Robot system

Abstract

To provide a robot system which can perform work efficiently in a small space.SOLUTION: A first robot 100 has a first base 110 to be fixed to a first installation surface 311. A second robot 200 has: a second base 210 to be fixed to a second installation surface 321; a first arm 221 connected to the second base 210; a second arm 222 which is located in a first direction in the first arm 221 and connected to the first arm 221; and a planetary gear speed reducer provided in a first joint connecting the first arm 221 with the second base 210. The second base 210 is disposed at the side of the first direction relative to the first base 110. The second arm 222 is disposed overlapping with at least a part of the planetary gear speed reducer when the second arm 222 and the planetary gear speed reducer are viewed from a third direction orthogonal to the first direction and the second direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses the configuration of a robot system in which a first floor-mounted SCARA robot and a second ceiling-suspended SCARA robot are stacked one on top of the other. By arranging the main axes of the two SCARA robots on the same line, they can share coordinates. SCARA robots generally use harmonic gear reducers, which can be made compact, in the joints connecting the arms. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-169129 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the configuration of Patent Document 1, if a planetary gear reducer is used at the joint to allow two SCARA robots to work efficiently, while this allows for efficient work, there is a problem in that the robot system becomes larger. [Means for solving the problem]

[0005] The robot system includes a first robot and a second robot that performs collaborative work with the first robot, wherein the first robot has a first base fixed to a first installation surface, and the second robot has a second base fixed to a second installation surface, a first arm connected to the second base, a second arm located in a first direction on the first arm and connected to the first arm, a shaft provided at the tip of the second arm and moving in the first direction and a second direction opposite to the first direction, and a planetary gear reducer provided at a joint connecting the first arm and the second base, wherein the second base is positioned closer to the first direction than the first base, and when the second arm and the planetary gear reducer are viewed from a third direction that is perpendicular to the first direction and the second direction and is the direction in which the first arm extends, the second arm is positioned so as to overlap at least a portion of the planetary gear reducer. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram showing the configuration of a robot system. [Figure 2] FIG. 2 is a cross-sectional view showing the configuration of a SCARA robot. [Figure 3] FIG. 2 is a plan view showing the configuration of a planetary gear reducer. [Figure 4] FIG. 2 is a perspective view showing the configuration of a planetary gear reducer. [Figure 5] FIG. 1 is a perspective view showing a situation in which the robot system is working cooperatively. [Figure 6] Cross-sectional view showing the overall heights of the two robots in comparison. [Figure 7] Cross-sectional view showing the overall heights of the two robots in comparison. [Figure 8] Schematic diagram showing a comparison of the configurations of the two robot systems. [Figure 9] FIG. 10 is a schematic diagram showing a situation of a cooperative work performed by a modified robot system. DETAILED DESCRIPTION OF THE INVENTION

[0007] The configuration of a robot system 1000 of this embodiment will be described with reference to Fig. 1. The up-down direction in Fig. 1 coincides with the vertical direction, and the upper side of Fig. 1 will also be referred to as "upper" and the lower side as "lower".

[0008] As shown in FIG. 1, the robot system 1000 includes a first robot 100, a second robot 200 that performs cooperative work with the first robot 100, and a cell 300 in which the first robot 100 and the second robot 200 are placed.

[0009] The first robot 100 and the second robot 200 are used for various tasks (hereinafter collectively referred to as "tasks") such as holding, screwing, transporting, assembling, processing, painting, and inspecting workpieces such as electronic components, etc. However, the types of tasks are not particularly limited.

[0010] The first robot 100 is a six-axis robot. The second robot 200 is a SCARA robot. The cell 300 has, for example, a two-story structure and includes an upper cell 310 located on the upper side and a lower cell 320 located below the upper cell 310.

[0011] In the upper cell 310, a first installation surface 311 is disposed, which is a floor surface on which the first robot 100 is installed. The first robot 100 has a first base 110 fixed to the first installation surface 311.

[0012] A second installation surface 321, which is a floor surface on which the second robot 200 is installed, is disposed in the lower cell 320. The second robot 200 has a second base 210 fixed to the second installation surface 321. That is, in the robot system 1000 of this embodiment, the second base 210 of the second robot 200 is disposed closer to the first direction than the first base 110 of the first robot 100. The movable area of ​​the first robot 100 overlaps with the movable area of ​​the second robot 200. The first direction is the vertical direction.

[0013] An opening 312 is provided, for example, in the approximate center of the first installation surface 311 in the cell 300. That is, by providing the opening 312, the upper cell 310 and the lower cell 320 are in communication with each other. Therefore, the first robot 100 arranged in the upper cell 310 and the second robot 200 arranged in the lower cell 320 can work together via the opening 312.

[0014] Next, the configuration of the second robot 200 will be described with reference to Fig. 2. In Fig. 2, the right side of the second base 210, the first arm 221, and the second arm 222 is referred to as the "base end" and the left side as the "tip end."

[0015] 2, the second robot 200 is a SCARA robot as described above. The second robot 200 has a first arm 221 connected to a second base 210 and a second arm 222 connected to the first arm 221.

[0016] The first arm 221 has a base end connected to the second base 210. The first arm 221 rotates relative to the second base 210 around a first rotation axis J1 that is aligned in the vertical direction.

[0017] The base end of the second arm 222 is connected to the tip end of the first arm 221. The second arm 222 rotates relative to the first arm 221 around a second rotation axis J2 that is aligned in the vertical direction.

[0018] The second arm 222 is disposed in a first direction, which is vertically below the first arm 221. The upper side opposite the lower side in the vertical direction is defined as a second direction. The direction perpendicular to the first and second directions and in which the first arm 221 extends is defined as a third direction.

[0019] The second base 210 and the first arm 221 are connected via a first joint 241 serving as a joint. A planetary gear reducer 241A is provided at the first joint 241. The first arm 221 and the second arm 222 are connected via a second joint 242. A planetary gear reducer 242A is provided at the second joint 242.

[0020] A control device (not shown) is disposed inside the second base 210. Note that the control device is not limited to being disposed inside the second base 210, and may be disposed outside the second base 210.

[0021] A work head 230 is provided at the tip of the second arm 222. The work head 230 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 shaft 233 that is inserted through the spline nut 231 and the ball screw nut 232.

[0022] The shaft 233 is rotatable about a third rotation axis J3 that is the central axis of the second arm 222 and extends in the vertical direction relative to the second arm 222. The shaft 233 is movable up and down in the direction along the third rotation axis J3, i.e., in the first direction D1 and the second direction D2.

[0023] An end effector 233a is attached to the tip of the shaft 233. The end effector 233a is detachable from the shaft 233, and an end effector suitable for the intended work is selected as appropriate.

[0024] The first joint portion 241 rotatably connects the second base 210 and the first arm 221, and has a planetary gear reducer 241A and a motor 241B that rotate the first arm 221 relative to the second base 210 around the first rotation axis J1.

[0025] The motor 241B generates a driving force that rotates the first arm 221 relative to the second base 210. The planetary gear reducer 241A functions as a power transmission mechanism that uses the motor 241B as a driving source.

[0026] The second joint portion 242 rotatably connects the first arm 221 and the second arm 222, and has a planetary gear reducer 242A and a motor 242B that rotate the second arm 222 relative to the first arm 221 around the second rotation axis J2.

[0027] Motor 242B generates a driving force that rotates second arm 222 relative to first arm 221. Planetary gear reducer 242A functions as a power transmission mechanism that uses motor 242B as a driving source.

[0028] As shown in FIG. 2, when the second arm 222 and the planetary gear reducer 241A, i.e., the first joint portion 241, are viewed from the third direction D3, the second arm 222 is disposed so as to overlap at least a portion of the first joint portion 241. In other words, the second arm 222 and the planetary gear reducer of the first joint portion 241 have an overlapping region L1. The third direction D3 is perpendicular to the first direction D1 and the second direction D2 and is the direction in which the first arm 221 extends. Therefore, regardless of the position of the second arm 222 around the second rotation axis J2, the second arm 222 is disposed so as to overlap at least a portion of the first joint portion 241 when viewed from the third direction, which is the direction in which the first arm 221 extends.

[0029] With this configuration, the second arm 222 and the planetary gear reducer 241A are arranged to overlap when viewed from the third direction, and therefore, compared to when the second arm 222 is arranged closer to the second direction than the planetary gear reducer 241A, it is possible to prevent the overall height of the second robot 200 from becoming larger. Therefore, for example, when the second robot 200 is arranged on the first floor and the first robot 100 is arranged on the second floor and the two robots 100, 200 work cooperatively, it is possible to prevent the robot system 1000 from becoming larger.

[0030] Next, the configuration of the planetary gear reducers 241A, 242A will be described with reference to Figures 2, 3, and 4. Since the planetary gear reducers 241A, 242A have the same configuration, the planetary gear reducer 241A will be described as a representative example.

[0031] As shown in FIG. 3, the planetary gear reducer 241A has a frame 1231, an internal gear 1233, a sun gear 1234, planetary gears 1235, a carrier 1236, an input shaft 1237, and an output shaft 1238.

[0032] The frame 1231 is a cylindrical casing that functions to protect the various components inside. The internal gear 1233 is ring-shaped or cylindrical, with the axis O1 as its central axis, and has internal teeth 1233A on its inner periphery. The internal teeth 1233A mesh with the teeth 1235A of each planetary gear 1235.

[0033] The sun gear 1234 has teeth 1234A on its outer periphery and is disposed inside the internal gear 1233 and concentrically therewith. The sun gear 1234 is connected to an input shaft 1237 and rotates around an axis O1. The input shaft 1237 is connected to the rotating shaft of a motor 241B, for example, via a bearing (not shown). Although not shown, the motor 241B is fixed directly or indirectly to the second base 210.

[0034] The three planetary gears 1235 are arranged at equal angular intervals from one another on the outer circumferential side of the sun gear 1234 and on the inner circumferential side of the internal gear 1233. Each planetary gear 1235 has teeth 1235A on its outer periphery, which mesh with teeth 1234A of the sun gear 1234 and internal teeth 1233A of the internal gear 1233. The three planetary gears 1235 each have the same diameter and the same number of teeth 1235A.

[0035] The types and shapes of the internal gear 1233, sun gear 1234, and planetary gears 1235 are not particularly limited, and in the illustrated configuration, they are all spur gears. However, it is preferable that the internal gear 1233, sun gear 1234, and planetary gears 1235 are all helical gears.

[0036] The carrier 1236 supports the planetary gear 1235 so as to be rotatable around an axis O2 that is the central axis of the planetary gear 1235. The carrier 1236 has a so-called star shape, in which, for example, three rod-shaped members arranged at 120° intervals are connected at their ends on the axis O1 side.

[0037] An output shaft 1238 is connected to the center of the carrier 1236. The output shaft 1238 is fixed to the base end of the first arm 221 via, for example, a bearing (not shown).

[0038] The rotational force transmitted from the motor 241B is transmitted to the sun gear 1234 via the input shaft 1237, causing the sun gear 1234 to rotate in a predetermined direction around the axis O1. When the sun gear 1234 rotates, each planetary gear 1235 rotates (spins) around the axis O2 while also rotating (revolves) around the axis O1. The revolution of each planetary gear 1235 around the axis O1 causes the carrier 1236 to rotate around the axis O1, and the output shaft 1238 to rotate around the axis O1. As a result, the rotation of the output shaft 1238 is reduced by the planetary gears 1235 and is slower than the rotation of the input shaft 1237. Therefore, the rotational speed of the input shaft 1237 is reduced and output from the output shaft 1238. As a result, the first arm 221 can rotate relative to the second base 210 at a reduced speed, thereby increasing the rotational torque of the first arm 221.

[0039] The input shaft of the planetary gear reducer 242A is connected to a motor 242B fixed to the base end of the second arm 222. The output shaft of the planetary gear reducer 242A is fixed to the tip end of the first arm 221.

[0040] The internal gear 1233 has higher elasticity than the sun gear 1234 and the planetary gears 1235. It is only necessary that the internal gear 1233 has higher elasticity than the planetary gears 1235. This makes it possible to suppress backlash and further improve the positional accuracy of each part when the first arm 221 is in operation.

[0041] In this embodiment, "elasticity" is determined not only by the material but also by the shape, etc., and refers to the property of an object that undergoes deformation when a force is applied to it, returning to its original shape when the force is released. High elasticity means that an object quickly returns to its original shape when the force is released. In other words, "elasticity" in this embodiment is different from properties determined by the material, such as Young's modulus.

[0042] The frame 1231, the internal gear 1233, the sun gear 1234, the planetary gears 1235, the carrier 1236, the input shaft 1237, and the output shaft 1238 are made of, for example, a metal material or a hard resin material.

[0043] Planetary gear reducer 241A may have an elastic support member on the outside of internal gear 1233. The elastic support member allows internal gear 1233 to deform in the radial direction due to the action of stress, and has strength to the extent that the phase does not shift relative to frame 1231 in the circumferential direction.

[0044] Next, a method for cooperative work between the first robot 100 and the second robot 200 in the robot system 1000 will be described with reference to FIG.

[0045] 5, the robot system 1000 includes a first robot 100, which is a six-axis robot, and a second robot 200, which is a SCARA robot. The first robot 100 and the second robot 200 are arranged in a cell 300, as shown in FIG.

[0046] 5 and 1, the first robot 100 is placed on a first installation surface 311 of the upper cell 310. The second robot 200 is placed on a second installation surface 321 of the lower cell 320. The first robot 100 and the second robot 200 can work together via an opening 312 provided in the first installation surface 311 at the boundary between the upper cell 310 and the lower cell 320.

[0047] The end effector 120 at the tip of the first robot 100 has a gripping unit 130 that grips a workpiece 510. The workpiece 510 is fixed by, for example, pulling two gripping units 130A and 130B toward each other and clamping them together.

[0048] The workpiece 510 has, for example, a plurality of screw holes 530 formed along the outer circumferential direction of the first surface 510a. The number of the plurality of screw holes 530 is, for example, 10 or more. Note that the number is not limited to the screw holes 530, and is preferably selected appropriately depending on the work, for example.

[0049] The end effector 233a at the tip of the second robot 200 has, for example, a screw 520 attached thereto for assembling the screw 520 into the gripped workpiece 510 by suction.

[0050] In this embodiment, the cooperative work is performed, for example, in the opening 312, where the first robot 100 grasps the workpiece 510 and fixes it at an angle and position that makes it easy for the second robot 200 to work. The second robot 200 performs the work of assembling a screw 520 into a screw hole 530 in the grasped workpiece 510, in other words, the screw tightening work.

[0051] As described above, because the first robot 100 is a six-axis robot, it can grip the workpiece 510 at an optimal angle in an accurate position. Furthermore, because the second robot 200 is a SCARA robot, it can perform screw tightening operations repeatedly at high speed. Furthermore, because the second robot 200 is equipped with planetary gear reducers 241A, 242A, it has higher work efficiency and a faster work speed than, for example, a robot equipped with a strain wave gear reducer. In other words, in situations where the number of operations performed by the second robot 200 is greater than the number of operations performed by the first robot 100, the operations can be performed efficiently.

[0052] Next, the advantages of the robot system 1000 of this embodiment will be described in comparison with conventional robot systems with reference to FIGS.

[0053] First, a comparison between a conventional second robot 200A and a conventional second robot 200B will be described with reference to FIG.

[0054] The conventional second robot 200B uses a wave gear reducer in the first joint 241 and the second joint 242 instead of the planetary gear reducer 241A.

[0055] On the other hand, the conventional second robot 200A uses a planetary gear reducer 241A in the first joint 241 and a planetary gear reducer 242A in the second joint 242. However, the second arms 222 of the two second robots 200A and 200B are arranged in the second direction instead of the first direction compared to the first arms 221.

[0056] In this way, if the second robot 200B is changed to the second robot 200A in which the planetary gear reducer 241A is applied only to the first joint 241 in order to improve work efficiency, the overall height H2 of the second robot 200A will be greater than the overall height H1 of the second robot 200B. Therefore, when cooperative work is performed within the cell 300, a problem occurs in that the cell 300 becomes larger. Furthermore, the larger the cell 300 becomes, the greater the energy required to maintain the temperature inside the cell 300 at a constant temperature will become.

[0057] Next, with reference to FIG. 7, a comparison between the second robot 200 of this embodiment and a conventional second robot 200C will be described.

[0058] In the conventional second robot 200C, a planetary gear reducer 241A is applied to both the first joint portion 241 and the second joint portion 242.

[0059] On the other hand, the second robot 200 of this embodiment uses a planetary gear reducer 241A in the first joint 241 and a planetary gear reducer 242A in the second joint 242. However, the second arm 222 of this embodiment is arranged in the first direction compared to the first arm 221.

[0060] In this way, if a planetary gear reducer 241A is applied to the first joint 241 and a planetary gear reducer 242A is applied to the second joint 242 in order to improve work efficiency, a problem arises in that the overall height H3 of the second robot 200C becomes even higher than the overall height H2 of the second robot 200A shown in Figure 6.

[0061] Therefore, as in the second robot 200 of this embodiment, by applying a planetary gear reducer 241A to the first joint portion 241 and a planetary gear reducer 242A to the second joint portion 242, and by positioning the second arm 222 in the first direction more than the first arm 221, the overall height H4 of the second robot 200 can be made the lowest compared to the other three conventional second robots 200A, 200B, and 200C.

[0062] The reduction in overall height H4 of the second robot 200 has the advantage of preventing the cell 300 from becoming larger when cooperative work is performed within the cell 300. Furthermore, the reduction in size of the cell 300 has the advantage of reducing the energy required to maintain the temperature inside the cell 300 at a constant level.

[0063] Next, a comparison between a robot system 1000 using the second robot 200 of this embodiment and a robot system 1000C using a conventional second robot 200C will be described with reference to FIG.

[0064] The robot system 1000 of this embodiment has a second robot 200 to which a planetary gear reducer 241A is applied. Specifically, the second robot 200 has a second arm 222 disposed on the first direction side relative to the first arm 221, and is installed on a second installation surface 321.

[0065] On the other hand, the conventional robot system 1000C has a second robot 200C to which a planetary gear reducer 241A shown in Fig. 7 is applied. Specifically, the second robot 200C has a second arm 222 disposed on the second direction side relative to the first arm 221, and is installed on the ceiling 322 of the lower cell 320.

[0066] The cell 300 of the robot system 1000 and the cell 300 of the robot system 1000C are the same size. Specifically, the lower cell 320 in which the second robots 200 and 200C are installed is lower in height than the upper cell 310 in which the first robot 100 is installed.

[0067] In such a case, when the first robot 100 and the second robot 200, 200C perform a cooperative task, in the conventional robot system 1000C, the shaft 233 comes into contact with the second installation surface 321 because the overall height H3 of the second robot 200C is high.

[0068] In contrast, in the robot system 1000 of this embodiment, the overall height H4 of the second robot 200 is kept low, so the shaft 233 does not come into contact with the second installation surface 321. Therefore, even when two robots 100, 200 perform cooperative work, there is an advantage in that the cell 300 does not become larger. Furthermore, by reducing the size of the cell 300, there is also an advantage in that the energy required to maintain the temperature inside the cell 300 at a constant temperature can be reduced.

[0069] As described above, the robot system 1000 of this embodiment is a robot system 1000 including the first robot 100 and the second robot 200, which is a SCARA robot that performs a cooperative task with the first robot 100. The first robot 100 has a first base 110 fixed to a first installation surface 311, and the second robot 200 has a second base 210 fixed to a second installation surface 321, a first arm 221 connected to the second base 210, a second arm 222 located in a first direction on the first arm 221 and connected to the first arm 221, and a second arm 222 connected to the second arm 221. 22, a shaft 233 that moves in a first direction and a second direction opposite to the first direction, and a planetary gear reducer 241A that is provided at a first joint portion 241 that connects between the first arm 221 and the second base 210, the second base 210 of the second robot 200 is positioned closer to the first direction than the first base 110 of the first robot 100, and when the second arm 222 and the planetary gear reducer 241A are viewed from a third direction that is perpendicular to the first and second directions, the second arm 222 is positioned overlapping at least a portion of the planetary gear reducer 241A.

[0070] With this configuration, the second arm 222 and the planetary gear reducer 241A are arranged to overlap when viewed from the third direction, and therefore, compared to when the second arm 222 is arranged closer to the second direction than the planetary gear reducer 241A, it is possible to prevent the overall height H4 of the second robot 200 from becoming larger. Therefore, for example, when the second robot 200 is arranged on the first floor and the first robot 100 is arranged on the second floor and the two robots 100, 200 work cooperatively, it is possible to prevent the robot system 1000 from becoming larger.

[0071] In addition, in the robot system 1000 of this embodiment, the first direction is preferably the vertical direction. With this configuration, since the first direction is the vertical direction, when the first robot 100 and the second robot 200 are arranged so as to be overlapped in the vertical direction, it is possible to prevent the robot system 1000 from becoming too tall.

[0072] In the robot system 1000 of this embodiment, the first robot 100 is preferably a six-axis robot. With this configuration, since the first robot 100 is a six-axis robot and the second robot 200 is a SCARA robot, they can perform cooperative work while making use of each other's strengths.

[0073] In addition, in the robot system 1000 of this embodiment, it is preferable that the first robot 100 grasps the workpiece 510, and the second robot 200 performs work on the workpiece 510 grasped by the first robot 100. With this configuration, the first robot 100 can grasp the workpiece 510 accurately at various angles by taking advantage of, for example, the advantages of a six-axis robot, and the second robot 200 can repeatedly perform similar work by taking advantage of the advantages of a SCARA robot. Furthermore, the second robot 200 is equipped with a planetary gear reducer 241A, which provides higher work efficiency than robots equipped with strain wave gear reducers, and therefore has a faster work speed. In other words, in situations where the second robot 200 performs more tasks than the first robot 100, the second robot 200 can perform work efficiently.

[0074] Furthermore, in the robot system 1000 of this embodiment, it is preferable that the second robot 200 tightens screws at multiple locations on the workpiece 510 gripped by the first robot 100. With this configuration, the advantages of the second robot 200 equipped with the planetary gear reducer 241A are utilized to repeatedly perform multiple screw tightening tasks, thereby improving work efficiency.

[0075] Furthermore, in the robot system 1000 of this embodiment, the first robot 100 and the second robot 200 are preferably arranged inside a cell 300. With this configuration, the two robots 100, 200 are arranged inside the cell 300, which, for example, prevents the size of the cell 300 from becoming too large. Therefore, because the size of the cell 300 is reduced, for example, the energy required to maintain the temperature inside the cell 300 at a constant temperature can be reduced.

[0076] A modification of the above embodiment will now be described.

[0077] As described above, the first robot 100 is not limited to gripping the workpiece 510 and the second robot 200 is not limited to performing the screw tightening operation on the workpiece 510, but may perform the operation shown in FIG.

[0078] Specifically, as shown in Fig. 9, workpiece 510 is fixed to first installation surface 311. Workpiece 510 has first surface 510A and second surface 510B exposed through opening 312. The number of screw holes 530 formed in first surface 510A is, for example, four. The number of screw holes 530 formed in second surface 510B is, for example, fourteen. In other words, the number of screw holes 530 on the second surface 510B side is greater than the number of screw holes 530 on the first surface 510A side.

[0079] In such a robot system 1000A, the first robot 100 performs a screw tightening operation on the screw holes 530 on the first surface 510A of the workpiece 510, and the second robot 200 performs a screw tightening operation on the screw holes 530 on the second surface 510B of the workpiece 510. In this way, the first robot 100 is not limited to gripping the workpiece 510, and may also perform a screw tightening operation. However, it is preferable that the number of screws tightened by the first robot 100 is less than that of the second robot 200.

[0080] As described above, the first robot 100 is not limited to being a six-axis robot and the second robot 200 is not limited to being a SCARA robot, but the first robot 100 may be a SCARA robot and the second robot 200 may be a six-axis robot.

[0081] As described above, the first robot 100, which is a six-axis robot, is arranged in the upper cell 310, and the second robot 200, which is a SCARA robot, is arranged in the lower cell 320. The first robot 100 may be arranged in the lower cell 320, and the second robot 200 may be arranged in the upper cell 310. In this case, the second robot 200 may have a base fixed to the ceiling of the upper cell 310.

[0082] As described above, the first robot 100 is not limited to being a six-axis robot, and depending on the work content, it may be the SCARA robot of this embodiment shown in Figure 2, or conventional second robots 200A, 200B, and 200C may be arranged. [Explanation of symbols]

[0083] 100...first robot, 110...first base, 120...end effector, 130, 130A, 130B...gripping unit, 200, 200A, 200B, 200C...second robot, 210...second base, 221...first arm, 222...second arm, 230...working head, 231...spline nut, 232...ball screw nut, 233...shaft, 233a...end effector, 241...first joint unit as joint unit, 241A...planetary gear reducer, 241B...motor, 242...second joint unit, 242A...planetary gear reducer, 242B ...motor, 300...cell, 310...upper cell, 311...first installation surface, 312...opening, 320...lower cell, 321...second installation surface, 322...ceiling, 510...workpiece, 510a...first surface, 510A...first surface, 510B...second surface, 520...screw, 530...screw hole, 1000, 1000A, 1000C...robot system, 1231...frame, 1233...internal gear, 1233A...internal teeth, 1234...sun gear, 1234A...teeth, 1235...planetary gear, 1235A...teeth, 1236...carrier, 1237...input shaft, 1238...output shaft.

Claims

1. A first robot; a second robot that performs a cooperative task with the first robot; A robot system comprising: The first robot is a first base fixed to a first installation surface; The second robot is a second base fixed to the second installation surface; a first arm connected to the second base; a second arm located in a first direction on the first arm and connected to the first arm; a shaft provided at a tip of the second arm and movable in the first direction and a second direction opposite to the first direction; a planetary gear reducer provided at a joint portion connecting the first arm and the second base; and the second base is disposed closer to the first direction than the first base, a robot system, wherein when the second arm and the planetary gear reducer are viewed from a third direction that is perpendicular to the first direction and the second direction and is a direction in which the first arm extends, the second arm is positioned so as to overlap at least a portion of the planetary gear reducer.

2. The robot system according to claim 1, The robot system, wherein the first direction is a vertical direction.

3. The robot system according to claim 1, A robot system, wherein the first robot is a vertically articulated robot.

4. The robot system according to claim 1, The first robot grasps a workpiece, The second robot performs an operation on the workpiece grasped by the first robot.

5. The robot system according to claim 4, The second robot tightens screws at a plurality of locations on the workpiece gripped by the first robot.

6. The robot system according to claim 1, the first robot and the second robot are disposed in a cell; The cell has the first installation surface and the second installation surface.

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