Robot and robot system

Abstract

To provide a robot and a robot system capable of reducing a robot installation area through downsizing of a base while securing a sufficient component accommodation space in the base.SOLUTION: The robot comprises: a base; a first arm which rotates around a first rotation axis with respect to the base; a second arm which rotates around a second rotation axis with respect to the first arm; a duct connecting the base to the second arm; and a first arm driving mechanism that makes the first arm rotate around the first rotation axis with respect the base. The base has an enclosure in which the first arm driving mechanism is accommodated. The enclosure comprises: a first portion comprising a placement surface which is placed on a placement target surface; and a second portion which comprises a protruding portion located between the first portion and the first arm and protruding in a direction that is orthogonal to the first rotation axis with respect to the first portion, and which is connected with the duct.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] The SCARA robot (horizontally articulated robot) described in Patent Document 1 includes a base, a first arm rotatably connected to the base about a first rotation axis that is vertical to the base, a second arm rotatably connected to the first arm about a second rotation axis that is vertical to the first arm, and a shaft disposed on the second arm that rotates about a third rotation axis that is vertical to the first arm and moves linearly along the third rotation axis. The robot also includes a motor for rotating the first arm about the first rotation axis, a motor for rotating the second arm about the second rotation axis, a motor for rotating the shaft about the third rotation axis, and a motor for moving the shaft linearly along the third rotation axis. A motor / sensor connector is disposed on the back of the base, and the connector and each motor are electrically connected via wiring routed within the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-307637 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the robot of Patent Document 1, it is difficult to reduce the robot installation area by making the base smaller while ensuring sufficient space for accommodating parts within the base. [Means for solving the problem]

[0005] The robot of the present invention comprises: a base; a first arm connected to the base and rotatable about a first rotation axis relative to the base; a second arm connected to the first arm and rotatable relative to the first arm about a second rotation axis parallel to the first rotation axis; a duct located outside the first arm and connecting the base and the second arm; a first arm drive mechanism that rotates the first arm around the first rotation axis relative to the base, the base has a housing in which the first arm drive mechanism is housed, The housing has a first part having a support surface to be placed on a support surface, and a second part located between the first part and the first arm, having a protrusion that protrudes from the first part in a direction perpendicular to the first rotation axis, and to which the duct is connected.

[0006] The robot system of the present invention comprises: a robot; a control device that controls the driving of the robot, The robot includes a base and a first arm connected to the base and rotatable about a first rotation axis relative to the base; a second arm connected to the first arm and rotatable relative to the first arm about a second rotation axis parallel to the first rotation axis; a duct located outside the first arm and connecting the base and the second arm; a first arm drive mechanism that rotates the first arm around the first rotation axis relative to the base, the base has a housing in which the first arm drive mechanism is housed, The housing has a first part having a support surface to be placed on a support surface, and a second part located between the first part and the first arm, having a protrusion that protrudes from the first part in a direction perpendicular to the first rotation axis, and to which the duct is connected. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a side view of a robot according to a preferred embodiment. [Figure 2] FIG. [Figure 3] FIG. [Figure 4] FIG. 10 is a cross-sectional view showing a modified example of the base. DETAILED DESCRIPTION OF THE INVENTION

[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot and a robot system according to the present invention will be described in detail below based on embodiments shown in the accompanying drawings.

[0009] Fig. 1 is a side view showing a robot according to a first embodiment. Fig. 2 is a cross-sectional view showing a base. Fig. 3 is a rear view showing the back surface of the base. Fig. 4 is a cross-sectional view showing a modified example of the base.

[0010] The up-down direction in FIG. 1 corresponds to the vertical direction. Therefore, hereinafter, the upper side in FIG. 1 will also be referred to as "upper" and the lower side as "lower." Furthermore, in this specification, "vertical" refers not only to the case where the two objects are aligned vertically, but also to the case where the two objects are inclined relative to the vertical within a range where the effects of the present invention can be achieved, for example, the case where the two objects are inclined within ±5° of the vertical. Similarly, in this specification, "parallel" refers not only to the case where two objects are aligned parallel to each other, but also to the case where the two objects are inclined from the parallel direction within a range where the effects of the present invention can be achieved, for example, the case where the two objects are inclined within ±5° of the parallel direction.

[0011] 1 includes a robot 1 and a control device 9 that controls the operation of the robot 1. The control device 9 includes, for example, a control board and a power supply board. However, this is not limiting, and the control board and the power supply board may be integrated into a single board.

[0012] <Robot 1> The robot 1 is a SCARA robot (horizontal articulated robot) and is used for tasks such as holding, transporting, assembling, and inspecting workpieces such as electronic components, etc. However, the use of the robot 1 is not particularly limited.

[0013] As shown in Figure 1, the robot 1 has a base 10 placed on a floor F, which is a support surface, a first arm 11 connected to the base 10 and rotating around a first rotation axis J1 that is vertical to the base 10, a second arm 12 connected to the first arm 11 and rotating around a second rotation axis J2 that is vertical to the first arm 11, a work head 13 located at the tip of the second arm 12, and a duct 14 located outside the first arm 11 and connecting the base 10 and the second arm 12.

[0014] 1, the working head 13 includes a spline nut 131 and a ball screw nut 132 that are coaxially arranged at the tip of the second arm 12, and a spline shaft 133 that is inserted through the spline nut 131 and the ball screw nut 132. Although not shown, an end effector appropriate for the intended work is attached to the lower end of the spline shaft 133. In this working head 13, rotation of the spline nut 131 causes the spline shaft 133 to rotate about the third rotation axis J3 and move linearly (up and down) along the third rotation axis J3, rotation of the ball screw nut 132 causes the spline shaft 133 to move linearly along the third rotation axis J3, and rotation of both the spline nut 131 and the ball screw nut 132 causes the spline shaft 133 to rotate about the third rotation axis J3.

[0015] The first rotation axis J1, the second rotation axis J2, and the third rotation axis J3 are all aligned in the vertical direction and are therefore parallel to one another.

[0016] 1, the robot 1 includes a first arm drive mechanism 51 that connects the base 10 and the first arm 11 and rotates the first arm 11 about a first rotation axis J1 relative to the base 10, and a second arm drive mechanism 52 that connects the first arm 11 and the second arm 12 and rotates the second arm 12 about a second rotation axis J2 relative to the first arm 11. The robot 1 also includes a first spline shaft drive mechanism 53 that rotates the spline nut 131 to rotate and linearly move the spline shaft 133, and a second spline shaft drive mechanism 54 that rotates the ball screw nut 132 to linearly move the spline shaft 133.

[0017] Furthermore, first arm drive mechanism 51 includes motor 512 as a drive source, second arm drive mechanism 52 includes motor 522 as a drive source, first spline shaft drive mechanism 53 includes motor 532 as a drive source, and second spline shaft drive mechanism 54 includes motor 542 as a drive source. Of these four mechanisms 51, 52, 53, and 54, first arm drive mechanism 51 will be described in detail later, but detailed description of the other three mechanisms 52, 53, and 54 will be omitted.

[0018] The above is a brief description of the overall configuration of the robot 1. Next, the base 10 will be described in detail.

[0019] As shown in FIG. 2 , the base 10 has a step formed on its rear surface, with the upper portion protruding rearward relative to the lower portion. Specifically, the base 10 has a housing 2 that houses a first arm drive mechanism 51. The housing 2 also has an insertion hole 201 that opens at its upper end and a mounting portion 202 that is arranged around the insertion hole 201. The first arm drive mechanism 51 is inserted into the housing 2 through the insertion hole 201, and a fixed portion 4 of the first arm drive mechanism 51, which will be described later, is mounted on the mounting portion 202. The fixed portion 4 mounted on the mounting portion 202 is fixed to the housing 2 with a plurality of screws. However, the method for fixing the fixed portion 4 to the housing 2 is not particularly limited. With this configuration, for example, assembly of the robot 1 is easier than with a configuration in which the fixed portion 4 is omitted and the first arm drive mechanism 51 is attached directly to the housing 2.

[0020] As shown in FIG. 2 , the first arm drive mechanism 51 includes a fixed part 4 fixed to the housing 2, a reducer 511 that rotatably connects the fixed part 4 and the first arm 11, and a motor 512 with a built-in encoder. The reducer 511 is a harmonic gear device, and a circular spline 511a is fixed to the fixed part 4 and a flexspline 511b is fixed to the first arm 11. The rotation shaft of a motor 512 is fixed to a wave generator 511c. The motor 512 is located below the reducer 511 and is fixed to the fixed part 4. The motor 512 is a servo motor, particularly a three-phase motor driven by three-phase AC. In the first arm drive mechanism 51 configured as above, the wave generator 511c rotates as the motor 512 rotates, and the flexspline 511b rotates at a predetermined reduction ratio relative to the rotation of the wave generator 511c. As a result, the first arm 11 rotates about the first rotation axis J1 relative to the base 10. However, the configuration of the first arm drive mechanism 51 is not particularly limited.

[0021] The fixed portion 4 of the first arm drive mechanism 51 has a disk shape centered on the first rotation axis J1. That is, it has a cylindrical portion 41 extending along the first rotation axis J1 and a flange portion 42 protruding from the cylindrical portion 41 in a direction intersecting the first rotation axis J1. A motor 512 is fixed to the cylindrical portion 41, and a reducer 511 is fixed to the center side of the flange portion 42. An end side of the flange portion 42 is fixed to the housing 2. However, the shape of the fixed portion 4 is not particularly limited. For example, the reducer 511 may be fixed to the cylindrical portion 41 instead of the flange portion 42.

[0022] The housing 2 also has a first section 21 located on the lower side, i.e., opposite the first arm 11, and having a placement surface 210 placed on the floor F, and a second section 22 located on the upper side of the first section 21, i.e., between the first section 21 and the first arm 11, and having an insertion hole 201 and a placement portion 202 and connected to the duct 14. For ease of explanation, the direction in which the first rotation axis J1 and the connection portion 140 of the duct 14 to the base 10 are aligned will be referred to as the front-to-rear direction, and further the first rotation axis J1 side will be referred to as the "front" and the connection portion 140 side will be referred to as the "rear".

[0023] Here, the first arm 11 will be described. As shown in FIG. 1 , a reference posture is defined as a posture in which the first arm 11 faces forward and the connection portion 140, the first rotation axis J1, and the second rotation axis J2 of the duct 14 are aligned in this order from the connection portion 140 side. As shown in FIG. 2 , in the reference state, a first separation distance D1 between the first rotation axis J1 and the duct 14 is greater than a second separation distance D2 between the first rotation axis J1 and the base end 110, which is the end of the first arm 11 on the duct 14 side. In other words, D1 > D2. The first separation distance D1 refers to the minimum value of the separation distance between the first rotation axis J1 and the duct 14 in a region Q that overlaps with the base end 110 of the first arm 11 in a plan view perpendicular to the first rotation axis J1. This configuration effectively prevents contact between the first arm 11 and the duct 14 in the reference posture. Therefore, a wider range of motion of the robot 1 can be ensured.

[0024] Furthermore, in the reference posture, a third distance D3 between the first rotation axis J1 and the end of the fixed part 4 on the duct 14 side is smaller than the second distance D2. In other words, D1 > D2 > D3. With this configuration, it is easy to increase the size of the first arm 11, and the rigidity of the first arm 11 can be easily increased.

[0025] The first arm 11 has been described above. Returning to the description of the base 10, as shown in FIGS. 2 and 3 , the first portion 21 is cubic and has a rectangular mounting surface 210 and a wall surface extending upward from the outer edge of the mounting surface 210. The wall surface has a front surface 211, a back surface 212 facing the front surface 211, and a pair of side surfaces 213 and 214. Similarly, the second portion 22 is cubic and has a rectangular upper surface 220 in which the insertion hole 201 and the mounting portion 202 are formed and which constitutes the upper end of the base 10, and a wall surface extending downward from the upper surface 220. The wall surface has the front surface 221, a back surface 222 facing the front surface 221, and a pair of side surfaces 223 and 224.

[0026] Of these, the front surfaces 211, 221 are flush and comprise a continuous surface without any steps. The side surfaces 213, 223 are also flush and comprise a continuous surface without any steps. Furthermore, the side surfaces 214, 224 are also flush and comprise a continuous surface without any steps. Compared to these three surfaces (the front surface and each side surface), the back surfaces 212, 222 are not flush, and there is a step between them. Specifically, the back surface 222 of the second portion 22 is located rearward of the back surface 212 of the first portion 21, and the lower surface 225 of the second portion 22 is disposed between the back surfaces 212, 222 so as to connect them. From the above description, it can be said that the housing 2 has a lower surface constituted by the placement surface 210, an upper surface constituted by the upper surface 220, a front surface constituted by the front surfaces 211 and 221, a rear surface constituted by the rear surfaces 212 and 222 and the lower surface 225, one side surface constituted by the side surfaces 213 and 223, and the other side surface constituted by the side surfaces 214 and 224, and that the second portion 22 is formed with a protruding portion 229 that protrudes rearward from the first portion 21. Note that within the housing 2, the first portion 21 and the second portion 22 are not partitioned, and their internal spaces are connected to each other.

[0027] In this way, by configuring the upper portion of the base 10, i.e., the second portion 22, to have the protruding portion 229 that protrudes rearward relative to the lower portion, i.e., the first portion 21, it is possible to keep the placement surface 210 small while ensuring a large space within the base 10. Therefore, it is possible to reduce the installation area of ​​the robot 1 while ensuring a sufficiently large component storage space within the base 10.

[0028] 2, the first section 21 includes a first base section 216 having a first opening 212a formed on the rear surface 212, i.e., the end portion in the direction in which the protrusion 229 protrudes, and communicating the inside and outside of the first section 21, and a first lid section 217 fixed to the first base section 216 and closing the first opening 212a. By providing the first lid section 217 in this manner, components can be placed inside the housing 2 through the first opening 212a. This facilitates assembly of the robot 1. Furthermore, an inner wall section 218 is formed inside the first base section 216, facing the first lid section 217 fixed to the rear surface 212 of the first base section 216. Furthermore, the first lid portion 217 has a plate-frame-shaped outer frame portion 217a fixed to the back surface 212 of the first base portion 216 and having an opening on the inside, and a plate-shaped lid main body 217b fixed to the outer frame portion 217a and closing the opening of the outer frame portion 217a. Note that in this embodiment, the first base portion 216 and the outer frame portion 217a are fixed by screw fastening, and the outer frame portion 217a and the lid main body 217b are fixed by screw fastening, but these fixing methods are not particularly limited. For example, the inner wall portion 218 may be a separate member from the first base portion 216. However, a detachable fixing method such as screw fastening used in this embodiment is preferable.

[0029] 2, three power supply / signal connectors 331 are arranged on the inner wall portion 218. These three power supply / signal connectors 331 are connected to each electronic device arranged in the robot 1, represented by motors 512, 522, 532, and 542, via cables 333. Of the multiple cables 333, the cable 333 connected to the electronic device arranged in the second arm 12 is routed from inside the base 10 through the duct 14 into the second arm 12. This makes it easy to route the cable 333. However, the number of power supply / signal connectors 331 is not particularly limited.

[0030] As shown in FIG. 2, the robot 1 has two first cables 611 and 612 inserted through the lid main body 217b. Each of the first cables 611 and 612 includes multiple wirings. The first cable 611 mainly includes wirings for powering the electronic devices, and the first cable 612 mainly includes wirings for transmitting and receiving signals to and from the electronic devices. However, the number of first cables and the uses of the wirings included in each first cable are not particularly limited. Each of the first cables 611 and 612 is connected at one end to three power / signal connectors 331. Although not shown, the other end of each of the first cables 611 and 612 is connected to the control device 9. The lid main body 217b also includes a first holding portion 351 that holds the first cable 611 and a second holding portion 352 that holds the first cable 612.

[0031] 2, the second section 22 includes a second base section 226 formed across the rear surface 222 and the top surface 220 and having a second opening 222a communicating between the inside and outside of the second section 22, and a second lid section 227 fixed to the second base section 226 and closing the second opening 222a. By providing the second lid section 227 in this manner, components can be placed inside the housing 2 through the second opening 222a. This facilitates assembly of the robot 1. The second lid section 227 is L-shaped and bent at a right angle. It includes a plate-shaped second cable connection section 227a that closes the portion of the second opening 222a that opens to the rear surface 222, and a plate-shaped duct connection section 227b that closes the portion of the second opening 222a that opens to the top surface 220. Second cables 621 and 622, which will be described later, are connected to second cable connection portion 227a, and duct 14 is connected to duct connection portion 227b. In this embodiment, second base portion 226 and second lid portion 227 are fixed together by screw fastening, but the fixing method is not particularly limited. However, a detachable fixing method, such as screw fastening used in this embodiment, is preferable.

[0032] 3, four piping connectors 311 are arranged on the second cable connection portion 227a of the second cover portion 227. These four piping connectors 311 are connected to four user piping connectors (not shown) arranged on the second arm 12 via air pipes 313, respectively. Although only a portion of the air pipes 313 are shown in FIG. 2, each air pipe 313 is routed from inside the base 10 through the duct 14 and into the second arm 12. This makes it easy to route each air pipe 313. However, the number of piping connectors 311 is not particularly limited.

[0033] As shown in FIG. 3, two cable connection connectors 321 are disposed on the second cable connection portion 227a of the second cover portion 227. These two cable connection connectors 321 are connected to two user cable connectors (not shown) disposed on the second arm 12 via cables 323, respectively. Although only a portion of the cables 323 is shown in FIG. 2, each cable 323 is routed from inside the base 10 through the duct 14 into the second arm 12. This makes it easy to route each cable 323. In this embodiment, one cable connection connector 321 is a connector for a D-sub cable, and one cable connection connector 321 is a connector for a LAN cable. However, the number and type of cable connection connectors 321 are not particularly limited.

[0034] As shown in FIG. 2 , the robot 1 also has two second cables 621 and 622 that connect the two cable connection connectors 321 and the control device 9. Here, the first cables 611 and 612 are stiffer than the second cables 621 and 622. That is, the first cables 611 and 612 are less likely to bend downward due to their own weight than the second cables 621 and 622. In this way, by arranging the stiffer first cables 611 and 612 below the softer second cables 621 and 622, that is, closer to the floor F, the first cables 611 and 612 can be placed on the floor F at a position closer to the base 10. This reduces the stress that the first cover 217 receives from the first cables 611 and 612.

[0035] As described above, in this embodiment, the second cover 227 holds the piping connector 311 and the cable connector 321, as well as the duct 14. Therefore, as shown in FIG. 2 , the second cover 227, the piping connector 311, the cable connector 321, the duct 14, and the air pipe 313 and the cable 323, which are inserted through the duct 14 and whose base ends are connected to the piping connector 311 and the cable connector 321, can be configured as a single unit U. Therefore, by preparing the unit U in advance and attaching it to the housing 2, the robot 1 can be easily assembled. In particular, in this embodiment, at least a portion of the duct 14 overlaps with the protrusion 229 in a plan view along the first rotation axis J1. This configuration allows the duct 14 to be positioned closer to the rear surface 222, thereby reducing the size and weight of the second cover 227. Therefore, the size and weight of the unit U can be reduced, and the assembly of the robot 1 becomes easier. Furthermore, the above-mentioned first separation distance D1 can be increased, and the second separation distance D2 can also be increased accordingly. Therefore, it becomes easier to increase the size of the first arm 11, and the increased size of the first arm 11 can improve the rigidity of the first arm 11.

[0036] Although the base 10 has been described in detail above, the configuration of the base 10 is not particularly limited. For example, as shown in Fig. 4, the first lid portion 217 and the outer frame portion 217a may be integrally formed. With such a configuration, the first lid portion 217 and the second lid portion 227 can be fixed to the housing 2 together, making it easier to assemble the robot 1.

[0037] <Control device 9> The control device 9 controls the driving of each of the motors 512, 522, 532, and 542 based on commands from a host computer (not shown). The control device 9 controls each of these parts independently, allowing the robot 1 to perform a desired task. The control device 9 is configured, for example, as a computer, and has a processor for processing information, a memory communicatively connected to the processor, and an external interface. The memory also stores various programs that can be executed by the processor, and the processor can read and execute the various programs stored in the memory.

[0038] The robot system 100 has been described above. The robot 1 included in such a robot system 100 has a base 10, a first arm 11 connected to the base 10 and rotatable about a first rotation axis J1 relative to the base 10, a second arm 12 connected to the first arm 11 and rotatable about a second rotation axis J2 parallel to the first rotation axis J1 relative to the first arm 11, a duct 14 located outside the first arm 11 and connecting the base 10 and the second arm 12, and a first arm drive mechanism 51 that rotates the first arm 11 about the first rotation axis J1 relative to the base 10. The base 10 also has a housing 2 that houses the first arm drive mechanism 51 therein. The housing 2 also has a first portion 21 having a placement surface 210 that is placed on the floor F, which is a placement surface, and a second portion 22 that is located between the first portion 21 and the first arm 11, has a protrusion 229 that protrudes from the first portion 21 in a direction perpendicular to the first rotation axis J1, and is connected to the duct 14. With this configuration, it is possible to ensure a large space within the base 10 while keeping the placement surface 210 small. Therefore, it is possible to reduce the installation area of ​​the robot 1 while ensuring a sufficiently large component storage space within the base 10.

[0039] Furthermore, as described above, in the reference posture in which the connection portion 140 of the duct 14 with the base 10, the first rotation axis J1, and the second rotation axis J2 are aligned in this order from the connection portion 140 side, the first separation distance D1 between the first rotation axis J1 and the duct 14 is greater than the second separation distance D2 between the first rotation axis J1 and the base end portion 110, which is the end portion of the first arm 11 on the duct 14 side. With this configuration, contact between the first arm 11 and the duct 14 in the reference posture can be effectively suppressed, and a wider range of motion of the robot 1 can be ensured.

[0040] As described above, the first arm drive mechanism 51 has the fixed part 4 that is fixed to the housing 2. In addition, in the reference posture, the third distance D3 between the first rotation axis J1 and the end of the fixed part 4 on the duct 14 side is smaller than the second distance D2. With this configuration, it is easy to increase the size of the first arm 11, and the rigidity of the first arm 11 can be easily increased.

[0041] As described above, the first section 21 includes a first base 216 having a first opening 212a formed in the rear surface 212, which is the end portion in the direction in which the protrusion 229 protrudes, and a first lid 217 fixed to the first base 216 and covering the first opening 212a. The second section 22 includes a second base 226 having a second opening 222a formed in the rear surface 222, which is the end portion in the direction in which the protrusion 229 protrudes, and a second lid 227 fixed to the second base 226 and covering the second opening 222a. This configuration allows components to be placed inside the housing 2 through the first opening 212a and the second opening 222a. This facilitates assembly of the robot 1.

[0042] As described above, the duct 14 is connected to the second lid portion 227. With this configuration, the second lid portion 227 and the duct 14 can be configured as a single unit U. Therefore, by attaching the entire unit U to the housing 2, the robot 1 can be easily assembled.

[0043] As described above, the robot 1 has the first cables 611, 612 connected to the first cover 217 and the second cables 621, 622 connected to the second cover 227. The first cables 611, 612 are harder than the second cables 621, 622. With this configuration, the first cables 611, 612 can be placed on the floor F at a position closer to the base 10. This reduces the stress that the first cover 217 receives from the first cables 611, 612.

[0044] As described above, the first arm drive mechanism 51 has a fixed part 4 fixed to the housing 2. In the reference posture, the first separation distance D1 is greater than the second separation distance D2, and the third separation distance D3 is smaller than the second separation distance D2. The first part 21 has a first base 216 having a first opening 212a formed in the back surface 212, which is the end in the direction in which the protrusion 229 protrudes, and a first lid part 217 fixed to the first base 216 and covering the first opening 212a. The second part 22 has a second base 226 having a second opening 222a formed across the back surface 222, which is the end in the direction in which the protrusion 229 protrudes, and the top surface 220, which is the end on the first arm 11 side, and a second lid part 227 fixed to the second base 226 and covering the second opening 222a. The duct 14 is connected to the second lid portion 227 and overlaps with the protrusion 229 in a plan view along the first rotation axis J1. The second lid portion 227 has first cables 611 and 612 connected to the first lid portion 227 and second cables 621 and 622 connected to the first lid portion 227, and the first cables 611 and 612 are harder than the second cables 621 and 622. The second lid portion 227 has a second cable connection portion 227a that closes a portion of the second opening 222a that opens to the rear surface 222, which is the end portion in the direction in which the protrusion 229 protrudes, and to which the second cables 621 and 622 are connected, and a duct connection portion 227b that closes a portion of the second opening 222a that opens to the top surface 220, which is the end portion on the first arm 11 side, and to which the duct 14 is connected. According to this configuration, contact between the first arm 11 and the duct 14 in the reference posture can be effectively suppressed, and a wider movable range of the robot 1 can be ensured. Furthermore, it is easier to increase the size of the first arm 11, and the rigidity of the first arm 11 can be easily increased. Furthermore, components can be placed inside the housing 2 through the first opening 212a and the second opening 222a, making it easier to assemble the robot 1. Furthermore, the second lid portion 227 and the duct 14 can be configured as a single unit U, making it easier to assemble the robot 1. Furthermore, it is possible to reduce the stress that the first lid portion 217 receives from the first cables 611 and 612.

[0045] As described above, the robot system 100 includes the robot 1 and the control device 9 that controls the driving of the robot 1. The robot 1 also includes a base 10, a first arm 11 connected to the base 10 and rotatable about a first rotation axis J1 relative to the base 10, a second arm 12 connected to the first arm 11 and rotatable about a second rotation axis J2 parallel to the first rotation axis J1 relative to the first arm 11, a duct 14 located outside the first arm 11 and connecting the base 10 and the second arm 12, and a first arm drive mechanism 51 that rotates the first arm 11 about the first rotation axis J1 relative to the base 10. The base 10 also includes a housing 2 that houses the first arm drive mechanism 51. The housing 2 also has a first portion 21 having a placement surface 210 that is placed on the floor F, which is a placement surface, and a second portion 22 that is located between the first portion 21 and the first arm 11, has a protrusion 229 that protrudes from the first portion 21 in a direction perpendicular to the first rotation axis J1, and is connected to the duct 14. With this configuration, it is possible to ensure a large space within the base 10 while keeping the placement surface 210 small. Therefore, it is possible to reduce the installation area of ​​the robot 1 while ensuring a sufficiently large component storage space within the base 10.

[0046] The robot and robot system of the present invention have been described above based on the illustrated embodiment, but the present invention is not limited to this. The configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other components may be added to the present invention. For example, in the above-described embodiment, the robot 1 is a floor-mounted SCARA robot in which the base 10 is fixed to the floor or the like, but the robot may also be a ceiling-suspended SCARA robot in which the base 10 is suspended from the ceiling. In this case, the base 10 is suspended from a top plate located at the top of a stand having frame-shaped legs, for example. [Explanation of symbols]

[0047] 1...robot, 10...base, 100...robot system, 11...first arm, 110...base end, 12...second arm, 13...work head, 131...spline nut, 132...ball screw nut, 133...spline shaft, 14...duct, 140...connection portion, 2...casing, 201...insertion hole, 202...mounting portion, 21...first portion, 210...mounting surface, 211...front surface, 212...rear surface, 212a...first opening, 213...side surface, 2 14...side surface, 216...first base portion, 217...first lid portion, 217a...outer frame portion, 217b...lid body, 218...inner wall portion, 22...second portion, 220...upper surface, 221...front surface, 222...rear surface, 222a...second opening, 223...side surface, 224...side surface, 225...bottom surface, 226...second base portion, 227...second lid portion, 227a...second cable connection portion, 227b...duct connection portion, 229...protrusion portion, 311...piping connection connector, 313...air duct type, 321...cable connection connector, 323...cable, 331...signal connector, 333...cable, 351...first holding portion, 352...second holding portion, 4...fixing portion, 41...cylindrical portion, 42...flange portion, 51...first arm drive mechanism, 511...reduction gear, 511a...circular spline, 511b...flex spline, 511c...wave generator, 512...motor, 52...second arm drive mechanism, 52 2...motor, 53...spline shaft first drive mechanism, 532...motor, 54...spline shaft second drive mechanism, 542...motor, 611...first cable, 612...first cable, 621...second cable, 622...second cable, 9...control device, D1...first separation distance, D2...second separation distance, D3...third separation distance, F...floor, J1...first rotating shaft, J2...second rotating shaft, J3...third rotating shaft, Q...area, U...unit

Claims

1. The base and a first arm connected to the base and rotatable about a first rotation axis relative to the base; a second arm connected to the first arm and rotatable relative to the first arm about a second rotation axis parallel to the first rotation axis; a duct located outside the first arm and connecting the base and the second arm; a first arm drive mechanism that rotates the first arm about the first rotation axis relative to the base, the base has a housing in which the first arm drive mechanism is housed, The robot is characterized in that the housing has a first part having a mounting surface to be placed on a receiving surface, and a second part located between the first part and the first arm, having a protrusion that protrudes from the first part in a direction perpendicular to the first rotation axis, and to which the duct is connected.

2. 2. The robot according to claim 1, wherein in a standard posture in which the connection portion of the duct with the base, the first rotation axis, and the second rotation axis are aligned in a straight line in this order from the connection portion side, a first separation distance between the first rotation axis and the duct is greater than a second separation distance between the first rotation axis and the duct side end of the first arm.

3. the first arm driving mechanism has a fixed portion fixed to the housing, The robot according to claim 2 , wherein in the reference posture, a third distance between the first rotation shaft and the end of the fixed portion on the duct side is smaller than the second distance.

4. the first portion includes a first base portion having a first opening formed at an end portion in a direction in which the protrusion protrudes, and a first lid portion fixed to the first base portion and covering the first opening, 2. The robot according to claim 1, wherein the second part comprises a second base having a second opening formed at an end in a direction in which the protrusion protrudes, and a second lid fixed to the second base and covering the second opening.

5. The robot according to claim 4 , wherein the duct is connected to the second lid portion.

6. a first cable connected to the first lid; a second cable connected to the second lid portion, The robot of claim 4 , wherein the first cable is stiffer than the second cable.

7. the first arm driving mechanism has a fixed portion fixed to the housing, In a reference posture in which a connection portion of the duct with the base, the first rotation shaft, and the second rotation shaft are aligned in this order from the connection portion side, a first separation distance between the first rotation shaft and the duct is larger than a second separation distance between the first rotation shaft and the duct side end of the first arm, and a third separation distance between the first rotation shaft and the duct side end of the fixing portion is smaller than the second separation distance, the first portion includes a first base portion having a first opening formed at an end portion in a direction in which the protrusion protrudes, and a first lid portion fixed to the first base portion and covering the first opening, the second portion includes a second base portion having a second opening formed across an end portion in a direction in which the protruding portion protrudes and an end portion on the first arm side, and a second lid portion fixed to the second base portion and covering the second opening, the duct is connected to the second cover portion and overlaps with the protrusion portion in a plan view from a direction along the first rotation axis, a first cable connected to the first lid portion and a second cable connected to the second lid portion, the first cable being harder than the second cable; 2. The robot according to claim 1, wherein the second cover portion has: a second cable connection portion that closes an opening at an end of the second opening in a direction in which the protrusion protrudes, and to which the second cable is connected; and a duct connection portion that closes an opening at an end of the second opening on the first arm side, and to which the duct is connected.

8. Robots and a control device that controls the driving of the robot, The robot includes a base and a first arm connected to the base and rotatable about a first rotation axis relative to the base; a second arm connected to the first arm and rotatable relative to the first arm about a second rotation axis parallel to the first rotation axis; a duct located outside the first arm and connecting the base and the second arm; a first arm drive mechanism that rotates the first arm about the first rotation axis relative to the base, the base has a housing in which the first arm drive mechanism is housed, a second part located between the first part and the first arm, the second part having a protrusion that protrudes from the first part in a direction perpendicular to the first rotation axis, and the second part having the duct connected thereto.

Images