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

Abstract

To surely supply power to a motor, even if the attitude of a robot changes.SOLUTION: A robot 10 includes: a joint mechanism JEr3 for rotating a link LK2 with respect to a link LK1; a joint mechanism JEp1 for moving the joint mechanism JEr3 in a direction De1; a joint mechanism JEp2 for moving the link LK2 in a direction De2 with respect to the joint mechanism JEr3; a plurality of motors MO including a motor MOp1 for driving the joint mechanism JEp1, a motor MOr3 for driving the joint mechanism JEr3 and a motor MOp2 for driving the joint mechanism JEp2; and a cable CBL for supplying power to the plurality of motors MO. The cable CBL has: a cable CBL1 which connects the motor MOp1 and the motor MOr3, and is bent based on the movement of the joint mechanism JEr3 with respect to the link LK1; and a cable CBL2 which connects the motor MOr3 and the motor MOp2, and is bent based on the movement of the joint mechanism JEr3 with respect to the link LK2.SELECTED DRAWING: Figure 3

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] 2. Description of the Related Art Articulated robots are known as robots that perform the same movements as humans (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 61-136782 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the motors that drive each joint of an articulated robot are supplied with power from a power supply device, for example, using wired cables that run from the base of the robot to inside or along the housing of the robot. Since the posture of an articulated robot changes in many ways, it is necessary to arrange the cables so that power can be reliably supplied to the motors even if the posture of the robot changes. [Means for solving the problem]

[0005] A multi-joint robot according to a preferred aspect of the present invention includes a base, a tip, a first link, a second link, and a first drive mechanism that rotates at least a part of the base around a first rotation axis that forms an angle with a direction perpendicular to a bottom surface of the base that is equal to or smaller than a predetermined angle; a second drive mechanism that connects the base and the first link, and rotates the first link around a second rotation axis that forms an angle with a direction perpendicular to the bottom surface of the base that is larger than the predetermined angle; a third drive mechanism that connects the first link and the second link, and rotates the second link around the first link around a third rotation axis that forms an angle with a first direction in which the first link extends that is larger than the predetermined angle; a first movement mechanism that moves the third drive mechanism relative to the first link along the first direction; relative to the second link; a plurality of motors including a first motor that drives the first drive mechanism, a second motor that drives the second drive mechanism, a third motor that drives the first moving mechanism, a fourth motor that drives the third drive mechanism, a fifth motor that drives the second moving mechanism, and a sixth motor that drives the fourth drive mechanism; and cables that are connected in this order to the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the sixth motor, and supply power to the plurality of motors, wherein the fourth motor moves together with the third drive mechanism as the third drive mechanism moves, and the cables include a first cable that connects the third motor and the fourth motor, and a bending state that changes in response to the movement of the third drive mechanism relative to the first link, and a second cable that connects the fourth motor and the fifth motor, and a bending state that changes in response to the movement of the third drive mechanism relative to the second link.

[0006] A preferred aspect of the present invention is a method for controlling a multi-joint robot, wherein a control device for controlling the operation of the multi-joint robot controls the operation of the multi-joint robot by controlling the multiple motors.

[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, and the control device controls the operation of the articulated robot by controlling the multiple motors.

[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, power can be reliably supplied to the motor even if the posture of the robot changes. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an explanatory diagram for explaining an overview of a robot system according to a first embodiment. [Diagram 2] 2 is a diagram illustrating an example of a hardware configuration of a robot controller illustrated in FIG. 1. [Diagram 3] FIG. 2 is an explanatory diagram for explaining an overview of a joint mechanism and an overview of a cable arrangement. [Figure 4] 4 is an explanatory diagram for explaining a cable carrier in one of the two links shown in FIG. 3. [Diagram 5] 4 is an explanatory diagram for explaining a cable carrier in the other of the two links shown in FIG. 3. FIG. [Figure 6] 2 is an explanatory diagram for explaining one example of the two shielding mechanisms shown in FIG. 1.

[0023] FIG. [Figure 7] 1. FIG. 4 is an explanatory diagram for explaining the other example of the two shielding mechanisms shown in FIG. [Figure 8] FIG. 11 is an explanatory diagram for explaining an overview of a robot system according to a second embodiment. [Figure 9]9 is an explanatory diagram for explaining the arrangement of cables in one of the two links shown in FIG. 8. FIG. [Figure 10] 9 is an explanatory diagram for explaining the arrangement of cables in the other of the two links shown in FIG. 8. FIG. [Figure 11] FIG. 11 is an explanatory view for explaining an example of a tip portion according to a first 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. First embodiment] First, an example of an overview of a robot system 1 according to a first 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 the first 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 connection using a cable CBL. For example, power for driving the robot 10 and a control signal for controlling the robot 10 are supplied from the robot controller 30 to the robot 10 via the cable CBL. The connection between the robot 10 and the robot controller 30 may be both wired and wireless. For example, power may be supplied from the robot controller 30 to the robot 10 via the cable CBL, and a control signal may be supplied from the robot controller 30 to the robot 10 by wireless communication. In this embodiment, it is assumed that power and a control signal are supplied from the robot controller 30 to the robot 10 via the cable CBL. The robot controller 30 can communicate with the end effector 20 attached to the robot 10. As the robot controller 30, any information processing device capable of communicating with other devices can be adopted. The configuration of the robot controller 30 will be described later with reference to FIG. 2.

[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 illustration of the plurality of motors MO that drive the plurality of joint mechanisms JE, the reduction gears and the encoders provided in each of the plurality of motors MO, and the like is omitted. Furthermore, in FIG. 1, in order to make the drawing easier to see, the illustration of elements that support a portion of the cable CBL that is arranged inside the robot 10 (for example, the cable carrier CBC and the cable holding part CBH shown in FIG. 3, etc., which will be described later) is omitted.

[0017] Joint mechanism JEr1 is an example of a "first driving mechanism," and joint mechanism JEr2 is an example of a "second driving mechanism." Joint mechanism JEr3 is an example of a "third 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."

[0018] The body part BDP is an example of a “base part.” Moreover, the link LK1 is an example of a “first link,” and the link LK2 is an example of a “second link.” For example, the links LK1 and LK2 connect the body part BDP and the tip part TP1.

[0019] 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.

[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 "first 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 "second 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 long. The link LK1 has an opening Hlk1a extending in a direction De1 along which the link LK1 extends. 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. This prevents dust, particles, etc. in the air from entering the robot 10 through the opening Hlk1a, and prevents grease, dust, etc. in the robot 10 from scattering outside the robot 10 through the opening Hlk1a. Details of the shielding mechanism SL1 will be described later with reference to FIG. 6.

[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 "third 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. This prevents dust, powder, etc. in the air from entering the robot 10 through the opening Hlk2a, and prevents grease, dust, etc. in the robot 10 from scattering from the opening Hlk2a to the outside of the robot 10. Details of the shielding mechanism SL2 will be described later with reference to FIG. 7.

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

[0051] FIG. 2 is a diagram showing an example of a hardware configuration of the robot controller 30 shown in FIG. 1. In FIG. 2, a plurality of motors MO of the robot 10 and an end effector 20 are also shown for ease of explanation. The motors MOr1, MOr2, MOr3, MOr4, MOr5, and MOr6 are motors that drive the joint mechanisms JEr1, JEr2, JEr3, JEr4, JEr5, and JEr6, respectively. The motors MOp1 and MOp2 are motors that drive the joint mechanisms JEp1 and JEp2, respectively. The motor MOr1 is an example of a "first motor", the motor MOr2 is an example of a "second motor", the motor MOp1 is an example of a "third motor", and the motor MOr3 is an example of a "fourth motor". In addition, motor MOp2 is an example of a "fifth motor," motor MOr4 is an example of a "sixth motor," motor MOr5 is an example of a "seventh motor," and motor MOr6 is an example of an "eighth motor."

[0052] The robot controller 30 includes a power supply device 31, 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 or the like, a display device 36, and a driver circuit 37. The robot controller 30 may be realized as a single device, or may be realized as a plurality of devices that are configured separately from each other. For example, the robot controller 30 may be a device separate from the power supply device 31 and the processing device 32.

[0053] The power supply device 31 receives power from a commercial power source (not shown) and generates a power supply voltage to be supplied to each of the multiple motors MO (MOr1, MOr2, MOr3, MOr4, MOr5, MOr6, MOp1, and MOp2) and a power supply voltage to be supplied to the end effector 20. In this embodiment, it is assumed that the multiple motors MO and the motors (not shown) included in the end effector 20 are DC (Direct Current) motors that operate with a direct current power source. In this case, the power supply device 31 generates the DC power to be supplied to the DC motors using AC power received from the commercial power source. Note that the multiple motors MO and the motors included in the end effector 20 are not limited to DC motors. For example, the multiple motors MO and some or all of the motors included in the end effector 20 may be AC ​​(Alternating Current) motors that operate with an alternating current power source. In this case, the power supply device 31 generates the AC power to be supplied to the AC motors using AC power received from the commercial power source.

[0054] Each motor MO receives a power supply voltage generated by the power supply device 31 via a wire Lpm. For example, each motor MO has a connector CT including a terminal P1 to which a power supply voltage is supplied, a terminal P2 to which a control signal is input, and a terminal P3 to which a control signal is output. The wire LPm is connected to the terminal P1 of each motor MO. The end effector 20 receives the power supply voltage generated by the power supply device 31 via a wire Lpe. In this embodiment, it is assumed that the wires Lpm and Lpe and wires Lcm and Lce described later are included in the cable CBL. That is, in this embodiment, power is supplied to each of the multiple motors MO via the cable CBL.

[0055] 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. Alternatively, the memory 33 may be included in the processing device 32.

[0056] 2 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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).

[0062] The driver circuit 37 is hardware that outputs a control signal for driving the robot 10 to the robot 10 under the control of the processing device 32. For example, the driver circuit 37 supplies a control signal for driving each of the motors MO to each of the motors MO via the wiring Lcm under the control of the processing device 32. For example, the wiring Lcm includes wirings Lcm1, Lcm2, Lcm3, Lcm4, Lcm5, Lcm6, Lcm7, and Lcm8. The wiring Lcm1 connects the robot controller 30 to the terminal P2 of the motor MOr1. The wiring Lcm2 connects the terminal P3 of the motor MOr1 to the terminal P2 of the motor MOr2. The wiring Lcm3 connects the terminal P3 of the motor MOr2 to the terminal P2 of the motor MOp1. The wiring Lcm4 connects the terminal P3 of the motor MOp1 to the terminal P2 of the motor MOr3. The wire Lcm5 connects the terminal P3 of the motor MOr3 to the terminal P2 of the motor MOp2. The wire Lcm6 connects the terminal P3 of the motor MOp2 to the terminal P2 of the motor MOr4. The wire Lcm7 connects the terminal P3 of the motor MOr4 to the terminal P2 of the motor MOr5. The wire Lcm8 connects the terminal P3 of the motor MOr5 to the terminal P2 of the motor MOr6. In this way, the multiple motors MO are cascade-connected by the cable CBL in the order of motor MOr1, motor MOr2, motor MOp1, motor MOr3, motor MOp2, motor MOr4, motor MOr5, and motor MOr6. In addition, the driver circuit 37 supplies a control signal for driving the end effector 20 to the end effector 20 via the wire Lce under the control of the processing device 32.

[0063] 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.

[0064] The configuration of the robot controller 30 is not limited to the example shown in Fig. 2. For example, the operation device 35 and the display device 36 may be omitted from the robot controller 30.

[0065] Next, an overview of the joint mechanisms JEp1 and JEp2 and an overview of the arrangement of the cable CBL will be described with reference to FIG.

[0066] FIG. 3 is an explanatory diagram for explaining an overview of the joint mechanism JE and an overview of the arrangement of the cable CBL. In FIG. 3, the explanation will be centered on the arrangement of the joint mechanisms JEp1 and JEp2, the joint mechanism JEr3, and the cable CBL. In FIG. 3, the illustration of the shielding mechanisms SL1 and SL2 is 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. First, the joint mechanism JEp1 will be explained.

[0067] 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. Note that the end LK1ed2 is the end LK1ed farthest from the body part BDP, of the two ends LK1ed of the link LK1.

[0068] 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.

[0069] 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.

[0070] The connection part JEp13 is connected to the rail JEp14 so as to be movable along the direction De1, for example, and supports the nut JEp12 and the motor MOr3. The nut JEp12 is connected to the joint mechanism JEr3 via the connection part JEp13 etc. so that the relative position of the nut JEp12 with respect to the joint mechanism JEr3 does not change. For example, the nut JEp12 is fixed to the connection part JEp13 so as not to rotate together with the threaded part JEp11. Also, the motor MOr3 is fixed to the connection part JEp13 so that the motor MOr3 itself does not rotate.

[0071] The rail JEp14 includes two rod-shaped members extending along the direction De1 and arranged parallel to each other. The configuration of the rail JEp14 is not particularly limited as long as the rail JEp14 can support the connection part JEp13. In the example shown in FIG. 3, the rail JEp14 is arranged 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. 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, the direction Ds1 in FIG. 3 indicates one direction perpendicular to both the direction Dax3 and the direction De1.

[0072] 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 so that the relative position to the joint mechanism JEr3 does not change. Therefore, the connection part JEp13 functions as a slider that moves along the direction De1 together with the nut JEp12. As a result, 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 makes it possible to set the substantial length of the link LK1 (the length under control) to a length equal to or less than half the length of the link LK1 to a length equal to or more than half 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).

[0073] 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.

[0074] 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 TP1, of the two ends LK2ed (LK2ed1 and LK2ed2) of the link LK2. Note that the end LK2ed2 is the end LK2ed closest to the tip TP1, of the two ends LK2ed of the link LK2.

[0075] 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.

[0076] 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.

[0077] The connection part JEp23 is connected to the rail JEp24 so as to be movable along the direction De2, for example, and supports the nut JEp22 and the joint mechanism JEr3. The nut JEp22 is connected to the joint mechanism JEr3 via 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. For example, the nut JEp22 is fixed to the connection part JEp23 so as not to rotate together with the screw part JEp21. In addition, the connection part JEp23 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 connection part JEp23 about the axis Ax3 as the rotation axis in accordance with the rotation of the motor MOr3.

[0078] The rail JEp24 includes two rod-shaped members extending along the direction De2 and arranged parallel to each other. The configuration of the rail JEp24 is not particularly limited as long as the rail JEp24 can support the connection part JEp23. In the example shown in FIG. 3, the rail JEp24 is arranged between the opening Hlk2a and the screw part JEp21 in the direction Dax3 and is attached to the inside of the link LK2. The rail JEp24 does not have to be arranged between the opening Hlk2a and the screw part 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. 3 indicates one direction perpendicular to both the direction Dax3 and the direction De2.

[0079] 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 so that the position of the nut JEp22 relative to the joint mechanism JEr3 does not change. Therefore, the connection part JEp23 functions as a slider that moves along the direction De2 together with the nut JEp22.

[0080] Moreover, when the screw portion JEp11 is not rotating, that is, when the motor MOp1 is not rotating, the joint mechanism JEp1 supports the link LK1 so that the relative position of the joint mechanism JEr3 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 screw portion JEp21. In this way, the joint mechanism JEp2 supports the link LK2 movably. It is preferable that the movement range of the joint mechanism JEr3, that is, 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 (control length) of the link LK2 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).

[0081] 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.

[0082] 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.

[0083] The configuration of the joint mechanism JEp is not limited to the example shown in Fig. 3. 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.

[0084] 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.

[0085] Here, like motor MOr3, motor MOr1 may be regarded as one element of joint mechanism JEr1. Motor MOr2 may be regarded as one element of joint mechanism JEr2, and motor MOr4 may be regarded as one element of joint mechanism JEr4. Motor MOr5 may be regarded as one element of joint mechanism JEr5, and motor MOr6 may be regarded as one element of joint mechanism JEr6.

[0086] It should be noted that the multiple joint mechanisms JEr are not limited to the example shown in Fig. 3. 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.

[0087] Next, an outline of the arrangement of the cable CBL will be described.

[0088] 2, the cable CBL connects the robot controller 30 to the multiple motors MO and the end effector 20. For example, the cable CBL is connected to the multiple motors MO in the following order: motor MOr1, motor MOr2, motor MOp1, motor MOr3, motor MOp2, motor MOr4, motor MOr5, and motor MOr6.

[0089] In this embodiment, it is assumed that each of the motors MOr1, MOr2, MOr3, MOr4, MOr5, and MOr6 has a hollow structure. For example, the cable CBL is arranged from the robot controller 30 through the insides (hollow parts) of the motors MOr1 and MOr2 to the motor MOp1, and from the motor MOp1 to the motor MOp2 through the insides (hollow parts) of the motors MOr3. Furthermore, the cable CBL is arranged from the motor MOp2 to the end effector 20 through the insides (hollow parts) of the motors MOr4, MOr5, and MOr6.

[0090] In the following, of the two openings in the hollow portion of each of the motors MOr1, MOr2, MOr3, MOr4, MOr5, and MOr6, the opening farther from the connector CT may be referred to as the outlet EX of the cable CBL.

[0091] In the following, the part of the cable CBL between the motor MOp1 and the motor MOr3 is also referred to as the cable CBL1, the part between the motor MOr3 and the motor MOp2 is also referred to as the cable CBL2, and the part between the motor MOp2 and the motor MOr4 is also referred to as the cable CBL3. In the following, the part of the cable CBL1 that moves in response to the movement of the joint mechanism JEr3 relative to the link LK1 is also referred to as the cable CBL1a, and the part other than the cable CBL1a is also referred to as the cable CBL1b. In the following, the part of the cable CBL2 that moves in response to the movement of the joint mechanism JEr3 relative to the link LK2 is also referred to as the cable CBL2a, and the part other than the cable CBL2a is also referred to as the cable CBL2b. The cable CBL1a is an example of the "first specific part", and the cable CBL2a is an example of the "second specific part".

[0092] The cable CBL1a includes a portion that bends in response to the movement of the joint mechanism JEr3 relative to the link LK1, for example. For example, the cable CBL1a is located closer to the connector CT of the motor MOr3 than the connector CT of the motor MOp1 in the path of the cable CBL1 from the motor MOp1 to the motor MOr3. The cable CBL1b is located between the connector CT of the motor MOp1 and the cable CBL1a in the path of the cable CBL1 from the motor MOp1 to the motor MOr3. The cable CBL2a includes a portion that bends in response to the movement of the joint mechanism JEr3 relative to the link LK2, for example. For example, the cable CBL2a is located closer to the outlet EX of the cable CBL at the motor MOr3 than the connector CT of the motor MOp2 in the path of the cable CBL2 from the motor MOr3 to the motor MOp2. The cable CBL2b is located between the cable CBL2a and the connector CT of the motor MOp2 in the path of the cable CBL2 from the motor MOr3 to the motor MOp2.

[0093] 3, in this embodiment, the robot 10 further includes a cable carrier CBC1 and a cable holding part CBH1 that support cable CBL1, and a cable carrier CBC2 and a cable holding part CBH2 that support cable CBL2. The cable carrier CBC1 is an example of a "first cable carrier," the cable holding part CBH1 is an example of a "first holding part," the cable carrier CBC2 is an example of a "second cable carrier," and the cable holding part CBH2 is an example of a "second holding part."

[0094] The cable carrier CBC1 is a component, for example, a cable bear (registered trademark), that protects the cable CBL1a connected to the motor MOr3 and guides the cable CBL1a in response to the movement of the joint mechanism JEr3. For example, the cable carrier CBC1 is provided in the link LK1 and supports the cable CBL1a in a bendable manner. In this embodiment, it is assumed that the cable carrier CBC1 is a chain-shaped cable bear in which a plurality of members CH1 (see FIG. 4) through which the cable CBL1a is inserted are connected. For example, the cable carrier CBC1 moves like a caterpillar (registered trademark) in response to the movement of the joint mechanism JEr3, thereby supporting the cable CBL1a in a bendable manner. As a result, in this embodiment, the cable CBL1a of the cable CBL1 can be smoothly bent in response to the movement of the joint mechanism JEr3. The configuration of the cable carrier CBC1 will be described later with reference to FIG. 4.

[0095] Furthermore, the cable holder CBH1 is fixed within the link LK1 and holds the cable CBL1b so as not to bend. That is, the shape of the cable CBL1b is held by the cable holder CBH1 regardless of the movement of the joint mechanism JEr3. As a result, in this embodiment, it is possible to suppress changes in the shape of the portion of the cable CBL1 from the connector CT of the motor MOp1 to the cable CBL1b and the shape of the cable CBL1b that accompany the movement of the joint mechanism JEr3.

[0096] The cable carrier CBC2 is a component, for example, a cable bear, that protects the cable CBL2a connected to the joint mechanism JEr3 and guides the cable CBL2a in response to the movement of the joint mechanism JEr3. For example, the cable carrier CBC2 is provided in the link LK2 and supports the cable CBL2a in a bendable manner. In this embodiment, it is assumed that the cable carrier CBC2 is a chain-shaped cable bear in which a plurality of members CH2 (see FIG. 5) through which the cable CBL2a is inserted are connected. For example, the cable carrier CBC2 moves like a caterpillar in response to the movement of the joint mechanism JEr3, thereby supporting the cable CBL2a in a bendable manner. As a result, in this embodiment, the cable CBL2a of the cable CBL2 can be smoothly bent in response to the movement of the joint mechanism JEr3. The configuration of the cable carrier CBC2 will be described later with reference to FIG. 5.

[0097] Furthermore, the cable holding part CBH2 is fixed inside the link LK2 and holds the cable CBL2b so as not to bend. That is, the shape of the cable CBL2b is held by the cable holding part CBH2 regardless of the movement of the joint mechanism JEr3. As a result, in this embodiment, it is possible to suppress changes in the shape of the cable CBL2b and the portion of the cable CBL2 from the cable CBL2b to the connector CT of the motor MOp2 from changing in association with the movement of the joint mechanism JEr3.

[0098] Next, the parts of the cable CBL other than the cables CBL1 and CBL2 will be briefly described.

[0099] For example, the distance between the outlet EX of the cable CBL in the motor MOr1 and the connector CT of the motor MOr2, and the distance between the outlet EX of the cable CBL in the motor MOr2 and the connector CT of the motor MOp1 are maintained at a constant or approximately constant distance. However, the relative position of the connector CT of the motor MOr2 to the outlet EX of the cable CBL in the motor MOr1 changes with the rotation of the motor MOr1 because the joint mechanism JEr2 rotates with the rotation of the motor MOr1. Similarly, the relative position of the connector CT of the motor MOp1 to the outlet EX of the cable CBL in the motor MOr2 changes with the rotation of the motor MOr2 because the link LK1 turns with the rotation of the motor MOr2. For this reason, the motors MOr1 and MOr2 are connected by a cable CBL of a length that allows a slight margin with respect to the distance between the motors MOr1 and MOr2. The motors MOr2 and MOP1 are connected by a cable CBL of a length that allows a slight margin with respect to the distance between the motors MOr2 and MOP1.

[0100] Furthermore, the distance between the connector CT of motor MOp2 and the connector CT of motor MOr4 does not change. Therefore, motors MOp2 and MOr4 are connected by a cable CBL (cable CBL3 in FIG. 3) whose length corresponds to the distance between the connector CT of motor MOp2 and the connector CT of motor MOr4. Note that motors MOp2 and MOr4 may be connected by a cable CBL whose length allows for a slight margin with respect to the distance between the connector CT of motor MOp2 and the connector CT of motor MOr4.

[0101] Further, the distance between the outlet EX of the cable CBL in the motor MOr4 and the connector CT of the motor MOr5, and the distance between the outlet EX of the cable CBL in the motor MOr5 and the connector CT of the motor MOr6 are maintained at a constant or approximately constant distance. However, the relative position of the connector CT of the motor MOr5 to the outlet EX of the cable CBL in the motor MOr4 changes with the rotation of the motor MOr4 because the first part TP11 of the tip part TP1 rotates with the rotation of the motor MOr4. Similarly, the relative position of the connector CT of the motor MOr6 to the outlet EX of the cable CBL in the motor MOr5 changes with the rotation of the motor MOr5 because the second part TP12 of the tip part TP1 rotates with the rotation of the motor MOr5. For this reason, the motors MOr4 and MOr5 are connected by a cable CBL having a length that allows a slight margin with respect to the distance between the motors MOr4 and MOr5. The motors MOr5 and MOr6 are connected by a cable CBL having a length that allows a slight margin with respect to the distance between the motors MOr5 and MOr6.

[0102] In this manner, in this embodiment, the motors MO are connected by the cable CBL in the order of the motors MO driving the joint mechanisms JE arranged in sequence from the body part BDP in the path inside the robot 10 from the body part BDP toward the tip part TP1. As a result, in this embodiment, it is possible to prevent the arrangement of the cable CBL from becoming complicated. For example, in a configuration in which the arrangement of the cable CBL is complicated, there is a risk that the changeable posture of the robot 10 is restricted by the cable CBL, or that excessive tension is generated in the cable CBL when the posture of the robot 10 changes. If excessive tension is generated in the cable CBL, there is a risk that the cable CBL will be damaged. In this embodiment, it is possible to prevent the arrangement of the cable CBL from becoming complicated, and therefore it is possible to prevent the changeable posture of the robot 10 from being restricted by the cable CBL and the occurrence of excessive tension in the cable CBL.

[0103] Next, the configuration of the cable carrier CBC1 in the link LK1 will be briefly described with reference to FIG.

[0104] Fig. 4 is an explanatory diagram for explaining the cable carrier CBC1 shown in Fig. 3. Fig. 4(a) is a perspective view showing an outline of the inside of the link LK1. Fig. 4(b) is a view showing an outline of the inside of the link LK1 as viewed from the opposite direction to the direction Dax3. That is, Fig. 4(a) and Fig. 4(b) show the link LK1 in a state where the exterior EXT1 shown in Fig. 6(a) described later has been removed. Fig. 4(b) shows two states where the position of the motor MOr3 relative to the link LK1 is different from each other.

[0105] As shown in FIG. 4(a), the cable carrier CBC1 has a plurality of hollow members CH1 connected like a chain. The end EDC1a of the two ends EDC1 (EDC1a and EDC1b) of the cable carrier CBC1 is fixed to the motor MOr3 and moves together with the motor MOr3 as the motor MOr3 moves (i.e., the joint mechanism JEr3 moves). The end EDC1a may be fixed to the cable CBL1. The cable carrier CBC1 is disposed so as to be bent in a convex shape in the direction De1 when viewed from the opposite direction to the direction Dax3. As a result, the cable carrier CBC1 moves so as to follow the movement of the motor MOr3 along the direction De1. The cable carrier CBC1 does not necessarily need to be fixed to the motor MOr3 or the cable CBL1, and may be automatically made to follow the movement of the motor MOr3 or the cable CBL1.

[0106] 4(b), the bent portion of the cable carrier CBC1 differs depending on the position of the motor MOr3 relative to the link LK1, and the state of the bend changes. Specifically, when the motor MOr3 is located near the motor MOp1, the length LEN1 from the end EDC1a of the cable carrier CBC1 to the bent portion of the cable carrier CBC1 is shorter than when the motor MOr3 is located farther from the motor MOp1.

[0107] Here, the cable CBL1 (more specifically, the cable CBL1a) is inserted through the multiple members CH1 of the cable carrier CBC1. As a result, the cable CBL1a of the cable CBL1 is supported by the cable carrier CBC1 so as to bend in response to the movement of the motor MOr3. That is, in this embodiment, when the joint mechanism JEr3 moves along the direction De1 in which the link LK1 extends, the cable carrier CBC1 allows the cable CBL1a to easily follow the movement of the joint mechanism JEr3 while bending the cable CBL1a.

[0108] The cable CBL1b of the cable CBL1 is inserted into a hollow cable holding part CBH1. For example, the cable holding part CBH1 extends in the direction De1 and is fixed to the frame FM1 of the link LK1. This allows the cable CBL1b of the cable CBL1 to be held by the cable holding part CBH1 so as not to bend.

[0109] Furthermore, the configuration of the cable carrier CBC1 is not limited to the example shown in FIG. 4. For example, the cable carrier CBC1 is not limited to a chain-shaped cable bear, and may be in any form as long as it can support the cable CBL1a in a bendable manner. Furthermore, the cable carrier CBC1 only needs to be provided in an area where the cable CBL1 is bent. That is, the length of the cable carrier CBC1 may be shorter or longer than the example shown in FIG. 4. Furthermore, the end EDC1b of the cable carrier CBC1 may be connected to the cable holding part CBH1. Furthermore, the material of the cable carrier CBC1 is not particularly limited as long as it can protect the cable CBL.

[0110] Next, the configuration of the cable carrier CBC2 in the link LK2 will be briefly described with reference to FIG.

[0111] Fig. 5 is an explanatory diagram for explaining the cable carrier CBC2 shown in Fig. 3. Fig. 5(a) is a perspective view showing an outline of the inside of the link LK5. Fig. 5(b) is a view showing an outline of the inside of the link LK5 as seen from the direction Dax3. That is, Fig. 5(a) and Fig. 5(b) show the link LK2 in a state where the exterior EXT2 shown in Fig. 7(a) described later has been removed. Fig. 5(b) shows two states where the position of the motor MOr3 relative to the link LK5 is different from each other.

[0112] As shown in FIG. 5(a), the cable carrier CBC2 has a plurality of hollow members CH2 connected like a chain. The end EDC2a of the two ends EDC2 (EDC2a and EDC2b) of the cable carrier CBC2 is fixed to the connection part JEp23 of the joint mechanism JEp2. That is, the end EDC2a of the cable carrier CBC2 is fixed to the joint mechanism JEr3 via the connection part JEp23. Therefore, the end EDC2a of the cable carrier CBC2 moves together with the joint mechanism JEr3 in accordance with the movement of the joint mechanism JEr3 (that is, the movement of the motor MOr3), and rotates together with the connection part JEp23 in accordance with the rotation of the link LK2 about the axis Ax3 as the rotation axis. The end EDC2a may be fixed to the cable CBL2. The end EDC2b may be fixed to the frame FM2 of the link LK2. The cable carrier CBC2 is disposed so as to be bent in a convex shape in the direction De2 when viewed from the direction Dax3. This allows the cable carrier CBC2 to move so as to follow the movement of the joint mechanism JEr3 along the direction De2. In addition, the cable carrier CBC2 does not necessarily need to be fixed to the connection part JEp23 of the joint mechanism JEp2 or the cable CBL2, and may be automatically made to follow the movement of the motor MOr3 or the cable CBL2.

[0113] 5(b), the portion where the cable carrier CBC2 bends differs depending on the position of the joint mechanism JEr3 relative to the link LK2, and the state of bending changes. Specifically, when the joint mechanism JEr3 is located farther from the motor MOp2, the length LEN2 from the end EDC2a of the cable carrier CBC2 to the portion where the cable carrier CBC2 bends is shorter than when the joint mechanism JEr3 is located closer to the motor MOp2.

[0114] Here, the cable CBL2 (more specifically, the cable CBL2a) is inserted through the multiple members CH2 of the cable carrier CBC2. As a result, the cable CBL2a of the cable CBL2 is supported by the cable carrier CBC2 so as to bend in response to the movement of the joint mechanism JEr3. That is, in this embodiment, when the joint mechanism JEr3 moves along the direction De2 in which the link LK2 extends, the cable carrier CBC2 can easily cause the cable CBL2a to bend and follow the movement of the joint mechanism JEr3.

[0115] The cable CBL2b of the cable CBL2 is inserted into a hollow cable holding part CBH2. For example, the cable holding part CBH2 extends in the direction De2 and is fixed to the frame FM2 of the link LK2. This allows the cable CBL2b of the cable CBL2 to be held by the cable holding part CBH2 so as not to bend.

[0116] Furthermore, the configuration of the cable carrier CBC2 is not limited to the example shown in FIG. 5. For example, the cable carrier CBC2 is not limited to a chain-shaped cable bear, and may have any form as long as it can support the cable CBL2a in a bendable manner. Furthermore, the cable carrier CBC2 only needs to be provided in an area where the cable CBL2 is bent. That is, the length of the cable carrier CBC2 may be shorter or longer than the example shown in FIG. 5. Furthermore, the end EDC2b of the cable carrier CBC2 may be connected to the cable holding part CBH2. Furthermore, the material of the cable carrier CBC2 is not particularly limited as long as it can protect the cable CBL.

[0117] As described in FIG. 4 and FIG. 5, the cable CBL1b of the cable CBL1 is held by the cable holding part CBH1 so as not to bend, and the cable CBL2b of the cable CBL2 is held by the cable holding part CBH2 so as not to bend. The cable CBL1a of the cable CBL1 is supported by the cable carrier CBC1 so as to move following the movement of the motor MOr3 along the direction De1. The cable CBL2a of the cable CBL2 is supported by the cable carrier CBC2 so as to move following the movement of the joint mechanism JEr3 along the direction De2. As a result, in this embodiment, even if the posture of the robot 10 changes, it is possible to suppress the occurrence of failures in the connections between the multiple motors MO and the cables CBL (for example, unstable connections and disconnections). As a result, in this embodiment, even if the posture of the robot 10 changes, it is possible to reliably supply power to the multiple motors MO.

[0118] As shown in Figs. 4 and 5, the main direction of the external force applied to the motor MOr3 by the cable carrier CBC1 and the cable CBL1 is only along the direction De1. This makes it possible to offset the effect of the external force applied to the motor MOr3 simply by adjusting the drive control of the motor MOp1. Similarly, the main direction of the external force applied to the motor MOr3 by the cable carrier CBC2 and the cable CBL2 is only along the direction De2. This makes it possible to offset the effect of the external force applied to the motor MOr3 simply by adjusting the drive control of the motor MOp2. As a result, the robot 10 can be controlled with high precision regardless of the position and posture of the joint mechanism JEr3.

[0119] 3 to 5, the end EDC1b of the cable carrier CBC1 is fixed to a portion of the inner surface of the frame FM1 of the link LK1, which is located in the opposite direction to the direction Ds1 from the joint mechanism JEr3, and the end EDC2b of the cable carrier CBC2 is fixed to a portion of the inner surface of the frame FM2 of the link LK2, which is located in the opposite direction to the direction Ds2 from the joint mechanism JEr3. That is, when the links LK1 and LK2 are viewed from the direction Dax3 in a state in which the directions Ds1 and Ds2 are parallel, the end EDC1b of the cable carrier CBC1 and the end EDC2b of the cable carrier CBC2 are located in the opposite direction to the direction Ds1 from the joint mechanism JEr3. Hereinafter, the state of the robot 10 shown in FIG. 3 in which the directions Ds1 and Ds2 are parallel is also referred to as a specific state. The cable carriers CBC1 and CBC2 may be arranged such that the ends EDC1b and EDC2b are line-symmetric with respect to a line passing through the axis Ax3 and parallel to the direction De1 when the robot 10 is in a specific state and the links LK1 and LK2 are viewed from the direction Dax3. Specifically, the end EDC1b of the cable carrier CBC1 may be fixed to a portion of the inner surface of the frame FM1 of the link LK1 closer to the direction Ds1 than the joint mechanism JEr3, and the end EDC2b of the cable carrier CBC2 may be fixed to a portion of the inner surface of the frame FM2 of the link LK2 closer to the direction Ds2 than the joint mechanism JEr3. Alternatively, the end EDC1b of the cable carrier CBC1 may be fixed to a portion of the inner surface of the frame FM1 of the link LK1 that is closer to the direction Ds1 than the joint mechanism JEr3, and the end EDC2b of the cable carrier CBC2 may be fixed to a portion of the inner surface of the frame FM2 of the link LK2 that is closer to the direction Ds2 than the joint mechanism JEr3. In this embodiment, the overall balance of the robot 10 in the specific state is improved, so that when the specific state is transitioned to another state, the influence of the weights of the cable carriers CBC1 and CBC2 can be suppressed as much as possible. As a result, in an embodiment in which the end EDC1b of the cable carrier CBC1 and the end EDC2b of the cable carrier CBC2 are arranged to be line-symmetrical with respect to a line that passes through the axis Ax3 and is parallel to the direction De1, the robot 10 can be controlled with high accuracy by waiting in the specific state.

[0120] Next, an example of the shielding mechanism SL1 will be described with reference to FIG.

[0121] Fig. 6 is an explanatory diagram for explaining an example of the shielding mechanism SL1 shown in Fig. 1. Fig. 6(a) shows the external appearance of the link LK1. Fig. 6(b) shows an outline of the inside of the link LK1. That is, Fig. 6(b) shows the link LK1 in a state where the exterior EXT1 shown in Fig. 6(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.

[0122] As shown in Fig. 6(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.

[0123] 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 driving the motor MOp1. An end of a long shielding part SP1a is fixed to an end EDS1a of the support ST1a by adhesion or the like, and an end of a long shielding part SP1b is fixed to an end EDS1b of the support ST1a by adhesion or the like. In addition, of the two ends EDS1 (EDS1a and EDS1b) of the support ST1a in the direction De1, the end EDS1 close to the end LK1ed1 of the link LK1 is the end EDS1a, and the end EDS1 close to the end LK1ed2 of the link LK1 is the end EDS1b. In addition, 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. 6(b).

[0124] For example, as shown in FIG. 6(b), the shielding mechanism SL1 has rollers RO1a and RO1b, rollers RO1c and RO1d, long shielding portions SP1a and SP1b, pulleys PL1a and PL1b, a timing belt TB1, a support portion ST1a, and a fixed portion FP1.

[0125] 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.

[0126] Moreover, rollers RO1c and RO1d extend along direction Ds1 and are disposed at both ends in the direction De1 of link LK1 (the end in the opposite direction to direction De1 and the end in direction De1). For example, rollers RO1c and RO1d are disposed around the edge of opening Hlk1a in the opposite direction to direction De1 and the edge of opening Hlk1a in direction De1, respectively. Specifically, for example, roller RO1c is attached near roller RO1a and at a position in direction Dax3 relative to roller RO1a, and roller RO1d is attached near roller RO1b and at a position in direction Dax3 relative to roller RO1b.

[0127] As described above, one end of the shielding part SP1a is fixed to the end EDS1a 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 so that the shielding part SP1a passes through the roller RO1c. As a result, 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. The winding and unwinding of the shielding part SP1a is performed via the roller RO1c arranged around the edge part in the opposite direction of the direction De1 of the opening Hlk1a, so that the state in which the opening Hlk1a is blocked is maintained. In this way, the shielding part SP1a is wound up with the rotation of the roller RO1a while maintaining the state in which the opening Hlk1a is blocked. Alternatively, the shielding portion SP1a maintains the state in which it covers the opening Hlk1a and is unrolled in accordance with the rotation of the roller RO1a.

[0128] Also, as described above, one end of the shielding part SP1b is fixed to the end part EDS1b 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. Also, the other end of the shielding part SP1b (the end part not connected to the support part ST1a) is attached to the roller RO1b so that the shielding part SP1b passes through the roller RO1d. As a result, 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. The winding and unwinding of the shielding part SP1b is performed via the roller RO1d arranged around the edge part of the opening Hlk1a in the direction De1, so that the opening Hlk1a is maintained in a blocked state. In this way, the shielding part SP1b is wound up with the rotation of the roller RO1b while maintaining the state of blocking the opening Hlk1a. Alternatively, the shielding portion SP1b maintains the state of covering the opening Hlk1a and is unrolled in accordance with the rotation of the roller RO1b.

[0129] Here, for example, when the support 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 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 ST1a and the joint mechanism JEr3 move in a direction approaching the roller RO1a, the shielding part SP1a is wound by the roller RO1a via the roller RO1c, and the shielding part SP1b is unwound from the roller RO1b via the roller RO1d. Also, when the support ST1a and the joint mechanism JEr3 move in a direction approaching the roller RO1b, the shielding part SP1a is unwound from the roller RO1a via the roller RO1c, and the shielding part SP1b is wound by the roller RO1b via the roller RO1d.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] As can be understood from the description of FIG. 6, 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 a 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.

[0135] Furthermore, in this embodiment, dust, particles, etc. in the air can be prevented from entering the robot 10 through the opening Hlk1a, and therefore, dust, particles, etc. can be prevented from adhering to the cable carrier CBC1. As a result, in this embodiment, it is possible to prevent the operation of the cable carrier CBC1 from becoming unstable.

[0136] The configuration of the shielding mechanism SL1 is not limited to the example shown in FIG. 6. For example, two cylindrical guides may be arranged instead of the rollers RO1c and RO1d. The two guides are not limited to a cylindrical shape, and may be, for example, a member in which a portion in contact with a portion where the shielding part SP1a is bent is formed into an arc shape when viewed from the direction Ds1. The material of the shielding part SP1a is not particularly limited as long as it can be processed into a long shape, can be wound around the roller RO1a, and has a shielding function. Similarly, the material of the shielding part SP1b is not particularly limited as long as it can be processed into a long shape, can be wound around the roller RO1b, and has a shielding function. For example, the pulleys PL1a and PL1b, the timing belt TB1, and the fixed part FP1 may not be provided.

[0137] Next, an example of the shielding mechanism SL2 will be described with reference to FIG.

[0138] Fig. 7 is an explanatory diagram for explaining an example of the shielding mechanism SL2 shown in Fig. 1. Fig. 7(a) shows the external appearance of the link LK2. Fig. 7(b) shows an outline of the inside of the link LK2. That is, Fig. 7(b) shows the link LK2 in a state where the exterior EXT2 shown in Fig. 7(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.

[0139] 7(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.

[0140] 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 EDS2a of the support ST2a by adhesion or the like, and an end of a long shielding part SP2b is fixed to an end EDS2b of the support ST2a by adhesion or the like. Note that, of the two ends EDS2 (EDS2a and EDS2b) of the support ST2a in the direction De2, the end EDS2 closer to the end LK2ed1 of the link LK2 is the end EDS2a, and the end EDS2 closer to the end LK2ed2 of the link LK2 is the end EDS2b. 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. 7(b).

[0141] For example, as shown in FIG. 7(b), the shielding mechanism SL2 has rollers RO2a and RO2b, rollers RO2c and RO2d, long shielding portions SP2a and SP2b, pulleys PL2a and PL2b, a timing belt TB2, a support portion ST2a, and a fixed portion FP2.

[0142] 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.

[0143] Moreover, rollers RO2c and RO2d extend along direction Ds2 and are disposed at both ends in the link LK2 in the direction De2 (the end in the opposite direction to direction De2 and the end in direction De2). For example, rollers RO2c and RO2d are disposed around the edge of opening Hlk2a in the opposite direction to direction De2 and the edge of direction De2, respectively. Specifically, for example, roller RO2c is attached near roller RO2a and at a position opposite to direction Dax3 from roller RO2a, and roller RO2d is attached near roller RO2b and at a position opposite to direction Dax3 from roller RO2b.

[0144] As described above, one end of the shielding part SP2a is fixed to the end EDS2a 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 so that the shielding part SP2a passes through the roller RO2c. As a result, 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. The winding and unwinding of the shielding part SP2a is performed via the roller RO2c arranged around the edge part in the opposite direction of the direction De2 of the opening Hlk2a, so that the state in which the opening Hlk2a is blocked is maintained. In this way, the shielding part SP2a is wound up with the rotation of the roller RO2a while maintaining the state in which the opening Hlk2a is blocked. Alternatively, the shielding portion SP2a maintains the state in which it covers the opening Hlk2a and is unrolled in accordance with the rotation of the roller RO2a.

[0145] Also, as described above, one end of the shielding part SP2b is fixed to the end part EDS2b 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 part not connected to the support part ST2a) is attached to the roller RO2b so that the shielding part SP2b passes through the roller RO2d. As a result, 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. The winding and unwinding of the shielding part SP2b is performed via the roller RO2d arranged around the edge part of the opening Hlk2a in the direction De2, so that the opening Hlk2a is maintained in a blocked state. In this way, the shielding part SP2b is wound up with the rotation of the roller RO2b while maintaining the state of blocking the opening Hlk2a. Alternatively, the shielding portion SP2b maintains the state of covering the opening Hlk2a and is unrolled in accordance with the rotation of the roller RO2b.

[0146] 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 by the roller RO2a via the roller RO2c, and the shielding part SP2b is unwound from the roller RO2b via the roller RO2d. 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 via the roller RO2c, and the shielding part SP2b is wound by the roller RO2b via the roller RO2d.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] As can be understood from the description of FIG. 7, 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 JEp2 of the joint mechanism JEr3 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.

[0152] In addition, in this embodiment, dust, particles, etc. in the air can be prevented from entering the robot 10 through the opening Hlk2a, and therefore, dust, particles, etc. can be prevented from adhering to the cable carrier CBC2. As a result, in this embodiment, it is possible to prevent the operation of the cable carrier CBC2 from becoming unstable.

[0153] The configuration of the shielding mechanism SL2 is not limited to the example shown in FIG. 7. For example, two cylindrical guides may be arranged instead of the rollers RO2c and RO2d. The two guides are not limited to a cylindrical shape, and may be, for example, a member in which a portion in contact with a portion where the shielding part SP2a is bent is formed into an arc shape when viewed from the direction Ds2. The material of the shielding part SP2a is not particularly limited as long as it can be processed into a long shape, can be 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, can be wound around the roller RO2b, and has a shielding function. For example, the pulleys PL2a and PL2b, the timing belt TB2, and the fixed part FP2 may not be provided.

[0154] 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 operations of the robot 10 by controlling a plurality of motors MO. The robot 10 includes a body part BDP, a tip part TP1, a link LK1, a link LK2, 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 a bottom surface BDPbt of the body part BDP that is equal to or smaller than a predetermined angle as a first 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 BDPbt of the body part BDP that is larger than a predetermined angle as a second rotation axis, a joint mechanism JEr3 that connects the link LK1 and the link LK2 and rotates the link LK2 relative to the link LK1 around an axis Ax3 that forms an angle with a direction De1 in which the link LK1 extends that is larger than a predetermined angle as a third rotation axis, and a joint mechanism JEr3 that moves the joint mechanism JEr3 relative to the link LK1 along the direction De1. The robot includes a joint mechanism JEp1 for moving the link LK2 relative to the joint mechanism JEr3 along a direction De2 in which the link LK2 extends, a joint mechanism JEp2 for moving the link LK2 relative to the joint mechanism JEr3 along a direction De2 in which the link LK2 extends, a joint mechanism JEr4 for connecting the link LK2 to a tip part TP1 and rotating the tip part TP1 relative to the link LK2, a plurality of motors MO including a motor MOr1 for driving the joint mechanism JEr1, a motor MOr2 for driving the joint mechanism JEr2, a motor MOp1 for driving the joint mechanism JEp1, a motor MOr3 for driving the joint mechanism JEr3, a motor MOp2 for driving the joint mechanism JEp2, and a motor MOr4 for driving the joint mechanism JEr4, and a cable CBL for supplying power to the plurality of motors MO, which is connected in the order of the motors MOr1, MOr2, motor MOp1, motor MOr3, motor MOp2, and motor MOr4. The motor MOr3 moves together with the joint mechanism JEr3 as the joint mechanism JEr3 moves.The cable CBL includes a cable CBL1 that connects the motors MOp1 and MOr3 and whose bending state changes in response to the movement of the joint mechanism JEr3 relative to the link LK1, and a cable CBL2 that connects the motors MOr3 and MOp2 and whose bending state changes in response to the movement of the joint mechanism JEr3 relative to the link LK2.

[0155] Thus, in this embodiment, the cable CBL1 of the cable CBL for supplying power to the multiple motors MO connects the motor MOp1 and the motor MOr3, and the bending state changes according to the movement of the joint mechanism JEr3 relative to the link LK1. Also, the cable CBL2 of the cable CBL connects the motor MOr3 and the motor MOp2, and the bending state changes according to the movement of the joint mechanism JEr3 relative to the link LK2. That is, in this embodiment, the cable CBL1 connecting the motor MOp1 and the motor MOr3 moves so as to follow the movement of the motor MOr3 along the direction De1. Also, the cable CBL2 connecting the motor MOr3 and the motor MOp2 moves so as to follow the movement of the joint mechanism JEr3 along the direction De2. Thereby, in this embodiment, even if the posture of the robot 10 changes, it is possible to suppress the occurrence of a failure in the connection between the multiple motors MO and the cable CBL. As a result, in this embodiment, even if the posture of the robot 10 changes, it is possible to reliably supply power to the multiple motors MO.

[0156] In this embodiment, the joint mechanism JEr4 rotates the tip part TP1 relative to the link LK2 around an axis Ax4 that forms an angle with the direction De2 larger than a predetermined angle as a fourth rotation axis. 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 that forms an angle with the fourth rotation axis larger than a predetermined angle as a fifth rotation axis, and a joint mechanism JEr6 that rotates a part of the tip part TP1 to which the end effector 20 is attached around an axis Ax6 that forms an angle with the fifth rotation axis larger than a predetermined angle as a sixth rotation axis. The motors MO include a motor MOr5 that is supplied with power via a cable CBL and drives a joint mechanism JEr5, and a motor MOr6 that is supplied with power via a cable CBL and drives a joint mechanism JEr6. The cable CBL is connected in the order of motor MOr1, motor MOr2, motor MOp1, motor MOr3, motor MOp2, motor MOr4, motor MOr5, and motor MOr6.

[0157] 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.

[0158] In addition, in this embodiment, the robot 10 further includes a cable carrier CBC1 that flexibly supports the cable CBL1a, which includes a portion of the cable CBL1 that bends in response to movement of the joint mechanism JEr3 relative to the link LK1, a cable holding part CBH1 that holds at least a portion of the cable CBL1 other than the cable CBL1a so as not to bend and is fixed to the link LK1, a second cable carrier that flexibly supports the cable carrier CBC2, which includes a portion of the cable CBL2 that bends in response to movement of the joint mechanism JEr3 relative to the link LK2, and a cable holding part CBH2 that holds at least a portion of the cable CBL2 other than the cable carrier CBC2 so as not to bend and is fixed to the link LK2.

[0159] Thus, in this embodiment, the cable CBL1b of the cable CBL1 is held by the cable holding part CBH1 so as not to bend, and the cable CBL1a is supported by the cable carrier CBC1 so as to move following the movement of the motor MOr3 along the direction De1. Also, the cable CBL2a of the cable CBL2 is supported by the cable carrier CBC2 so as to move following the movement of the joint mechanism JEr3 along the direction De2, and the cable CBL2b is held by the cable holding part CBH2 so as not to bend. As a result, in this embodiment, even if the posture of the robot 10 changes, it is possible to suppress the occurrence of failure in the connection between the multiple motors MO and the cable CBL. As a result, in this embodiment, even if the posture of the robot 10 changes, it is possible to reliably supply power to the multiple motors MO.

[0160] [2. Second embodiment] Next, an example of an overview of a robot system 1 according to a second embodiment will be described with reference to FIG.

[0161] Fig. 8 is an explanatory diagram for explaining an overview of a robot system 1 according to a second embodiment. Elements similar to those explained in Fig. 1 to Fig. 7 are given the same reference numerals, and detailed explanations are omitted. Note that in Fig. 8, the illustration of the shielding mechanisms SL1 and SL2 is omitted for ease of viewing the figure.

[0162] The robot system 1 shown in Fig. 8 is similar to the robot system 1 shown in Fig. 1, except that it has a robot 10A instead of the robot 10 shown in Fig. 1. For example, the robot system 1 shown in Fig. 8 has the robot 10A, an end effector 20 that is detachably attached to the robot 10A, and a robot controller 30 that controls the operations of the robot 10A and the end effector 20. The robot 10A is another example of a "multi-joint robot."

[0163] The robot 10A is similar to the robot 10 shown in FIG. 1, except that the robot 10A has links LK1A and LK2A instead of the links LK1 and LK2 shown in FIG. 1. The link LK1A is another example of a "first link", and the link LK2A is another example of a "second link". The link LK1A is similar to the link LK1 shown in FIG. 1, etc., except that instead of the cable carrier CBC1 and the cable holding part CBH1, a fixed support part Sf1, a movable support part Sm1, and an elastic member EL1 are provided. The link LK2A is similar to the link LK2 shown in FIG. 1, etc., except that instead of the cable carrier CBC2 and the cable holding part CBH2, a fixed support part Sf2, a movable support part Sm2, and an elastic member EL2 are provided. That is, in this embodiment, the robot 10 has a fixed support part Sf1, a movable support part Sm1, an elastic member EL1, a fixed support part Sf2, a movable support part Sm2, and an elastic member EL2, instead of the cable carriers CBC1 and CBC2 and the cable holding parts CBH1 and CBH2. The following description will focus on the arrangement of the cable CBL.

[0164] In this embodiment, as in the first embodiment described above, the cable CBL connects the robot controller 30 to the multiple motors MO and the end effector 20. That is, in this embodiment as well, the cable CBL is connected to the multiple motors MO in the following order: motor MOr1, motor MOr2, motor MOp1, motor MOr3, motor MOp2, motor MOr4, motor MOr5, and motor MOr6.

[0165] In this embodiment, the cable CBL1, which is a portion of the cable CBL between the motors MOp1 and MOr3, is supported by a mechanism including a fixed support Sf1, a movable support Sm1, and an elastic member EL1 so as to bend in response to the movement of the joint mechanism JEr3 relative to the link LK1A. Also, the cable CBL2, which is a portion of the cable CBL between the motors MOp2 and MOr3, is supported by a mechanism including a fixed support Sf2, a movable support Sm2, and an elastic member EL2 so as to bend in response to the movement of the joint mechanism JEr3 relative to the link LK2A.

[0166] For example, the fixed support Sf1 is fixed to the link LK1A. The moving support Sm1 is supported by an elastic member EL1 that expands and contracts along the direction De1 so as to be movable along the direction De1 in response to a change in the position of the motor MOr3 relative to the motor MOp1. One end of the elastic member EL1 is fixed to the link LK1A, and the other end is connected to the moving support Sm1. The fixed support Sf1 and the moving support Sm1 support the cable CBL1 of the cable CBL. As a result, in this embodiment, even if the distance between the connector CT of the motor MOp1 and the connector CT of the motor MOr3 changes in response to a change in the position of the motor MOr3 relative to the motor MOp1, it is possible to prevent the cable CBL1 from loosening.

[0167] The fixed support part Sf2 is fixed to the link LK2A. The moving support part Sm2 is supported by an elastic member EL2 that expands and contracts along the direction De2 so as to be movable along the direction De2 in response to a change in the position of the motor MOr3 relative to the motor MOp2. One end of the elastic member EL2 is fixed to the link LK2A, and the other end is connected to the moving support part Sm2. The fixed support part Sf2 and the moving support part Sm2 support the cable CBL2 of the cable CBL. As a result, in this embodiment, even if the distance between the connector CT of the motor MOp2 and the outlet EX of the cable CBL at the motor MOr3 changes in response to a change in the position of the motor MOr3 relative to the motor MOp2, it is possible to prevent the cable CBL2 from slackening.

[0168] In addition, the portions of the cable CBL other than the cables CBL1 and CBL2 are similar to those in the first embodiment described above, and therefore the description thereof will be omitted.

[0169] In this embodiment as well, the multiple motors MO are connected by the cable CBL in the order of the motors MO driving the multiple joint mechanisms JE arranged in sequence from the body part BDP on the path inside the robot 10 from the body part BDP toward the tip part TP1. This makes it possible to prevent the arrangement of the cable CBL from becoming complicated in this embodiment as well. That is, it is possible to prevent the possible postures of the robot 10 from being restricted by the cable CBL and to prevent excessive tension from being generated in the cable CBL in this embodiment as well.

[0170] Next, the arrangement of the cable CBL1 in the link LK1A will be described with reference to FIG.

[0171] Fig. 9 is an explanatory diagram for explaining the arrangement of the cable CBL1 in the link LK1A. In Fig. 9, the exterior of the link LK1A (the exterior EXT1 shown in Fig. 6) is omitted in order to make the arrangement of the cable CBL1 easier to understand. Furthermore, in Fig. 9(b) and Fig. 9(c), the frame FM12, which will be described later, is omitted in order to make the positional relationship between the movement support part Sm1 and the motor MOr3 easier to understand.

[0172] In FIG. 9(b), the motor MOr3 is located closer to the end LK1ed1 of the link LK1A than the end LK1ed2 of the link LK1A. For example, the motor MOr3 is located at a position where the distance from the motor MOp1 is the smallest in the range of movement when the motor MOr3 moves along the direction De1. Also, in FIG. 9(c), the motor MOr3 is located closer to the end LK1ed2 of the link LK1A than the end LK1ed1 of the link LK1A. For example, the motor MOr3 is located at a position where the distance from the motor MOp1 is the largest in the range of movement when the motor MOr3 moves along the direction De1. Also, the direction Dax3 in FIG. 9 is the direction from the link LK1A to the link LK2A among the directions along the axis Ax3, which is the rotation axis of the motor MOr3.

[0173] The frame FM1A of the link LK1A has, for example, frames FM10, FM11, and FM12 extending along the direction De1. That is, the link LK1A has frames FM10, FM11, and FM12. For example, the motor MOr3 is attached to the frame FM10. In the example shown in Fig. 9, the frame FM10 is located between the frame FM11 and the motor MOr3 in the direction Dax3.

[0174] As shown in Fig. 9(b), the frame FM11 includes a surface facing the frame FM10, and includes a plate portion FM11a extending along the direction De1, and a plate portion FM11b protruding in the opposite direction to the direction Dax3 from one of two edges of the plate portion FM11a along the direction De1. For example, the frame FM11 is disposed in the direction Dax3 such that the plate portion FM11a is located between the frames FM12 and FM10. Note that in the example shown in Fig. 9, when the frames FM11 and FM12 are viewed in the direction Dax3, the plate portion FM11b of the frame FM11 is located outside the frame FM12, but may be located inside the frame FM12.

[0175] Hereinafter, among the ends of frames FM10, FM11, and FM12, the end corresponding to end LK1ed1 of link LK1A may be referred to as end LK1ed1, and the end corresponding to end LK1ed2 of link LK1A may be referred to as end LK1ed2. For example, among the ends of frame FM11, the end opposite to direction De1 may be referred to as end LK1ed1 of frame FM11, and the end in direction De1 may be referred to as end LK1ed2 of frame FM11.

[0176] The cable CBL1, the fixed support part Sf1, and the movable support part Sm1 are disposed, for example, in a region sandwiched between the plate part FM11a of the frame FM11 and the frame FM12.

[0177] In this embodiment, it is assumed that the fixed support part Sf1 is a pulley (so-called fixed pulley) fixed to the link LK1A, and the movable support part Sm1 is a pulley (so-called movable pulley) suspended by an elastic member EL1 and movable along a direction De1. For example, the fixed support part Sf1 includes a disk Sf11 on which the cable CBL1 is hung, and a disk support part Sf12 that rotatably supports the disk Sf11. The disk support part Sf12 is fixed to, for example, an end part LK1ed1 of a plate part FM11a of the frame FM11.

[0178] The moving support part Sm1 includes a disk Sm11 on which the cable CBL1 is hung, and a disk support part Sm12 connected to the elastic member EL1 and rotatably supporting the disk Sm11. The elastic member EL1 is, for example, a spring member that expands and contracts along a direction De1. For example, one end of the elastic member EL1 is connected to an end LK1ed2 of the plate part FM11a of the frame FM11 by a screw SC1, and the other end of the elastic member EL1 is connected to the disk support part Sm12. Note that the method of connecting the elastic member EL1 and the plate part FM11a is not limited to the screw SC1. For example, the elastic member EL1 may be connected to the plate part FM11a by an adhesive or by welding.

[0179] 9(b) and 9(c), a cable CBL1 between the motors MOp1 and MOr3 is connected from the motor MOp1 to the motor MOr3 via the moving support Sm1 and the fixed support Sf1. For example, the fixed support Sf1 is fixed to an end LK1ed1 of the plate FM11a of the frame FM11.

[0180] In addition, the moving support part Sm1 is movable along slits Slt1a and Slt1b provided in the frame FM11 and slits Slt1c and Slt1d provided in the frame FM12. The slits Slt1a, Slt1b, Slt1c, and Slt1d limit the moving direction of the moving support part Sm1 so that the moving support part Sm1 does not move in any direction other than the direction De1.

[0181] For example, the slit Slt1a is an opening penetrating the plate portion FM11a of the frame FM11 and extends along the direction De1. The slit Slt1b is an opening penetrating the plate portion FM11b of the frame FM11 and extends along the direction De1. The slit Slt1c is an opening penetrating a portion of the frame FM12 facing the plate portion FM11a of the frame FM11 and extends along the direction De1. The slit Slt1d is an opening penetrating a portion of the frame FM12 facing the plate portion FM11b of the frame FM11 and extends along the direction De1. For example, a portion of the disk support portion Sm12 of the moving support portion Sm1 that corresponds to the rotation axis of the disk Sm11 is inserted into the slits Slt1a and Slt1c. A part of the moving support portion Sm1 is inserted into the slits Slt1b and Slt1d.

[0182] As described above, the moving support part Sm1 is suspended from the end part LK1ed2 of the plate part FM11a of the frame FM11 by the elastic member EL1. Therefore, a force in the direction De1 due to the elastic force of the elastic member EL1 or the like is constantly applied to the moving support part Sm1. Therefore, when the position of the motor MOr3 relative to the motor MOp1 changes, the moving support part Sm1 moves to a position where the forces applied to the moving support part Sm1, such as the force in the opposite direction to the direction De1 due to the cable CBL1 and the force in the direction De1 due to the elastic force of the elastic member EL1, are balanced.

[0183] For example, as shown in Fig. 9(b), when the motor MOr3 is located closer to the end LK1ed1 than the end LK1ed2 of the link LK1A, the distance from the fixed support Sf1 to the motor MOr3 is shorter than when the motor MOr3 is located at the end LK1ed2 of the link LK1A. In this case, the length of the portion of the cable CBL1 from the fixed support Sf1 to the motor MOr3 is shorter, and the length of the portion from the motor MOp1 to the fixed support Sf1 is longer. Therefore, the forces applied to the moving support Sm1, such as the force in the opposite direction to the direction De1 by the cable CBL1 and the force in the direction De1 by the elastic force of the elastic member EL1, are balanced at a position closer to the end LK1ed2 than the end LK1ed1 of the link LK1A. Therefore, when the motor MOr3 is located closer to the end LK1ed1 of the link LK1A than the end LK1ed2 of the link LK1A, the moving support member Sm1 is located closer to the end LK1ed2 of the link LK1A than the end LK1ed1 of the link LK1A. For example, the state shown in Fig. 9(b) is a state in which the stretch of the elastic member EL1 suspending the moving support member Sm1 is at a minimum.

[0184] Also, as shown in FIG. 9(c), when the motor MOr3 is located at the end LK1ed2 of the link LK1A, the distance from the fixed support Sf1 to the motor MOr3 is longer than when the motor MOr3 is located closer to the end LK1ed1 than the end LK1ed2 of the link LK1A. In this case, the length of the portion of the cable CBL1 from the fixed support Sf1 to the motor MOr3 is longer, and the length of the portion from the motor MOp1 to the fixed support Sf1 is shorter. Therefore, the forces applied to the moving support Sm1, such as the force in the opposite direction to the direction De1 by the cable CBL1 and the force in the direction De1 by the elastic force of the elastic member EL1, are balanced at a position closer to the end LK1ed1 than the end LK1ed2 of the link LK1A. Therefore, when the motor MOr3 is located at the end LK1ed2 of the link LK1A, the moving support Sm1 is located closer to the end LK1ed1 than the end LK1ed2 of the link LK1A. For example, the state shown in Fig. 9(c) is the state in which the elastic member EL1 suspending the moving support member Sm1 is stretched to the maximum. The length of the cable CBL1 connecting the motors MOp1 and MOr3 is determined based on the state in which the distance from the fixed support member Sf1 to the motor MOr3 is maximized. This makes it possible to prevent excessive tension from being generated in the cable CBL1 in this embodiment.

[0185] In this manner, in this embodiment, the moving support part Sm1 moves along the direction De1 in response to a change in the position of the motor MOr3 relative to the motor MOp1, so that the cable CBL1 can be prevented from loosening. Also, in this embodiment, the disk Sm11 of the moving support part Sm1 is located in the direction De1 (the direction of the force applied to the disk Sf11 by the elastic force of the elastic member EL1) further than the disk Sf11 of the fixed support part Sf1, regardless of the position of the motor MOr3. Therefore, in this embodiment, for example, even if the position of the motor MOr3 changes, it is possible to prevent the cable CBL1 from coming off the disk Sm11 of the moving support part Sm1.

[0186] Furthermore, in this embodiment, regardless of the position of the motor MOr3, the cable CBL1 passes through the frame FM10 at a position in the direction De1 higher than the disk Sf11 of the fixed support Sf1. Therefore, in this embodiment, the direction in which the cable CBL1 bends at the portion where it passes through the frame FM10 is maintained in a constant direction regardless of the position of the motor MOr3. As a result, in this embodiment, damage to the cable CBL1 can be suppressed compared to a case in which the direction in which the cable CBL1 bends at the portion where it passes through the frame FM10 changes depending on the position of the motor MOr3.

[0187] 9, in this embodiment, the portion of the cable CBL1 disposed in the area between the plate portion FM11a of the frame FM11 and the frame FM12 is covered with a tube. This makes it possible to smoothly slide the cable CBL1 hanging on the disks Sf11 and Sm11 while preventing damage to the cable CBL1 hanging on the disks Sf11 of the fixed support member Sf1 and the disk Sm11 of the movable support member Sm1. Note that the cable CBL1 does not have to be covered with a tube.

[0188] Next, the arrangement of the cable CBL2 in the link LK2A will be described with reference to FIG.

[0189] Fig. 10 is an explanatory diagram for explaining the arrangement of the cable CBL2 in the link LK2A. In Fig. 10, the exterior of the link LK2A (the exterior EXT2 shown in Fig. 7) is omitted in order to make the arrangement of the cable CBL2 easier to understand. Furthermore, in Fig. 10(b) and Fig. 10(c), the frame FM22, which will be described later, is omitted in order to make the positional relationship between the moving support part Sm2 and the motor MOr3 easier to understand.

[0190] In FIG. 10(b), motor MOr3 is located closer to end LK2ed1 than end LK2ed2 of link LK2A. For example, motor MOr3 is located at a position where the distance from motor MOp2 is minimum in the movement range when motor MOr3 moves along direction De2. Also, in FIG. 10(c), motor MOr3 is located closer to end LK2ed2 than end LK2ed1 of link LK2A. For example, motor MOr3 is located at a position where the distance from motor MOp2 is maximum in the movement range when motor MOr3 moves along direction De2.

[0191] The frame FM2A of the link LK2A has, for example, frames FM20, FM21, and FM22 extending along the direction De2. That is, the link LK2A has frames FM20, FM21, and FM22. For example, the motor MOr3 is attached to the frame FM20. That is, the motor MOr3 is attached to the frame FM20 and the frame FM10 shown in FIG. 9. In the example shown in FIG. 10, the frame FM20 is located between the frames FM21 and FM22 and the motor MOr3 in the direction Dax3. In addition, the frames FM21 and FM22 are connected to one of the two edges of the frame FM20 along the direction De2 (the edge in the opposite direction to the direction Ds2 in the example shown in FIG. 10).

[0192] As shown in Fig. 10(b), the frame FM21 includes a surface parallel to the direction De2 and the direction Dax3, and includes a plate portion FM21a extending along the direction De2, and a plate portion FM21b protruding in the opposite direction to the direction Ds2 from an edge of the direction Dax3 of the two edges of the plate portion FM21a along the direction De2. For example, the frames FM21 and FM22 are arranged along the direction Ds2 so that a space for arranging the cable CBL2 is secured between the plate portion FM21a and the frame FM22. In the example shown in Fig. 10, when the frames FM21 and FM22 are viewed from the opposite direction to the direction Ds2, the plate portion FM21b of the frame FM21 is located outside the frame FM22, but may be located inside the frame FM22.

[0193] Hereinafter, among the ends of frames FM20, FM21, and FM22, the end corresponding to end LK2ed1 of link LK2A may be referred to as end LK2ed1, and the end corresponding to end LK2ed2 of link LK2A may be referred to as end LK2ed2. For example, among the ends of frame FM21, the end opposite to direction De2 may be referred to as end LK2ed1 of frame FM21, and the end in direction De2 may be referred to as end LK2ed2 of frame FM21.

[0194] The cable CBL2, the fixed support part Sf2, and the movable support part Sm2 are disposed, for example, in a region sandwiched between the plate part FM21a of the frame FM21 and the frame FM22.

[0195] In this embodiment, it is assumed that the fixed support part Sf2 is a pulley (so-called fixed pulley) fixed to the link LK2A, and the movable support part Sm2 is a pulley (so-called movable pulley) suspended by an elastic member EL2 and movable along the direction De2. For example, the fixed support part Sf2 includes a disk Sf21 on which the cable CBL2 is hung, and a disk support part Sf22 that rotatably supports the disk Sf21. The disk support part Sf22 is fixed to, for example, an end part LK2ed1 of the plate part FM21a of the frame FM21.

[0196] The moving support part Sm2 includes a disk Sm21 on which the cable CBL2 is hung, and a disk support part Sm22 connected to the elastic member EL2 and rotatably supporting the disk Sm21. The elastic member EL2 is, for example, a spring member that expands and contracts along the direction De2. For example, one end of the elastic member EL2 is connected to an end LK2ed2 of the plate part FM21a of the frame FM21 by a screw SC2, and the other end of the elastic member EL2 is connected to the disk support part Sm22. Note that the method of connecting the elastic member EL2 and the plate part FM21a is not limited to the screw SC2. For example, the elastic member EL2 may be connected to the plate part FM21a by an adhesive or by welding.

[0197] 10(b) and 10(c), the cable CBL2 between the motors MOp2 and MOr3 is connected from the motor MOr3 to the motor MOp2 via the fixed support Sf2 and the movable support Sm2. For example, the fixed support Sf2 is fixed to the end LK2ed1 of the plate FM21a of the frame FM21.

[0198] In addition, the moving support part Sm2 is movable along slits Slt2a and Slt2b provided in the frame FM21 and slits Slt2c and Slt2d provided in the frame FM22. For example, the slits Slt2a, Slt2b, Slt2c, and Slt2d limit the moving direction of the moving support part Sm2 so that the moving support part Sm2 does not move in any direction other than the direction De2.

[0199] For example, the slit Slt2a is an opening penetrating the plate portion FM21a of the frame FM21 and extends along the direction De2. The slit Slt2b is an opening penetrating the plate portion FM21b of the frame FM21 and extends along the direction De2. The slit Slt2c is an opening penetrating a portion of the frame FM22 facing the plate portion FM21a of the frame FM21 and extends along the direction De2. The slit Slt2d is an opening penetrating a portion of the frame FM22 facing the plate portion FM21b of the frame FM21 and extends along the direction De2. For example, a portion of the disk support portion Sm22 of the moving support portion Sm2 that corresponds to the rotation axis of the disk Sm21 is inserted into the slits Slt1a and Slt1c. A part of the moving support portion Sm2 is inserted into the slits Slt2b and Slt2d.

[0200] As described above, the moving support part Sm2 is suspended from the end part LK2ed2 of the plate part FM21a of the frame FM21 by the elastic member EL2. Therefore, a force in the direction De2 due to the elastic force of the elastic member EL2 or the like is constantly applied to the moving support part Sm2. Therefore, when the position of the motor MOr3 relative to the motor MOp2 changes, the moving support part Sm2 moves to a position where the forces applied to the moving support part Sm2, such as the force in the opposite direction to the direction De2 due to the cable CBL2 and the force in the direction De2 due to the elastic force of the elastic member EL2, are balanced.

[0201] For example, as shown in FIG. 10(b), when the motor MOr3 is located at the end LK2ed1 of the link LK2A, the distance from the motor MOr3 to the fixed support Sf2 is shorter than when the motor MOr3 is located closer to the end LK2ed2 than the end LK2ed1 of the link LK2A. In this case, the length of the portion of the cable CBL2 from the motor MOr3 to the fixed support Sf2 is shorter, and the length of the portion from the fixed support Sf2 to the motor MOp2 is longer. Therefore, the forces applied to the moving support Sm2, such as the force in the opposite direction to the direction De2 by the cable CBL2 and the force in the direction De2 by the elastic force of the elastic member EL2, are balanced at a position closer to the end LK2ed2 than the end LK2ed1 of the link LK2A. Therefore, when the motor MOr3 is located at the end LK2ed1 of the link LK2A, the moving support Sm2 is located closer to the end LK2ed2 than the end LK2ed1 of the link LK2A. For example, the state shown in FIG. 10(b) is a state in which the stretch of the elastic member EL2 that suspends the moving support part Sm2 is at a minimum.

[0202] 10(c), when the motor MOr3 is located closer to the end LK2ed2 of the link LK2A than the end LK2ed1 of the link LK2A, the distance from the motor MOr3 to the fixed support Sf2 is longer than when the motor MOr3 is located at the end LK2ed1 of the link LK2A. In this case, the length of the portion of the cable CBL2 from the motor MOr3 to the fixed support Sf2 is longer, and the length of the portion from the fixed support Sf2 to the motor MOp2 is shorter. Therefore, the forces applied to the moving support Sm2, such as the force in the opposite direction to the direction De2 by the cable CBL2 and the force in the direction De2 by the elastic force of the elastic member EL2, are balanced at a position closer to the end LK2ed1 of the link LK2A than the end LK2ed2. Therefore, when the motor MOr3 is located closer to the end LK2ed2 of the link LK2A than the end LK2ed1 of the link LK2A, the moving support Sm2 is located closer to the end LK2ed1 of the link LK2A than the end LK2ed2 of the link LK2A. For example, the state shown in FIG. 10(c) is a state in which the elastic member EL2 suspending the moving support Sm2 is stretched to the maximum. In addition, the length of the cable CBL2 connecting the motors MOp2 and MOr3 is determined based on, for example, the state in which the distance from the fixed support Sf2 to the motor MOr3 is maximized. As a result, in this embodiment, it is possible to suppress the generation of excessive tension in the cable CBL2.

[0203] In this manner, in this embodiment, the moving support part Sm2 moves along the direction De2 in response to a change in the position of the motor MOr3 relative to the motor MOp2, so that the cable CBL2 can be prevented from loosening. Also, in this embodiment, the disk Sm21 of the moving support part Sm2 is located in the direction De2 (the direction of the force applied to the disk Sf21 by the elastic force of the elastic member EL2) further than the disk Sf21 of the fixed support part Sf2, regardless of the position of the motor MOr3. Therefore, in this embodiment, for example, even if the position of the motor MOr3 changes, it is possible to prevent the cable CBL2 from coming off the disk Sm21 of the moving support part Sm2.

[0204] Furthermore, in this embodiment, regardless of the position of the motor MOr3, the cable CBL2 passes through the frame FM20 at a position in the direction De2 higher than the disk Sf21 of the fixed support part Sf2. Therefore, in this embodiment, the direction in which the cable CBL2 bends at the portion where it passes through the frame FM20 is maintained in a constant direction regardless of the position of the motor MOr3. As a result, in this embodiment, damage to the cable CBL2 can be suppressed compared to a case in which the direction in which the cable CBL2 bends at the portion where it passes through the frame FM20 changes depending on the position of the motor MOr3.

[0205] 10, in this embodiment, the portion of the cable CBL2 disposed in the area between the plate portion FM21a of the frame FM21 and the frame FM22 is covered with a tube. This makes it possible to smoothly slide the cable CBL2 hanging on the disks Sf21 and Sm21 while preventing damage to the cable CBL2 hanging on the disks Sf21 of the fixed support member Sf2 and the disk Sm21 of the movable support member Sm2. Note that the cable CBL2 does not have to be covered with a tube.

[0206] 9 and 10, in this embodiment, even if one or both of the position of the motor MOr3 relative to the motor MOp1 and the position of the motor MOr3 relative to the motor MOp2 change, it is possible to prevent the cable CBL from loosening. Therefore, in this embodiment, even if the posture of the robot 10 changes (transitions) and the distance from the body part BDP to each motor MO changes significantly, it is possible to reliably supply power and control signals to each motor MO.

[0207] Furthermore, the cable CBL is fixed to the motor MOr3, and the arrangement in the direction of the link LK1A and the arrangement in the direction of the link LK2A when viewed from the motor MOr3 are nearly symmetrical. In this case, the force applied to the motor MOr3 by the tension of the cable CBL is a force pulling the motor MOr3 in the direction of the link LK1A due to the tension of the cable CBL1, and a force pulling the motor MOr3 in the direction of the link LK2A due to the tension of the cable CBL2. Therefore, in this embodiment, the arrangement of the cable CBL is very well balanced with respect to the motor MOr3.

[0208] As described above, in this embodiment, unlike the first embodiment described above, the cable carriers CBC1 and CBC2 are not included. However, other than the effects related to the cable carriers CBC1 and CBC2, the same effects as those of the first embodiment can be obtained.

[0209] [3. 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.

[0210] [First Modification] In the above embodiment, the joint mechanism JEr4 rotates the tip part TP1 relative to the link LK2 (or LK2A) around the axis Ax4 perpendicular to the direction De2 in which the link LK2 (or LK2A) extends, but the present invention is not limited to this embodiment. For example, the joint mechanism JEr4 may rotate the tip part TP1 relative to the link LK2 (or LK2A) around an axis that forms an angle with the direction De2 in which the link LK2 (or LK2A) extends that is equal to or smaller than a predetermined angle.

[0211] Fig. 11 is an explanatory diagram for explaining an example of a tip portion TP1B according to the first 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.

[0212] 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 LK2B, a joint mechanism JEr4B, and a tip part TP1B instead of the link LK2, the joint mechanism JEr4, and the tip part TP1 shown in FIG. 1. Alternatively, the robot 10 according to this modification is similar to the robot 10A shown in FIG. 8, except that it has a link LK2B, a joint mechanism JEr4B, and a tip part TP1B instead of the link LK2A, the joint mechanism JEr4, and the tip part TP1 shown in FIG. 8. The link LK2B is similar to the link LK2, except that the joint mechanism JEr4B is connected instead of the joint mechanism JEr4. The link LK2B is another example of the "second link", and the joint mechanism JEr4B is another example of the "fourth drive mechanism".

[0213] The joint mechanism JEr4B connects the link LK2B and the tip TP1B, and rotates the tip TP1B relative to the link LK2B around an axis Ax4B parallel to the direction De2. The rotation direction Dr4 in FIG. 11 shows the rotation direction of the tip TP1B when rotating around the axis Ax4B. The axis Ax4B 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 LK2B extends that is equal to or smaller than a predetermined angle.

[0214] In the tip part TP1B, as in the tip part TP1 shown in FIG. 1, the end effector 20 is attached to the end surface TP1sf. The tip part TP1B includes a first part TP11B connected to the link LK2B, a second part TP12B connected to the first part TP11B, a joint mechanism JEr5B, and a joint mechanism JEr6. The first part TP11B is connected to the link LK2B via, for example, a joint mechanism JEr4B. Therefore, the first part TP11B rotates with respect to the link LK2B about the axis Ax4B as the rotation axis.

[0215] The joint mechanism JEr5B connects the first part TP11B and the second part TP12B, and rotates the second part TP12B relative to the first part TP11B around an axis Ax5 perpendicular to the axis Ax4B. The rotation direction Dr5 in FIG. 11 indicates the rotation direction of the second part TP12B when rotating around the axis Ax5.

[0216] 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 TP1B 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 TP12B, the end face of the second part TP12B may be the end face TP1sf.

[0217] As described above, in this modified example, the joint mechanism JEr4B rotates the tip part TP1 relative to the link LK2 around the axis Ax4B, which forms an angle with the direction De2 at a predetermined angle or less, as the fourth rotation axis. The tip part TP1 includes a first part TP11B connected to the link LK2, a second part TP12B connected to the first part TP11B, a joint mechanism JEr5B connecting the first part TP11B and the second part TP12B and rotating the second part TP12B relative to the first part TP11B around the axis Ax5, which forms an angle with the fourth rotation axis at a greater than a predetermined angle, as the fifth rotation axis, and a joint mechanism JEr6, which rotates a part of the tip part TP1 to which the end effector 20 is attached, around the axis Ax6, which forms an angle with the fifth rotation axis at a greater than a predetermined angle, as the sixth rotation axis. The motors MO include a motor MOr5 that is supplied with power via a cable CBL and drives the joint mechanism JEr5B, and a motor MOr6 that is supplied with power via a cable CBL and drives the joint mechanism JEr6. The cable CBL is connected in the order of motor MOr1, motor MOr2, motor MOp1, motor MOr3, motor MOp2, motor MOr4, motor MOr5, and motor MOr6.

[0218] In this modified example as well, the same effects as those of the above-described embodiment can be obtained.

[0219] [Second modified example] 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.

[0220] 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.

[0221] [4. Application Examples] The robot system 1 including the robot 10 described in the above-mentioned embodiment and modified example may be used in a manufacturing method of an article including assembling or removing a part. In this case, even if the posture of the robot 10 changes, power can be reliably supplied to the multiple motors MO, so that the work of assembling or removing the part can be efficiently performed. Furthermore, the robot system 1 can efficiently perform the work of assembling or removing the part while preventing dust or powder in the air from entering the robot 10 and preventing grease or dust from inside the robot 10 from scattering outside the robot.

[0222] [5.Other] The distinction between the "turning" briefly explained in the above embodiment and other rotations will be described with some examples.

[0223] 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.

[0224] 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).

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] 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.

[0230] 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.

[0231] 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.

[0232] 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.

[0233] 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.

[0234] 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.

[0235] 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.

[0236] 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]

[0237] 1...robot system, 10, 10A...robot, 20...end effector, 30...robot controller, 31...power supply device, 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, Ax4B, Ax5, Ax6, Axi...axis, BDP...body part, BDPbt...bottom surface, BDPba...base part, CBC1, CBC2...cable carrier, C BH1, CBH2...cable holding part, CBL, CBL1, CBL2, CBL3...cable, EL1, EL2...elastic member, EXT1, EXT2...exterior, Hlk1a, Hlk2a...opening, FM1, FM2, FM1A, FM2A, FM10, FM11, FM12, FM20, FM21, FM22...frame, FP1, FP2...fixing part, JEr1, JEr2, JEr3, JEr4, JEr4B, JEr5, JEr6, JEri, JEp1, JEp2...joint mechanism, JEp11, JEp21...Threaded part, JEp12, JEp22...Nut, JEp13, JEp23...Connection part, JEp14, JEp24...Rail, Lce, Lcm, Lcm1, Lcm2, Lcm3, Lcm4, Lcm5, Lcm6, Lcm7, Lcm8, Lpe, Lpm...Wiring, LK1, LK1A, LK2, LK2A, LK2B, LKi, LKj...Link, MOr1, MOr2, MOr3, MOr4, MOr5, MOr6, MOp1, MOp2...Motor, PL1a, PL1b, PL2 a, PL2b...pulley, RO1a, RO1b, RO1c, RO1d, RO2a, RO2b, RO2c, RO2d...rollers, Sm1, Sm2...moving support part, Sm11, Sm21...disc, Sm12, Sm22...disc support part, Sf1, Sf2...fixed support part, Sf11, Sf21...disc, Sf12, Sf22...disc support part, 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 first link; A second link; a first drive mechanism that rotates at least a portion of the base about a first rotation axis that forms an angle with a direction perpendicular to a bottom surface of the base that is equal to or smaller than a predetermined angle; a second drive mechanism that connects the base and the first link and rotates the first link about an axis that forms an angle with a direction perpendicular to a bottom surface of the base that is larger than the predetermined angle as a second rotation axis; a third drive mechanism that connects the first link and the second link and rotates the second link relative to the first link about a third rotation axis that forms an angle with a first direction in which the first link extends that is larger than the predetermined angle; a first moving mechanism that moves the third driving mechanism relative to the first link along the first direction; a second moving mechanism that moves the second link relative to the third driving mechanism along a second direction in which the second link extends; a fourth drive mechanism that connects the second link and the tip portion and rotates the tip portion relative to the second link; a plurality of motors including a first motor that drives the first drive mechanism, a second motor that drives the second drive mechanism, a third motor that drives the first movement mechanism, a fourth motor that drives the third drive mechanism, a fifth motor that drives the second movement mechanism, and a sixth motor that drives the fourth drive mechanism; a cable connected to the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the sixth motor in this order, for supplying power to the plurality of motors; Equipped with The fourth motor is The third driving mechanism moves together with the third driving mechanism in accordance with the movement of the third driving mechanism, The cable includes: a first cable that connects the third motor and the fourth motor and changes a bending state in response to movement of the third drive mechanism relative to the first link; a second cable that connects the fourth motor and the fifth motor and changes a bending state in response to movement of the third drive mechanism relative to the second link; having A multi-joint robot characterized by

2. The fourth drive mechanism is The tip portion is rotated with respect to the second link about a fourth rotation axis, the fourth rotation axis being an axis that forms an angle with the second direction larger than the predetermined angle. 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 is an axis that forms an angle with the fourth rotation axis 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, The plurality of motors include a seventh motor that is supplied with power via the cable and drives the fifth drive mechanism; an eighth motor that is supplied with power via the cable and drives the sixth drive mechanism; Including, The cable includes: the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the seventh motor, and the eighth motor are connected in this order; 2. The articulated robot according to claim 1 .

3. The fourth drive mechanism is The tip portion is rotated with respect to the second link about a fourth rotation axis, the fourth rotation axis being an axis that forms an angle with the second direction equal to or smaller than the predetermined angle; 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 is an axis that forms an angle with the fourth rotation axis 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, The plurality of motors include a seventh motor that is supplied with power via the cable and drives the fifth drive mechanism; an eighth motor that is supplied with power via the cable and drives the sixth drive mechanism; Including, The cable includes: the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor, the seventh motor, and the eighth motor are connected in this order; 2. The articulated robot according to claim 1 .

4. a first cable carrier that bendably supports a first specific portion of the first cable, the first specific portion including a portion that bends in response to movement of the third drive mechanism relative to the first link; a first holding portion that holds at least a portion of the first cable other than the first specific portion so as not to bend and is fixed to the first link; a second cable carrier that bendably supports a second specific portion of the second cable, the second specific portion including a portion that bends in response to movement of the third drive mechanism relative to the second link; and a second holding portion that holds at least a portion of the second cable other than the second specific portion so as not to bend and is fixed to the second link; Further comprising 4. The articulated robot according to claim 1, wherein the articulated robot is a movable arm.

5. 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: By controlling the plurality of motors, an operation of the articulated robot is controlled. A method for controlling an articulated robot.

6. 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: By controlling the plurality of motors, an operation of the articulated robot is controlled. A robot system comprising:

7. The robot system according to claim 6 , wherein a part is assembled or a part is removed. A method for producing an article comprising the steps of:

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