Robot

Abstract

To provide a robot which can perform work efficiently in a small space.SOLUTION: A robot has a base 110, a first arm 121, and a second arm 122. A first joint 141 includes a first motor 141B and a first speed reducer 141A. A second joint 142 includes a second motor 142B and a second speed reducer 142A. When the first arm 121 is viewed in a third direction orthogonal to the first direction and the second direction, the first motor 141B and the second motor 142B are disposed at the same side of the first direction or the second direction.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a robot configuration including a first arm drive device having a motor and a reducer and supporting a first arm, and a second arm drive device having a motor and a reducer and supporting a second arm. One of the two motors is disposed on the second arm side relative to the first arm. The other motor is disposed on the base side relative to the first arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-307636 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the configuration of Patent Document 1, the two motors are arranged in different directions relative to the first arm, which increases the overall height of the robot, including the first arm and the second arm connected to the two motors. In other words, when work is performed in a small space depending on the work environment, there is a demand for a lower overall height of the robot. [Means for solving the problem]

[0005] The robot has a base, a first arm connected to the base via a first joint and rotating around a first rotation axis, and a second arm connected to the first arm via a second joint and rotating around a second rotation axis, the first rotation axis and the second rotation axis being aligned along a first direction and a second direction opposite to the first direction, the first joint having a first motor, the second joint having a second motor, and the first motor and the second motor being arranged on the same side of the first arm in the first direction or the second direction. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a side view showing the configuration of a robot according to a first embodiment. [Figure 2] FIG. 3 is a cross-sectional view showing the internal structure of the 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] Cross-sectional view showing the overall heights of the two robots in comparison. [Figure 6] Schematic diagram showing the working state of the robot. [Figure 7] FIG. 10 is a cross-sectional view showing the configuration of a robot according to a second embodiment. [Figure 8] FIG. 1 is a schematic diagram showing a working state of the robot. DETAILED DESCRIPTION OF THE INVENTION

[0007] The configuration of a robot 100 according to the first 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] 1, the robot 100 of the first embodiment is 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 type of task is not particularly limited.

[0009] The robot 100 is a SCARA robot. The robot 100 has a base 110, a first arm 121 connected to the base 110, and a second arm 122 connected to the first arm 121. A shaft 130 that is movable in the vertical direction is disposed at the tip of the second arm 122.

[0010] The base 110 and the first arm 121 are connected via a first joint 141. The first arm 121 and the second arm 122 are connected via a second joint 142.

[0011] Next, the configuration of the robot 100 will be described with reference to Fig. 2. In Fig. 2, the right side of the base 110, the first arm 121, and the second arm 122 in the figure is referred to as the "base end" and the left side is referred to as the "tip end."

[0012] As shown in FIG. 2, the robot 100 is a SCARA robot as described above, and includes a base 110, a first arm 121, and a second arm 122.

[0013] The first arm 121 has a base end connected to the base 110. The first arm 121 rotates around a first rotation axis J1 that is perpendicular to the base 110.

[0014] The second arm 122 has a base end connected to the tip end of the first arm 121. The second arm 122 rotates relative to the first arm 121 around a second rotation axis J2 that is aligned in the vertical direction.

[0015] The second arm 122 is disposed in a second direction, which is vertically above the first arm 121. The vertically lower side is defined as a first direction D1, and the vertically upper side opposite the first direction D1 is defined as a second direction D2. The direction in which the first arm 121 extends, which is perpendicular to the first direction D1 and the second direction D2, is defined as a third direction D3.

[0016] The base 110 and the first arm 121 are connected via a first joint 141. A first reducer 141A and a first motor 141B connected to the first reducer 141A are provided in the first joint 141. The first reducer 141A is a planetary gear reducer.

[0017] The first arm 121 and the second arm 122 are connected via a second joint 142. The second joint 142 is provided with a second reducer 142A and a second motor 142B connected to the second reducer 142A. The second reducer 142A is a planetary gear reducer.

[0018] The first joint 141 rotatably connects the base 110 and the first arm 121, and rotates the first arm 121 relative to the base 110 around a first rotation axis J1. The first motor 141B generates a driving force that rotates the first arm 121 relative to the base 110. The first reducer 141A functions as a power transmission mechanism that uses the first motor 141B as a driving source. The first reducer 141A receives the driving force generated by the first motor 141B and rotates the first arm 121 relative to the base 110.

[0019] The second joint 142 rotatably connects the first arm 121 and the second arm 122, and rotates the second arm 122 relative to the first arm 121 about a second rotation axis J2. The second motor 142B generates a driving force that rotates the second arm 122 relative to the first arm 121. The second reducer 142A functions as a power transmission mechanism that uses the second motor 142B as a driving source. The second reducer 142A receives the driving force generated by the second motor 142B and rotates the second arm 122 relative to the first arm 121.

[0020] The first motor 141B and the second motor 142B are arranged on the same side with respect to the first arm 121. In other words, the first motor 141B and the second motor 142B are arranged on the second direction side with respect to the first arm 121, which is the side opposite to the base 110.

[0021] Specifically, the output side of first reducer 141A is housed and connected to base 110. The input side of first reducer 141A is housed and arranged in first arm 121. The output side of first motor 141B is connected to the input side of first reducer 141A and is housed in first arm 121. In other words, the parts other than the output side of first motor 141B are arranged to protrude from first arm 121 in the second direction.

[0022] In this way, by arranging most of the first motor 141B to protrude from the first arm 121 in the second direction, the arrangement position from the installation surface of the first arm 121 can be made lower.

[0023] Furthermore, because a portion of the first reducer 141A and a portion of the first motor 141B are housed in the base 110 and the first arm 121, the height from the base 110 to the first arm 121 can be reduced compared to when they are not housed, thereby reducing the overall height of the entire robot 100. Furthermore, the height H1 of the base 110 is lower than the height H2 from the first reducer 141A to the first motor 141B. In this way, because the height H1 of the base 110 is low, the overall height of the entire robot 100 can be reduced.

[0024] The output side of second reducer 142A is housed in and connected to first arm 121. The input side of second reducer 142A is disposed protruding from first arm 121 toward the second direction. The output side of second motor 142B is connected to the input side of second reducer 142A. The portion of second motor 142B other than the output side is disposed inside second arm 122.

[0025] Furthermore, by changing the second reducer 142A from a planetary gear reducer to a strain wave gear reducer, it is possible to reduce the height that the second reducer protrudes from the second arm 122. However, although a planetary gear reducer is taller than a commonly used strain wave gear reducer, the increase in the height of the robot 100 can be reduced because a portion of the reducers 141A, 142A is housed in the base 110, first arm 121, and second arm 122. Furthermore, because a planetary gear reducer is used, work efficiency can be improved compared to a strain wave gear reducer.

[0026] Furthermore, the first motor 141B and the second motor 142B are arranged so as to have at least a portion, specifically, an overlapping portion L1, when viewed from the third direction. 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, when viewed from the third direction, which is the direction in which the first arm 221 extends, the second arm 222 is arranged to overlap at least a portion of the first joint unit 241. With this arrangement, the first motor 141B and the second motor 142B are arranged to at least partially overlap when viewed from the third direction. This shortens the distance from the first motor 141B to the second motor 142B compared to when they are not arranged to overlap. In other words, the height can be reduced as the first motor 141B and the second motor 142B are arranged side by side. Therefore, the overall height of the robot 100 can be reduced.

[0027] A control device (not shown) is disposed inside the base 110. Note that the control device is not limited to being disposed inside the base 110, and may be disposed outside the base 110.

[0028] A work head 135 is provided at the tip of the second arm 122. The work head 135 has a spline nut 131 and a ball screw nut 132 that are coaxially arranged at the tip of the second arm 122, and a shaft 130 that is inserted through the spline nut 131 and the ball screw nut 132.

[0029] The shaft 130 is rotatable about a third rotation axis J3 that is the center axis of the second arm 122 and extends in the vertical direction. The shaft 130 is movable up and down in the direction along the third rotation axis J3, i.e., in the first direction and the second direction.

[0030] An end effector 130a is attached to the tip of the shaft 130. The end effector 130a is detachable from the shaft 130, and an end effector suitable for the intended task is selected as appropriate.

[0031] Next, the configuration of the planetary gear reducer applied to the reducers 141A and 142A will be described with reference to FIGS.

[0032] As shown in FIGS. 2, 3, and 4, the planetary gear reducer includes 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.

[0033] 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.

[0034] 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 the first motor 141B, for example, via a bearing (not shown). The first motor 141B is fixed to the base 110 directly or indirectly, although not shown.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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 121 via, for example, a bearing (not shown).

[0039] The rotational force transmitted from the first motor 141B 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 121 can rotate relative to the base 110 at a reduced speed, thereby increasing the rotational torque of the first arm 121.

[0040] The input shaft of the planetary gear reducer is connected to a second motor 142B fixed to the base end of the second arm 122. The output shaft of the planetary gear reducer is fixed to the tip end of the first arm 121.

[0041] 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 121 is in operation.

[0042] 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.

[0043] 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.

[0044] The planetary gear reducer may have an elastic support member on the outside of the internal gear 1233. The elastic support member allows the 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 in the circumferential direction relative to the frame 1231.

[0045] Next, the advantages of the robot 100 of the first embodiment will be described in comparison with a conventional robot 100A with reference to Fig. 5. Note that the difference lies in the configuration of the first joint portion 141.

[0046] In the first joint 141 of the conventional robot 100A, a first motor 141B is disposed inside the base 110. However, a first reducer 141A is disposed in a state where it protrudes from the base 110 toward the second direction, and is connected to the output side of the first motor 141B.

[0047] In other words, although the first motor 141B is housed in the base 110, the first arm 121 is connected after the first motor 141B and the first reducer 141A are connected, so the height H3 of the first arm 121 from the installation surface is high.

[0048] In contrast, in the robot 100 of the first embodiment, the first motor 141B is disposed so as to protrude further from the first arm 121 toward the second direction where the second arm 122 is disposed, and therefore it is possible to reduce the height of the base 110. Furthermore, because a portion of the first reducer 141A is housed in the base 110, the height H4 from the installation surface to the first arm 121 can be reduced compared to the conventional robot 100A.

[0049] Next, an example of the working state of the robot 100 in the robot system 1000 will be described with reference to FIG.

[0050] 6, the robot system 1000 includes the robot 100 of the first embodiment and, for example, a six-axis robot 500. The robot 100 and the six-axis robot 500 are arranged in a cell 300 having a two-story structure.

[0051] For example, the six-axis robot 500 is placed on the first installation surface 311 of the upper cell 310. The robot 100 is placed on the ceiling 322 of the lower cell 320. The six-axis robot 500 and the robot 100 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.

[0052] For example, the six-axis robot 500 grips a workpiece (not shown) in the opening 312 and fixes it at an angle and position that makes it easy for the robot 100 to work. The robot 100 then tightens screws into the screw holes in the gripped workpiece.

[0053] In this way, the six-axis robot 500 can grip the workpiece at an optimal angle in an accurate position. Furthermore, because the robot 100 is a SCARA robot, it can perform screw tightening operations repeatedly at high speed. Furthermore, because the robot 100 uses a planetary gear reducer as the first reducer 141A, 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 robot 100 is greater than the number of operations performed by the six-axis robot 500, the robot 100 can perform operations efficiently.

[0054] Furthermore, because the overall height H6 of the robot 100 is low, the robot can effectively work in a situation where the lower cell 320 is in a narrow space. Because the overall height H6 of the robot 100 is kept low, the shaft 130 does not come into contact with the second installation surface 321. Therefore, even when two robots 100, 500 work cooperatively, the cell 300 does not need to be large. Furthermore, by making the cell 300 smaller, the energy required to maintain a constant temperature within the cell 300 can be reduced.

[0055] As described above, the robot 100 of the first embodiment includes the base 110, the first arm 121 connected to the base 110 via the first joint 141 and rotating around the first rotation axis J1, and the second arm 122 connected to the first arm 121 via the second joint 142 and rotating around the second rotation axis J2, the first rotation axis J1 and the second rotation axis J2 extending along the first direction and the second direction opposite to the first direction, and the first joint 141 41 includes a first motor 141B and a first reducer 141A connected to the first motor 141B, and the second joint 142 includes a second motor 142B and a second reducer 142A connected to the second motor 142B, and when the first arm 121 is viewed from a third direction perpendicular to the first direction and the second direction, the first motor 141B and the second motor 142B are arranged on the same side of the first direction or the second direction.

[0056] According to this configuration, the first motor 141B and the second motor 142B are arranged on the same side with respect to the first arm 121, and therefore, for example, the distance from the first motor 141B to the second motor 142B when the first motor 141B and the second motor 142B are arranged on the same side can be shorter than the distance from the first motor 141B to the second motor 142B when the two motors 141B, 142B are arranged in different directions with respect to the first arm 121. In other words, it is possible to reduce the height from the base 110 to the second motor 142B, and the overall height H6 of the entire robot 100 can be reduced.

[0057] Furthermore, because the motors 141B and 142B are components that are long in the vertical direction, arranging them on the same side prevents the overall height H6 of the robot 100 from increasing even if the overall height of the reducers 141A and 142A increases. Furthermore, since the overall height H6 of the robot 100 is low, it is possible to prevent the tip of the shaft 130 from shaking, thereby improving work accuracy.

[0058] Furthermore, in the robot 100 of the first embodiment, the first motor 141B and the second motor 142B are preferably arranged so that at least a portion of them overlap when viewed from the third direction. With this configuration, the first motor 141B and the second motor 142B are arranged so that at least a portion of them overlap when viewed from the third direction, i.e., the horizontal direction. This allows the distance from the first motor 141B to the second motor 142B to be shorter than when they are not arranged so that they overlap. In other words, the more the first motor 141B and the second motor 142B are arranged side by side, the more the height can be reduced. Therefore, the overall height H6 of the robot 100 can be reduced.

[0059] Furthermore, in the robot 100 of the first embodiment, the "same side" is the opposite side of the base 110 with respect to the first arm 121, and it is preferable that the output side of the first reducer 141A is housed in the base 110, and the input side of the first reducer 141A and a portion of the first motor 141B are housed in the first arm 121. According to this configuration, a portion of the first reducer 141A and a portion of the first motor 141B are housed in the base 110 and the first arm 121, respectively. Therefore, compared to when they are not housed, it is possible to reduce the height from the base 110 to the first arm 121, and the overall height H6 of the entire robot 100 can be reduced.

[0060] In the robot 100 of the first embodiment, it is preferable that the height H1 of the base 110 is lower than the height H2 from the first reducer 141A to the first motor 141B. With this configuration, since the height H1 of the base 110 is low, the overall height H6 of the entire robot 100 can be reduced.

[0061] Furthermore, in the robot 100 of the first embodiment, it is preferable that the first reducer 141A is a planetary gear reducer and the second reducer 142A is a planetary gear reducer. With this configuration, although a planetary gear reducer is taller than a commonly used strain wave gear reducer, since a portion of the first reducer 141A is housed in the base 110 or the first arm 121, the increase in the height of the robot 100 can be suppressed. Furthermore, since a planetary gear reducer is used, work efficiency can be improved compared to a strain wave gear reducer.

[0062] Next, the configuration of a robot 200 according to a second embodiment will be described with reference to FIG.

[0063] The robot 200 of the second embodiment differs from the robot 100 of the first embodiment in that the second arm 222 is disposed on the first direction side of the first arm 221. Therefore, in the second embodiment, the parts that differ from the first embodiment will be described in detail, and the description of other overlapping parts will be omitted as appropriate.

[0064] As shown in FIG. 7, the robot 200 of the second embodiment is a SCARA robot, and includes a base 210, a first arm 221, and a second arm 222.

[0065] The first arm 221 has a base end connected to the base 210. The first arm 221 rotates around a first rotation axis J1 that is perpendicular to the base 210.

[0066] The base end of the second arm 222 is connected to the tip end of the first arm 221. The second arm 222 rotates around a second rotation axis J2 that is vertical to the first arm 221. The second arm 222 is disposed on the first direction side, which is below the first arm 221 in the vertical direction.

[0067] The base 210 and the first arm 221 are connected via a first joint 241. A first reducer 241A and a first motor 241B connected to the first reducer 241A are provided in the first joint 241. The first reducer 241A is a planetary gear reducer.

[0068] The first arm 221 and the second arm 222 are connected via a second joint 242. A second reducer 242A and a second motor 242B connected to the second reducer 242A are provided at the second joint 242. The second reducer 242A is a planetary gear reducer.

[0069] A working head 235 is provided at the tip of the second arm 222. The working head 235 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 230 that is inserted through the spline nut 231 and the ball screw nut 232.

[0070] The shaft 230 is rotatably mounted around a third rotation axis J3 that is the central axis of the second arm 222 and extends in the vertical direction. The shaft 230 is movable up and down in the direction along the third rotation axis J3, i.e., in the first direction and the second direction.

[0071] An end effector 230a is attached to the tip of the shaft 230. The end effector 230a is detachable from the shaft 230, and an end effector suitable for the intended task is selected as appropriate.

[0072] The first joint portion 241 rotatably connects the base 210 and the first arm 221, and has a first reducer 241A and a first motor 241B that rotate the first arm 221 relative to the base 210 around a first rotation axis J1.

[0073] The first motor 241B generates a driving force that rotates the first arm 221 relative to the base 210. The first reducer 241A functions as a power transmission mechanism that uses the first motor 241B as a driving source.

[0074] The second joint portion 242 rotatably connects the first arm 221 and the second arm 222, and has a second reducer 242A and a second motor 242B that rotate the second arm 222 relative to the first arm 221 around the second rotation axis J2.

[0075] The second motor 242B generates a driving force that rotates the second arm 222 relative to the first arm 221. The second reducer 242A functions as a power transmission mechanism that uses the second motor 242B as a driving source.

[0076] The first motor 241B and the second motor 242B are arranged on the same side with respect to the first arm 221. In other words, the first motor 241B and the second motor 242B are arranged on the first direction side, which is the base 210 side, with respect to the first arm 221.

[0077] Specifically, the output side of the first reducer 241A is housed in and connected to the first arm 221. The input side of the first reducer 241A is housed in and arranged within the base 210. The first motor 241B is housed in and arranged within the base 210.

[0078] Furthermore, the first motor 241B and the second motor 242B are arranged so as to have at least a portion, specifically, an overlapping portion L1, when viewed from the third direction. By arranging them in this manner, the first motor 241B and the second motor 242B are arranged so as to at least partially overlap when viewed from the third direction, i.e., the horizontal direction. Therefore, the distance from the first motor 241B to the second motor 242B can be shortened compared to when they are not arranged so as to overlap. In other words, the more the first motor 241B and the second motor 242B are arranged side by side, the more the height can be reduced. Therefore, the overall height of the robot 200 can be reduced.

[0079] Next, an example of the work of the robot 200 in the robot system 1000A will be described with reference to FIG.

[0080] 8, the robot system 1000A includes the robot 200 of the second embodiment and a six-axis robot 500. The robot 200 and the six-axis robot 500 are arranged in a cell 300 having a two-story structure.

[0081] For example, the six-axis robot 500 is placed on a first installation surface 311 of the upper cell 310. Unlike the first embodiment, the robot 200 is placed on a second installation surface 321 of the lower cell 320. The six-axis robot 500 and the 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.

[0082] Furthermore, since the overall height H7 of the robot 200 is low, it can work effectively in a situation where the lower cell 320 is a narrow space. The other configurations are the same as those of the first embodiment.

[0083] Because the overall height H7 of the robot 200 is kept low, the shaft 230 does not come into contact with the second installation surface 321. Therefore, even when two robots 200, 500 work cooperatively, the cell 300 does not need to be made larger, which is an advantage. Furthermore, by making the cell 300 smaller, the energy required to maintain the temperature inside the cell 300 at a constant level can be reduced.

[0084] As described above, in the robot 200 of the second embodiment, the same side is the base 210 side with respect to the first arm 221, the output side of the first reducer 241A is housed in the first arm 221, the input side of the first reducer 241A and the first motor 241B are housed in the base 210, and the second arm 222 is disposed on the base 210 side with respect to the first arm 221. According to this configuration, the second arm 222 is disposed on the base 210 side of the first arm 221. In other words, the second arm 222 is disposed within the height from the base 210 to the first reducer 241A. Therefore, it is possible to reduce the height by the height of the second arm 222, and the overall height H7 of the entire robot 200 can be reduced.

[0085] Furthermore, in the robot 200 of the second embodiment, the first motor 241B and the second motor 242B are preferably arranged so that at least a portion of them overlap when viewed from the third direction. With this configuration, the first motor 241B and the second motor 242B are arranged so that at least a portion of them overlap when viewed from the third direction, i.e., the horizontal direction. This allows the distance from the first motor 241B to the second motor 242B to be shorter than when they are not arranged so that they overlap. In other words, the more the first motor 241B and the second motor 242B are arranged side by side, the more the height can be reduced. Therefore, the overall height H7 of the robot 200 can be reduced.

[0086] Furthermore, in the robot 200 of the second embodiment, it is preferable that the first reducer 241A is a planetary gear reducer and the second reducer 242A is a planetary gear reducer. With this configuration, although a planetary gear reducer is taller than a commonly used strain wave gear reducer, because the second arm 222 is disposed on the base 210 side, the increase in height of the robot 200 can be suppressed. Furthermore, because a planetary gear reducer is used, work efficiency can be improved compared to a strain wave gear reducer.

[0087] A modification of the above embodiment will now be described.

[0088] As described above, the robot 100 of the first embodiment is not limited to applying a planetary gear reducer to the first reducer 141A, and may also apply a strain wave gear reducer.

[0089] As described above, in the robot 100 of the first embodiment, it is preferable that the second reducer 142A is a strain wave gear reducer and the first reducer 141A is a planetary gear reducer. With this configuration, the use of a planetary gear reducer for the first reducer 141A makes it possible to generate the large torque required for the first joint 141. Furthermore, the use of a strain wave gear reducer for the second reducer 142A makes it possible to make the robot smaller.

[0090] As described above, the robot 200 of the second embodiment is not limited to applying a planetary gear reducer to the second reducer 242A, and may also apply a strain wave gear reducer.

[0091] In the robot 200 of the second embodiment, it is preferable that the second reducer 242A is a strain wave gear reducer and the first reducer 241A is a planetary gear reducer. With this configuration, the use of a planetary gear reducer for the first reducer 241A makes it possible to generate the large torque required for the first joint 241. Furthermore, the use of a strain wave gear reducer for the second reducer 242A makes it possible to make the robot smaller.

[0092] As described above, the robot 100 of the first embodiment is not limited to being installed on the ceiling 322 for use, and may be installed on the top surface of a stand for use unless collaborative work is being performed.

[0093] As described above, the first motor 141B in the first embodiment may be covered at the portion that projects from the first arm 121 in the second direction to prevent the first motor 141B from being exposed to the robot 100. [Explanation of symbols]

[0094] 100, 100A...robot, 110...base, 121...first arm, 122...second arm, 130...shaft, 130a...end effector, 131...spline nut, 132...ball screw nut, 135...working head, 141...first joint portion, 141A...first reducer, 141B...first motor, 142...second joint portion, 142A...second reducer, 142B...second motor, 200...robot, 210...base, 221...first arm, 222...second arm, 230...shaft, 235...working head, 231...spline nut, 232...ball screw nut, 230a...end Effector, 241...first joint unit, 241A...first reducer, 241B...first motor, 242...second joint unit, 242A...second reducer, 242B...second motor, 300...cell, 310...upper cell, 311...first installation surface, 312...opening, 320...lower cell, 321...second installation surface, 322...ceiling, 500...6-axis robot, 1000, 1000A...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. The base and a first arm connected to the base via a first joint and configured to rotate around a first rotation axis; a second arm connected to the first arm via a second joint portion and configured to rotate around a second rotation axis, the first rotation axis and the second rotation axis are aligned along a first direction and a second direction opposite to the first direction, the first joint portion includes a first motor; the second joint portion includes a second motor; The robot, wherein the first motor and the second motor are arranged on the same side of the first arm in the first direction or the second direction.

2. The robot according to claim 1, a third direction perpendicular to the first direction and the second direction and in which the first arm extends; The robot, wherein the first motor and the second motor are arranged to at least partially overlap when viewed from the third direction.

3. The robot according to claim 1, the first joint portion has a first reducer that receives a driving force from the first motor, the same side is the opposite side of the first arm from the base; an output side of the first reducer is accommodated in the base; The input side of the first reducer and a portion of the first motor are housed in the first arm.

4. The robot according to claim 3, The robot, wherein the height of the base is lower than the height from the first reducer to the first motor.

5. The robot according to claim 3, the second joint portion has a second reducer that receives a driving force from the second motor, The robot, wherein the first reducer and the second reducer are planetary gear reducers.

6. The robot according to claim 3, the second joint portion has a second reducer attached to the second motor, the first reducer is a planetary gear reducer, The robot, wherein the second reducer is a strain wave gear reducer.

7. The robot according to claim 1, the first joint portion has a first reducer attached to the first motor, the same side is the base side with respect to the first arm, an output side of the first reducer is accommodated in the first arm, an input side of the first reducer and the first motor are housed in the base; The second arm is disposed closer to the base than the first arm.

8. The robot according to claim 7, The robot, wherein the first motor and the second motor are arranged to at least partially overlap when viewed from a third direction.

9. The robot according to claim 7, the second joint portion has a second reducer attached to the second motor, The robot, wherein the first reducer and the second reducer are planetary gear reducers.

10. The robot according to claim 7, the second joint portion has a second reducer attached to the second motor, the first reducer is a planetary gear reducer, The robot, wherein the second reducer is a strain wave gear reducer.

Images