Robot and robot system

Abstract

To provide a robot having high safety, and a robot system.SOLUTION: A robot comprises: a base; a first arm rotating about a first axis relative to the base; a second arm rotating about a second axis relative to the first arm; a main shaft axis which is disposed on the second arm, rotates about a third axis, and moves along the third axis; a first support part disposed on the second arm; an auxiliary bearing disposed on the first support part; an auxiliary shaft axis which is pivotally supported by the auxiliary bearing, and moves in a direction along the third axis relative to the first support part; a stopper which is disposed on the auxiliary shaft axis, and abuts on the auxiliary bearing as the auxiliary shaft axis moves in a direction along the third axis; a second support part connecting the main shaft axis and the auxiliary shaft axis; and a cover member which is disposed on the first support part, and covers a stopper abutting portion of the auxiliary bearing.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a robot and a robot system. [Background technology]

[0002] The SCARA robot described in Patent Document 1 has a base shaft, a first horizontal arm rotatably connected to the base shaft, and a second horizontal arm rotatably connected to the first horizontal arm. A ball screw nut and a ball spline nut are rotatably supported at the tip of the second horizontal arm via bearings, and a main arm shaft is inserted through the ball screw nut and the ball spline nut. The main arm shaft is a spline shaft, which moves up and down as the ball screw nut rotates, and rotates around the axis as the ball spline nut rotates.

[0003] An upper support plate is fixed to the tip of the second horizontal arm. A pair of auxiliary arm shafts are inserted into both ends of the upper support plate, and each auxiliary arm shaft is supported by a bearing attached to the upper support plate so as to be movable up and down. A lower support plate is disposed below the upper support plate, and the lower end of each auxiliary arm shaft is fixed to the lower support plate. The lower support plate is equipped with a bearing that supports the main arm shaft by inserting it therethrough so as to be rotatable. In this configuration, the main arm shaft and the auxiliary arm shaft support each other at two points spaced apart in the axial direction so as to maintain a mutual distance. This makes it possible to suppress and reduce vibration of the main arm shaft caused by the pivoting motion of the second horizontal arm. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-170184 Summary of the Invention [Problem to be solved by the invention]

[0005] In the SCARA robot of Patent Document 1, a mechanical stopper is provided at the upper end of each auxiliary arm shaft, and the mechanical stopper abuts against a bearing to restrict further descent of the main arm shaft. However, because the bearings that support each auxiliary arm shaft are exposed to the outside, there is a risk that foreign objects may become caught between the bearings and the mechanical stopper. [Means for solving the problem]

[0006] The robot of the present invention comprises a base and a first arm connected to the base and rotatable about a first axis relative to the base; a second arm connected to the first arm and rotating about a second axis relative to the first arm; a main shaft disposed on the second arm and configured to rotate about and move along a third axis; A first support portion disposed on the second arm; A secondary bearing disposed in the first support portion; a secondary shaft that is journaled by the secondary bearing and moves in a direction along the third axis relative to the first support portion; a stopper that is disposed on the secondary shaft and comes into contact with the secondary bearing when the secondary shaft moves in a direction along the third axis; A second support portion connecting the main shaft and the sub shaft; A cover member is disposed on the first support portion and covers a contact portion of the sub-bearing with the stopper.

[0007] The robot system of the present invention includes a robot and A control device for controlling the driving of the robot, The robot includes a base and a first arm connected to the base and rotatable about a first axis relative to the base; a second arm connected to the first arm and rotating about a second axis relative to the first arm; a main shaft disposed on the second arm and configured to rotate about and move along a third axis; A first support portion disposed on the second arm; A secondary bearing disposed in the first support portion; a secondary shaft that is journaled by the secondary bearing and moves in a direction along the third axis relative to the first support portion; a stopper that is disposed on the secondary shaft and comes into contact with the secondary bearing when the secondary shaft moves in a direction along the third axis; A second support portion connecting the main shaft and the sub shaft; A cover member is disposed on the first support portion and covers a contact portion of the sub-bearing with the stopper. [Brief description of the drawings]

[0008] [Figure 1] 1 is an overall view of a robot system according to a first embodiment. [Diagram 2] FIG. 4 is a cross-sectional view of a second arm of the robot. [Diagram 3] FIG. 4 is a cross-sectional view of a second arm of the robot. [Figure 4] FIG. 2 is an exploded perspective view showing a reinforcement mechanism provided in the robot. [Diagram 5] FIG. 13 is a top view showing an upper support plate provided in the reinforcing mechanism. [Figure 6] FIG. 4 is a cross-sectional view of a sub-bearing provided in the reinforcing mechanism. [Figure 7] FIG. 4 is a cross-sectional view of a sub-bearing provided in the reinforcing mechanism. [Figure 8] 13 is an exploded perspective view of a cover member provided in the reinforcement mechanism. FIG. [Figure 9] FIG. 4 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. [Figure 10] 10 is an enlarged cross-sectional view of an area Q in FIG. [Figure 11]FIG. 4 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. [Figure 12] 10 is a front view showing a state in which the first cover member is placed on the second cover member. FIG. [Figure 13] FIG. 11 is an exploded perspective view of a cover member included in the robot according to the second embodiment. [Figure 14] FIG. 4 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. [Figure 15] FIG. 11 is a perspective view of a cover member included in the robot according to the third embodiment. [Figure 16] FIG. 4 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. [Figure 17] FIG. 13 is a perspective view of a cover member included in the robot according to the fourth embodiment. [Figure 18] FIG. 4 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. [Figure 19] 13 is a cross-sectional view of a cover member included in the robot according to the fifth embodiment. FIG. [Figure 20] FIG. 13 is a cross-sectional view showing a reinforcing mechanism provided in a robot according to a sixth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot and a robot system according to the present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings.

[0010] FIG. 1 is an overall view of a robot system according to a first embodiment. FIGS. 2 and 3 are cross-sectional views of a second arm provided in the robot. FIG. 4 is an exploded perspective view showing a reinforcing mechanism provided in the robot. FIG. 5 is a top view showing an upper support plate provided in the reinforcing mechanism. FIGS. 6 and 7 are cross-sectional views of an auxiliary bearing provided in the reinforcing mechanism. FIG. 8 is an exploded perspective view of a cover member provided in the reinforcing mechanism. FIG. 9 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. FIG. 10 is an enlarged cross-sectional view of an area Q in FIG. 9. FIG. 11 is a cross-sectional view showing a state in which the auxiliary bearing is covered with a cover member. FIG. 12 is a front view showing a state in which the first cover member is placed on the second cover member.

[0011] The up-down direction in Fig. 1 coincides with the vertical direction, and the upper side in Fig. 1 is also referred to as "upper" and the lower side as "lower". In addition, in this specification, "vertical" means not only when it coincides with the vertical, but also when it is inclined from the vertical within the range where the effect of the present invention can be exerted. In this specification, "parallel" means not only when two objects are parallel, but also when it is inclined from parallel within the range where the effect of the present invention can be exerted.

[0012] The robot system 1 shown in FIG. 1 includes a robot 2 and a control device 10 that controls the driving of the robot 2.

[0013] <Robot 2> The robot 2 is a horizontal articulated robot, that is, a SCARA robot, and is used for tasks such as holding, transporting, assembling, and inspecting workpieces such as electronic components. However, the use of the robot 2 is not particularly limited. The robot 2 may also be, for example, a six-axis articulated robot, a dual-arm robot, or the like, other than the SCARA robot.

[0014] 1, the robot 2 has a base 21 and a robot arm 22 connected to the base 21. The robot arm 22 has a first arm 221 having a base end connected to the base 21 and rotating around a first axis J1 that is vertical to the base 21, and a second arm 222 having a base end connected to a tip end of the first arm 221 and rotating around a second axis J2 that is vertical to the first arm 221.

[0015] Further, a working head 23 is provided at the tip of the second arm 222. As shown in Fig. 2, the working head 23 has a spline nut 231 and a ball screw nut 232 that are coaxially arranged at the tip of the second arm 222, and a spline shaft 233 that is a main shaft that is inserted through the spline nut 231 and the ball screw nut 232. The spline shaft 233 is rotatable about a third axis J3 that is its central axis and extends in the vertical direction relative to the second arm 222, and is movable (up and down) along the third axis J3.

[0016] 1, a stopper 233a is provided at the upper end of the spline shaft 233. A mounting portion 233b for mounting an end effector (not shown) is provided at the lower end of the spline shaft 233. The end effector is detachable from the mounting portion 233b, and an end effector suitable for the intended work is appropriately selected.

[0017] 1, the robot 2 has a first joint drive unit 251 that rotates the first arm 221 about the first axis J1 relative to the base 21, and a second joint drive unit 252 that rotates the second arm 222 about the second axis J2 relative to the first arm 221. Also, as shown in Fig. 2, the robot 2 has a first drive mechanism 253 that rotates the spline nut 231 to rotate the spline shaft 233 about the third axis J3, and a second drive mechanism 254 that rotates the ball screw nut 232 to move the spline shaft 233 in a direction along the third axis J3.

[0018] In addition, the spline nut 231 is located vertically lower than the ball screw nut 232. Since the spline nut 231, which supports the spline shaft 233 in the horizontal direction, is located closer to the lower end than the ball screw nut 232, the lower end of the spline shaft 233 is unlikely to vibrate in the horizontal direction. The first drive mechanism 253 has a motor (not shown) and a belt connecting the spline nut 231 and the motor. The second drive mechanism 254 has a motor (not shown) and a belt connecting the ball screw nut 232 and the motor. The second joint drive unit 252 has a motor and a reducer (not shown). The motor of the first drive mechanism 253 and the motor of the second drive mechanism 254 are disposed closer to the tip of the second arm 222 than the motor of the second joint drive unit 252.

[0019] Returning to the description of the second arm 222, as shown in FIG. 2, the second arm 222 has an arm base 222a which is a rigid body connected to the first arm 221 via the second joint drive unit 252, and an arm cover member 222b which is an exterior member covering the arm base 222a. The arm cover member 222b has a part of its upper surface cut out. In the arm cover member 222b, the spline nut 231 is rotatably supported by the arm base 222a via the first main bearing 234, and the ball screw nut 232 is rotatably supported by the arm base 222a via the second main bearing 235. As shown in FIG. 3, a stopper 233a disposed on the spline shaft 233 abuts against an abutment portion 234a which is the upper end surface of the first main bearing 234, thereby restricting and preventing further downward movement of the spline shaft 233.

[0020] An inertial sensor unit (not shown) is provided on the tip side of the second arm 222. In particular, in this embodiment, the inertial sensor unit is provided between virtual straight lines L1 and L2 (described later) in a plan view from the vertical direction, and is attached to the arm base 222a inside the second arm 222. The inertial sensor unit includes an inertial sensor that detects at least one of angular velocity and acceleration. The inertial sensor unit acquires an output of the inertial sensor at a constant period and sends a signal to the control device 10. The control device 10 controls the robot 2 based on the signal from the inertial sensor unit. This makes it possible to suppress vibrations when the robot 2 is driven.

[0021] As shown in FIG. 1, the second arm 222 has a user plate 26, which is a plate portion exposed from a notch in the upper surface of the arm cover member 222b. At least one connector 261 is disposed on the user plate 26. An internal wiring (not shown) is connected to the connector 261 inside the second arm 222. This internal wiring passes through the insides of the second arm 222, the first arm 221, and the base 21, and is connected to an external wiring via a connector provided on the base 21. The external wiring is connected to the control device 10, etc. Note that a pipe connecting the second arm 222 and the base 21 may be provided, and the internal wiring may be passed through the inside of this pipe. In this case, it is preferable that the pipe connector connecting the pipe and the second arm 222 is disposed on the second axis J2 so that the pipe is not twisted. The connector 261 is not particularly limited, and examples thereof include a power connector for the end effector, a connector for supplying compressed air used in the end effector, a connector for a camera attached to the second arm 222 or the end effector, a connector for LAN connection, and connectors for various sensors such as an acceleration sensor, an angular velocity sensor, a force sensor, a proximity sensor, and a temperature sensor.

[0022] The user plate 26, which is a plate portion, is made of a sufficiently hard material such as a metal material or a resin material. This ensures the rigidity of the user plate 26, and allows devices such as a sensor that determines whether the end effector holds an object or a pump connected to the end effector to be installed on the user plate 26. The user plate 26 may be divided into a plurality of parts, and for example, a first user plate having a connector may be arranged on the tip side, and a second user plate having another connector or a piping connector may be arranged on the base end side. This allows the connector or piping connector to be freely positioned. Also, the user plate 26 may be directly arranged on the upper surface of the arm cover member 222b without providing a notch on the upper surface of the arm cover member 222b.

[0023] 1, the robot 2 further includes a reinforcing mechanism 3 that suppresses vibration and twisting of the spline shaft 233 caused by the rotational motion of the second arm 222. The reinforcing mechanism 3 suppresses vibration and twisting of the spline shaft 233 by increasing the rigidity of the spline shaft 233. Note that the vibration and twisting of the spline shaft 233 become more noticeable as the load applied to the spline shaft 233 becomes heavier, that is, as the robot 2 has a heavier payload. Note that the "rotational motion of the second arm 222" refers to the turning motion of the second arm 222 caused by at least one of the rotation of the first arm 221 about the first axis J1 and the rotation of the second arm 222 about the second axis J2.

[0024] As shown in FIG. 4, the reinforcement mechanism 3 has an upper support plate 31 as a first support fixed to the lower surface of the tip of the arm base 222a. The upper support plate 31 is a tapered, approximately triangular plate member in a plan view from the vertical direction, and both sides of the base end, that is, the end close to the second axis J2, protrude outward from both sides of the second arm 222. That is, as shown in FIG. 5, the upper support plate 31 protrudes along a straight line intersecting the central axis A of the second arm 222 in a plan view from the vertical direction. In this embodiment, the central axis A of the second arm 222 coincides with a straight line connecting the second axis J2 and the third axis J3. In the following, the part protruding on one side of the second arm 222 is referred to as a protruding part 311, and the part protruding on the other side is referred to as a protruding part 312. In addition, the protruding parts 311 and 312 are formed symmetrically with respect to the central axis A of the second arm 222 in a plan view from the vertical direction. Furthermore, a through hole through which the spline shaft 233 is inserted is formed in the center of the upper support plate 31 .

[0025] 4 and 5, the reinforcement mechanism 3 has a secondary shaft 321 inserted into a through hole formed in the protruding portion 311 of the upper support plate 31, and a secondary shaft 322 inserted into a through hole formed in the protruding portion 312 of the upper support plate 31. The secondary shafts 321 and 322 are each parallel to the spline shaft 233 and disposed along the vertical direction. As shown in FIG. 5, the secondary shafts 321 and 322 are each located outside the second arm 222 and disposed symmetrically with respect to the central axis A of the second arm 222 in a plan view from the vertical direction.

[0026] 5, in a plan view from the vertical direction, the central axes of the secondary shafts 321 and 322 are located closer to the base end of the second arm 222, i.e., closer to the second axis J2, than the central axis of the spline shaft 233. In a plan view from the vertical direction, the central axes of the secondary shafts 321 and 322 are located closer to the tip of the second arm 222 than the tip of the user plate 26. In other words, in a plan view from the vertical direction, the central axes of the secondary shafts 321 and 322 are located between a virtual straight line L1 that intersects with the third axis J3 and is perpendicular to the central axis A of the second arm 222, and a virtual straight line L2 that is tangent to the tip of the user plate 26 and is perpendicular to the central axis A of the second arm 222.

[0027] As shown in FIG. 4 and FIG. 5, the reinforcement mechanism 3 has a sub-bearing 331 arranged on the protruding portion 311 and a sub-bearing 332 arranged on the protruding portion 312. The sub-shaft shaft 321 is inserted through the sub-bearing 331 and is supported by the sub-bearing 331 so as to be movable up and down relative to the upper support plate 31. Similarly, the sub-shaft shaft 322 is inserted through the sub-bearing 332 and is supported by the sub-bearing 332 so as to be movable up and down relative to the upper support plate 31. As shown in FIG. 6, the sub-bearings 331 and 332 are configured such that a plurality of balls (hard balls) contacting the surfaces of the sub-shaft shafts 321 and 322 are arranged along the axial direction of the sub-shaft shafts 321 and 322, and a plurality of annular ball rows that can circulate from one end through the inside to the other end are arranged along the inner circumference. With this configuration, the movement of the sub-shaft shafts 321 and 322 becomes smoother. However, the configuration of the sub-bearings 331 and 332 is not particularly limited. For example, the balls may be arranged in a spiral.

[0028] 1, a stopper 321a is provided at the upper end of the secondary shaft 321. Similarly, a stopper 322a is provided at the upper end of the secondary shaft 322. Then, as shown in FIG. 7, the stoppers 321a, 322a come into contact with abutment portions 331a, 332a which are the upper end faces of the secondary bearings 331, 332, thereby restricting and preventing further downward movement of the secondary shafts 321, 322.

[0029] Here, when the stopper 233a arranged on the spline shaft 233 abuts against the abutment portion 234a of the first main bearing 234, the stoppers 321a, 322a arranged on the secondary shafts 321, 322 abut against the abutment portions 331a, 332a of the secondary bearings 331, 332. In this way, the three stoppers 233a, 321a, 322a abut against the abutment portions 234a, 331a, 332a simultaneously, so that the impact at the time of abutment can be dispersed and damage or failure of the robot 2 can be effectively suppressed.

[0030] However, without being limited thereto, the stopper 233a arranged on the spline shaft 233 may come into contact with the contact portion 234a of the first main bearing 234, and then the stoppers 321a and 322a arranged on the secondary shafts 321 and 322 may come into contact with the contact portions 331a and 332a of the secondary bearings 331 and 332. In this case, at least the lower portion of the stopper 233a that comes into contact first may be made of an elastic body such as a rubber material, and the elastic body may be compressed by the contact, so that the stoppers 321a and 322a come into contact later. Conversely, the stopper 233a arranged on the spline shaft 233 may come into contact with the contact portion 234a of the first main bearing 234 after the stoppers 321a and 322a arranged on the secondary shafts 321 and 322 come into contact with the contact portions 331a and 332a of the secondary bearings 331 and 332. In this case, at least the lower portions of stoppers 321a and 322a, which come into contact first, may be made of an elastic body, and stopper 233a may come into contact later.

[0031] As shown in FIG. 4, the reinforcement mechanism 3 has a lower support plate 34 as a second support portion disposed below the upper support plate 31. The lower support plate 34 is a tapered, generally U-shaped plate member having the same contour as the upper support plate 31 in a plan view from the vertical direction. The lower end of the secondary shaft 321 is fixed to one end of the lower support plate 34, and the lower end of the secondary shaft 322 is fixed to the other end. The spline shaft 233 is inserted through a through hole formed in the center of the lower support plate 34, and the mounting portion 233b provided at the lower end of the spline shaft 233 is located below the lower support plate 34. The spline shaft 233 and the secondary shafts 321 and 322 are supported and connected to each other by the lower support plate 34 so as to maintain a distance therebetween.

[0032] 2 to 4, the reinforcement mechanism 3 has a third main bearing 35 arranged on the lower support plate 34. The spline shaft 233 is inserted through the third main bearing 35 and is supported by the third main bearing 35 to be rotatable about a third axis J3 relative to the lower support plate 34. The third main bearing 35 supports the spline shaft 233 in the vicinity of the lower end of the spline shaft 233.

[0033] As shown in Figs. 2 and 3, the reinforcement mechanism 3 has a stopper 361 through which the spline shaft 233 is inserted, two spacers 362 and 363, and a set collar 364. Of these, the stopper 361 is located between the second main bearing 235 and the third main bearing 35, and abuts against the abutment portion 235a, which is the lower end surface of the second main bearing 235, thereby restricting and preventing further upward movement of the spline shaft 233. The spacer 362 is located between the stopper 361 and the third main bearing 35, and has a function of positioning the stopper 361 relative to the lower support plate 34. The set collar 364 is located below the lower support plate 34, and functions as a mark for making it easy to understand the attachment position of the end effector to the mounting portion 233b. The spacer 363 is located between the set collar 364 and the third main bearing 35, and has a function of positioning the set collar 364 relative to the lower support plate 34.

[0034] In this embodiment, the spline shaft 233 and the sub shafts 321 and 322 each have a cylindrical hollow structure. Therefore, wiring, air piping, and the like connected to the end effector and the like can be routed through the spline shaft 233 and the sub shafts 321 and 322. As a result, the wiring, air piping, and the like are less likely to be exposed around the end effector, enabling smooth robot operation.

[0035] The basic configuration of the reinforcement mechanism 3 has been described above. In such a reinforcement mechanism 3, when the ball screw nut 232 is rotated by the second driving mechanism 254 to move the spline shaft 233 up and down, the lower support plate 34 also moves up and down, and therefore the sub-shafts 321, 322 also move up and down. As described above, the spline shaft 233 is journaled to the second arm 222 by the ball screw nut 232 and the spline nut 231, and the sub-shafts 321, 322 are journaled to the second arm 222 by the sub-bearings 331, 332 mounted on the upper support plate 31. Furthermore, the spline shaft 233 and the sub-shafts 321, 322 are mutually supported by the lower support plate 34 so as to maintain a mutual distance. Therefore, in the robot 2, the spline shaft 233 and the sub-shafts 321, 322 are structured to support each other so as to maintain a mutual distance at two points spaced apart vertically. As a result, the rigidity of the spline shaft 233 is increased, and vibration and twisting of the spline shaft 233 during the rotational movement of the second arm 222 can be effectively suppressed and reduced.

[0036] In particular, in this embodiment, since the secondary shafts 321 and 322 are located outside the second arm 222, the secondary shafts 321 and 322 can be arranged with a high degree of freedom. Therefore, the secondary shafts 321 and 322 can be sufficiently separated from the spline shaft 233, and the rigidity of the spline shaft 233 can be further increased. The secondary shafts 321 and 322 are arranged such that, in a plan view from the vertical direction, a triangle formed by connecting the central axes of the spline shaft 233 and the secondary shafts 321 and 322 is close to an equilateral triangle, preferably an equilateral triangle. By arranging in this manner, the rigidity of the spline shaft 233 can be further increased. However, the arrangement of the secondary shafts 321 and 322 is not particularly limited.

[0037] In this embodiment, the spline shaft 233 and the sub-shafts 321 and 322 are mutually supported by the lower support plate 34 at a portion close to the lower end of the spline shaft 233, that is, at a portion close to the mounting portion 233b on which the end effector is mounted. Therefore, even when the spline shaft 233 is extended downward, vibration and twisting of the spline shaft 233 can be effectively suppressed. In addition, the central axes of the sub-shafts 321 and 322 are located closer to the base end of the second arm 222 than the central axis of the spline shaft 233. Therefore, an increase in the moment of inertia of the second arm 222 due to the provision of the reinforcing mechanism 3 can be kept small, and a decrease in the movement performance of the robot 2 can be effectively suppressed. In addition, the central axes of the sub-shafts 321 and 322 are located closer to the tip of the second arm 222 than the tip of the user plate 26. Therefore, the sub-shafts 321 and 322 are less likely to obstruct access to the user plate 26, and the work of connecting wiring, air piping, and the like to the user plate 26 becomes easier. In addition, interference between the wiring, air piping, etc. connected to the user plate 26 and the sub-shafts 321 and 322 can be suppressed.

[0038] 4, the reinforcement mechanism 3 further has a cover member 37 that is disposed on the upper support plate 31 and covers the sub-bearings 331, 332. The cover member 37 has a first cover member 38 that constitutes a side wall portion of the cover member 37 and covers the sides of the sub-bearings 331, 332, and a second cover member 39 that constitutes a top plate portion and covers the upper sides of the sub-bearings 331, 332. By dividing the cover member 37 into a plurality of parts in this way, it becomes easier to form the cover member 37.

[0039] However, the present invention is not limited to this, and the first cover member 38 and the second cover member 39 may be integrally formed. Also, the first cover member 38 may be integrally formed with the upper support plate 31.

[0040] The cover member 37 has a contour similar to that of the upper support plate 31 in a plan view from the vertical direction, and is generally tapered in a U-shape.

[0041] The first cover member 38 is formed by bending a single metal plate at a predetermined location. The metal material constituting the first cover member 38 is not particularly limited, but is preferably a light and easily bendable material such as aluminum (Al), stainless steel (SUS), or steel plate. In particular, in this embodiment, the first cover member 38 is made of galvanized steel plate (SECC).

[0042] As shown in FIG. 8, the first cover member 38 has seven flat plate portions 381a, 381b, 381c, 381d, 381e, 381f, and 381g connected by six curved corner portions 382a, 382b, 382c, 382d, 382e, and 382f. Specifically, flat plate portions 381a, 381b are connected by corner portion 382a located therebetween, flat plate portions 381b, 381c are connected by corner portion 382b located therebetween, flat plate portions 381c, 381d are connected by corner portion 382c located therebetween, flat plate portions 381d, 381e are connected by corner portion 382d located therebetween, flat plate portions 381e, 381f are connected by corner portion 382e located therebetween, and flat plate portions 381f, 381g are connected by corner portion 382f located therebetween. In the following, for ease of explanation, when the flat portions 381a, 381b, 381c, 381d, 381e, 381f, and 381g are mentioned without distinction, they will also be referred to as "flat portion 381", and when the corner portions 382a, 382b, 382c, 382d, 382e, and 382f are mentioned without distinction, they will also be referred to as "corner portion 382".

[0043] In the first cover member 38, the height T2 of the corner portion 382 is greater than the height T1 of the flat plate portion 381, and the upper end of the corner portion 382 is positioned to protrude upward from the upper end of the flat plate portion 381. Meanwhile, the lower end of the flat plate portion 381 and the lower end of the corner portion 382 are aligned in height. In addition, a screw insertion hole 384 for fixing the first cover member 38 to the upper support plate 31 is formed in the lower end of the flat plate portion 381. In particular, in this embodiment, one screw insertion hole 384 is formed in each of the flat plate portions 381a, 381b, 381c, 381d, 381e, 381f, and 381g. This allows the first cover member 38 to be appropriately fixed to the upper support plate 31 while reducing the number of screws and preventing a gap from occurring between the first cover member 38 and the upper support plate 31.

[0044] Here, as shown in FIG. 9 and FIG. 10, the upper surface of the upper support plate 31 is slightly smaller than the lower surface, and a step surface 319 facing vertically upward is formed on a side surface connecting the upper surface and the lower surface. The first cover member 38 is placed on this step surface 319. Furthermore, screw engagement holes 318 are formed on the side surface of the upper support plate 31, which overlap with the screw insertion holes 384 when the first cover member 38 is placed on the step surface 319. Therefore, the first cover member 38 is fixed to the upper support plate 31 by fastening the screws B1 inserted into the screw insertion holes 384 to the screw engagement holes 318. According to this configuration, the screws can be tightened in a state in which the first cover member 38 is placed on the upper support plate 31, so that the work of fixing the first cover member 38 to the upper support plate 31 and the work of removing the first cover member 38 from the upper support plate 31 are easy.

[0045] As shown in FIG. 8, the first cover member 38 includes a locking piece 383a extending from the upper end of the flat plate portion 381a and extending horizontally toward the inside of the cover member 37, a locking piece 383b extending from the upper end of the flat plate portion 381b and extending horizontally toward the inside of the cover member 37, a locking piece 383c extending from the upper end of the flat plate portion 381c and extending horizontally toward the inside of the cover member 37, and a locking piece 383d extending from the upper end of the flat plate portion 381d. and has a locking piece 383d extending horizontally toward the inside of the cover member 37, a locking piece 383e extending from the upper end of the flat plate portion 381e and extending horizontally toward the inside of the cover member 37, a locking piece 383f extending from the upper end of the flat plate portion 381f and extending horizontally toward the inside of the cover member 37, and a locking piece 383g extending from the upper end of the flat plate portion 381g and extending horizontally toward the inside of the cover member 37. In the following, for convenience of explanation, when locking pieces 383a, 383b, 383c, 383d, 383e, 383f, and 383g are mentioned without distinction, they are also referred to as "locking pieces 383".

[0046] Further, the locking pieces 383 are formed with screw engagement holes 385 for fixing the second cover member 39 to the first cover member 38. Particularly in this embodiment, the locking pieces 383a, 383b, 383c, 383d, 383e, 383f, and 383g each have one screw engagement hole 385 formed therein.

[0047] 8, the second cover member 39 is a tapered, generally U-shaped plate member having the same contour as the upper support plate 31 in a plan view from the vertical direction. The second cover member 39 is also formed with insertion holes 391, 392 through which the secondary shafts 321, 322 are inserted. The second cover member 39 is placed on the first cover member 38 with the secondary shafts 321, 322 inserted through the insertion holes 391, 392.

[0048] As shown in FIG. 9 and FIG. 10, the second cover member 39 is located above the abutment parts 331a, 332a which are the upper end surfaces of the auxiliary bearings 331, 332. More specifically, as shown in FIG. 11, the second cover member 39 is located above the stoppers 321a, 322a when the stoppers 321a, 322a are in abutment with the abutment parts 331a, 332a. Therefore, the abutment parts 331a, 332a are covered by the cover member 37. In this way, by covering the abutment parts 331a, 332a with the cover member 37, it is possible to effectively prevent an object from being caught between the abutment parts 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 is stabilized, and safety is also improved.

[0049] In addition, the second cover member 39 is located below the user plate 26. In other words, the upper end of the cover member 37 is located below the user plate 26. With this configuration, access to the user plate 26 is less likely to be obstructed by the cover member 37, making it easier to connect wiring, air piping, etc. to the user plate 26. In addition, interference between the cover member 37 and the wiring, air piping, etc. connected to the user plate 26 can also be suppressed.

[0050] As described above, in the first cover member 38, the upper end of the corner portion 382 is located above the upper end of the flat plate portion 381. Therefore, as shown in FIG. 12, the outer edge of the second cover member 39 is placed on the upper end surface of the corner portion 382, ​​and a small gap G is formed between the flat plate portion 381 and the second cover member 39. The locking piece 383 is extended from the upper end of the flat plate portion 381, and the height T1 of the flat plate portion 381 is likely to deviate from the design value due to the bending process for forming the locking piece 383. On the other hand, the locking piece 383 is not extended from the corner portion 382, ​​and the bending process as described above is not required. Therefore, the corner portion 382 has a higher height accuracy than the flat plate portion 381, and the second cover member 39 can be positioned in the height direction with high accuracy by placing the second cover member 39 on the corner portion 382 in a non-contact state with the flat plate portion 381.

[0051] In particular, in this embodiment, as shown in Fig. 10, a bulging portion 226 that bulges outward toward the outer periphery is formed at the lower end of the arm cover member 222b. The function of the bulging portion 226 is not particularly limited, but may include, for example, improving the aesthetics of the robot 2 and improving the mechanical strength of the arm cover member 222b. In order to improve the aesthetics, the height of the cover member 37 is set so that the upper end of the bulging portion 226 and the upper end of the cover member 37 are at the same height. Therefore, by performing high-precision positioning of the second cover member 39 in the height direction as in this embodiment, the upper end of the bulging portion 226 and the upper end of the cover member 37 can be more reliably aligned, and the aesthetics of the robot 2 can be improved.

[0052] Furthermore, the second cover member 39 has screw insertion holes 393 formed therein, which overlap with the respective screw engagement holes 385. Then, the second cover member 39 is fixed to the first cover member 38 by fastening the screws B2 inserted into the respective screw insertion holes 393 to the corresponding screw engagement holes 385. According to this configuration, the screws can be fastened in a state in which the second cover member 39 is placed on the first cover member 38, which makes it easier to fix the second cover member 39 to the first cover member 38 and to remove the second cover member 39 from the first cover member 38.

[0053] The reinforcement mechanism 3 has been described above. In such a reinforcement mechanism 3, all of the members constituting the reinforcement mechanism 3 are disposed outside the second arm 222. This makes it easy to attach the reinforcement mechanism 3 to the robot 2. Therefore, for example, a manufacturer can easily change the specifications of a robot with low transport capacity to one with high transport capacity by attaching the reinforcement mechanism 3 to the robot. Also, a user can easily modify a robot with low transport capacity to one with high transport capacity by retrofitting the reinforcement mechanism 3 to the robot with low transport capacity.

[0054] Furthermore, in the reinforcement mechanism 3, by removing the cover member 37 from the upper support plate 31, maintenance of the auxiliary bearings 331, 332 can be easily performed.

[0055] <Control device 10> As shown in FIG. 1, the control device 10 controls the driving of the robot 2. The control device 10 is mainly configured to include a control board and a power supply board, and is provided separately from the robot 2. Such a control device 10 is, for example, configured from a computer, and has a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the various programs stored in the memory. The control device 10 may be configured with multiple processors. The control device 10 may also be provided integrally with the robot 2.

[0056] The above describes the robot system 1. The robot 2 included in the robot system 1 includes a base 21, a first arm 221 connected to the base 21 and rotating about a first axis J1 relative to the base 21, a second arm 222 connected to the first arm 221 and rotating about a second axis J2 relative to the first arm 221, a spline shaft 233 that is disposed on the second arm 222 and serves as a main shaft that rotates about a third axis J3 and moves along the third axis J3, an upper support plate 31 that is a first support portion disposed on the second arm 222, secondary bearings 331, 332 that are disposed on the upper support plate 31, and a secondary bearing 331, 333 that is disposed on the upper support plate 31. The lower support plate 34 includes: secondary shafts 321, 322 journaled on the upper support plate 31 and moving in a direction along the third axis J3 relative to the upper support plate 31; stoppers 321a, 322a disposed on the secondary shafts 321, 322 and abutting against the secondary bearings 331, 332 as the secondary shafts 321, 322 move in a direction along the third axis J3; a lower support plate 34 as a second support portion connecting the spline shaft 233 and the secondary shafts 321, 322; and a cover member 37 disposed on the upper support plate 31 and covering the abutment portions 331a, 332a of the secondary bearings 331, 332 with the stoppers 321a, 322a. According to this configuration, since the abutment portions 331a, 332a are covered by the cover member 37, it is possible to effectively prevent an object from being caught between the abutment portions 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 becomes stable and safety is improved.

[0057] As described above, the second arm 222 has the arm base 222a on which the upper support plate 31 is disposed, and the arm cover member 222b disposed on the arm base 222a. The arm cover member 222b has a bulging portion 226 that bulges outwardly when viewed from above in a direction along the third axis J3, i.e., in the vertical direction. The upper end of the cover member 37 is located at the same height as the upper end of the bulging portion 226. This configuration can improve the aesthetic appeal of the robot 2.

[0058] As described above, the central axes of the sub shafts 321, 322 are located closer to the base end of the second arm 222 than the central axis of the spline shaft 233 in plan view in the direction along the third axis J3, i.e., in the vertical direction. With this configuration, it is possible to keep the increase in the moment of inertia of the second arm 222 caused by providing the reinforcing mechanism 3 small, and it is possible to effectively suppress the deterioration of the movement performance of the robot 2.

[0059] As described above, the second arm 222 has the user plate 26, which is a plate portion on which at least one connector 261 is arranged. The upper end of the cover member 37 is located below the user plate 26. With this configuration, access to the user plate 26 is less likely to be obstructed by the cover member 37, making it easier to connect wiring, air piping, and the like to the user plate 26. In addition, interference between the cover member 37 and the wiring, air piping, and the like connected to the user plate 26 can also be suppressed.

[0060] As described above, the central axes of the secondary shafts 321, 322 are located on the tip side of the second arm 222 relative to the tip of the user plate 26, which is a plate portion, in a plan view in a direction along the third axis J3, i.e., in a vertical direction. With this configuration, the secondary shafts 321, 322 are less likely to obstruct access to the user plate 26, making it easier to connect wiring, air piping, and the like to the user plate 26. It is also possible to suppress interference between the secondary shafts 321, 322 and the wiring, air piping, and the like connected to the user plate 26.

[0061] As described above, the secondary shafts 321, 322 are hollow and tubular. With this configuration, the wiring, air piping, etc. connected to the end effector and the like can be routed through the secondary shafts 321, 322. As a result, the wiring, air piping, etc. are less likely to be exposed around the end effector, enabling smooth robot operation.

[0062] As described above, the cover member 37 has a first cover member 38 that includes the side wall portion of the cover member 37, and a second cover member 39 that includes the top plate portion of the cover member 37. By dividing the cover member 37 into a plurality of parts in this manner, the cover member 37 can be easily formed.

[0063] As described above, the first cover member 38 has the flat plate portion 381 which is a first portion having the locking piece 383 which is a bent portion at the upper end, and the corner portion 382 which is a second portion not having the locking piece 383. The second cover member 39 is placed on the corner portion 382. With this configuration, the second cover member 39 can be positioned in the height direction with high accuracy.

[0064] As described above, the second cover member 39 is fixed to the locking piece 383. With this configuration, the second cover member 39 can be easily fixed to the first cover member .

[0065] As described above, the upper support plate 31 has the stepped surface 319 on which the first cover member 38 is placed. With this configuration, the first cover member 38 can be fixed to the upper support plate 31 easily.

[0066] As described above, the robot system 1 includes the robot 2 and the control device 10 that controls the driving of the robot 2. The robot 2 includes the base 21, the first arm 221 connected to the base 21 and rotating about the first axis J1 relative to the base 21, the second arm 222 connected to the first arm 221 and rotating about the second axis J2 relative to the first arm 221, the spline shaft 233 that is disposed on the second arm 222 and serves as a main shaft that rotates about the third axis J3 and moves along the third axis J3, the upper support plate 31 that is a first support portion that is disposed on the second arm 222, the auxiliary bearings 331 and 332 that are disposed on the upper support plate 31, and the auxiliary bearings 331 and 332 that are journaled by the auxiliary bearings 331 and 332. The spline shaft 233 includes: secondary shafts 321, 322 that move relative to the upper support plate 31 in a direction along the third axis J3; stoppers 321a, 322a that are disposed on the secondary shafts 321, 322 and come into contact with the secondary bearings 331, 332 as the secondary shafts 321, 322 move in a direction along the third axis J3; a lower support plate 34 that is a second support portion that connects the spline shaft 233 and the secondary shafts 321, 322; and a cover member 37 that is disposed on the upper support plate 31 and covers the contact portions 331a, 332a of the secondary bearings 331, 332 with the stoppers 321a, 322a. With this configuration, the contact portions 331a, 332a are covered by the cover member 37, so that it is possible to effectively prevent an object from being caught between the contact portions 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 becomes stable and safety is improved.

[0067] <Second embodiment> Fig. 13 is an exploded perspective view of a cover member included in the robot according to the second embodiment. Fig. 14 is a cross-sectional view showing the sub-bearing covered with the cover member.

[0068] This embodiment is similar to the first embodiment described above, except that the configuration of the cover member 37 is different. In the following description, the present embodiment will be described focusing on the differences from the first embodiment described above, and the description of the similarities will be omitted. In each drawing of this embodiment, the same reference numerals are used for the same configurations as those in the previously described embodiment.

[0069] 13 and 14, the cover member 37 of this embodiment has a first cover member 38 constituting a side wall portion and a second cover member 39 constituting a top plate portion. In the first cover member 38, the locking piece 383 is omitted from the configuration of the first embodiment described above, and the upper ends of the flat plate portion 381 and the corner portion 382 are aligned. In addition, a screw engagement hole 385 for fixing the second cover member 39 to the first cover member 38 is formed in the upper end portion of the flat plate portion 381.

[0070] On the other hand, the second cover member 39 is concave with a tab portion 394 erected downward from the outer edge, and is placed on the upper end of the first cover member 38. Such a second cover member 39 is formed, for example, by bending and deforming a metal plate by drawing. Also, the tab portion 394 has a screw insertion hole 393 formed in a portion overlapping the screw engagement hole 385 of the first cover member 38. Therefore, the second cover member 39 is fixed to the first cover member 38 by fastening the screw B2 inserted into each screw insertion hole 393 to the screw engagement hole 385. According to the first cover member 38 having such a configuration, the edge formed on the end face of the first cover member 38 faces downward, so that the risk of a sharp edge can be reduced.

[0071] The second embodiment as described above can also achieve the same effects as the first embodiment.

[0072] <Third embodiment> Fig. 15 is a perspective view of a cover member included in the robot according to the third embodiment. Fig. 16 is a cross-sectional view showing the sub-bearing covered with the cover member.

[0073] This embodiment is similar to the first embodiment described above, except that the configuration of the cover member 37 is different. In the following description, the present embodiment will be described focusing on the differences from the first embodiment described above, and the description of the similarities will be omitted. In each drawing of this embodiment, the same reference numerals are used for the same configurations as those in the previously described embodiment.

[0074] As shown in Figs. 15 and 16, the cover member 37 of this embodiment is formed to extend further upward than that of the first embodiment described above. Therefore, the upper end of the cover member 37 is located above the upper end of the bulging portion 226. With this configuration, the ceiling portion of the cover member 37, i.e., the second cover member 39, can be disposed at a higher position relative to the abutment portions 331a, 332a of the auxiliary bearings 331, 332, so that it is possible to more effectively prevent an object from being caught between the abutment portions 331a, 332a and the stoppers 321a, 322a. Therefore, the driving of the robot 2 becomes more stable, and safety is also improved.

[0075] In addition, the upper end of the cover member 37 is located below the user plate 26. With this configuration, access to the user plate 26 is less likely to be obstructed by the cover member 37, facilitating the work of connecting wiring, air piping, etc. to the user plate 26. In addition, interference between the cover member 37 and the wiring, air piping, etc. connected to the user plate 26 can also be suppressed.

[0076] As described above, in the robot 2 of this embodiment, the second arm 222 has the arm base 222a on which the upper support plate 31 is disposed, and the arm cover member 222b disposed on the arm base 222a. The arm cover member 222b has a bulging portion 226 that bulges outward in a plan view in a direction along the third axis J3, i.e., in a vertical direction. The upper end of the cover member 37 is located above the upper end of the bulging portion 226. With this configuration, the ceiling portion of the cover member 37, i.e., the second cover member 39, can be disposed at a higher position relative to the abutment portions 331a, 332a of the auxiliary bearings 331, 332, so that it is possible to more effectively prevent an object from being caught between the abutment portions 331a, 332a and the stoppers 321a, 322a. This makes the drive of the robot 2 more stable, and also improves safety.

[0077] The third embodiment as described above can also achieve the same effects as the first embodiment described above.

[0078] <Fourth embodiment> Fig. 17 is a perspective view of a cover member included in the robot according to the fourth embodiment. Fig. 18 is a cross-sectional view showing the sub-bearing covered with the cover member.

[0079] This embodiment is similar to the first embodiment described above, except that the configuration of the cover member 37 is different. In the following description, the present embodiment will be described focusing on the differences from the first embodiment described above, and the description of the similarities will be omitted. In each drawing of this embodiment, the same reference numerals are used for the same configurations as those in the previously described embodiment.

[0080] 17 and 18, the cover member 37 of this embodiment extends further upward than that of the third embodiment described above, and covers the entire portion of the spline shaft 233 and the sub shafts 321, 322 located above the upper support plate 31. With this configuration, the cover member 37 covers not only the contact portions 331a, 332a but also the stoppers 321a, 322a, so that it is possible to more effectively prevent an object from being caught between the contact portions 331a, 332a and the stoppers 321a, 322a.

[0081] The fourth embodiment as described above can also achieve the same effects as the first embodiment described above.

[0082] <Fifth embodiment> FIG. 19 is a cross-sectional view of a cover member included in the robot according to the fifth embodiment.

[0083] This embodiment is similar to the fourth embodiment described above, except for the difference in the configuration of the cover member 37. In the following description, the present embodiment will be described mainly with respect to the differences from the fourth embodiment described above, and the description of the similar points will be omitted. In addition, in the drawings of this embodiment, the same reference numerals are used for the same configurations as the above-mentioned embodiment.

[0084] In the above-described fourth embodiment, the cover member 37 is divided into a first cover member 38 and a second cover member 39. In contrast, as shown in Fig. 19, the cover member 37 of this embodiment is formed by integrally forming the first cover member 38 and the second cover member 39. In addition, in this embodiment, the cover member 37 is made of a resin material. This makes it possible to easily form the cover member 37 in which the first cover member 38 and the second cover member 39 are integrated by injection molding or the like.

[0085] The fifth embodiment as described above can also achieve the same effects as the first embodiment.

[0086] Sixth Embodiment FIG. 20 is a cross-sectional view showing a reinforcing mechanism included in the robot according to the sixth embodiment.

[0087] This embodiment is similar to the first embodiment described above, except for the configuration of the reinforcing mechanism 3. In the following description, the present embodiment will be described focusing on the differences from the first embodiment described above, and the description of the similarities will be omitted. In the drawings of this embodiment, the same reference numerals are used for the same configurations as the above-mentioned embodiment.

[0088] 20, the reinforcement mechanism 3 of this embodiment further includes a pair of positioning jigs 30A, 30B for positioning the lower support plate 34 relative to the upper support plate 31. Each of the positioning jigs 30A, 30B includes a base 301, an upper protrusion 302 protruding upward from the base 301, and a lower protrusion 303 protruding downward from the base 301.

[0089] Further, a lower recess 341 with which the lower protrusion 303 of the positioning jig 30A engages is formed on the upper surface of one end (the end on the sub-bearing 331 side) of the lower support plate 34, and a lower recess 342 with which the lower protrusion 303 of the positioning jig 30B engages is formed on the upper surface of the other end (the end on the sub-bearing 332 side). On the other hand, an upper recess 315 with which the upper protrusion 302 of the positioning jig 30A engages is formed on the lower surface of the upper support plate 31 at a portion facing the lower recess 341, and an upper recess 316 with which the upper protrusion 302 of the positioning jig 30B engages is formed on a portion facing the lower recess 342.

[0090] 20, the positioning jigs 30A, 30B are sandwiched between the upper support plate 31 and the lower support plate 34, and the secondary bearings 331, 332 are centered in a state in which the lower support plate 34 is positioned relative to the upper support plate 31. In other words, the central axes of the secondary bearings 331, 332 and the secondary shafts 321, 322 are aligned. With this configuration, the secondary bearings 331, 332 can be centered in a simple manner. After centering the secondary bearings 331, 332, the positioning jigs 30A, 30B are removed.

[0091] The sixth embodiment as described above can also achieve the same effects as the first embodiment.

[0092] Although the robot and robot system of the present invention have been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part can be replaced with any configuration having a similar function. In addition, any other configuration may be added to the present invention. [Explanation of symbols]

[0093] 1...robot system, 10...control device, 2...robot, 21...base, 22...robot arm, 221...first arm, 222...second arm, 222a...arm base, 222b...arm cover member, 226...bulge, 23...working head, 231...spline nut, 232...ball screw nut, 233...spline shaft, 233a...stopper, 233b...mounting portion, 234...first main bearing, 234a...contact portion, 235...second main bearing, 235a...contact portion, 251...first joint drive portion, 252...second joint drive portion, 253 ...first drive mechanism, 254...second drive mechanism, 26...user plate, 261...connector, 3...reinforcement mechanism, 30A...positioning jig, 30B...positioning jig, 301...base body, 302...upper protrusion, 303...lower protrusion, 31...upper support plate, 311...protrusion, 312...protrusion, 315...upper recess, 316...upper recess, 318...screw engagement hole, 319...step surface, 321...secondary shaft, 321a...stopper, 322...secondary shaft, 322a...stopper, 331...secondary bearing, 331a...contact portion, 332...secondary bearing, 33 2a...contact portion, 34...lower support plate, 341...lower recess, 342...lower recess, 35...third main bearing, 361...stopper, 362...spacer, 363...spacer, 364...set collar, 37...cover member, 38...first cover member, 381...flat plate portion, 381a...flat plate portion, 381b...flat plate portion, 381c...flat plate portion, 381d...flat plate portion, 381e...flat plate portion, 381f...flat plate portion, 381g...flat plate portion, 382...corner portion, 382a...corner portion, 382b...corner portion, 382c...corner portion, 382d...corner portion, 382e...corner portion, 382f...corner portion, 383...locking piece, 383a...locking piece, 383b...locking piece, 383c...locking piece, 383d...locking piece, 383e...locking piece, 383f...locking piece, 383g...locking piece, 384...screw insertion hole, 385...screw engagement hole, 39...second cover member, 391...insertion hole, 392...insertion hole, 393...screw insertion hole, 394...grip portion, A...center axis, B1...screw, B2...screw, G...gap, J1...first axis, J2...second axis, J3...third axis, L1...virtual line, L2...virtual line, T1...height, T2...height

Claims

1. The base and a first arm connected to the base and rotatable about a first axis relative to the base; a second arm connected to the first arm and configured to rotate about a second axis relative to the first arm; a main shaft disposed on the second arm and adapted to rotate about and move along a third axis; A first support portion disposed on the second arm; A secondary bearing disposed in the first support portion; a secondary shaft that is journaled by the secondary bearing and moves in a direction along the third axis relative to the first support portion; a stopper that is disposed on the secondary shaft and comes into contact with the secondary bearing when the secondary shaft moves in a direction along the third axis; A second support portion connecting the main shaft and the sub shaft; a cover member that is disposed on the first support portion and covers a contact portion of the auxiliary bearing with the stopper.

2. The second arm includes an arm base on which the first support portion is disposed; an arm cover member disposed on the arm base, the arm cover member has a bulging portion that bulges outwardly in a plan view from a direction along the third axis, The robot according to claim 1 , wherein an upper end of the cover member is positioned at the same height as an upper end of the bulging portion.

3. The second arm includes an arm base on which the first support portion is disposed; an arm cover member disposed on the arm base, the arm cover member has a bulging portion that bulges outwardly in a plan view from a direction along the third axis, The robot according to claim 1 , wherein an upper end of the cover member is located above an upper end of the bulging portion.

4. The robot according to claim 1 , wherein a central axis of the secondary shaft is located closer to a base end of the second arm than a central axis of the main shaft in a plan view along the third axis.

5. the second arm has a plate portion on which at least one connector is disposed, The robot according to claim 1 , wherein an upper end of the cover member is located below the plate portion.

6. The robot according to claim 5 , wherein a center axis of the secondary shaft is located closer to the tip end of the second arm than the tip of the plate portion in a plan view along the third axis.

7. The robot of claim 1 , wherein the secondary shaft is hollow and tubular.

8. The robot according to claim 1 , wherein the cover member includes a first cover member that includes a side wall portion of the cover member, and a second cover member that includes a top plate portion of the cover member.

9. The first cover member has a first portion having a bent portion at an upper end thereof and a second portion not having the bent portion, The robot according to claim 8 , wherein the second cover member is placed on the second portion.

10. The robot according to claim 9 , wherein the second cover member is fixed to the bent portion.

11. The robot according to claim 8 , wherein the first support portion has a stepped surface on which the first cover member is placed.

12. Robots and A control device for controlling the driving of the robot, The robot includes a base and a first arm connected to the base and rotatable about a first axis relative to the base; a second arm connected to the first arm and configured to rotate about a second axis relative to the first arm; a main shaft disposed on the second arm and adapted to rotate about and move along a third axis; A first support portion disposed on the second arm; A secondary bearing disposed in the first support portion; a secondary shaft that is journaled by the secondary bearing and moves in a direction along the third axis relative to the first support portion; a stopper that is disposed on the secondary shaft and comes into contact with the secondary bearing when the secondary shaft moves in a direction along the third axis; A second support portion connecting the main shaft and the sub shaft; a cover member that is disposed on the first support portion and covers a contact portion of the auxiliary bearing with the stopper.

Images