LK1 or inside the housing JEr22.

[0076] The joint mechanism JEr4 has, for example, a rotating part JEr41 and a housing JEr42 that houses the rotating part JEr41. The rotating part JEr41 rotates around an axis Ax4 as a rotation axis in accordance with the rotation of a motor MOr4 that drives the joint mechanism JEr4. For example, the rotating part JEr41 is attached to the motor MOr4 so as to be rotatable with respect to the link LK2 around the axis Ax4 as a rotation axis. The motor MOr4 is attached inside the link LK2.

[0077] Furthermore, the housing JEr42 rotates with the rotating part JEr41 relative to the link LK2 around the axis Ax4 as a rotation axis. For example, the housing JEr42 is connected to the link LK2 so as to be rotatable with respect to the link LK2 around the axis Ax4 as a rotation axis. Furthermore, the housing JEr42 is connected to the first part TP11. As a result, the first part TP11 rotates with the housing JEr42 around the axis Ax4 as a rotation axis in accordance with the rotation of the rotating part JEr41.

[0078] The motor MOr4 may be regarded as one element of the joint mechanism JEr4. In the example shown in Fig. 2, the entire rotating part JEr41 is located inside the housing JEr42, but the entire rotating part JEr41 may be located inside the link LK2. Alternatively, a part of the rotating part JEr41 may be located inside the housing JEr42, and the other part of the rotating part JEr41 may be located inside the link LK2.

[0079] The joint mechanism JEr5 has, for example, a rotating part JEr51 and a housing JEr52 that houses a part of the rotating part JEr51. The rotating part JEr51 rotates around an axis Ax5 as a rotation axis in accordance with the rotation of a motor MOr5 that drives the joint mechanism JEr5. For example, the rotating part JEr51 is attached to the motor MOr5 so as to be rotatable with respect to the first part TP11 around the axis Ax5 as a rotation axis. The motor MOr5 is attached inside the housing JEr42 of the joint mechanism JEr4.

[0080] Furthermore, the housing JEr52 rotates with respect to the first part TP11 together with the rotating part JEr51, with the axis Ax5 as the rotation axis. For example, the housing JEr52 is connected to the first part TP11 so as to be rotatable with respect to the first part TP11 around the axis Ax5 as the rotation axis. Furthermore, the housing JEr52 is connected to the second part TP12. As a result, the second part TP12 rotates with the housing JEr52 together with the axis Ax5 as the rotation axis in accordance with the rotation of the rotating part JEr51.

[0081] The motor MOr5 may be regarded as one element of the joint mechanism JEr5. In the example shown in Fig. 2, a part of the rotating part JEr51 is located inside the housing JEr52, and another part of the rotating part JEr51 is located inside the first part TP11, but the entire rotating part JEr51 may be located inside the housing JEr52 or inside the first part TP11.

[0082] The joint mechanism JEr6 has, for example, a rotating part JEr61 and a housing JEr62 that houses a part of the rotating part JEr61. The rotating part JEr61 rotates around the axis Ax6 as a rotation axis with the rotation of the motor MOr6 that drives the joint mechanism JEr6. For example, the rotating part JEr61 is attached to the motor MOr6 so as to be rotatable with respect to the second part TP12 around the axis Ax6 as a rotation axis. In addition, the housing JEr62 rotates with respect to the second part TP12 around the axis Ax6 as a rotation axis together with the rotating part JEr61. For example, the housing JEr62 is connected to the second part TP12 so as to be rotatable with respect to the second part TP12 around the axis Ax6 as a rotation axis. In addition, the housing JEr62 includes an end face TP1sf. For example, the end face TP1sf rotates with respect to the second part TP12 around the axis Ax6 as a rotation axis with the rotation of the rotating part JEr61.

[0083] The motor MOr6 may be regarded as one element of the joint mechanism JEr6. The housing JEr62 may be fixed to the second part TP12, and the end effector 20 may be attached to the surface of the rotating part JEr61 so as to be rotatable relative to the housing JEr62. In this case, the surface of the rotating part JEr61 corresponds to the end surface TP1sf. When the housing JEr62 is fixed to the second part TP12, the housing JEr62 may be regarded as one element of the second part TP12.

[0084] Furthermore, the multiple joint mechanisms JEr are not limited to the example shown in Fig. 2. For example, each of the multiple joint mechanisms JEr may have the same configuration as a mechanism corresponding to each joint of a known articulated robot.

[0085] Next, an example of the shielding mechanism SL1 will be described with reference to FIG.

[0086] Fig. 3 is an explanatory diagram for explaining an example of the shielding mechanism SL1 shown in Fig. 1. Fig. 3(a) shows the external appearance of the link LK1. Fig. 3(b) shows an outline of the inside of the link LK1. That is, Fig. 3(b) shows the link LK1 in a state where the exterior EXT1 shown in Fig. 3(a) has been removed. The exterior EXT1 of the link LK1 is, for example, a housing that covers the frame FM1 of the link LK1.

[0087] As shown in Fig. 3(a), in addition to the opening Hlk1a described in Fig. 1 and the like, an opening Hlk1b through which the joint mechanism JEr2 is inserted is provided in the exterior EXT1 of the link LK1. For example, the joint mechanism JEr2 inserted through the opening Hlk1b is supported by the support portion ST1b. Also, for example, the joint mechanism JEr3 inserted through the opening Hlk1a is supported by the support portion ST1a.

[0088] For example, the support ST1a moves linearly along the direction De1 together with the joint mechanism JEr3 as the joint mechanism JEr3 moves linearly along the direction De1 by the drive of the motor MOp1. An end of a long shielding part SP1a is fixed to an end ED1a of the support ST1a by adhesion or the like, and an end of a long shielding part SP1b is fixed to an end ED1b of the support ST1a by adhesion or the like. Of the two ends ED1 (ED1a and ED1b) of the support ST1a in the direction De1, the end ED1 closer to the end LK1ed1 of the link LK1 is the end ED1a, and the end ED1 closer to the end LK1ed2 of the link LK1 is the end ED1b. The support ST1a and the shielding parts SP1a and SP1b are part of a plurality of elements included in the shielding mechanism SL1, as shown in FIG. 3(b).

[0089] For example, as shown in FIG. 3(b), the shielding mechanism SL1 has rollers RO1a and RO1b, long shielding portions SP1a and SP1b, pulleys PL1a and PL1b, a timing belt TB1, a support portion ST1a, and a fixed portion FP1. The roller RO1a is an example of a "first roller", and the roller RO1b is an example of a "second roller". The shielding portion SP1a is an example of a "first shielding portion", and the shielding portion SP1b is an example of a "second shielding portion". The pulley PL1a is an example of a "first pulley", and the pulley PL1b is an example of a "second pulley". The timing belt TB1 is an example of a "first belt".

[0090] The rollers RO1a and RO1b extend along the direction Ds1 and are disposed at both ends of the link LK1 in the direction De1 (the end opposite to the direction De1 and the end in the direction De1), respectively. For example, the roller RO1a is attached inside the link LK1 near an end LK1ed1 of the link LK1, and the roller RO1b is attached inside the link LK1 near an end LK1ed2 of the link LK1.

[0091] As described above, one end of the shielding part SP1a is fixed to the end ED1a of the support part ST1a by adhesion or the like. As a result, one end of the shielding part SP1a is connected to the joint mechanism JEr3. In addition, the other end of the shielding part SP1a (the end not connected to the support part ST1a) is attached to the roller RO1a. As a result, the shielding part SP1a maintains a state in which it covers the opening Hlk1a and is wound up with the rotation of the roller RO1a. Alternatively, the shielding part SP1a maintains a state in which it covers the opening Hlk1a and is unwound with the rotation of the roller RO1a.

[0092] Moreover, as described above, one end of the shielding part SP1b is fixed to the end part ED1b of the support part ST1a by adhesion or the like. As a result, one end of the shielding part SP1b is connected to the joint mechanism JEr3. Furthermore, the other end of the shielding part SP1b (the end not connected to the support part ST1a) is attached to the roller RO1b. As a result, the shielding part SP1b maintains a state in which it covers the opening Hlk1a and is wound up with the rotation of the roller RO1b. Alternatively, the shielding part SP1b maintains a state in which it covers the opening Hlk1a and is unwound with the rotation of the roller RO1b.

[0093] Here, for example, when the support part ST1a and the joint mechanism JEr3 move along the direction De1, the shielding parts SP1a and SP1b also move along the direction De1 with the movement of the support part ST1a. In this case, the shielding part SP1a is wound or unwound by the roller RO1a, and the shielding part SP1b is unwound or wound by the roller RO1b. Specifically, when the support part ST1a and the joint mechanism JEr3 move in a direction approaching the roller RO1a, the shielding part SP1a is wound by the roller RO1a, and the shielding part SP1b is unwound from the roller RO1b. Also, when the support part ST1a and the joint mechanism JEr3 move in a direction approaching the roller RO1b, the shielding part SP1a is unwound from the roller RO1a, and the shielding part SP1b is wound by the roller RO1b.

[0094] The pulley PL1a assists the roller RO1a in winding and unwinding the shielding part SP1a, and the pulley PL1b assists the roller RO1b in winding and unwinding the shielding part SP1b. For example, the pulley PL1a is connected to the rotation axis RAx1a of the roller RO1a and rotates around the rotation axis RAx1a. That is, the pulley PL1a rotates around the same axis (rotation axis RAx1a) as the roller RO1a. The pulley PL1b is connected to the rotation axis RAx1b of the roller RO1b and rotates around the rotation axis RAx1b. That is, the pulley PL1b rotates around the same axis (rotation axis RAx1b) as the roller RO1b. And, a circular timing belt TB1 is wound around the pulleys PL1a and PL1b. In this manner, in this embodiment, the timing belt TB1 is suspended around the rotation axis RAx1a of the roller RO1a and the rotation axis RAx1b of the roller RO1b via the pulleys PL1a and PL1b.

[0095] The support portion ST1a is fixed to the timing belt TB1 by the fixed portion FP1. As a result, when the support portion ST1a moves along the direction De1, the timing belt TB1 moves integrally with the support portion ST1a. Note that the movement of the timing belt TB1 means that a certain portion of the timing belt TB1 (for example, a portion to which the fixed portion FP1 is connected) moves, which corresponds to the rotation of the timing belt TB1.

[0096] As the timing belt TB1 moves (rotates), the pulleys PL1a and PL1b rotate. The rotation of the pulleys PL1a and PL1b rotates the rollers RO1a and RO1b. As a result, the shielding portion SP1a is wound or unwound by the roller RO1a, and the shielding portion SP1b is unwound or wound by the roller RO1b.

[0097] In this manner, in this embodiment, when the joint mechanism JEr3 moves along the direction De1 by driving the motor MOp1, the rollers RO1a and RO1b can move the shielding parts SP1a and SP1b along the direction De1 without using other driving means or the like. As a result, in this embodiment, even when the joint mechanism JEr3 moves along the direction De1 by driving the motor MOp1, the opening Hlk1a of the link LK1 can be reliably blocked without using other driving means or the like. That is, the shielding mechanism SL1 maintains the state in which the opening Hlk1a is blocked, regardless of the relative movement of the joint mechanism JEr3 by the joint mechanism JEp1 with respect to the link LK1. As a result, in this embodiment, it is possible to prevent dust, powder, etc. in the air from entering the robot 10 through the opening Hlk1a, and to prevent grease, dust, etc. in the robot 10 from scattering to the outside of the robot 10 through the opening Hlk1a.

[0098] Next, an outline of the operation of the shielding mechanism SL1 will be described with reference to FIG.

[0099] FIG. 4 is an explanatory diagram for explaining an outline of the operation of the shielding mechanism SL1 shown in FIG. 3. FIG. 4 shows the inside of the link LK1 as viewed from the opposite direction to the direction Ds1. In FIG. 4, in order to make the drawing easier to see, the illustration is omitted except for the frame FM1 of the link LK1, the joint mechanism JEr3, the motor MOr3, and the shielding mechanism SL1. In addition, in FIG. 4, in order to make the drawing easier to see, the pulley PL1a, the pulley PL1b, the timing belt TB1, and the fixed part FP1 are illustrated shifted from their original positions so as not to overlap with other elements (for example, rollers RO1a and RO1b, etc.). In the following, the shielding parts SP1a and SP1b may be collectively referred to as the shielding part SP1.

[0100] Fig. 4(a) shows the inside of the link LK1 when the joint mechanism JEr3 is located near the center of the link LK1 in the direction De1, and Fig. 4(b) shows the inside of the link LK1 when the joint mechanism JEr3 is located closer to the roller RO1b than to the roller RO1a.

[0101] In this embodiment, as shown in Fig. 4, the shielding mechanism SL1 has, in addition to the elements (e.g., shielding parts SP1a and SP1b, etc.) described in Fig. 3, a roller RO1c for smoothing the movement of the shielding part SP1a and a roller RO1d for smoothing the movement of the shielding part SP1b. For example, the shielding part SP1a is wound up on the roller RO1a via the roller RO1c. Or, the shielding part SP1a is unwound from the roller RO1a via the roller RO1c. Similarly, the shielding part SP1b is wound up on the roller RO1b via the roller RO1d. Or, the shielding part SP1b is unwound from the roller RO1b via the roller RO1d.

[0102] For example, the rollers RO1c and RO1d are disposed around the edge of the opening Hlk1a in the opposite direction to the direction De1 and the edge of the opening Hlk1a in the direction De1, respectively. In the example shown in FIG. 4, the rollers RO1c and RO1d are disposed outside the opening Hlk1a in a plan view from the direction Dax3. This allows the opening Hlk1a to be reliably blocked by the shielding parts SP1a and SP1b in this embodiment. However, the rollers RO1c and RO1d may be disposed inside the opening Hlk1a in a plan view from the direction Dax3. The rollers RO1c and RO1d may also extend, for example, along the direction Ds1 wider than the width of the shielding parts SP1a and SP1b. Alternatively, two rollers RO1c supporting two edges along the longitudinal direction of the shielding part SP1a may be provided, and the two rollers RO1c may be disposed at an interval along the direction Ds1. Similarly, two rollers RO1d may be provided to support two edges of the shielding portion SP1b along the longitudinal direction, and the two rollers RO1d may be arranged at an interval along the direction Ds1.

[0103] The length of each of the shielding parts SP1a and SP1b is slightly longer than the length of the opening Hlk1a in the direction De1. The length of the shielding part SP1a is, for example, the length of the shielding part SP1a in the longitudinal direction when the shielding part SP1a is stretched before being attached to the roller RO1a or the like. Similarly, the length of the shielding part SP1b is the length of the shielding part SP1b in the longitudinal direction when the shielding part SP1b is stretched before being attached to the roller RO1b or the like. In this embodiment, since the length of each of the shielding parts SP1a and SP1b is slightly longer than the length of the opening Hlk1a in the direction De1, the opening Hlk1a of the link LK1 can be blocked even when the joint mechanism JEr3 is located at the edge of the opening Hlk1a in the direction De1. That is, in this embodiment, the opening Hlk1a of the link LK1 can always be blocked regardless of the position of the joint mechanism JEr3.

[0104] Here, when the link LK1 is in the state shown in Fig. 4(a) (when the joint mechanism JEr3 is located near the center of the link LK1 in the direction De1), the shielding portion SP1a is wound around the roller RO1a by about half its length. Similarly, when the link LK1 is in the state shown in Fig. 4(a), the shielding portion SP1b is wound around the roller RO1b by about half its length.

[0105] Also, for example, when the state of the link LK1 transitions from the state shown in FIG. 4(a) to the state shown in FIG. 4(b), the joint mechanism JEr3 and the support part ST1a move in the direction De1, and the fixed part FP1 also moves in the direction De1. The fixed part FP1 is connected to a part of the timing belt TB1 located in the direction Dax3 from the pulleys PL1a and PL1b. Therefore, when the fixed part FP1 moves in the direction De1, the part of the timing belt TB1 located in the direction Dax3 from the pulleys PL1a and PL1b moves in the direction De1, and the part located in the opposite direction to the direction Dax3 from the pulleys PL1a and PL1b moves in the opposite direction to the direction De1. That is, when the joint mechanism JEr3 and the support part ST1a move in the direction De1, the timing belt TB1 rotates clockwise when viewed from the opposite direction to the direction Ds1. As a result, the pulleys PL1a and PL1b also rotate clockwise when viewed from the opposite direction to the direction Ds1. In this case, the amount of rotation of the pulleys PL1a and PL1b corresponds to the amount of movement of the timing belt TB1, that is, the amount of rotation corresponds to the amount of movement of the joint mechanism JEr3 and the support portion ST1a.

[0106] As described above, the rollers RO1a and RO1b rotate due to the rotation of the pulleys PL1a and PL1b. Therefore, when the joint mechanism JEr3 and the support part ST1a move in the direction De1, the rollers RO1a and RO1b also rotate clockwise as viewed from the opposite direction to the direction Ds1 with the rotation of the pulleys PL1a and PL1b. In this case, the rotation amount of the roller RO1a corresponds to the amount of the portion of the shielding part SP1a that is unwound from the roller RO1a, and the rotation amount of the roller RO1b corresponds to the amount of the portion of the shielding part SP1b that is wound up around the roller RO1b. Therefore, in this embodiment, even when the joint mechanism JEr3 moves along the direction De1, it is possible to prevent the shielding parts SP1a and SP1b from loosening and from being excessively pulled, and it is possible to reliably close the opening Hlk1a.

[0107] Here, the diameter of the pulley PL1a may be different from the diameter of the roller RO1a including the shielding part SP1a wound around the roller RO1a. In this case, the rotation amount of the pulley PL1a is different from the rotation amount of the roller RO1a. For this reason, the pulley PL1a is connected to the rotation axis RAx1a of the roller RO1a so as to be able to rotate freely around the rotation axis RAx1a of the roller RO1a. Similarly, the pulley PL1b is connected to the rotation axis RAx1b of the roller RO1b so as to be able to rotate freely around the rotation axis RAx1b of the roller RO1b.

[0108] The operation of the shielding mechanism SL1 when the joint mechanism JEr3 moves in the direction opposite to the direction De1 can be explained by replacing the movement direction and rotation direction of each element in the above description with the opposite direction.

[0109] Furthermore, the mechanism including pulleys PL1a and PL1b, timing belt TB1, and fixed part FP1 may be provided on one or both of the two sides of the frame FM1 of link LK1 in direction Ds1 (for example, two sides parallel to both directions Dax3 and De1).

[0110] The configuration of the shielding mechanism SL1 is not limited to the examples shown in Fig. 3 and Fig. 4. For example, two guides extending along the direction De1, spaced apart in the direction Ds1, and supporting two edges along the longitudinal direction of the shielding part SP1 may be connected to two inner surfaces (e.g., two inner surfaces parallel to both the direction Dax3 and the direction De1) of the frame FM1 of the link LK1, respectively. In this case, each of the two guides is disposed, for example, between the rollers RO1c and RO1d.

[0111] In addition, the material of the shielding portion SP1a is not particularly limited as long as it can be processed into a long shape, wound around the roller RO1a, and has a shielding function. Similarly, the material of the shielding portion SP1b is not particularly limited as long as it can be processed into a long shape, wound around the roller RO1b, and has a shielding function. For example, plastic, rubber, metal, paper, etc. can be used as the material of each of the shielding portions SP1a and SP1b. For example, each of the shielding portions SP1a and SP1b may include a long rubber having a relatively low rigidity and a plurality of strip-shaped metal or plastic having a relatively high rigidity and extending in the width direction of the long rubber. Specifically, for example, each of the shielding portions SP1a and SP1b may be configured such that a plurality of strip-shaped metal or plastic are arranged at approximately equal intervals on the long rubber along the long direction. In this case, it is possible to achieve both the ease of winding each of the shielding portions SP1a and SP1b and the improvement of the rigidity of each of the shielding portions SP1a and SP1b. For example, if each of the shielding portions SP1a and SP1b is configured in such a way that multiple strips of metal or plastic are arranged at approximately equal intervals along the longitudinal direction of a long piece of rubber, each of the shielding portions SP1a and SP1b can be rolled up with a small diameter.

[0112] Furthermore, when the shielding parts SP1a and SP1b are not made of elastic members such as rubber, the rollers RO1c and RO1d may be attached to the link LK1 via elastic members such as springs. In this case, the change in tension of the shielding part SP1a, which changes depending on the amount of the shielding part SP1a wound around the roller RO1a, and the change in tension of the shielding part SP1b, which changes depending on the amount of the shielding part SP1b wound around the roller RO1b, can be mitigated, and the tension of each of the shielding parts SP1a and SP1b can be made almost constant. For example, when an elastic member is used to attach the rollers RO1c and RO1d, it is preferable that the rollers RO1c and RO1d are attached to the link LK1 via elastic members so as to be movable along the direction De1 while maintaining their positions in the direction Dax3. In this case, it is possible to prevent the opening Hlk1a from being partly unblocked by the shielding parts SP1a and SP1b.

[0113] Next, an example of the shielding mechanism SL2 will be described with reference to FIG.

[0114] Fig. 5 is an explanatory diagram for explaining an example of the shielding mechanism SL2 shown in Fig. 1. Fig. 5(a) shows the external appearance of the link LK2. Fig. 5(b) shows an outline of the inside of the link LK2. That is, Fig. 5(b) shows the link LK2 in a state where the exterior EXT2 shown in Fig. 5(a) has been removed. The exterior EXT2 of the link LK2 is, for example, a housing that covers the frame FM2 of the link LK2.

[0115] 5(a), in addition to the opening Hlk2a described in FIG. 1 and the like, an opening Hlk2b through which the joint mechanism JEr4 is inserted is provided in the exterior EXT2 of the link LK2. For example, the joint mechanism JEr4 inserted through the opening Hlk2b is supported by the support portion ST2b. Also, for example, the joint mechanism JEr3 inserted through the opening Hlk2a is supported by the support portion ST2a.

[0116] For example, the support ST2a moves linearly along the direction De2 together with the joint mechanism JEr3 as the joint mechanism JEr3 moves linearly along the direction De2 by the drive of the motor MOp2. An end of a long shielding part SP2a is fixed to an end ED2a of the support ST2a by adhesion or the like, and an end of a long shielding part SP2b is fixed to an end ED2b of the support ST2a by adhesion or the like. Note that, of the two ends ED2 (ED2a and ED2b) of the support ST2a in the direction De2, the end ED2 closer to the end LK2ed1 of the link LK2 is the end ED2a, and the end ED2 closer to the end LK2ed2 of the link LK2 is the end ED2b. Also, the support ST2a and the shielding parts SP2a and SP2b are part of a plurality of elements included in the shielding mechanism SL2, as shown in FIG. 5(b).

[0117] For example, as shown in FIG. 5(b), the shielding mechanism SL2 has rollers RO2a and RO2b, long shielding portions SP2a and SP2b, pulleys PL2a and PL2b, a timing belt TB2, a support portion ST2a, and a fixed portion FP2. The roller RO2a is an example of a "third roller", and the roller RO2b is an example of a "fourth roller". The shielding portion SP2a is an example of a "third shielding portion", and the shielding portion SP2b is an example of a "fourth shielding portion". The pulley PL2a is an example of a "third pulley", and the pulley PL2b is an example of a "fourth pulley". The timing belt TB2 is an example of a "second belt".

[0118] The rollers RO2a and RO2b extend along the direction Ds2 and are disposed at both ends of the link LK2 in the direction De2 (the end opposite the direction De2 and the end in the direction De2), respectively. For example, the roller RO2a is attached inside the link LK2 near an end LK2ed1 of the link LK2, and the roller RO2b is attached inside the link LK2 near an end LK2ed2 of the link LK2.

[0119] As described above, one end of the shielding part SP2a is fixed to the end ED2a of the support part ST2a by adhesion or the like. As a result, one end of the shielding part SP2a is connected to the joint mechanism JEr3. In addition, the other end of the shielding part SP2a (the end not connected to the support part ST2a) is attached to the roller RO2a. As a result, the shielding part SP2a maintains a state in which it covers the opening Hlk2a and is wound up as the roller RO2a rotates. Alternatively, the shielding part SP2a maintains a state in which it covers the opening Hlk2a and is unwound as the roller RO2a rotates.

[0120] Also, as described above, one end of the shielding part SP2b is fixed to the end ED2b of the support part ST2a by adhesion or the like. As a result, one end of the shielding part SP2b is connected to the joint mechanism JEr3. Also, the other end of the shielding part SP2b (the end not connected to the support part ST2a) is attached to the roller RO2b. As a result, the shielding part SP2b maintains a state in which it covers the opening Hlk2a and is wound up as the roller RO2b rotates. Alternatively, the shielding part SP2b maintains a state in which it covers the opening Hlk2a and is unwound as the roller RO2b rotates.

[0121] Here, for example, when the support part ST2a and the joint mechanism JEr3 move along the direction De2, the shielding parts SP2a and SP2b also move along the direction De2 with the movement of the support part ST2a. In this case, the shielding part SP2a is wound or unwound by the roller RO2a, and the shielding part SP2b is unwound or wound by the roller RO2b. Specifically, when the support part ST2a and the joint mechanism JEr3 move in a direction approaching the roller RO2a, the shielding part SP2a is wound up by the roller RO2a, and the shielding part SP2b is unwound from the roller RO2b. Also, when the support part ST2a and the joint mechanism JEr3 move in a direction approaching the roller RO2b, the shielding part SP2a is unwound from the roller RO2a, and the shielding part SP2b is wound up by the roller RO2b.

[0122] The pulley PL2a assists the roller RO2a in winding and unwinding the shielding part SP2a, and the pulley PL2b assists the roller RO2b in winding and unwinding the shielding part SP2b. For example, the pulley PL2a is connected to the rotation axis RAx2a of the roller RO2a and rotates around the rotation axis RAx2a. That is, the pulley PL2a rotates around the same axis (rotation axis RAx2a) as the roller RO2a. The pulley PL2b is connected to the rotation axis RAx2b of the roller RO2b and rotates around the rotation axis RAx2b. That is, the pulley PL2b rotates around the same axis (rotation axis RAx2b) as the roller RO2b. And the circular timing belt TB2 is wound around the pulley PL2a and the pulley PL2b. In this manner, in this embodiment, the timing belt TB2 is suspended around the rotation shaft RAx2a of the roller RO2a and the rotation shaft RAx2b of the roller RO2b via the pulleys PL2a and PL2b.

[0123] The support portion ST2a is fixed to the timing belt TB2 by the fixed portion FP2. As a result, when the support portion ST2a moves along the direction De2, the timing belt TB2 moves integrally with the support portion ST2a. Note that the movement of the timing belt TB2 means that a certain portion of the timing belt TB2 (for example, a portion to which the fixed portion FP2 is connected) moves, which corresponds to the rotation of the timing belt TB2.

[0124] As the timing belt TB2 moves (rotates), the pulleys PL2a and PL2b rotate. The rotation of the pulleys PL2a and PL2b rotates the rollers RO2a and RO2b. As a result, the shielding portion SP2a is wound or unwound by the roller RO2a, and the shielding portion SP2b is unwound or wound by the roller RO2b.

[0125] In this manner, in this embodiment, when the joint mechanism JEr3 moves along the direction De2 by driving the motor MOp2, the rollers RO2a and RO2b can move the shielding parts SP2a and SP2b along the direction De2 without using other driving means or the like. As a result, in this embodiment, even when the joint mechanism JEr3 moves along the direction De2 by driving the motor MOp2, the opening Hlk2a of the link LK2 can be reliably blocked without using other driving means or the like. That is, the shielding mechanism SL2 maintains the state in which the opening Hlk2a is blocked, regardless of the relative movement of the joint mechanism JEr3 by the joint mechanism JEp2 with respect to the link LK2. As a result, in this embodiment, it is possible to prevent dust, powder, etc. in the air from entering the robot 10 through the opening Hlk2a, and to prevent grease, dust, etc. in the robot 10 from scattering to the outside of the robot 10 through the opening Hlk2a.

[0126] Next, an outline of the operation of the shielding mechanism SL2 will be described with reference to FIG.

[0127] FIG. 6 is an explanatory diagram for explaining an outline of the operation of the shielding mechanism SL2 shown in FIG. 5. FIG. 6 shows the inside of the link LK2 as viewed from the direction Ds2. In FIG. 6, in order to make the drawing easier to see, only the frame FM2 of the link LK2, the joint mechanism JEr3, the connection part JEp23 of the joint mechanism JEp2, and the shielding mechanism SL2 are shown. In addition, in FIG. 6, in order to make the drawing easier to see, the pulley PL2a, the pulley PL2b, the timing belt TB2, and the fixed part FP2 are shown shifted from their original positions so as not to overlap with other elements (for example, rollers RO2a and RO2b, etc.). In the following, the shielding parts SP2a and SP2b may be collectively referred to as the shielding part SP2.

[0128] Fig. 6(a) shows the inside of the link LK2 when the joint mechanism JEr3 is located near the center of the link LK2 in the direction De2, and Fig. 6(b) shows the inside of the link LK2 when the joint mechanism JEr3 is located closer to the roller RO2b than to the roller RO2a.

[0129] In this embodiment, as shown in Fig. 6, the shielding mechanism SL2 has, in addition to the elements described in Fig. 5 (e.g., shielding parts SP2a and SP2b, etc.), a roller RO2c that smooths the movement of the shielding part SP2a and a roller RO2d that smooths the movement of the shielding part SP2b. For example, the shielding part SP2a is wound up on the roller RO2a via the roller RO2c. Or, the shielding part SP2a is unwound from the roller RO2a via the roller RO2c. Similarly, the shielding part SP2b is wound up on the roller RO2b via the roller RO2d. Or, the shielding part SP2b is unwound from the roller RO2b via the roller RO2d.

[0130] For example, the rollers RO2c and RO2d are disposed around the edge of the opening Hlk2a in the opposite direction to the direction De2 and the edge of the opening Hlk2a in the direction De2, respectively. In the example shown in FIG. 6, the rollers RO2c and RO2d are disposed outside the opening Hlk2a in a plan view from the direction Dax3. This allows the opening Hlk2a to be reliably blocked by the shielding parts SP2a and SP2b in this embodiment. However, the rollers RO2c and RO2d may be disposed inside the opening Hlk2a in a plan view from the direction Dax3. The rollers RO2c and RO2d may extend, for example, along the direction Ds2 wider than the width of the shielding parts SP2a and SP2b. Alternatively, two rollers RO2c supporting two edges along the longitudinal direction of the shielding part SP2a may be provided, and the two rollers RO2c may be disposed at an interval along the direction Ds2. Similarly, two rollers RO2d may be provided to support two edges of the shielding portion SP2b along the longitudinal direction, and the two rollers RO2d may be arranged at an interval along the direction Ds2.

[0131] The length of each of the shielding parts SP2a and SP2b is slightly longer than the length of the opening Hlk2a in the direction De2. The length of the shielding part SP2a is, for example, the length of the shielding part SP2a in the longitudinal direction when the shielding part SP2a is stretched before being attached to the roller RO2a or the like. Similarly, the length of the shielding part SP2b is the length of the shielding part SP2b in the longitudinal direction when the shielding part SP2b is stretched before being attached to the roller RO2b or the like. In this embodiment, since the length of each of the shielding parts SP2a and SP2b is slightly longer than the length of the opening Hlk2a in the direction De2, the opening Hlk2a of the link LK2 can be blocked even when the joint mechanism JEr3 is located at the edge of the opening Hlk2a in the direction De2. That is, in this embodiment, the opening Hlk2a of the link LK2 can always be blocked regardless of the position of the joint mechanism JEr3.

[0132] Here, when the link LK2 is in the state shown in Fig. 6(a) (when the joint mechanism JEr3 is located near the center of the link LK2 in the direction De2), the shielding portion SP2a is wound up by about half of its length on the roller RO2a. Similarly, when the link LK2 is in the state shown in Fig. 6(a), the shielding portion SP2b is wound up by about half of its length on the roller RO2b.

[0133] Also, for example, when the state of the link LK2 transitions from the state shown in FIG. 6(a) to the state shown in FIG. 6(b), the link LK2 moves in the opposite direction to the direction De2 with respect to the joint mechanism JEr3 and the support part ST2a. Therefore, the joint mechanism JEr3, the support part ST2a, and the fixed part FP2 move in the direction De2 relative to the link LK2. The fixed part FP2 is connected to a part of the timing belt TB2 located in the opposite direction to the direction Dax3 from the pulleys PL2a and PL2b. Therefore, when the fixed part FP2 moves in the direction De2, the part of the timing belt TB2 located in the opposite direction to the direction Dax3 from the pulleys PL2a and PL2b moves in the direction De2, and the part located in the direction Dax3 from the pulleys PL2a and PL2b moves in the opposite direction to the direction De2. That is, when the joint mechanism JEr3 and the support part ST2a move in the direction De2 with respect to the link LK2, the timing belt TB2 rotates clockwise as viewed from the direction Ds2. As a result, the pulleys PL2a and PL2b also rotate clockwise when viewed from the direction Ds2. In this case, the rotation amount of the pulleys PL2a and PL2b corresponds to the movement amount of the timing belt TB2, that is, the movement amount of the joint mechanism JEr3 and the support part ST2a.

[0134] As described above, the rollers RO2a and RO2b rotate due to the rotation of the pulleys PL2a and PL2b. Therefore, when the joint mechanism JEr3 and the support part ST2a move in the direction De2 relative to the link LK2, the rollers RO2a and RO2b also rotate clockwise as viewed from the direction Ds2 with the rotation of the pulleys PL2a and PL2b. In this case, the rotation amount of the roller RO2a corresponds to the amount of the portion of the shielding part SP2a that is unwound from the roller RO2a, and the rotation amount of the roller RO2b corresponds to the amount of the portion of the shielding part SP2b that is wound around the roller RO2b. Therefore, in this embodiment, even when the joint mechanism JEr3 moves relative to the link LK2 along the direction De2, it is possible to prevent the shielding parts SP2a and SP2b from loosening and from being excessively pulled, and it is possible to reliably close the opening Hlk2a.

[0135] Here, the diameter of the pulley PL2a may be different from the diameter of the roller RO2a including the shielding part SP2a wound around the roller RO2a. In this case, the rotation amount of the pulley PL2a is different from the rotation amount of the roller RO2a. For this reason, the pulley PL2a is connected to the rotation axis RAx2a of the roller RO2a so as to be able to rotate freely around the rotation axis RAx2a of the roller RO2a. Similarly, the pulley PL2b is connected to the rotation axis RAx2b of the roller RO2b so as to be able to rotate freely around the rotation axis RAx2b of the roller RO2b.

[0136] The operation of the shielding mechanism SL2 when the joint mechanism JEr3 moves in the opposite direction to the direction De2 relative to the link LK2 can be explained by replacing the movement direction and rotation direction of each element in the above description with the opposite direction.

[0137] Furthermore, the mechanism including pulleys PL2a and PL2b, timing belt TB2, and fixed part FP2 may be provided on one or both of the two sides of direction Ds2 in frame FM2 of link LK2 (for example, two sides parallel to both directions Dax3 and De2).

[0138] The configuration of the shielding mechanism SL2 is not limited to the examples shown in Fig. 5 and Fig. 6. For example, two guides extending along the direction De2, spaced apart in the direction Ds2, and supporting two edges along the longitudinal direction of the shielding part SP2 may be connected to two inner surfaces (e.g., two inner surfaces parallel to both the direction Dax3 and the direction De2) of the frame FM2 of the link LK2, respectively. In this case, each of the two guides is disposed, for example, between the rollers RO2c and RO2d.

[0139] In addition, the material of the shielding part SP2a is not particularly limited as long as it can be processed into a long shape, wound around the roller RO2a, and has a shielding function. Similarly, the material of the shielding part SP2b is not particularly limited as long as it can be processed into a long shape, wound around the roller RO2b, and has a shielding function. For example, plastic, rubber, metal, paper, etc. can be used as the material of each of the shielding parts SP2a and SP2b. For example, each of the shielding parts SP2a and SP2b may include a long rubber having a relatively low rigidity and a plurality of strip-shaped metal or plastic having a relatively high rigidity and extending in the width direction of the long rubber. Specifically, for example, each of the shielding parts SP2a and SP2b may be configured such that a plurality of strip-shaped metal or plastic are arranged at approximately equal intervals on the long rubber along the long direction. In this case, it is possible to achieve both the ease of winding each of the shielding parts SP2a and SP2b and the improvement of the rigidity of each of the shielding parts SP2a and SP2b. For example, when each of the shielding portions SP2a and SP2b is configured in such a way that multiple metal or plastic strips are arranged at approximately equal intervals along the longitudinal direction of a long piece of rubber, each of the shielding portions SP2a and SP2b can be rolled up with a small diameter.

[0140] Furthermore, when the shielding parts SP2a and SP2b are not made of elastic members such as rubber, the rollers RO2c and RO2d may be attached to the link LK2 via elastic members such as springs. In this case, the change in tension of the shielding part SP2a, which changes depending on the amount of the shielding part SP2a wound around the roller RO2a, and the change in tension of the shielding part SP2b, which changes depending on the amount of the shielding part SP2b wound around the roller RO2b, can be mitigated, and the tension of each of the shielding parts SP2a and SP2b can be made almost constant. Note that, for example, when an elastic member is used to attach the rollers RO2c and RO2d, it is preferable that the rollers RO2c and RO2d are attached to the link LK2 via elastic members so as to be movable along the direction De2 while maintaining their positions in the direction Dax3. In this case, it is possible to prevent the opening Hlk2a from being partly blocked by the shielding parts SP2a and SP2b.

[0141] Here, the outline of the inside of each link LK when the links LK1 and LK2 are connected is shown in FIG.

[0142] Fig. 7 is a schematic diagram showing an example of a state in which the link LK1 shown in Fig. 3 and the link LK2 shown in Fig. 5 are connected. Fig. 7 shows a schematic diagram of the inside of the links LK1 and LK2 as viewed from the direction Ds1 when the direction Ds1 coincides with the direction Ds2. Also, in Fig. 7, in order to make the drawing easier to see, illustrations other than the frame FM1 of the link LK1, the joint mechanism JEr3, the motor MOr3, the shielding mechanism SL1, the frame FM2 of the link LK2, the connection part JEp23 of the joint mechanism JEp2, and the shielding mechanism SL2 are omitted.

[0143] For example, Figure 7 shows a schematic diagram of the inside of links LK1 and LK2 when the motor MOr3, joint mechanism JEr3, and support ST1a are located near the center of link LK1 in direction De1, and the connection part JEp23, support part ST2a, and joint mechanism JEr3 of joint mechanism JEp2 are located near the center of link LK2 in direction De2.

[0144] As shown in FIG. 7, in this embodiment, the joint mechanism JEr3 has a first specific part JEr3a, a second specific part JEr3b, and a third specific part JEr3c. The first specific part JEr3a of the joint mechanism JEr3 is a part located inside the link LK1, and the second specific part JEr3b of the joint mechanism JEr3 is a part located inside the link LK2. The third specific part JEr3c of the joint mechanism JEr3 is a part exposed from both the links LK1 and LK2. In addition, in the joint mechanism JEr3, the first specific part JEr3a, the second specific part JEr3b, and the third specific part JEr3c do not need to be strictly distinguished.

[0145] Even when the links LK1 and LK2 are connected, the shielding mechanism SL1 maintains the opening Hlk1a closed, regardless of the relative movement of the joint mechanism JEp1 of the joint mechanism JEr3 with respect to the link LK1. Similarly, the shielding mechanism SL2 maintains the opening Hlk2a closed, regardless of the relative movement of the joint mechanism JEp2 of the joint mechanism JEr3 with respect to the link LK2. This makes it possible to prevent dust, powder, etc. in the air from entering the robot 10 and to prevent grease, dust, etc. from within the robot 10 from scattering outside the robot 10 in this embodiment.

[0146] Also, for example, when the robot 10 is installed on a horizontal plane, the plane on which the shielding parts SP1a and SP1b provided on the link LK1 and the shielding parts SP2a and SP2b provided on the link LK2 operate is a vertical plane. In this case, the risk of dust, particles, and droplets of oil, etc. being present in the air around the opening Hlk1a blocked by the shielding parts SP1a and SP1b and the opening Hlk2a blocked by the shielding parts SP2a and SP2b due to the influence of gravity can be suppressed. Even if grease, dust, etc. inside the robot 10 scatters to the outside of the robot 10, the scattered dust, etc. falls downward (in the direction of gravity) due to gravity, so that the scattered dust, etc. is suppressed from reattaching to the robot 10. Therefore, even if grease, dust, etc. inside the robot 10 scatters to the outside of the robot 10, there is almost no effect on the robot 10.

[0147] In addition, in this embodiment, the shielding parts SP1a and SP1b and the shielding parts SP2a and SP2b always move relatively on opposing planes. Therefore, in this embodiment, the movement of the mutually opposing links LK becomes an obstacle to the presence of dust, particles, and droplets of oil, etc. in the air around the shielding parts SP1a and SP1b and around the shielding parts SP2a and SP2b. As a result, in this embodiment, it is possible to suppress the risk of dust, particles, and droplets of oil, etc. being present in the air around the shielding parts SP1a and SP1b and around the shielding parts SP2a and SP2b.

[0148] Here, for example, as a comparative example to be compared with the present embodiment, the problem of the aspect in which a shielding mechanism is used in which each of the openings Hlk1a and Hlk2a is covered with a bellows that expands and contracts with the movement of the slider is shown below. For example, when each of the openings Hlk1a and Hlk2a is covered with a bellows, the resistance of the bellows tends to be large. Furthermore, in the comparative example, since the resistance applied to the slider changes according to the opening and closing amount of the bellows, it is difficult to move the slider with high precision. Also, in the comparative example, the bellows must be held in a folded state. Therefore, in the comparative example, for example, the length of the link LK1 in the direction De1 is longer than the length of the movement area ARmv1 in the direction De1 by the amount of space required to hold the folded bellows. Similarly, the length of the link LK2 in the direction De2 is longer than the length of the movement area ARmv2 in the direction De2 by the amount of space required to hold the folded bellows. Thus, in the comparative example, since a space is required to hold the folded bellows, it is difficult to reduce the size and weight of the shielding mechanism. In contrast, a structure that prevents gaps from forming as the bellows expands and contracts is required, which may increase the cost of the shielding mechanism. Also, in a robot 10 that operates continuously for long periods of time, the durability of the bellows may become an issue.

[0149] In contrast, in this embodiment, the structure of the shielding mechanism SL1 is a structure in which the long shielding portions SP1a and SP1b are wound up by rollers RO1a and RO1b, respectively. Also, the structure of the shielding mechanism SL2 is a structure in which the long shielding portions SP2a and SP2b are wound up by rollers RO1a and RO1b, respectively. Therefore, in this embodiment, there is no need to secure space to hold the folded bellows, so the length of the movement area ARmv1 in the direction De1 and the length of the movement area ARmv2 in the direction De2 can be made longer. As a result, in this embodiment, the link LK1 and the shielding mechanism SL1, and the link LK2 and the shielding mechanism SL2 can be made smaller and lighter.

[0150] Furthermore, in this embodiment, since the shielding mechanism SL1 has a structure in which the shielding portions SP1a and SP1b are wound up by rollers RO1a and RO1b, respectively, the durability of the shielding mechanism SL1 can be improved and the shielding mechanism SL1 can be manufactured at a low cost compared to a comparative example in which a bellows is used. Similarly, in this embodiment, the durability of the shielding mechanism SL2 can be improved and the shielding mechanism SL2 can be manufactured at a low cost compared to a comparative example in which a bellows is used. That is, in this embodiment, the robot 10 can be made smaller and lighter, the durability of the robot 10 can be improved, and the robot 10 can be manufactured at a low cost.

[0151] In this embodiment, the operation of the shielding parts SP1a and SP1b and the operation of the shielding parts SP2a and SP2b are performed by the driving of the motors MOp1 and MOp2, respectively, and no other driving source is required. Therefore, in this embodiment, the weight of the links LK1 and LK2 can be reduced, and the operation of the robot 10 can be controlled with higher accuracy.

[0152] Next, the hardware configuration of the robot controller 30 will be described with reference to FIG.

[0153] FIG. 8 is a diagram illustrating an example of a hardware configuration of the robot controller 30 illustrated in FIG.

[0154] The robot controller 30 has a processing device 32 that controls each part of the robot controller 30, a memory 33 that stores various information, a communication device 34, an operation device 35 that accepts operations by an operator, etc., a display device 36, and a driver circuit 37.

[0155] The memory 33 includes, for example, one or both of a volatile memory such as a random access memory (RAM) that functions as a working area for the processing device 32 and a non-volatile memory such as an electrically erasable programmable read-only memory (EEPROM) that stores various information such as the control program PGr. The memory 33 may be detachable from the robot controller 30. Specifically, the memory 33 may be a storage medium such as a memory card that is detachable from the robot controller 30. The memory 33 may also be, for example, a storage device (e.g., online storage) that is communicatively connected to the robot controller 30 via a network or the like.

[0156] 8 stores a control program PGr. In this embodiment, the control program PGr includes, for example, an application program that causes the robot controller 30 to control the operation of the robot 10. However, the control program PGr may also include, for example, an operating robot system program that causes the processing device 32 to control each part of the robot controller 30.

[0157] The processing device 32 is a processor that controls the entire robot controller 30, and is configured to include, for example, one or more CPUs (Central Processing Units). The processing device 32 executes, for example, a control program PGr stored in the memory 33, and operates in accordance with the control program PGr to control the operation of the robot 10. The control program PGr may be transmitted from another device via a network or the like.

[0158] Furthermore, for example, when the processing device 32 is configured to include multiple CPUs, some or all of the functions of the processing device 32 may be realized by the multiple CPUs operating in cooperation with each other according to a program such as the control program PGr. Furthermore, the processing device 32 may be configured to include hardware such as a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field Programmable Gate Array) in addition to one or more CPUs, or instead of some or all of the one or more CPUs. In this case, some or all of the functions of the processing device 32 may be realized by hardware such as a DSP.

[0159] The communication device 34 is hardware for communicating with an external device that exists outside the robot controller 30. For example, the communication device 34 has a function of communicating with the external device by short-range wireless communication. The communication device 34 may further have a function of communicating with the external device via a mobile communication network or a network.

[0160] The operation device 35 is an input device (for example, a keyboard, a mouse, a switch, a button, a sensor, etc.) that accepts input from the outside. For example, the operation device 35 accepts an operation by an operator and outputs operation information corresponding to the operation to the processing device 32. Note that, for example, a touch panel that detects contact with the display surface of the display device 36 may be adopted as the operation device 35.

[0161] The display device 36 is an output device such as a display that outputs to the outside. For example, the display device 36 displays an image under the control of the processing device 32. Note that the operation device 35 and the display device 36 may be integrated into one (for example, a touch panel).

[0162] The driver circuit 37 is hardware that outputs signals to drive the robot 10 under the control of the processing device 32. For example, the driver circuit 37 outputs signals to drive motors MOr1, MOr2, MOr3, MOr4, MOr5, MOr6, MOp1, MOp2, etc. to the robot 10 under the control of the processing device 32. Note that the motors MOr1, MOr2, MOr3, MOr4, MOr5, and MOr6 are motors that drive the joint mechanisms JEr1, JEr2, JEr3, JEr4, JEr5, and JEr6, respectively. Also, the motors MOp1 and MOp2 are motors that drive the joint mechanisms JEp1 and JEp2, respectively.

[0163] In this manner, the robot controller 30 controls the movement of the robot 10 by controlling the motors MOr1, MOr2, MOr3, MOr4, MOr5, MOr6, MOp1, and MOp2.

[0164] As described above, in this embodiment, the robot system 1 includes the robot 10, the end effector 20 attached to the tip part TP1, and the robot controller 30 that controls the operations of the robot 10 and the end effector 20. The robot controller 30 controls the operation of the robot 10 by controlling the motor MOr3 that drives the joint mechanism JEr3, the motor MOp1 that drives the joint mechanism JEp1, and the motor MOp2 that drives the joint mechanism JEp2. The robot 10 includes a body part BDP, a tip part TP1, a hollow link LK1 having an opening Hlk1a formed therein, and a hollow link LK2 having an opening Hlk2a formed therein, and is equipped with a plurality of links connecting the body part BDP and the tip part TP1, a joint mechanism JEr3 connecting the link LK1 and the link LK2 and rotating the link LK2 relative to the link LK1 around an axis Ax3 which forms an angle with the direction De1 in which the link LK1 extends that is greater than a predetermined angle as a first rotation axis, a joint mechanism JEp1 which moves the joint mechanism JEr3 relative to the link LK1 along the direction De1, a joint mechanism JEp2 which moves the link LK2 relative to the joint mechanism JEr3 along the direction De2 in which the link LK2 extends, a shielding mechanism SL1 which blocks the opening Hlk1a, and a shielding mechanism SL2 which blocks the opening Hlk2a. The joint mechanism JEr3 is inserted through the openings Hlk1a and Hlk2a, with a portion (first specific portion JEr3a) located inside the link LK1 and at least a portion (second specific portion JEr3b) of the other portion located inside the link LK2. The shielding mechanism SL1 maintains the opening Hlk1a closed regardless of the relative movement of the joint mechanism JEr3 with respect to the link LK1 by the joint mechanism JEp1. The shielding mechanism SL2 maintains the opening Hlk2a closed regardless of the relative movement of the joint mechanism JEr3 with respect to the link LK2 by the joint mechanism JEp2.

[0165] Thus, in this embodiment, the shielding mechanism SL1 maintains the opening Hlk1a closed regardless of the relative movement of the joint mechanism JEp1 of the joint mechanism JEr3 with respect to the link LK1. Also, the shielding mechanism SL2 maintains the opening Hlk2a closed regardless of the relative movement of the joint mechanism JEp2 of the joint mechanism JEr3 with respect to the link LK2. This makes it possible to prevent dust, powder, etc. in the air from entering the robot 10 and to prevent grease, dust, etc. from within the robot 10 from scattering outside the robot.

[0166] In this embodiment, the shielding mechanism SL1 includes a roller RO1a and a roller RO1b disposed at both ends of the link LK1 in the direction De1, an elongated shielding part SP1a having one end connected to the joint mechanism JEr3 and the other end attached to the roller RO1a, and an elongated shielding part SP1b having one end connected to the joint mechanism JEr3 and the other end attached to the roller RO1b. The shielding mechanism SL2 includes a roller RO2a and a roller RO2b disposed at both ends of the link LK2 in the direction De2, an elongated shielding part SP2a having one end connected to the joint mechanism JEr3 and the other end attached to the roller RO2a, and an elongated shielding part SP2b having one end connected to the joint mechanism JEr3 and the other end attached to the roller RO2b. When the joint mechanism JEr3 moves along the direction De1, the shielding part SP1a is wound or unwound by the roller RO1a while keeping the opening Hlk1a closed, and the shielding part SP1b is wound or unwound by the roller RO1b while keeping the opening Hlk1a closed. When the joint mechanism JEr3 moves along the direction De2, the shielding part SP2a is wound or unwound by the roller RO2a while keeping the opening Hlk2a closed, and the shielding part SP2b is wound or unwound by the roller RO2b while keeping the opening Hlk2a closed.

[0167] Thus, in this embodiment, the structure of the shielding mechanism SL1 is a structure in which the long shielding parts SP1a and SP1b are wound up by rollers RO1a and RO1b, respectively. Also, the structure of the shielding mechanism SL2 is a structure in which the long shielding parts SP2a and SP2b are wound up by rollers RO1a and RO1b, respectively. Therefore, in this embodiment, the durability of the shielding mechanisms SL1 and SL2 can be improved and the shielding mechanisms SL1 and SL2 can be manufactured at low cost compared to a configuration in which the openings Hlk1a and Hlk2a are covered with bellows. That is, in this embodiment, the robot 10 can be made smaller and lighter, the durability of the robot 10 can be improved, and the robot 10 can be manufactured at low cost.

[0168] Furthermore, in this embodiment, the roller RO1a can wind and unwind the shielding part SP1a, and the roller RO1b can wind and unwind the shielding part SP1b, without providing a driving source such as a motor for driving the shielding parts SP1a and SP1b. Similarly, in this embodiment, the roller RO2a can wind and unwind the shielding part SP2a, and the roller RO2b can wind and unwind the shielding part SP2b, without providing a driving source such as a motor for driving the shielding parts SP1a and SP1b. As a result, in this embodiment, the links LK1 and LK2 can be made lighter, and the operation of the robot 10 can be controlled with higher accuracy.

[0169] In this embodiment, the shielding mechanism SL1 further includes a pulley PL1a that rotates about the same axis (rotation axis RAx1a) as the roller RO1a, a pulley PL1b that rotates about the same axis (rotation axis RAx1b) as the roller RO1b, and an annular timing belt TB1 connected to the joint mechanism JEr3 and wound around the pulleys PL1a and PL1b. The shielding mechanism SL2 further includes a pulley PL2a that rotates about the same axis (rotation axis RAx2a) as the roller RO2a, a pulley PL2b that rotates about the same axis (rotation axis RAx2b) as the roller RO2b, and an annular timing belt TB2 connected to the joint mechanism JEr3 and wound around the pulleys PL2a and PL2b.

[0170] In this manner, in this embodiment, the timing belt TB1 is suspended around the rotation axis RAx1a of the roller RO1a and the rotation axis RAx1b of the roller RO1b via the pulleys PL1a and PL1b. Similarly, the timing belt TB2 is suspended around the rotation axis RAx2a of the roller RO2a and the rotation axis RAx2b of the roller RO2b via the pulleys PL2a and PL2b. For example, the pulley PL1a assists the roller RO1a in winding and unwinding the shielding portion SP1a, and the pulley PL1b assists the roller RO1b in winding and unwinding the shielding portion SP1b. In addition, the pulley PL2a assists the roller RO2a in winding and unwinding the shielding portion SP2a, and the pulley PL2b assists the roller RO2b in winding and unwinding the shielding portion SP2b. As a result, in this embodiment, the roller RO1a can smoothly wind and unwind the shielding portion SP1a, and the roller RO1b can smoothly wind and unwind the shielding portion SP1b. Similarly, in this embodiment, the roller RO2a can smoothly wind and unwind the shielding portion SP2a, and the roller RO2b can smoothly wind and unwind the shielding portion SP2b.

[0171] In addition, in this embodiment, the robot 10 further includes a joint mechanism JEr1 that rotates at least a part of the body part BDP around an axis Ax1 that forms an angle with a direction perpendicular to the bottom surface BDPbt of the body part BDP less than a predetermined angle as a second rotation axis, a joint mechanism JEr2 that connects the body part BDP and the link LK1 and rotates the link LK1 around an axis Ax2 that forms an angle with a direction perpendicular to the bottom surface of the body part BDP greater than a predetermined angle as a third rotation axis, and a joint mechanism JEr4 that connects the link LK2 and the tip part TP1 and rotates the tip part TP1 relative to the link LK2. The tip part TP1 includes a first part TP11 connected to the link LK2, a second part TP12 connected to the first part TP11, a joint mechanism JEr5 that connects the first part TP11 and the second part TP12 and rotates the second part TP12 relative to the first part TP11 around an axis Ax5 as a fifth rotation axis whose angle with the fourth rotation axis, which is the rotation axis (axis Ax4) of the tip part TP1 when the tip part TP1 rotates by the joint mechanism JEr4, is greater than a predetermined angle, and a joint mechanism JEr6 that rotates the portion of the tip part TP1 to which the end effector 20 is attached, around an axis Ax6 as a sixth rotation axis whose angle with the fifth rotation axis is greater than a predetermined angle.

[0172] In this way, the invention according to this embodiment can be applied to an 8-axis multi-joint robot (robot 10) in which two joint mechanisms JEp corresponding to linear joints are added to a 6-axis multi-joint robot having six joint mechanisms JEr corresponding to rotary joints.

[0173] [2. Modifications] The present invention is not limited to the above-described embodiments. Specific modified embodiments are exemplified below. Two or more embodiments selected from the following examples may be combined.

[0174] [First Modification] In the above-described embodiment, in order to improve the shielding function of the shielding parts SP1a and SP1b, a sealant may be provided in the gap between the shielding parts SP1a and SP1b and the exterior EXT1 of the link LK1. Similarly, in order to improve the shielding function of the shielding parts SP2a and SP2b, a sealant may be provided in the gap between the shielding parts SP2a and SP2b and the exterior EXT2 of the link LK2.

[0175] Fig. 9 is an explanatory diagram for explaining an example of a link LK1 according to a first modified example. Elements similar to those explained in Fig. 1 to Fig. 8 are given the same reference numerals and detailed explanations are omitted. Fig. 9(a) shows the external appearance of the link LK1. Fig. 9(b) shows an outline of the inside of the link LK1.

[0176] The link LK1 shown in FIG. 9 is similar to the link LK1 shown in FIG. 3 and the like, except that a seal portion SEL1 is provided between the periphery of an opening Hlk1a in the exterior EXT1 of the link LK1 and the shielding portion SP1a and the shielding portion SP1b. The seal portion SEL1 is an example of a "first seal portion." The shape of the seal portion SEL1 is understood to be, for example, annular in a plan view from the direction Dax3. The material of the seal portion SEL1 is not particularly limited, but it is preferable that the seal portion SEL1 is made of carbon, silicon carbide (SiC), or the like. In particular, the portion of the seal portion SEL1 where the shielding portion SP1a and the shielding portion SP1b slide is preferably made of carbon, silicon carbide (SiC), or the like.

[0177] 9, the link LK2 according to this modification has a seal portion provided between the periphery of the opening Hlk2a in the exterior EXT2 of the link LK2 and the shielding portion SP2a and the shielding portion SP2b, similar to the link LK1. The seal portion is an example of a "second seal portion."

[0178] As described above, the present modification can also provide the same effects as those of the above-described embodiment. Furthermore, in the present modification, the robot 10 further includes a first seal portion (seal portion SEL1) provided between the periphery of the opening Hlk1a in the exterior EXT1 of the link LK1 and the shielding portion SP1a and the shielding portion SP1b, and a second seal portion provided between the periphery of the opening Hlk2a in the exterior EXT2 of the link LK2 and the shielding portion SP2a and the shielding portion SP2b. As a result, in the present modification, the shielding function of the shielding portion SP1a and the shielding portion SP1b can be improved while allowing the shielding portion SP1a and the shielding portion SP1b to move. Similarly, in the present modification, the shielding function of the shielding portion SP2a and the shielding portion SP2b can be improved while allowing the shielding portion SP2a and the shielding portion SP2b to move.

[0179] [Second modified example] In the above-described embodiment and modified example, the rollers RO1c for smoothing the movement of the shielding portion SP1a and the like are provided, but the present invention is not limited to such an embodiment. For example, the rollers RO1c for smoothing the movement of the shielding portion SP1a, the rollers RO1d for smoothing the movement of the shielding portion SP1b, the rollers RO2c for smoothing the movement of the shielding portion SP2a, and the rollers RO2d for smoothing the movement of the shielding portion SP2b may not be provided.

[0180] Fig. 10 is an explanatory diagram for explaining an example of the shielding mechanisms SL1 and SL2 according to the second modified example. The same elements as those explained in Fig. 1 to Fig. 9 are given the same reference numerals and detailed explanations are omitted. Fig. 10 shows a schematic diagram of the inside of the links LK1 and LK2 as seen from the direction Ds1 when the direction Ds1 coincides with the direction Ds2.

[0181] The shielding mechanism SL1 shown in Fig. 10 is similar to the shielding mechanism SL1 shown in Fig. 4 and the like, except that a guide GD1 is provided instead of the rollers RO1c and RO1d shown in Fig. 4. Also, the shielding mechanism SL2 shown in Fig. 10 is similar to the shielding mechanism SL2 shown in Fig. 4 and the like, except that a guide GD2 is provided instead of the rollers RO2c and RO2d shown in Fig. 6.

[0182] For example, the link LK1 is provided with two guides GD1 that support two edges along the longitudinal direction of the shielding portion SP1 (SP1a and SP1b). Note that Fig. 10 shows one of the two guides GD1 (the guide GD1 disposed at a position farther from the direction Ds1 than the other guide). The two guides GD1 extend along the direction De1, are spaced apart in the direction Ds1, and are connected to two inner surfaces (e.g., two inner surfaces parallel to both the direction Dax3 and the direction De1) of the frame FM1 of the link LK1, respectively.

[0183] For example, the end GD1a of the guide GD1 that contacts the bending portion of the shielding portion SP1a and the end GD1b that contacts the bending portion of the shielding portion SP1b are each formed in an arc shape when viewed from the direction Ds1. This makes it possible to promote bending of each of the shielding portions SP1a and SP1b in this modified example. As a result, the roller RO1a can smoothly wind and unwind the shielding portion SP1a, and the roller RO1b can smoothly wind and unwind the shielding portion SP1b.

[0184] Also, for example, the link LK2 is provided with two guides GD2 that support two edges along the longitudinal direction of the shielding portion SP2 (SP2a and SP2b). Note that Fig. 10 shows one of the two guides GD2 (the guide GD2 disposed at a position farther from the direction Ds2 than the other guide). The two guides GD2 extend along the direction De2, are spaced apart in the direction Ds2, and are connected to two inner surfaces (for example, two inner surfaces parallel to both the direction Dax3 and the direction De2) of the frame FM2 of the link LK2, respectively.

[0185] For example, the end GD2a of the guide GD2 that contacts the bending portion of the shielding portion SP2a and the end GD2b that contacts the bending portion of the shielding portion SP2b are each formed in an arc shape when viewed from the direction Ds2. This makes it possible to promote bending of each of the shielding portions SP2a and SP2b in this modified example. As a result, this modified example also makes it possible to smoothly wind and unwind the shielding portion SP2a by the roller RO2a and to smoothly wind and unwind the shielding portion SP2b by the roller RO2b.

[0186] The configurations of the shielding mechanisms SL1 and SL2 according to this modified example are not limited to the example shown in FIG. 10. For example, the shielding mechanism SL1 may be provided with cylindrical guides instead of the rollers RO1c and RO1d shown in FIG. 4. The cylindrical guides provided instead of the rollers RO1c may extend, for example, along the direction Ds1 wider than the width of the shielding part SP1a. Alternatively, as the cylindrical guides provided instead of the rollers RO1c, two cylindrical guides supporting two edge parts along the longitudinal direction of the shielding part SP1a may be provided, and the two guides may be arranged at an interval in the direction Ds1. Similarly, the cylindrical guides provided instead of the rollers RO1d may extend, for example, along the direction Ds1 wider than the width of the shielding part SP1b. Alternatively, as the cylindrical guides provided instead of the rollers RO1d, two cylindrical guides supporting two edge parts along the longitudinal direction of the shielding part SP1b may be provided, and the two cylindrical guides may be arranged at an interval in the direction Ds1. Further, for example, the shielding mechanism SL2 may also be provided with cylindrical guides instead of the rollers RO2c and RO2d shown in FIG. 6, similarly to the above-described shielding mechanism SL1.

[0187] In addition, in this modification, in order to reduce changes in tension of the shielding part SP1a, which changes depending on the amount of the shielding part SP1a wound around the roller RO1a, and changes in tension of the shielding part SP1b, which changes depending on the amount of the shielding part SP1b wound around the roller RO1b, the rollers RO1a and RP1b may each be attached to the link LK1 via an elastic member such as a spring. Similarly, in this modification, in order to reduce changes in tension of each of the shielding parts SP2a and SP2b, the rollers RO2a and RP2b may each be attached to the link LK2 via an elastic member.

[0188] As described above, in this modified example as well, the same effects as those of the above-described embodiment can be obtained.

[0189] [Third Modification] In the above-described embodiment and modified example, a pulley PL1a or the like is provided to assist the roller RO1a in winding and unwinding the shielding portion SP1a, but the present invention is not limited to such an embodiment. For example, the pulleys PL1a and PL1b, the timing belt TB1, and the fixed portion FP1 may not be provided. Similarly, the pulleys PL2a and PL2b, the timing belt TB2, and the fixed portion FP2 may not be provided. In this modified example, the same effects as those of the above-described embodiment and modified example can be obtained, except for the effects obtained by the timing belts TB1 and TB2, etc.

[0190] [Fourth Modification] In the above embodiment, the joint mechanism JEr4 rotates the tip part TP1 relative to the link LK2 around the axis Ax4 perpendicular to the direction De2 in which the link LK2 extends, but the present invention is not limited to this. For example, the joint mechanism JEr4 may rotate the tip part TP1 relative to the link LK2 around an axis that forms an angle with the direction De2 in which the link LK2 extends that is equal to or smaller than a predetermined angle.

[0191] Fig. 11 is an explanatory diagram for explaining an example of a tip portion TP1A according to the fourth modified example. Elements similar to those explained in Fig. 1 to Fig. 10 are given the same reference numerals, and detailed explanations will be omitted.

[0192] For example, the robot 10 according to this modification is similar to the robot 10 shown in Fig. 1, except that it has a link LK2A, a joint mechanism JEr4A, and a tip part TP1A instead of the link LK2, joint mechanism JEr4, and tip part TP1 shown in Fig. 1. The link LK2A is similar to the link LK2, except that a joint mechanism JEr4A is connected instead of the joint mechanism JEr4. The link LK2A is another example of a "second link," and the joint mechanism JEr4A is another example of a "fourth drive mechanism."

[0193] The joint mechanism JEr4A connects the link LK2A and the tip TP1A, and rotates the tip TP1A relative to the link LK2A around an axis Ax4A parallel to the direction De2. The rotation direction Dr4 in FIG. 11 shows the rotation direction of the tip TP1A when rotating around the axis Ax4A. The axis Ax4A is another example of the "fourth rotation axis" and corresponds to an axis that forms an angle with the direction De2 in which the link LK2A extends that is equal to or smaller than a predetermined angle.

[0194] In the tip part TP1A, the end effector 20 is attached to the end surface TP1sf in the same manner as in the tip part TP1 shown in FIG. 1. The tip part TP1A includes a first part TP11A connected to the link LK2A, a second part TP12A connected to the first part TP11A, a joint mechanism JEr5A, and a joint mechanism JEr6. The first part TP11A is connected to the link LK2A via, for example, a joint mechanism JEr4A. Therefore, the first part TP11A rotates with respect to the link LK2A about the axis Ax4A as the rotation axis.

[0195] The joint mechanism JEr5A connects the first part TP11A and the second part TP12A, and rotates the second part TP12A relative to the first part TP11A around an axis Ax5 perpendicular to the axis Ax4A. The rotation direction Dr5 in FIG. 11 indicates the rotation direction of the second part TP12A when rotating around the axis Ax5.

[0196] The joint mechanism JEr6 is similar to the joint mechanism JEr6 shown in Fig. 1. For example, the joint mechanism JEr6 rotates at least a part (for example, end face TP1sf) of the tip part TP1A around an axis Ax6 perpendicular to the axis Ax5 as a rotation axis. In the example shown in Fig. 11, the surface of the joint mechanism JEr6 corresponds to the end face TP1sf, similar to the joint mechanism JEr6 shown in Fig. 1. Note that in a configuration in which the joint mechanism JEr6 is included in the second part TP12A, the end face of the second part TP12A may be the end face TP1sf.

[0197] As described above, in this modified example, the joint mechanism JEr4A rotates the tip part TP1A with respect to the link LK2A around the axis Ax4A, which forms an angle with the direction De2 at a predetermined angle or less, as the fourth rotation axis. The tip part TP1A includes a first part TP11A connected to the link LK2A, a second part TP12A connected to the first part TP11A, a joint mechanism JEr5A connecting the first part TP11A and the second part TP12A and rotating the second part TP12A with respect to the first part TP11A around the axis Ax5, which forms an angle with the fourth rotation axis (axis Ax4A) greater than a predetermined angle, as the fifth rotation axis, and a joint mechanism JEr6 rotating a part of the tip part TP1A to which the end effector 20 is attached (for example, the end face TP1sf) around the axis Ax6, which forms an angle with the fifth rotation axis (axis Ax5) greater than a predetermined angle, as the sixth rotation axis.

[0198] In this modified example as well, the same effects as those of the above-described embodiment can be obtained.

[0199] [Fifth Modification] In the above-described embodiment and modified example, the robot 10 is exemplified as a six-axis articulated robot to which two joint mechanisms JEp1 and JEp2 are added, but the present invention is not limited to such an embodiment. For example, the robot 10 may be a seven-axis or more articulated robot to which two joint mechanisms JEp1 and JEp2 are added. Specifically, one or more links LK different from the links LK1 and LK2 may be disposed between the body part BDP and the joint mechanism JEr2. Alternatively, one or more links LK different from the links LK1 and LK2 may be disposed between the joint mechanism JEr4 and the tip part TP1. That is, the robot 10 may have three or more links LK connecting the body part BDP and the tip part TP1. In this case, the three or more links LK of the robot 10 correspond to a plurality of links LK including the links LK1 and LK2.

[0200] As described above, in this modified example as well, the same effects as those of the above-described embodiment and modified example can be obtained.

[0201] [3. Application Examples] The robot system 1 including the robot 10 described in the above-mentioned embodiment and modified examples may be used in a manufacturing method for an article including assembling or removing a part. In this case, the task of assembling or removing a part can be efficiently performed while preventing dust or particles in the air from entering the robot 10 and preventing grease, dust, etc. from inside the robot 10 from scattering outside the robot.

[0202] [4.Other] The distinction between the "turning" briefly explained in the above embodiment and other rotations will be described with some examples.

[0203] FIG. 12 is an explanatory diagram for explaining an example of turning. In FIG. 12, the connection of two links LKi and LKj whose longitudinal directions can be grasped is taken as an example to explain the distinction between turning and other rotations. The extension direction Dei in FIG. 12 indicates the direction in which the link LKi extends, and the extension direction Dej indicates the direction in which the link LKj extends. In addition, the joint mechanism JEri in FIG. 12 connects the link LKi and the link LKj, and rotates the link LKj relative to the link LKi around the axis Axi as the rotation axis.

[0204] In the example shown in FIG. 12, when the angle θ between the extension direction Dei (specific direction) of the link LKi and the axis Axi is greater than a predetermined angle, the rotation about the axis Axi corresponds to a "turn". In other words, when the angle θ between the extension direction Dei of the link LKi and the axis Axi is equal to or less than a predetermined angle, the rotation about the axis Axi corresponds to a rotation other than a turn (a rotation other than a turn that is distinguished from a turn). The "rotation" shown in FIG. 12 indicates a rotation other than a turn. In addition, the predetermined angle is not particularly limited, but in FIG. 12, the predetermined angle is assumed to be 45°. The angle θ between the extension direction Dei and the axis Axi is an angle between 0° and 90° among a plurality of angles that are understood as the angle of the axis Axi with respect to the extension direction Dei (for example, four angles for two straight lines that intersect with each other, or 0° and 180° for two parallel straight lines).

[0205] In the first pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 90°, which is greater than a predetermined angle (45°). Therefore, in the first pattern, the rotation of the link LKj around the axis Axi is a turn. Also, in the first pattern, the extension direction Dej of the link LKj is perpendicular to the axis Axi. Note that in the first pattern, when the link LKj rotates (turns) around the axis Axi as the rotation axis, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi changes.

[0206] In the second pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 0°, which is less than a predetermined angle (45°). Therefore, in the second pattern, the rotation of the link LKj around the axis Axi is a rotation other than a turning. Also, in the second pattern, the extension direction Dej of the link LKj is parallel to the extension direction Dei of the link LKi and the axis Axi. That is, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is 0°. Note that in the second pattern, even if the link LKj rotates around the axis Axi as the rotation axis, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is maintained at 0° and is always constant.

[0207] In the third pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 0°, which is less than a predetermined angle (45°). Therefore, in the third pattern, the rotation of the link LKj around the axis Axi is a rotation other than a turning. Also, in the third pattern, the extension direction Dej of the link LKj is perpendicular to the extension direction Dei of the link LKi and the axis Axi. That is, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is 90°. Note that in the third pattern, even if the link LKj rotates around the axis Axi as the rotation axis, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is maintained at 90° and is always constant.

[0208] In the fourth pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 10°, which is less than the predetermined angle (45°). Therefore, in the fourth pattern, the rotation of the link LKj around the axis Axi is a rotation other than a turning. Also, in the fourth pattern, the extension direction Dej of the link LKj is parallel to the axis Axi, and the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is 10°. Note that in the fourth pattern, even if the link LKj rotates around the axis Axi, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is maintained at 10° and is always constant.

[0209] In the fifth pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 70°, which is greater than the predetermined angle (45°). Therefore, in the fifth pattern, the rotation of the link LKj around the axis Axi is a turn. Also, in the fifth pattern, the extension direction Dej of the link LKj is perpendicular to the axis Axi. Note that in the fifth pattern, when the link LKj rotates (turns) around the axis Axi, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi changes.

[0210] In the sixth pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 10°, which is less than the predetermined angle (45°). Therefore, in the sixth pattern, the rotation of the link LKj around the axis Axi is a rotation other than a turn. Also, in the sixth pattern, the extension direction Dej of the link LKj is perpendicular to the axis Axi. Note that in the sixth pattern, when the link LKj rotates around the axis Axi, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi changes.

[0211] In the seventh pattern, the angle θ between the extension direction Dei of the link LKi and the axis Axi is 70°, which is larger than the predetermined angle (45°). Therefore, in the seventh pattern, the rotation of the link LKj around the axis Axi is a turn. Also, in the seventh pattern, the extension direction Dej of the link LKj is parallel to the axis Axi, and the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is 70°. Note that in the seventh pattern, even if the link LKj rotates around the axis Axi, the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is maintained at 70° and is always constant.

[0212] In this way, in the above-described embodiment and modified example, among the rotations of the link LKj with respect to the link LKi, the rotation about the axis Axi, which forms an angle with the extension direction Dei of the link LKi larger than a predetermined angle, is also referred to as a turn. However, the definition of "turn" is not limited to the above example. For example, if the above definition that defines a turn as a rotation about the axis Axi, which forms an angle with the extension direction Dei of the link LKi larger than a predetermined angle, as the first definition, the following second or third definition may be adopted instead of the first definition.

[0213] In the second definition, when the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi changes due to the rotation of the link LKj with respect to the link LKi, the rotation corresponds to a turn. Therefore, in the second definition, when the angle of the extension direction Dej of the link LKj with respect to the extension direction Dei of the link LKi is always constant even if the link LKj rotates, the rotation corresponds to a rotation other than a turn. For example, in the second definition, the first, fifth, and sixth patterns shown in FIG. 12 correspond to turns, and the second, third, fourth, and seventh patterns correspond to rotation other than a turn.

[0214] In the third definition, when the angle between the extension direction Dej of the rotating link LKj and the rotation axis (axis Axi) of the link LKj is greater than a predetermined angle, the rotation corresponds to a turn. Therefore, in the third definition, when the angle between the extension direction Dej of the link LKj and the rotation axis (axis Axi) of the link LKj is equal to or smaller than a predetermined angle, the rotation corresponds to a rotation other than a turn. For example, in the third definition, the first, third, fifth and sixth patterns shown in FIG. 12 correspond to turns, and the second, fourth and seventh patterns correspond to rotation other than a turn.

[0215] In addition to the above-mentioned first, second and third definitions, the relative relationship between the two rotations by the two joint mechanisms JEr may be defined by focusing on the relationship between the rotation axes of the two joint mechanisms JEr adjacent to each other. Specifically, when the angle between the two rotation axes is equal to or less than a predetermined angle (typically parallel), the two rotations may be regarded as the same type of rotation, and when the angle between the two rotation axes is greater than a predetermined angle (typically perpendicular), the two rotations may be regarded as different types of rotation. The same type of rotation means that both rotations are rotations or both rotations are other than rotations, and the different type of rotation means that one of the two rotations is rotation and the other is other than rotation. When the definition of the relative relationship between the two rotations is used, the rotation that is the starting point of the relative relationship may be determined based on, for example, any of the above-mentioned first, second and third definitions. The first pattern shown in Fig. 12 corresponds to a rotation in any of the first, second, and third definitions, and the second pattern corresponds to a rotation other than a rotation in any of the first, second, and third definitions. Therefore, it is preferable to set the first pattern or the second pattern as the rotation that is the starting point of the relative relationship.

[0216] Also, a definition that combines two or more of the above-mentioned first, second, and third definitions may be used. In this case, for example, only a rotation that corresponds to a rotation in all of the two or more definitions to be combined may be considered as a rotation, or a rotation that corresponds to a rotation in at least one of the two or more definitions to be combined may be considered as a rotation. [Explanation of symbols]

[0217] 1...robot system, 10...robot, 20...end effector, 30...robot controller, 32...processing device, 33...memory, 34...communication device, 35...operation device, 36...display device, 37...driver circuit, ARmv1, ARmv2...movement area, Ax1, Ax2, Ax3, Ax4, Ax4A, Ax5, Ax6, Axi...axis, BDP...body part, BDPbt...bottom surface, BDPba...base part, EXT1, EXT2...exterior, Hlk1a, Hlk2a...opening, FM1, FM2...frame, FP1, FP2...fixing part, JEr1, JEr2, JEr3, JEr4, JEr4A, JEr5, JEr6, JEri, JEp1, JEp2...joint mechanism, JEp11, JEp21...screw part, JEp12, JEp22...nut, JEp13, JEp23...connection part, JEp13a, JEp23a... Slider portion, JEp13b, JEp23b...support portion, JEp14, JEp24...rail, JEp14a, JEp14b, JEp24a, JEp24b...rod-shaped member, JEr11, JEr21, JEr41, JEr51, JEr61...rotating portion, JEr12, JEr22, JEr42, JEr52, JEr62...housing, LK1, LK2, LK2A, LKi, LKj...link, MOr1, MO r2, MOr3, MOr4, MOr5, MOr6, MOp1, MOp2...motors, PL1a, PL1b, PL2a, PL2b...pulleys, RO1a, RO1b, RO1c, RO1d, RO2a, RO2b, RO2c, RO2d...rollers, SL1, SL2...shielding mechanism, SP1a, SP1b, SP2a, SP2b...shielding part, ST1a, ST2a...support part, TB1, TB2...timing belt.

Claims

1. A base and A tip portion, a plurality of links including a hollow first link having a first opening and a hollow second link having a second opening, the links connecting the base portion and the tip portion; a first drive mechanism that connects the first link and the second link and rotates the second link relative to the first link about a first rotation axis that forms an angle with a first direction in which the first link extends that is larger than a predetermined angle; a first moving mechanism that moves the first drive mechanism relative to the first link along the first direction; a second moving mechanism that moves the second link relative to the first driving mechanism along a second direction in which the second link extends; a first blocking mechanism that blocks the first opening; a second blocking mechanism that blocks the second opening; Equipped with The first drive mechanism includes: a first opening and a second opening, a portion of the first link being located inside the first link, and at least a portion of the other portion being located inside the second link; The first shielding mechanism includes: maintain a state in which the first opening is closed, regardless of the relative movement of the first drive mechanism with respect to the first link by the first moving mechanism; The second shielding mechanism includes: maintaining a state in which the second opening is closed, regardless of the relative movement of the first drive mechanism with respect to the second link by the second moving mechanism; A multi-joint robot characterized by

2. The first shielding mechanism includes: a first roller and a second roller disposed at both ends of the first link in a direction along the first direction; a first shielding part having an elongated shape, one end of which is connected to the first driving mechanism and the other end of which is attached to the first roller; a second shielding part having an elongated shape, one end of which is connected to the first driving mechanism and the other end of which is attached to the second roller; having The second shielding mechanism includes: a third roller and a fourth roller disposed at both ends of the second link in a direction along the second direction, a third shielding part having an elongated shape, one end of which is connected to the first driving mechanism and the other end of which is attached to the third roller; a fourth shielding part having an elongated shape, one end of which is connected to the first driving mechanism and the other end of which is attached to the fourth roller; having When the first driving mechanism moves along the first direction, the first shielding portion is wound or unwound by the first roller while maintaining a state in which the first opening is blocked, and the second shielding portion is wound or unwound by the second roller while maintaining a state in which the first opening is blocked, When the first driving mechanism moves along the second direction, the third shielding portion is wound or unwound by the third roller while maintaining a state in which the second opening is blocked, and the fourth shielding portion is wound or unwound by the fourth roller while maintaining a state in which the second opening is blocked.

2. The articulated robot according to claim 1 .

3. The first shielding mechanism includes: a first pulley that rotates about the same axis as the first roller; A second pulley that rotates about the same axis as the second roller; a first belt connected to the first drive mechanism and wound around the first pulley and the second pulley; and The second shielding mechanism includes: a third pulley that rotates about the same axis as the third roller; a fourth pulley that rotates about the same axis as the fourth roller; a second belt connected to the first drive mechanism and wound around the third pulley and the fourth pulley; Further comprising 3. The articulated robot according to claim 2.

4. a first seal portion provided between a periphery of the first opening of the exterior of the first link and the first shielding portion and the second shielding portion; a second seal portion provided between a periphery of the second opening of the exterior of the second link and the third shielding portion and the fourth shielding portion; Further comprising:

4. The articulated robot according to claim 2 or 3.

5. a second drive mechanism that rotates at least a portion of the base about a second rotation axis that forms an angle with a direction perpendicular to a bottom surface of the base that is equal to or smaller than the predetermined angle; a third drive mechanism that connects the base and the first link and rotates the first link about a third rotation axis that forms an angle with a direction perpendicular to a bottom surface of the base that is greater than the predetermined angle; a fourth drive mechanism that connects the second link and the tip portion and rotates the tip portion relative to the second link; Further equipped with The tip portion is a first portion connected to the second link; a second portion connected to the first portion; a fifth drive mechanism that connects the first portion and the second portion and rotates the second portion relative to the first portion about a fifth rotation axis that forms an angle with a fourth rotation axis that is a rotation axis of the tip portion when the tip portion is rotated by the fourth drive mechanism and that is greater than the predetermined angle; a sixth drive mechanism that rotates a portion of the tip end to which an end effector is attached, about a sixth rotation axis that is an axis that forms an angle with the fifth rotation axis greater than the predetermined angle; Including, 4. The articulated robot according to claim 1, wherein the articulated robot is a movable arm.

6. A method for controlling an articulated robot according to claim 1, comprising the steps of: A control device for controlling the operation of the articulated robot includes: controlling a first motor that drives the first drive mechanism, a second motor that drives the first movement mechanism, and a third motor that drives the second movement mechanism, thereby controlling the operation of the articulated robot; A method for controlling an articulated robot.

7. The articulated robot according to claim 1 , an end effector attached to the tip; A control device for controlling the operation of the articulated robot and the end effector; Equipped with The control device includes: controlling a first motor that drives the first drive mechanism, a second motor that drives the first movement mechanism, and a third motor that drives the second movement mechanism, thereby controlling the operation of the articulated robot; A robot system comprising:

8. The robot system according to claim 7 assembles or removes a part. A method for producing an article comprising the steps of:

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