Robot

Abstract

To provide a robot which can adjust characteristics of a motor while inhibiting interference between a shaft and other members.SOLUTION: A robot 100 includes robot arms 13 and 14 including motors 40. The motor 40 has: a stator 41; a rotor 42 which is disposed facing the stator 41 and in which permanent magnets 45 are disposed; a shaft 43 attached to the rotor 42; and a position fixing member 44 which is disposed between the shaft 43 and the rotor 42 in which the permanent magnets 45 are disposed, fixes a relative position between the stator 41 and the rotor 42 in which the permanent magnets 45 are disposed in an axial direction A of the shaft 43, and is formed of a non-magnetic material.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This disclosure relates to a robot.

Background Art

[0002] Conventionally, motors for driving robots have been disclosed. Patent Document 1 discloses a motor including a stator, a rotor, a shaft, and a bearing. In the motor of Patent Document 1, the rotor is attached to the shaft. Also, the bearing supports the shaft. Further, in Patent Document 1, the thickness in the radial direction of the rotor gradually changes along the axial direction of the shaft. Also, the thickness in the radial direction of the stator also gradually changes along the axial direction of the shaft so that the radial distance from the rotor is constant. That is, in Patent Document 1, the outer peripheral surface of the rotor and the inner peripheral surface of the stator are both not along the axial direction of the shaft but along a direction intersecting the axial direction. Also, in Patent Document 1, the shaft includes a stepped portion, and a rotor position adjustment plate is disposed between the stepped portion and the bearing. Thereby, the position of the shaft and the position of the rotor are both moved in the axial direction of the shaft with respect to the stator by the thickness of the rotor position adjustment plate. As a result, the distance between the rotor and the stator is changed. Thereby, the torque of the motor is adjusted. That is, the characteristics of the motor are adjusted.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the motor disclosed in Patent Document 1, since a rotor position adjustment plate is arranged between the stepped portion of the shaft and the bearing, the shaft also moves in the axial direction together with the rotor due to the rotor position adjustment plate. For this reason, when other members are arranged adjacent to each other in the axial direction of the shaft, there is a problem that the shaft and other members may interfere with each other.

[0005] This disclosure has been made to solve the above-described problems, and one object of this disclosure is to provide a robot capable of adjusting the characteristics of a motor while suppressing interference between the shaft and other members.

Means for Solving the Problems

[0006] A robot according to one aspect of this disclosure includes a robot arm including a motor. The motor includes a stator, a rotor arranged to face the stator and having permanent magnets arranged thereon, a shaft attached to the rotor, and a non-magnetic position fixing member arranged between the shaft and the rotor having permanent magnets arranged thereon and fixing the relative position in the axial direction of the shaft between the stator and the rotor having permanent magnets arranged thereon.

[0007] According to one aspect of this disclosure, a robot, as described above, has a non-magnetic position fixing member disposed between a shaft and a rotor on which a permanent magnet is disposed, for fixing the relative position in the axial direction of the shaft between the stator and the rotor on which the permanent magnet is disposed. Thus, since the position fixing member is disposed between the shaft and the rotor, it is possible to adjust the relative position in the axial direction of the shaft between the stator and the rotor with only the rotor being moved in the axial direction of the shaft without moving the shaft in the axial direction. Therefore, the area where the stator and the rotor face each other is changed. For example, when the facing area is reduced, the back electromotive force generated in the stator becomes smaller, and the motor can be rotated at high speed. In this way, since the characteristics of the motor can be adjusted without moving the shaft in the axial direction, the characteristics of the motor can be adjusted while suppressing interference between the shaft and other members.

Advantages of the Invention

[0008] According to the present disclosure, the characteristics of the motor can be adjusted while suppressing interference between the shaft and other members.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present disclosure embodying the present disclosure will be described with reference to the drawings. In the present specification, as shown in FIG. 3, the axial direction of the shaft 43 of the motor 40 is defined as the A direction. One side in the A direction is defined as the A1 side, and the other side is defined as the A2 side. Note that the axis of the shaft 43 means the rotation axis C of the shaft 43.

[0011] (Configuration of the Robot) The configuration of the robot 100 will be described. As shown in FIG. 1, in the present embodiment, the robot 100 includes a humanoid robot 100. Specifically, the robot 100 includes a robot main body 10 and a moving unit 20. The robot main body 10 includes a head 11, a body 12, a pair of robot arms 13 and 14, and a drive unit 30 shown in FIG. 2. Further, the robot main body 10 includes a control unit 15 shown in FIG. 2. Note that the humanoid robot 100 is not limited to a robot having legs for walking, and includes the robot arms 13 and 14 corresponding to human arms as shown in FIG. 1, and also includes the robot 100 that moves by the moving unit 20 as a carriage.

[0012] The configuration of the robot main body 10 will be described. The head 11 is attached to the body 12. The head 11 has a touch panel 11a. The touch panel 11a receives input operations. The touch panel 11a displays an image based on a signal output from the control unit 15. The body 12 is a housing in which the head 11, the robot arm 13, and the robot arm 14 are arranged. Inside the body 12, a control unit 15 is arranged. The robot arm 13 is the right arm of the robot 100, and the robot arm 14 is the left arm of the robot 100. Each of the robot arm 13 and the robot arm 14 is a vertically articulated arm having a plurality of links and a plurality of joints JT. Each of the robot arm 13 and the robot arm 14 is, for example, a 7-axis vertically articulated arm. Hereinafter, each of the 7 axes will be described as JT1, JT2, JT3, JT4, JT5, JT6, and JT7. The robot arm 13 and the robot arm 14 operate by the drive of the drive unit 30. The operation of the drive unit 30 is controlled by the control unit 15. Also, each of the robot arm 13 and the robot arm 14 has one end attached to the body 12. The robot arm 13 and the robot arm 14 have a hand 13a and a hand 13b arranged at the other end, respectively.

[0013] The drive unit 30 will be described. The drive unit 30 is arranged for each joint JT of each of the robot arm 13 and the robot arm 14. The drive unit 30 includes a motor 40, a speed reducer 31, and an encoder 32. As shown in FIG. 3, the speed reducer 31 is connected to the shaft 43 of the motor 40 and reduces the rotation of the motor 40. Specifically, the speed reducer 31 includes a plurality of gears, reduces the rotation of the motor 40 and outputs it, and increases the output torque from the speed reducer 31. The encoder 32 is a sensor that is arranged adjacent to the motor 40 in the axial direction A of the shaft 43 and detects the rotation position of the motor 40. For example, the encoder 32 is arranged on the rotation axis C of the shaft 43. Also, the rotation position of the motor 40 detected by the encoder 32 is output to the control unit 15.

[0014] The control unit 15 is, for example, a robot controller. The control unit 15 includes a main control unit 15a, a servo control unit 15b, a drive circuit unit 15c, and a storage unit 15d. The main control unit 15a and the servo control unit 15b include, for example, a CPU (Central Processing Unit). The main control unit 15a controls the drive units 30 of the robot arms 13 and 14. The servo control unit 15b controls the power supplied to the drive units 30 of the robot arms 13 and 14 based on commands from the main control unit 15a. The drive circuit unit 15c supplies drive power to the drive units 30 of the robot arms 13 and 14. Programs and the like executed by the control unit 15 are stored in the storage unit 15d. Also, the main control unit 15a may control the touch panel 11a and a communication unit (not shown), or a control unit that controls the touch panel 11a and the communication unit (not shown) may be arranged separately from the main control unit 15a.

[0015] (Moving unit) The moving unit 20 will be described. As shown in FIG. 1, the moving unit 20 includes a base unit 21, a wheel unit 22, and a drive unit 23 shown in FIG. 2. The base unit 21 is the housing of the moving unit 20 on which the robot main body unit 10 is placed. The wheel unit 22 is arranged on the bottom surface side of the base unit 21. The wheel unit 22 is driven by the drive unit 23. Similar to the drive units 30 arranged on the robot arms 13 and 14, the drive unit 23 includes a motor, a speed reducer, and an encoder. Note that the motor included in the drive unit 23 does not include a position fixing member 44 described later. The drive unit 23 may be controlled by the control unit 15 that controls the robot arms 13 and 14, or a control unit that controls the drive unit 23 may be arranged separately.

[0016] (Configuration of the motor) The configuration of the motors 40 arranged on the robot arms 13 and 14 will be described. As shown in FIG. 3, the motor 40 has a stator 41, a rotor 42, a shaft 43, and a position fixing member 44. The stator 41 includes an iron core 41a serving as a core and a coil 41b wound around the iron core 41a. The stator 41 has, for example, an annular shape. The rotor 42 is arranged to face the stator 41. For example, the rotor 42 is arranged inside the annular stator 41. The rotor 42 has, for example, a cylindrical shape. The inner peripheral surface of the stator 41 and the outer peripheral surface of the rotor 42 face each other in a direction B orthogonal to the axial direction A of the shaft 43. Further, a plurality of permanent magnets 45 are arranged on the rotor 42. The permanent magnets 45 may be arranged on the outer surface of the rotor 42 or may be embedded in the rotor 42. The shaft 43 is attached to the rotor 42. The shaft 43 has a rod shape and passes through the center of the cylindrical rotor 42. When an electric current flows through the coil 41b of the stator 41, the coil 41b becomes an electromagnet and attracts the permanent magnet 45, causing the rotor 42 to rotate. Further, when the rotor 42 rotates, a back electromotive force is generated in the coil 41b. The back electromotive force becomes a force that hinders the rotation of the rotor 42.

[0017] (Configuration of the position fixing member) The configuration of the position fixing member 44 will be described. In the present embodiment, the position fixing member 44 is disposed between the shaft 43 and the rotor 42 in which the permanent magnet 45 is disposed. The position fixing member 44 fixes the relative position in the axial direction A of the shaft 43 between the stator 41 and the rotor 42 in which the permanent magnet 45 is disposed. Further, the position fixing member 44 is made of a non-magnetic material. Specifically, the shaft 43 includes a main body portion 43a extending in the axial direction A and a flange portion 43b protruding in a direction B orthogonal to the axial direction A of the shaft 43. Note that the direction B is, in other words, the radial direction of the cylindrical rotor 42. The main body portion 43a has a cylindrical shape, and the flange portion 43b protrudes in the direction B from the outer peripheral surface of the main body portion 43a. Further, the flange portion 43b has a disk shape. In other words, the flange portion 43b has a collar shape. Then, the position fixing member 44 is disposed between the flange portion 43b and the end face 42a of the rotor 42 in the axial direction A. Note that the end face 42a of the rotor 42 is a pair of surfaces perpendicular to the axial direction A of the cylindrical rotor 42 through which the shaft 43 passes. Further, the position fixing member 44 is disposed between the surface on the A2 side of the flange portion 43b and the end face 42a on the A1 side of the rotor 42. Further, the position fixing member 44 is formed of, for example, aluminum or resin which is a non-magnetic material.

[0018] Also, in the present embodiment, the position fixing member 44 includes an annular shim member that is disposed between the flange portion 43b and the end face 42a of the rotor 42 in the axial direction A and is inserted into the shaft 43. Note that the shim member means a member that adjusts the distance between the flange portion 43b and the end face 42a of the rotor 42. Specifically, as shown in FIG. 4, the position fixing member 44 has a perfect circular annular shape when viewed from the A direction. Also, the area where the stator 41 and the rotor 42 face each other varies depending on the magnitude of the length L of the position fixing member 44 in the A direction. When the length L of the position fixing member 44 in the A direction is large, the area where the stator 41 and the rotor 42 face each other becomes small, and the back electromotive force generated in the stator 41 becomes small. As a result, the rotor 42 can rotate at high speed. On the other hand, when the length L of the position fixing member 44 in the A direction is small, the area where the stator 41 and the rotor 42 face each other becomes large, and the back electromotive force generated in the stator 41 becomes large. For this reason, the rotor 42 cannot rotate at high speed. That is, the characteristics regarding the rotation speed of the motor 40 are adjusted by the length L of the position fixing member 44 in the A direction.

[0019] Also, in the present embodiment, the stator 41, rotor 42, and shaft 43 of the motor 40 arranged for each of the plurality of joints JT of the robot arm 13 are common components. Note that the common components mean that they have the same size, material, etc. Then, by varying the presence or absence of the position fixing member 44 or the length L of the position fixing member 44 in the axial direction A of the shaft 43, the characteristics of each motor 40 are adjusted. Specifically, among the plurality of joints JT, a motor 40 having a position fixing member 44 is arranged as a motor for rotating the joint JT closer to the tip of the robot arms 13 and 14, and a motor 50 having no position fixing member 44 shown in FIG. 5 is arranged as a motor for rotating the joint JT closer to the base end of the robot arms 13 and 14. Note that the motor 50 is an example of a motor without a fixing member. For example, a motor 40 having a position fixing member 44 is arranged as a motor for rotating three joints JT, i.e., JT5, JT6, and JT7, among the seven joints JT of the robot arms 13 and 14, and a motor 50 having no position fixing member 44 is arranged as a motor for rotating the four joints JT, i.e., JT1, JT2, JT3, and JT4. Note that the number of joints JT rotated by the motor 40 having the position fixing member 44 is not limited to three.

[0020] Also, in the present embodiment, the closer the motor 40 is to the tip among the plurality of joints JT for rotating the joint JT, the greater the length of the position fixing member 44 in the axial direction A of the shaft 43. As described above, for example, assume that a motor 40 having a position fixing member 44 is arranged as a motor for rotating three joints JT, i.e., JT5, JT6, and JT7. Then, the length L1 of the position fixing member 44 of the motor 40 arranged at JT7 shown in FIG. 6(a), the length L2 of the position fixing member 44 of the motor 40 arranged at JT6 shown in FIG. 6(b), and the length L3 of the position fixing member 44 of the motor 40 arranged at JT5 shown in FIG. 6(c) have a relationship of length L1 > length L2 > length L3. Thereby, the maximum rotation value M7 of the motor 40 for rotating JT7, the maximum rotation value M6 of the motor 40 for rotating JT6, and the maximum rotation value M5 of the motor 40 for rotating JT5 have a relationship of maximum value M7 > maximum value M6 > maximum value M5.

[0021] [Advantages of the Present Embodiment] The motor 40 is disposed between a shaft 43 and a rotor 42 in which a permanent magnet 45 is disposed, and has a non-magnetic position fixing member 44 that fixes the relative position in the axial direction A of the shaft 43 between the stator 41 and the rotor 42 in which the permanent magnet 45 is disposed. Thus, since the position fixing member 44 is disposed between the shaft 43 and the rotor 42, the relative position in the axial direction A of the shaft 43 between the stator 41 and the rotor 42 can be adjusted in a state where only the rotor 42 is moved in the axial direction A of the shaft 43 without moving the shaft 43 in the axial direction A. Therefore, the area where the stator 41 and the rotor 42 face each other is changed. For example, when the facing area is reduced, the back electromotive force generated in the stator 41 becomes smaller, and the motor 40 can be rotated at high speed. In this way, since the characteristics of the motor 40 can be adjusted without moving the shaft 43 in the axial direction A, the characteristics of the motor 40 can be adjusted while suppressing interference between the shaft 43 and other members.

[0022] The robot arms 13 and 14 include a plurality of joints JT, the motor 40 is disposed for each of the plurality of joints JT, and the stator 41, the rotor 42, and the shaft 43 of the plurality of motors 40 are common components. Then, by varying the presence or absence of the position fixing member 44 or the length L of the position fixing member 44 in the axial direction A of the shaft 43, the characteristics of each motor 40 are adjusted. Thereby, since common components can be used for each joint JT except for the position fixing member 44, an increase in the types of components used for the motor 40 can be suppressed.

[0023] Among the plurality of joints JT, a motor 40 having a position fixing member 44 is disposed as a motor for rotating the joint JT closer to the tips of the robot arms 13 and 14, and a motor 50 having no position fixing member 44 is disposed as a motor for rotating the joint closer to the base ends of the robot arms 13 and 14. Thereby, since the motor 40 disposed closer to the tip can be rotated relatively fast, the torque of the motor 40 output via the speed reducer 31 can be increased while suppressing the enlargement of the motor 40. As a result, since the enlargement of the motor 40 is suppressed, the enlargement of the joint JT closer to the tips of the robot arms 13 and 14 can be suppressed. That is, the thickening of the tip sides of the robot arms 13 and 14 can be suppressed.

[0024] Among the plurality of joints JT, a motor 40 having a position fixing member 44 is disposed as a motor for rotating the plurality of joints JT closer to the tips of the robot arms 13 and 14. The closer the motor 40 is to the joint JT closer to the tip among the plurality of joints JT, the greater the length L of the position fixing member 44 in the axial direction A of the shaft 43. Thereby, since the motor 40 disposed closer to the tip can rotate faster, the torque of the motor 40 output via the speed reducer 31 can be increased for the motor 40 disposed closer to the tip. For this reason, even when the load applied to the tips of the robot arms 13 and 14 is relatively large, the robot arms 13 and 14 can appropriately execute work.

[0025] The robot 100 includes a humanoid robot 100. Here, there are cases where the hands 13a of the robot arm 13 and the hands 14a of the robot arm 14 of the humanoid robot 100 enter a narrow area and lift a heavy workpiece, and it is desired to have a relatively thin shape and a large torque. For this reason, disposing the position fixing member 44 on the motor 40 and increasing the torque of the motor 40 output via the speed reducer 31 while suppressing the enlargement of the motor 40 is particularly effective for the humanoid robot 100.

[0026] The shaft 43 includes a flange portion 43b that protrudes in a direction B orthogonal to the axial direction A of the shaft 43, and the position fixing member 44 is disposed between the flange portion 43b and the end face 42a of the rotor 42 in the axial direction A. Thereby, by simply disposing the position fixing member 44 between the flange portion 43b and the end face 42a of the rotor 42, the relative position of the stator 41 and the rotor 42 in the axial direction A of the shaft 43 can be easily fixed.

[0027] The position fixing member 44 includes an annular shim member that is disposed between the flange portion 43b and the end face 2a of the rotor 42 in the axial direction A and is inserted into the shaft 43. Thereby, since the position fixing member 44 can be disposed simply by inserting the annular position fixing member 44 into the shaft 43, the assembly work of the motor 40 can be simplified.

[0028] The robot 100 is connected to a shaft 43 to which a rotor 42 whose relative position with the stator 41 is fixed by a position fixing member 44 is attached, and includes a speed reducer 31 that decelerates the rotation of the motor 40 and an encoder 32 adjacent to the motor 40 in the axial direction A of the shaft 43. Thereby, since the relative position of the stator 41 and the rotor 42 in the axial direction A of the shaft 43 can be adjusted with only the rotor 42 being moved in the axial direction A of the shaft 43 without moving the shaft 43 in the axial direction A, interference between the shaft 43 and the speed reducer 31 and the encoder 32 can be suppressed.

[0029] [Modification Example] It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present disclosure is shown not by the description of the above-described embodiments but by the claims, and further includes all changes (modification examples) within the meaning and scope equivalent to the claims.

[0030] In the above embodiment, an example in which the robot arms 13 and 14 include a plurality of joints JT is shown, but the present disclosure is not limited thereto. For example, the present disclosure may be applied to a robot arm having only one joint.

[0031] In the above embodiment, the motor 40 having the position fixing member 44 is arranged as a motor for rotating the joint JT closer to the tip of the robot arms 13 and 14, and the motor 50 having no position fixing member 44 is arranged as a motor for rotating the joint JT closer to the base end of the robot arms 13 and 14. However, the present disclosure is not limited to this. For example, the motor 40 having the position fixing member 44 may be arranged as a motor for rotating each of all the joints JT of the robot arms 13 and 14.

[0032] In the above embodiment, an example is shown in which the length L of the position fixing member 44 is larger for the motor 40 that rotates the joint JT closer to the tip among the plurality of joints JT. However, the present disclosure is not limited to this. For example, the lengths L of the position fixing members 44 of the motors 40 that rotate the plurality of joints JT closer to the tip may be the same as each other.

[0033] In the above embodiment, an example is shown in which the robot 100 is a humanoid robot 100. However, the present disclosure is not limited to this. For example, the present disclosure may be applied to industrial robots other than humanoid robots.

[0034] Also, in the above embodiment, an example is shown in which the robot 100 is a robot 100 that moves by the moving unit 20. However, the present disclosure is not limited to this. For example, the present disclosure may be applied to motors arranged at joints of robots that walk on two legs or four legs.

[0035] Also, in the above embodiment, an example is shown in which the position fixing member 44 is fixed by being arranged between the flange portion 43b of the shaft 43 and the end face 42a of the rotor 42. However, the present disclosure is not limited to this. For example, the position fixing member 44 may be fixed by press-fitting the annular position fixing member 44 onto the shaft 43 without providing the flange portion 43b on the shaft 43.

[0036] In the above-described embodiment, an example in which the position fixing member 44 is annular has been shown, but the present disclosure is not limited to this. For example, the position fixing member may be C-shaped with a part of the ring cut out. Also, the position fixing member may be a plurality of block bodies sandwiched between the flange portion of the shaft and the end surface of the rotor.

[0037] In the above-described embodiment, an example in which the speed reducer 31 is arranged has been shown, but the present disclosure is not limited to this. For example, the joint JT may be driven by the direct rotational force of the motor 40 without arranging the speed reducer 31.

[0038] [Aspect] Those skilled in the art will understand that the above-described exemplary embodiments are specific examples of the following aspects.

[0039] (Aspect 1) A robot arm including a motor, The motor includes A stator, A rotor that is arranged to face the stator and has a permanent magnet disposed therein, A shaft attached to the rotor, A non-magnetic position fixing member that is disposed between the shaft and the rotor having the permanent magnet, and that fixes the relative position in the axial direction of the shaft between the stator and the rotor having the permanent magnet. The robot has the above components.

[0040] (Aspect 2) The robot arm includes a plurality of joints, The motor is arranged for each of the plurality of joints, For the plurality of motors, the stator, the rotor, and the shaft are common components, and the characteristics of each motor are adjusted by varying the presence or absence of the position fixing member or the length of the position fixing member in the axial direction of the shaft. The robot according to Aspect 1.

[0041] (Aspect 3) Among the plurality of joints, the motor having the position fixing member is arranged as a motor for rotating the joint closer to the tip of the robot arm, and a motor without a fixing member without the position fixing member is arranged as a motor for rotating the joint closer to the base end of the robot arm. The robot according to aspect 2.

[0042] (Aspect 4) Among the plurality of joints, the motor having the position fixing member is arranged as a motor for rotating a plurality of joints closer to the tip of the robot arm. The robot according to aspect 2 or aspect 3, wherein the closer the joint is to the tip among the plurality of joints, the greater the length of the position fixing member in the axial direction of the shaft.

[0043] (Aspect 5) The robot according to any one of aspects 1 to 4, wherein the robot includes a humanoid robot.

[0044] (Aspect 6) The shaft includes a flange portion protruding in a direction orthogonal to the axial direction of the shaft. The robot according to any one of aspects 1 to 5, wherein the position fixing member is disposed between the flange portion and an end surface of the rotor in the axial direction.

[0045] (Aspect 7) The robot according to aspect 6, wherein the position fixing member includes an annular shim member disposed between the flange portion and an end surface of the rotor in the axial direction and inserted into the shaft.

[0046] (Aspect 8) Connected to the shaft to which the rotor having its relative position fixed to the stator by the position fixing member is attached, and a speed reducer for reducing the rotation of the motor. An encoder adjacent to the motor in the axial direction of the shaft. The robot according to any one of aspects 1 to 7.

Description of Symbols

[0047] 13, 14 Robot Arms 31 Reducer 32 Encoder 40 Motor 41 Stator 42 Rotor 42a End Face 43 Shaft 43b Flange Portion 44 Position Fixing Member 45 Permanent Magnet 50 Motor (Motor without Fixing Member) 100 Robot Axis Direction A Direction Orthogonal to the Axis Direction of Shaft B Joints JT, JT1, JT2, JT3, JT4, JT5, JT6, JT7

Claims

1. A robot arm including a motor, wherein the motor includes a stator, a rotor disposed to face the stator and having permanent magnets disposed thereon, a shaft attached to the rotor, and a non-magnetic position fixing member disposed between the shaft and the rotor on which the permanent magnets are disposed, for fixing the relative position in the axial direction of the shaft between the stator and the rotor on which the permanent magnets are disposed. The robot has such components.

2. The robot arm includes a plurality of joints, the motor is disposed for each of the plurality of joints, the stator, the rotor, and the shaft of the plurality of motors are common components, and the characteristics of each motor are adjusted by varying the presence or absence of the position fixing member or the length of the position fixing member in the axial direction of the shaft. The robot according to claim 1.

3. Among the plurality of joints, the motor having the position fixing member is disposed as a motor for rotating the joint closer to the tip of the robot arm, and a motor without a fixing member (a fixing member-free motor) having no position fixing member is disposed as a motor for rotating the joint closer to the base end of the robot arm. The robot according to claim 2.

4. Among the plurality of joints, the motor having the position fixing member is disposed as a motor for rotating a plurality of joints closer to the tip of the robot arm, and the length of the position fixing member in the axial direction of the shaft is greater for the motor rotating the joint closer to the tip among the plurality of joints. The robot according to claim 2.

5. The robot includes a humanoid robot. The robot according to claim 1.

6. The shaft includes a flange portion protruding in a direction orthogonal to the axial direction of the shaft, and the position fixing member is disposed between the flange portion and the end face of the rotor in the axial direction. The robot according to claim 1.

7. The position fixing member includes an annular shim member disposed between the flange portion and the end face of the rotor in the axial direction and inserted into the shaft. The robot according to claim 6.

8. A speed reducer connected to the shaft to which the rotor with its relative position fixed to the stator by the position fixing member is attached, for reducing the rotation speed of the motor The robot according to claim 1, further comprising an encoder adjacent to the motor in the axial direction of the shaft.

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