Robot

Abstract

To suppress generation of noise caused by vibration of a cover.SOLUTION: A robot 1 includes a main body 3 of a manipulator 10, and a cover 4 that is detachably fixed to an opening 31 of the main body 3, the cover 4 having a press-fit portion (a peripheral edge portion 41) fixed to an edge of the opening by press-fitting.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The technology disclosed herein relates to a robot. [Background technology]

[0002] Patent Document 1 describes a conventional robot. The first arm of the robot includes a housing and a cover fixed to the housing. The periphery of the cover is fixed to the housing with a plurality of bolts. The first arm has an internal storage space. The storage space houses a drive mechanism that rotates the second arm relative to the first arm. The housing has a rib inside the storage space that abuts against and presses against the cover. Patent Document 1 describes that the rib makes it difficult for the cover to vibrate, thereby suppressing noise generation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-124103 Summary of the Invention [Problem to be solved by the invention]

[0004] In the structure of the conventional robot, the ribs only press the center of the cover, so vibration of the cover is not significantly suppressed and the noise reduction effect is not great. [Means for solving the problem]

[0005] The technology disclosed herein relates to a robot. a manipulator body; a cover that is removably fixed to the opening of the main body, the cover having a press-fit portion that is fixed to an edge of the opening by press-fitting; Equipped with. [Effects of the Invention]

[0006] In the robot, the cover is firmly fixed to the body, so vibration of the cover is suppressed, and noise caused by vibration of the cover is suppressed. [Brief explanation of the drawings]

[0007] [Figure 1] Figure 1 shows a robot. [Figure 2] The left diagram in FIG. 2 shows the cover fixed to the main body, and the right diagram is a cross-sectional view taken along line AA of the left diagram. [Figure 3] FIG. 3 relates to a modified example, and the left drawing shows a cover fixed to the main body, and the right drawing is a cross-sectional view taken along line BB of the left drawing. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of a robot will be described with reference to the drawings. The robot described here is an example.

[0009] (Overall structure of the robot) FIG. 1 shows a robot 1 to which the technology disclosed herein is applied. The right diagram of FIG. 1 is a perspective view of the robot 1 seen from the left side of the robot 1, and the left diagram of FIG. 1 is a perspective view of the same robot 1 seen from the right side of the robot 1. The robot 1 is equipped with a manipulator 10. The manipulator 10 is the mechanism of the robot 1. The manipulator 10 in FIG. 1 has a serial link structure. The robot 1 in FIG. 1 is specifically a six-axis vertical articulated robot. The manipulator 10 has an arm. The robot 1 is an industrial robot used, for example, in the manufacture of products in a factory. The use of the robot 1 is not limited to manufacturing applications.

[0010] The robot 1 includes a base 11. The base 11 is fixed to the floor or placed on a moving mechanism.

[0011] The robot 1 includes a link 12. A joint JT1 connects the link 12 to a base 11. The link 12 rotates relative to the base 11 about an axis Ax1. The axis Ax1 is a vertical axis.

[0012] The robot 1 includes a link 13. The link 13 has a first end and a second end. A joint JT2 connects the first end of the link 13 to the link 12. The link 13 rotates relative to the link 12 about an axis Ax2. The axis Ax2 is a horizontal axis.

[0013] The robot 1 includes a link 14. A joint JT3 connects a first end of the link 14 to a second end of the link 13. The link 14 rotates relative to the link 13 about an axis Ax3. The axis Ax3 is an axis parallel to the axis Ax2.

[0014] The robot 1 includes a link 15. A joint JT4 connects a first end of the link 15 to a second end of the link 14. The link 15 rotates relative to the link 14 about an axis Ax4. The axis Ax4 is an axis perpendicular to the axis Ax2 or the axis Ax3.

[0015] The robot 1 includes a link 16. A joint JT5 connects the link 16 to the link 15. The link 16 rotates relative to the link 15 around an axis Ax5. The axis Ax5 is an axis parallel to the axis Ax2 or the axis Ax3. The joint JT6 rotates the end effector attached to the link 16 around an axis Ax6. The axis Ax6 is an axis perpendicular to the axis Ax2, the axis Ax3, or the axis Ax5.

[0016] (Characteristic structure of the robot) The base 11 and the links 12, 13, 14, and 15 are included in a manipulator 10 of the robot 1. The multiple links 12, 13, 14, and 15 and multiple joints JT1, JT2, JT3, JT4, JT5, and JT6 form an arm of the robot 1.

[0017] The base 11 and the links 12, 13, 14, and 15 each have a body and a cover. The base 11 has a body 210 and covers 211, 212, and 213. The link 12 has a body 220 and a cover 221. The link 13 has a body 230 and covers 231 and 232. The link 14 has a body 240 and a cover 241. The link 15 has a body 250 and covers 251 and 252.

[0018] FIG. 2 schematically shows the structure of a base or a link. The structure shown in FIG. 2 corresponds to the structure of each of the base 11 or links 12, 13, 14, and 15. The base or link includes a main body 3 and a cover 4. Note that the shape of the main body 3 or the shape of the cover 4 shown in FIG. 2 is merely an example. The technology disclosed herein should not be interpreted as being limited by the shape of the main body 3 or the shape of the cover 4 shown in FIG. 2.

[0019] For the purpose of explaining the main body 3 and the cover 4, the directions are defined as follows. The direction in which the cover 4 is attached to or detached from the main body 3 is called the first direction. The first direction is the left-right direction in the right illustration of FIG. 2. The two directions perpendicular to the first direction are called the second direction and the third direction. The second direction is the up-down direction in FIG. 2, and the third direction is the left-right direction in the left illustration of FIG. 2.

[0020] The main body 3 has a housing section 30. The housing section 30 houses, for example, the driving elements of the manipulator 10. Examples of the driving elements include motors, reducers, gears, belts, pulleys, and bearings. The driving elements are not limited to these. The driving elements are supported, for example, by the main body 3. When the robot 1 operates, the main body 3 may vibrate as the driving elements are driven. The housing section 30 may house cables or piping. The cables include power lines or signal lines.

[0021] The opening 31 of the storage section 30 is located on the outer surface 32 of the main body 3. The edge of the opening 31 is recessed from the outer surface 32 of the main body 3. The surface of the edge of the opening 31 is along the first direction.

[0022] The cover 4 closes the opening 31 of the storage section 30. The storage section 30 is separated from the outside by the main body 3 and the cover 4.

[0023] The cover 4 is removably fixed to the main body 3. A peripheral edge portion 41 of the cover 4 is located within the opening 31 of the storage portion 30, which is recessed from the outer surface 32 of the main body 3. The peripheral edge portion 41 in the illustrated example protrudes outward from the cover 4 like a flange. Note that the shape of the peripheral edge portion 41 is not limited to a flange-like shape. The peripheral edge portion 41 has an abutment surface 410. The abutment surface 410 is a surface perpendicular to the first direction. The main body 3 has an abutment surface 33. The abutment surface 33 is a surface perpendicular to the first direction and is displaced in position in the first direction relative to the outer surface 32 of the main body 3. The abutment surface 410 of the peripheral edge portion 41 abuts against the abutment surface 33.

[0024] The peripheral edge portion 41 of the cover 4 has a through hole 42. The through hole 42 penetrates the peripheral edge portion 41 in the first direction. A bolt 43 for fixing the cover 4 to the main body 3 is inserted into the through hole 42. The main body 3 has a bolt hole 34. The bolt hole 34 opens to the abutment surface 33 and communicates with the through hole 42. The bolt 43 is fastened to the bolt hole 34.

[0025] The peripheral portion 41 has a plurality of through holes 42. The plurality of through holes 42 are positioned at intervals along the peripheral portion 41. Corresponding to the positions of the plurality of through holes 42, the bolt holes 34 of the main body 3 are also positioned at intervals along the edge of the opening 31. The cover 4 is fixed to the main body 3 by a plurality of bolts 43. Note that the number of through holes 42 and the number of bolt holes 34 are not limited to a specific number. For example, the number of through holes 42 and the number of bolt holes 34 may be determined depending on the size of the cover 4. Note that the bolts 43 and the bolt holes 34 are not essential elements of the robot 1.

[0026] The peripheral edge portion 41 of the cover 4 is fixed by press-fitting to the edge of the opening 31 of the housing portion 30. The peripheral edge portion 41 is an example of a press-fit portion. The peripheral edge portion 41 is press-fitted around the entire periphery of the edge of the opening 31. The press-fit portion of the cover 4 is the entire peripheral edge portion 41.

[0027] The press fit between the edge of the opening 31 and the peripheral portion 41 conforms to the "intermediate fit" or "tight fit" defined in JIS B 0401-1:2016. More specifically, the press fit between the edge of the opening 31 and the peripheral portion 41 may be a "light press fit" included in the "intermediate fit" defined in JIS B 0401-1:2016, or a "press fit" included in the "tight fit" defined in JIS B 0401-1:2016. As described above, the cover 4 is removably fixed to the main body 3. This is because the cover 4 fixed to the main body 3 is removed from the main body 3, for example, during maintenance of the drive element in the housing portion 30. The "forced press fit" included in the "tight fit" is not used to fix the edge of the opening 31 and the peripheral portion 41. This is because if the cover 4 is fixed to the main body 3 by a forceful press fit, the cover 4 cannot be substantially removed from the main body 3. Furthermore, as will be described later, fixing the cover 4 to the main body 3 by press-fitting suppresses vibration of the peripheral edge 41 of the cover 4 and reduces noise during operation of the robot 1. To ensure that the peripheral edge 41 of the cover 4 is firmly fixed to the edge of the opening 31 of the main body 3, the "pressing" or "driving" methods included in "transition fitting" are not used to fix the edge of the opening 31 and the peripheral edge 41.

[0028] The cover 4 has removal taps 44 and 45. The removal taps 44 and 45 are means for removing the cover 4 from the main body 3. This is because the cover 4 is firmly fixed to the main body 3, making it difficult to remove the cover 4 from the main body 3. The removal taps 44 and 45 are located on the peripheral edge 41. More specifically, the first removal tap 44 is located on the first peripheral edge of the cover 4, adjacent to the through hole 42, to the right in the illustration. The first peripheral edge is the peripheral edge 41 at the first end of the cover 4 in the second direction. The second removal tap 45 is located on the second peripheral edge of the cover 4, adjacent to the through hole 42, to the left in the illustration. The second peripheral edge is the peripheral edge 41 at the second end of the cover in the second direction, and is the peripheral edge 41 on the opposite side of the center of the cover 4 from the first peripheral edge. Therefore, the two removal taps 44, 45 are located at both ends in the second direction across the center of the cover 4, and are positioned diagonally in the second and third directions.

[0029] The first and second taps 44 and 45 are holes that penetrate the peripheral portion 41 in the first direction. Female threads are formed in the holes. Removal bolts 46 for the cover 4 are threaded into the first and second taps 44 and 45. No bolt holes are formed in the abutment surface 33 of the main body 3 at positions corresponding to the first and second taps 44 and 45. The tip of the removal bolt 46 threaded into the first or second tap 44 or 45 abuts the abutment surface 33. Even if the removal bolt 46 is further threaded, it will not advance toward the main body 3, and the cover 4 will move away from the main body 3. The cover 4 is removed from the main body 3. When the cover 4 is removed, all of the bolts 43 have already been removed. Furthermore, the removal taps 44 and 45 are not essential elements of the robot 1.

[0030] (Action and effect) In conventional robots, the peripheral edge 41 of the cover 4 is generally fixed to the edge of the opening 31 of the main body 3 using bolts 43. The present inventors have discovered that a fixing structure using bolts 43 causes the peripheral edge 41 of the cover 4 to vibrate between adjacent bolts 43 during operation of the robot 1, resulting in increased noise. Based on this finding, the present inventors have found that if the peripheral edge 41 of the cover 4 is firmly fixed to the edge of the opening 31 of the main body 3, the vibration of the peripheral edge 41 of the cover 4 can be suppressed. For example, by reducing the pitch of the bolts 43, the vibration of the peripheral edge 41 of the cover 4 can be suppressed to some extent. However, depending on the attachment position of the cover 4 on the robot 1, it may be difficult to reduce the pitch of the bolts 43. For example, among the links 12, 13, 14, and 15 that form the arm of the robot 1, the link 15 located at the tip of the arm is a relatively small link. The covers 251, 252 of the small link 15 have a small space for arranging the bolts 43, making it difficult to reduce the bolt pitch. Also, using a large number of bolts 43 reduces the workability of the installation and removal of the cover 4.

[0031] In the robot 1 described above, the peripheral portion 41 of the cover 4 is fixed by press-fitting to the edge of the opening 31 of the main body 3. The cover 4 is firmly fixed to the edge of the opening 31 of the main body 3. Vibration of the peripheral portion 41 of the cover 4 is suppressed, and noise during operation of the robot 1 caused by vibration of the peripheral portion 41 of the cover 4 is reduced. The fact that the covers 251, 252 of the link 15 located on the tip side of the arm have press-fit portions is effective in suppressing vibration of the peripheral portions of the covers 251, 252.

[0032] If the edge of the opening 31 of the main body 3 is press-fitted into the peripheral portion 41 of the cover 4 in accordance with the transition fit or tight fit specified in JIS B 0401-1:2016, the robot 1 can both suppress vibration of the peripheral portion 41 and detach the cover 4 from the main body 3.

[0033] The entire peripheral edge portion 41 of the cover 4 is press-fitted and fixed to the edge of the opening 31 of the main body 3. Vibrations of the peripheral edge portion 41 of the cover 4 are effectively suppressed.

[0034] In addition, the peripheral portion 41 of the cover 4 is also fixed to the main body 3 by bolts 43. Vibration of the peripheral portion 41 of the cover 4 is further suppressed. In addition, since the peripheral portion 41 of the cover 4 is fixed by press fitting, the number of bolts 43 can be reduced. Even if the pitch between the bolts 43 is large, vibration of the peripheral portion 41 of the cover 4 is suppressed. Reducing the number of bolts 43 improves the workability of the installation and removal work of the cover 4. Reducing the number of bolts 43 is also advantageous for reducing the weight of the manipulator 10.

[0035] The cover 4 is removed from the main body 3 for maintenance of the drive elements. Because the cover 4 is fixed to the main body 3 by press-fitting, the robot 1 has a means for facilitating removal of the cover 4. As the means for facilitating removal, the cover 4 has a first tap 44 and a second tap 45. A maintenance technician can remove the cover 4, which is press-fitted onto the edge of the opening 31, from the main body 3 by screwing bolts 46 into the first tap 44 and the second tap 45. In addition, because the first tap 44 and the second tap 45 are located on the first peripheral edge and the second peripheral edge, respectively, which sandwich the center of the cover 4 in the second direction, the cover 4 can be stably removed.

[0036] (Variation) In the cover 4, the entire peripheral edge portion 41 does not have to be a press-fit portion. A portion of the peripheral edge portion 41 may be a press-fit portion. In the rectangular cover 4 illustrated in FIG. 2 , for example, two peripheral edge portions 41 spaced apart in the second direction, each having a relatively short length, may be press-fit portions that are press-fitted into the edge of the opening 31. Furthermore, among the peripheral edge portions 41 of the cover 4, for example, two peripheral edge portions 41 spaced apart in the third direction, each having a relatively long length, may be press-fit portions that are press-fitted into the edge of the opening 31. If the press-fit portions are partial, maintenance personnel can relatively easily attach or remove the cover 4. Note that if two peripheral edge portions 41 spaced apart in the second direction, which is the longitudinal direction of the cover 4, are press-fit portions, the rectangular cover 4 is stably fixed to the main body 3.

[0037] The bolts 43 for fixing the cover 4 to the main body 3 may be omitted.

[0038] The positions of the pull-out taps of the cover 4 are not limited to the positions of the first pull-out tap 44 and the second pull-out tap 45 on each of the two peripheral edges 41 spaced apart in the third direction. The pull-out taps may be located on each of the two peripheral edges 41 spaced apart in the third direction. Positioning pull-out taps on both sides of the center of the cover 4 makes it easier to remove the cover 4. Furthermore, the number of pull-out taps is not limited to two. The cover 4 may have three or more pull-out taps.

[0039] The means for facilitating removal of the cover 4 is not limited to a removal tap. Figure 3 shows a modified example of the means for facilitating removal. The cover 4 has a handle fixing portion 47 to which a removal handle 48 for the cover 4 is fixed. The cover 4 does not have a removal tap.

[0040] The handle fixing portion 47 is a bolt hole located in the center of the cover 4. The bolt hole is open only to the outer surface of the cover 4. The bolt hole is a blind hole that does not penetrate the cover 4 from the inside to the outside. When the cover 4 is fixed to the main body 3, the storage section 30 is kept sealed. The handle 48 is fixed to the handle fixing portion 47 with a bolt 49. The handle 48 is fixed to the cover 4 only during maintenance when the cover 4 is removed. A maintenance technician can remove the cover 4 from the main body 3 by holding the handle 48 attached to the cover 4. When the robot 1 is operating, the handle 48 is removed from the cover 4. The handle 48 does not interfere with the operation of the robot 1.

[0041] The cover 4 may have both the removal taps 44 and 45 and the handle fixing portion 47.

[0042] The cover 4 is not limited to one that closes the opening 31 of the storage section 30 of the main body 3. The cover 4 may be one that can be removably fixed to an opening of the main body 3.

[0043] The technology disclosed herein can be applied to various robots. The number of axes of a vertical articulated robot is not limited to six. For example, the technology disclosed herein may be applied to a vertical articulated robot with seven or more axes. The technology disclosed herein may also be applied to a horizontal articulated robot. Furthermore, the technology disclosed herein may also be applied to a Cartesian robot. The robot is not limited to a serial link type. The technology disclosed herein may also be applied to a parallel link type robot.

[0044] Furthermore, the robot is not limited to an industrial robot. The technology disclosed herein may also be applied to a social robot. Since social robots are often in close proximity to people when they are operating, the requirement for noise reduction during operation is higher than for industrial robots. The technology disclosed herein is suitable for social robots because it can reduce the noise generated when the robot is operating. However, noise reduction is also required for industrial robots.

[0045] (Aspect) The above-described embodiments are examples of the following aspects.

[0046] (Aspect 1) a body (3) of a manipulator (10); a cover (4) removably fixed to the opening (31) of the main body (3), the cover (4) having a press-fit portion (41) fixed to the edge of the opening (31) by press-fitting; A robot (1) equipped with the

[0047] Since the press-fit portion 41 of the cover 4 is fixed to the edge of the opening 31 by press-fitting, vibration of the peripheral edge 41 of the cover 4 is suppressed, thereby reducing noise during operation of the robot 1.

[0048] (Aspect 2) The robot (1) according to aspect 1, wherein the press-fit portion is at least a part of the peripheral portion (41) of the cover (4).

[0049] If at least a portion of the peripheral edge 41 of the cover 4 is press-fitted into the edge of the opening 31 of the main body 3, vibration of the peripheral edge 41 is effectively suppressed, thereby reducing noise during operation of the robot 1.

[0050] (Aspect 3) The cover (4) has two peripheral edge portions (41) spaced apart in the longitudinal direction and two peripheral edge portions (41) spaced apart in the lateral direction, The robot (1) according to aspect 1 or 2, wherein two peripheral edge portions (41) spaced apart in the longitudinal direction of the cover (4) are press-fit portions.

[0051] When the two press-fit portions of the cover (4) spaced apart in the longitudinal direction are fixed by press-fitting to the edges of the opening (31), the cover (4), which is elongated in the longitudinal direction, is stably fixed to the main body (3).

[0052] (Aspect 4) The robot (1) according to any one of aspects 1 to 3, further comprising at least one bolt (43) for fixing the peripheral edge (41) of the cover (4) to the main body (3).

[0053] If the peripheral edge portion (41) of the cover (4) is fixed to the main body (3) using bolts (43), the vibration of the peripheral edge portion (41) is further suppressed.

[0054] (Aspect 5) A robot (1) according to any one of aspects 1 to 4, wherein the cover (4) further has removal taps (44, 45) used to remove the cover (4) from the main body (3).

[0055] The removal taps (44, 45) make it easy to remove the cover (4), which is fixed to the edge of the opening (31) by press fitting, from the main body (3).

[0056] (Aspect 6) The robot (1) described in aspect 5, wherein the punch taps include at least a first punch tap (44) located on a first peripheral portion (41) of the cover (4) and a second punch tap (45) located on a second peripheral portion (41) on the opposite side of the center of the cover (4) from the first peripheral portion (41).

[0057] The first and second taps 44 and 45 located on either side of the center of the cover (4) enable the cover (4) to be stably removed from the main body (3).

[0058] (Aspect 7) A robot (1) according to aspect 6, wherein the first tap (44) and the second tap (45) are spaced apart in the longitudinal direction of the cover (4).

[0059] If the two removal taps (44, 45) are spaced apart in the longitudinal direction of the cover (4), the cover (4) can be easily removed.

[0060] (Aspect 8) The robot (1) according to any one of aspects 1 to 7, wherein the cover (4) has a handle fixing portion (47) to which a handle (48) for removing the cover (4) is fixed.

[0061] A handle (48) fixed to the cover (4) allows the operator to easily remove the cover (4) from the main body (3).

[0062] (Aspect 9) The handle (48) is removably fixed to the cover (4), A robot (1) according to aspect 8, wherein the handle (48) is fixed to the cover (4) during maintenance and is detached from the cover (4) when not performing maintenance.

[0063] When the handle (48) is removed from the cover (4) during non-maintenance periods, the handle (48) does not get in the way during operation of the robot (1).

[0064] (Aspect 10) The handle fixing portion (47) is a bolt hole into which a mounting bolt (49) of the handle (48) is screwed, The robot (1) according to aspect 8 or 9, wherein the bolt holes do not penetrate the cover (4) from the inside to the outside.

[0065] Since the bolt holes are blind holes, the cover (4) can function as a cover that prevents the intrusion of water or oil.

[0066] (Aspect 11) The robot (1) according to any one of aspects 1 to 10, wherein the press-fit between the edge of the opening (31) and the press-fit portion (41) conforms to a transition fit or an interference fit in JIS B 0401-1:2016.

[0067] When the cover (4) is fixed to the opening (31) of the main body (3) by light press-fitting or press-fitting as specified in JIS, vibration of the peripheral portion (41) of the cover (4) is suppressed and the cover (4) can be removed from the main body (3).

[0068] (Aspect 12) The manipulator (10) has an arm including a first link and a second link, the first link is located closer to the tip end of the arm than the second link, A robot (1) according to any one of aspects 1 to 11, wherein the first link comprises the main body (3) and a cover (4) removably fixed to the opening (31) of the main body (3), the cover (4) having the press-fit portion (41).

[0069] The first link, located at the tip end of the arm, is smaller than the second link. Even if the cover (4) of the first link is to be fixed to the main body (3) with bolts, the bolt pitch cannot be made smaller. In the first link, the cover (4) is fixed to the main body (3) with the press-fit portion (41). This allows the cover (4) to be firmly fixed to the main body (3) with a small link, which is effective in suppressing vibration of the cover (4).

[0070] (Aspect 13) The main body (3) has a housing (30) in which a driving element of the manipulator is housed, The robot (1) according to any one of aspects 1 to 12, wherein the cover (4) is fixed to the main body (3) so as to close the opening (31) of the storage section (30).

[0071] The main body 3 is prone to vibration due to the driving elements housed in the housing 30. The cover 4 is firmly fixed to the main body 3, which suppresses vibration of the peripheral edge 41. This reduces noise during operation of the robot 1. [Explanation of symbols]

[0072] 1. Robot 10 Manipulator 210 Main Unit 211 Cover 212 Cover 213 Cover 220 Main Unit 221 Cover 230 Main Unit 231 Cover 232 Cover 240 Main Unit 241 Cover 250 body 251 Cover 252 Cover 3 Main unit 30 Storage section 31 Aperture 4 Cover 41 Periphery (press-fit portion) 43 volts 44 First tap 45 Second tap 47 Handle fixing part 48 Handle

Claims

1. a manipulator body; a cover that is removably fixed to the opening of the main body, the cover having a press-fit portion that is fixed to an edge of the opening by press-fitting; A robot equipped with

2. The robot according to claim 1, The press-fit portion is at least a part of a peripheral edge portion of the cover.

3. The robot according to claim 2, the cover has two peripheral edge portions spaced apart in a longitudinal direction and two peripheral edge portions spaced apart in a lateral direction, The robot, wherein two peripheral edge portions of the cover spaced apart in the longitudinal direction are press-fit portions.

4. The robot according to any one of claims 1 to 3, The robot further comprises at least one bolt that secures a peripheral edge of the cover to the body.

5. The robot according to claim 1, The cover further includes a removal tap that is used to remove the cover from the body.

6. The robot according to claim 5, The robot, wherein the punching taps include at least a first punching tap located on a first peripheral portion of the cover and a second punching tap located on a second peripheral portion on the opposite side of the first peripheral portion across the center of the cover.

7. 7. The robot according to claim 6, The first punch tap and the second punch tap are spaced apart in the longitudinal direction of the cover.

8. The robot according to claim 1, The cover has a handle fixing portion to which a handle for removing the cover is fixed.

9. The robot according to claim 8, The handle is removably secured to the cover, The handle is fixed to the cover during maintenance and is detached from the cover when maintenance is not being performed.

10. The robot according to claim 8 or 9, the handle fixing portion is a bolt hole into which a mounting bolt of the handle is screwed, The bolt holes do not penetrate the cover from inside to outside.

11. The robot according to claim 1, The press-fit between the edge of the opening and the press-fit portion conforms to an intermediate fit or an interference fit in JIS B 0401-1:2016.

12. The robot according to claim 1, the manipulator has an arm including a first link and a second link; the first link is located closer to the tip end of the arm than the second link, The first link has the main body and a cover removably fixed to the opening of the main body, the cover having the press-fit portion.

13. The robot according to claim 1, the main body has a housing portion in which a drive element of the manipulator is housed; The cover is fixed to the main body so as to close the opening of the storage section.

Images