Robot and robot system

Abstract

To provide a robot and a robot system capable of suppressing deformation of a second arm.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; and a connector exposed to outside of the second arm. The second arm comprises: an arm base; a frame which is fixed to the arm base, and in which the connector is arranged; and a first support member and a second support member which are fixed to the arm base to support the frame. The frame extends along an extending direction of the second arm and is fixed to the arm base, at a base end part positioned at a base end side of the second arm, and is formed in a cantilever shape in which a tip part thereof is a free end separated from the arm base, and which is supported by the first support member and the second support member, at a portion closer to a tip of the second arm than the connector.SELECTED DRAWING: Figure 8

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 has a base, a first arm rotatably connected to the base about a first rotation axis that is vertical to the base, and a second arm rotatably connected to the first arm about a second rotation axis that is vertical to the first arm. The second arm also has an arm base (arm base) rotatably connected to the first arm, a frame (connection plate) fixed to the arm base and holding a power transmission unit and a pressure / pressurization tube, and a cover (cover) that covers the arm base. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-006239 Summary of the Invention [Problem to be solved by the invention]

[0004] Although not mentioned in Patent Document 1, SCARA robots often have various connectors on the frame that users can connect to and use. However, in the configuration of Patent Document 1, the frame is fixed to the arm base at its base end like a cantilever beam, with its tip end being a free end. This means that there is a risk that the frame will bend and undergo plastic deformation due to stress generated when the user connects to the connectors on the frame. [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 at a base end thereof and rotatable relative to the first arm about a second rotation axis parallel to the first rotation axis; a shaft located at a tip end of the second arm, rotating around a third rotation axis parallel to the first rotation axis, and moving linearly along the third rotation axis; a connector disposed on the second arm and exposed to an outside of the second arm; the second arm has an arm base connected to the first arm, a frame fixed to the arm base and on which the connector is arranged, and a first support member and a second support member fixed to the arm base and supporting the frame; When viewed in a plan view from a direction along the second rotation axis, the frame extends in the extension direction of the second arm, is fixed to the arm base at a base end located on the base end side of the second arm, and is cantilever-shaped with a tip end that is a free end separated from the arm base, and is supported by the first support member and the second support member at a portion of the second arm closer to the tip than the connector.

[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 at a base end thereof and rotatable relative to the first arm about a second rotation axis parallel to the first rotation axis; a shaft located at a tip end of the second arm, rotating around a third rotation axis parallel to the first rotation axis, and moving linearly along the third rotation axis; a connector disposed on the second arm and exposed to an outside of the second arm; the second arm has an arm base connected to the first arm, a frame fixed to the arm base and on which the connector is arranged, and a first support member and a second support member fixed to the arm base and supporting the frame; When viewed in a plan view from a direction along the second rotation axis, the frame extends in the extension direction of the second arm, is fixed to the arm base at a base end located on the base end side of the second arm, and is cantilever-shaped with a tip end that is a free end separated from the arm base, and is supported by the first support member and the second support member at a portion of the second arm closer to the tip than the connector. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a side view showing a robot according to a first embodiment. [Figure 2] FIG. 4 is a cross-sectional view showing a connecting portion between the base and the first arm. [Figure 3] FIG. 4 is a cross-sectional view of the second arm as viewed from one lateral side. [Figure 4] FIG. 10 is a cross-sectional view of the second arm as viewed from the other lateral side. [Figure 5] FIG. 4 is a top view showing the inside of the second arm. [Figure 6] FIG. 2 is an enlarged perspective view showing a tip portion of the frame. [Figure 7] FIG. 3 is an enlarged cross-sectional view showing the tip of the frame. [Figure 8] FIG. 3 is an enlarged perspective view showing a first support member and a second support member. [Figure 9] FIG. 4 is an enlarged perspective view showing a first positioning portion. [Figure 10] FIG. 4 is an enlarged perspective view showing a second positioning portion. [Figure 11] FIG. 10 is a cross-sectional view showing a first support member and a second support member of a robot according to a second embodiment. [Figure 12] FIG. 10 is an enlarged perspective view showing a first support member and a second support member of the robot according to the third embodiment. [Figure 13] FIG. 4 is a top view showing the inside of the second arm. 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] First Embodiment FIG. 1 is a side view showing a robot according to a first embodiment. FIG. 2 is a cross-sectional view showing a connecting portion between a base and a first arm. FIG. 3 is a cross-sectional view of a second arm seen from one lateral side. FIG. 4 is a cross-sectional view of a second arm seen from the other lateral side. FIG. 5 is a top view showing the inside of the second arm. FIG. 6 is an enlarged perspective view of a tip portion of a frame. FIG. 7 is an enlarged perspective view of a tip portion of a frame. FIG. 8 is an enlarged perspective view of a first support member and a second support member. FIG. 9 is an enlarged perspective view of a first positioning portion. FIG. 10 is an enlarged perspective view of a second positioning portion.

[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] The robot system 100 shown in FIG. 1 includes a robot 1 and a control device 9 that controls the driving of the robot 1.

[0012] <Control device 9> 1, the control device 9 includes, for example, a control board 91 and a power supply board 92. However, without being limited to this, the control board 91 and the power supply board 92 may be integrated into one board.

[0013] The control board 91 controls the overall operation of each part of the robot 1. The control board 91 is equipped with a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc. The CPU reads and executes programs and data stored in the ROM, thereby achieving the above-mentioned functions. The control board 91 is also electrically connected to a host computer (not shown), and controls the operation of each part of the robot 1 based on commands from the host computer. However, this is not limiting, and the circuits of the control board 91 may be separated into multiple boards.

[0014] The power supply board 92 supplies power to the control board 91. The power supply board 92 includes a conversion circuit that converts externally supplied power to a predetermined value and supplies the power to the control board 91. The conversion circuit varies depending on the configuration of the robot 1, but examples include an AC / DC conversion circuit that converts an alternating current (AC) signal to a direct current (DC) signal, a step-up circuit or a step-down circuit that converts the voltage level of a signal, etc. However, the configuration is not limited thereto, and the circuits of the power supply board 92 may be separated into multiple boards. The configuration of the control device 9 is not particularly limited as long as it can control the driving of the robot 1. In this embodiment, the control device 9 is disposed within the base 10 of the robot 1, but the location of the control device 9 is not particularly limited. For example, the control device 9 may be disposed outside the base 10. In this case, the robot 1 and the control device 9 may be connected by a cable or wirelessly.

[0015] <Robot 1> The robot 1 is a horizontal articulated robot (SCARA robot). As shown in Fig. 1, the robot 1 has a base 10 fixed to the floor or the like, a first arm 11 rotatably connected to the base 10, a second arm 12 rotatably connected to the first arm 11, a work head 13 disposed on the second arm 12, and a duct 14 connecting the base 10 and the second arm 12.

[0016] As shown in FIG. 2, the first arm 11 is connected at its base end to the base 10 and rotates about a first rotation axis J1 that is perpendicular to the base 10.

[0017] 3 and 4, the second arm 12 is connected at its base end to the first arm 11 and rotates relative to the first arm 11 around a second rotation axis J2 that is parallel to the first rotation axis J1. The second arm 12 also has a rigid arm base 121 connected to the first arm 11, a frame 122 fixed to the arm base 121, and a cover 123 that covers the arm base 121 from above the frame 122. For example, the arm base 121 and the frame 122 are made of a lightweight and rigid metal material such as aluminum, and the cover 123 is made of a lightweight resin material.

[0018] The second arm 12 also has an inertial sensor module 6 that measures the inertia of the second arm 12. The inertial sensor module 6 is disposed closer to the tip of the second arm 12 than the brake control board 8, and detects at least one of the angular velocity and acceleration of the second arm 12. The inertial sensor module 6 is disposed at a position that overlaps with an imaginary central axis A (described later) in a plan view from a direction along the second rotation axis J2. However, the present invention is not limited to this, and the inertial sensor module 6 may be disposed at a position that does not overlap with the imaginary central axis A.

[0019] As shown in FIG. 1 , duct 14 is a tubular member disposed outside first arm 11 and directly connects base 10 and second arm 12 without passing through first arm 11. Furthermore, as shown in FIGS. 2 to 4 , duct 14 has a base end connected to base 10 and a tip end connected to second arm 12, and has a base end opening 141 facing the inside of base 10 and a tip end opening 142 facing the inside of second arm 12. This allows base 10 and second arm 12 to communicate via duct 14. Furthermore, signal wiring 31 and pressure-reducing piping 32 are routed between base 10 and second arm 12 via duct 14. This configuration allows wiring 31 and piping 32 to be routed between base 10 and second arm 12 without passing through first arm 11. This facilitates routing of wiring 31 and piping 32. For ease of explanation, each drawing shows two wires 31 and one pipe 32, but there is no particular limitation on the number of wires 31 and pipe 32. Furthermore, the wires 31 and 32 are routed, for example, through the gap between the motors 231 and 241 and are routed closer to the tip side than the motors 231 and 241.

[0020] 3 and 4, the working head 13 is disposed at the tip of the second arm 12. The working head 13 also has a spline nut 131 and a ball screw nut 132 that are coaxially arranged side by side in the vertical direction, and a spline shaft 133 that is inserted through the spline nut 131 and the ball screw nut 132. In this working head 13, when the spline nut 131 is rotated, the spline shaft 133 rotates about a third rotation axis J3 that is its central axis and parallel to the first rotation axis J1, and also moves linearly (up and down) along the third rotation axis J3; when the ball screw nut 132 is rotated, the spline shaft 133 moves linearly along the third rotation axis J3; and when both the spline nut 131 and the ball screw nut 132 are rotated, the spline shaft 133 rotates about the third rotation axis J3. Although not shown, an end effector suitable for the work is attached to the lower end of the spline shaft 133.

[0021] As shown in Figures 2 and 3, the robot 1 also has a first arm drive mechanism 21 that rotates the first arm 11 around a first rotation axis J1 relative to the base 10, and a second arm drive mechanism 22 that rotates the second arm 12 around a second rotation axis J2 relative to the first arm 11.

[0022] As shown in FIG. 2, the first arm drive mechanism 21 includes a reducer 211 that rotatably connects the base 10 and the first arm 11, and a motor 212 with a built-in encoder that is disposed within the base 10. The motor 212 is a servo motor, particularly a three-phase motor driven by three-phase AC, and is fixed to the base 10. The reducer 211 is a harmonic gear device, and a circular spline 211a is fixed to the base 10 and a flexspline 211b is fixed to the first arm 11. The rotation shaft of the motor 212 is fixed to a wave generator 211c. Therefore, the wave generator 211c rotates with the rotation of the motor 212, and further, the flexspline 211b rotates at a predetermined reduction ratio relative to the rotation of the wave generator 211c. As a result, the first arm 11 rotates around the first rotation axis J1 relative to the base 10. However, the configuration of the first arm driving mechanism 21 is not particularly limited.

[0023] As shown in FIGS. 3 and 4 , the second arm drive mechanism 22 has a configuration similar to that of the first arm drive mechanism 21, and includes a reducer 221 that rotatably connects the first arm 11 and the second arm 12, and a motor 222 with a built-in encoder that is disposed within the second arm 12. The motor 222 is a servo motor, particularly a three-phase motor that is driven by three-phase AC, and is fixed to the arm base 121. The reducer 221 is a harmonic gear device, and a circular spline 221a is fixed to the arm base 121 and a flexspline 221b is fixed to the first arm 11. The rotation shaft of the motor 222 is fixed to a wave generator 221c. Therefore, the wave generator 221c rotates as the motor 222 rotates, and further, the flexspline 221b rotates at a predetermined reduction ratio relative to the rotation of the wave generator 221c. As a result, the second arm 12 rotates about the second rotation axis J2 relative to the first arm 11. However, the configuration of the second arm drive mechanism 22 is not particularly limited.

[0024] As shown in Figures 3 to 5, the robot 1 also has a spline shaft first drive mechanism 23 that rotates the spline nut 131 to rotate and linearly move the spline shaft 133, and a spline shaft second drive mechanism 24 that rotates the ball screw nut 132 to linearly move the spline shaft 133.

[0025] 3, the first spline shaft drive mechanism 23 has a motor 231 with a built-in encoder disposed inside the second arm 12, and a speed reduction mechanism 232 that transmits the rotation of the motor 231 to the spline nut 131. The motor 231 is a servo motor, particularly a three-phase motor driven by three-phase AC, and is fixed to the arm base 121.

[0026] The reduction mechanism 232 has a first reduction mechanism 233 and a second reduction mechanism 234. The first reduction mechanism 233 has a first pulley 233a attached to the rotation shaft of the motor 231, a first intermediate pulley 233b supported rotatably around a fourth rotation shaft J4 parallel to the second rotation shaft J2 with respect to the arm base 121, and a first belt 233c wound around the first pulley 233a and the first intermediate pulley 233b. The first intermediate pulley 233b has a larger diameter than the first pulley 233a. On the other hand, the second reduction gear mechanism 234 includes a second intermediate pulley 234a that is disposed coaxially with the first intermediate pulley 233b and rotates together with the first intermediate pulley 233b about the fourth rotation axis J4, a second pulley 234b that is attached to the spline nut 131, and a second belt 234c that is wound around the second intermediate pulley 234a and the second pulley 234b. The second intermediate pulley 234a has a smaller diameter than the first intermediate pulley 233b, and the second pulley 234b has a larger diameter than the second intermediate pulley 234a.

[0027] In this configuration, the rotation of the motor 231 is transmitted to the first intermediate pulley 233b via the first pulley 233a and the first belt 233c, causing the first intermediate pulley 233b and the second intermediate pulley 234a to rotate together around the fourth rotation axis J4. The rotation of the second intermediate pulley 234a is transmitted to the second pulley 234b via the second belt 234c, causing the second pulley 234b and the spline nut 131 to rotate together around the third rotation axis J3. This causes the spline shaft 133 to rotate and translate. Thus, by using the reduction mechanism 232 including the first reduction mechanism 233 and the second reduction mechanism 234, the rotation of the motor 231 can be reduced in two stages, allowing the spline nut 131 to rotate with greater torque. However, the configuration of the first spline shaft drive mechanism 23 is not particularly limited.

[0028] 4, the spline shaft second drive mechanism 24 includes a motor 241 with a built-in encoder disposed within the second arm 12, a speed reduction mechanism 242 that transmits the rotation of the motor 241 to the ball screw nut 132, and a brake 243 for the motor 241. The motor 241 is a servo motor, particularly a three-phase motor that is driven by three-phase AC, and is fixed to the arm base 121. The speed reduction mechanism 242 includes a first pulley 242a attached to the rotation shaft of the motor 241, a second pulley 242b attached to the ball screw nut 132, and a belt 242c that is passed around the first pulley 242a and the second pulley 242b. In this configuration, the rotation of the motor 241 is transmitted to the second pulley 242b via the first pulley 242a and the belt 242c, and the second pulley 242b and the ball screw nut 132 rotate integrally around the third rotation axis J3. This causes the spline shaft 133 to move linearly. In this way, by using the speed reduction mechanism 242, the rotation of the motor 241 can be reduced, and the ball screw nut 132 can be rotated with a sufficiently large torque. However, the configuration of the second spline shaft drive mechanism 24 is not particularly limited.

[0029] The brake 243 is an electromagnetic brake attached to the motor 241 and includes a pair of opposing plates 243a and 243b. One plate, 243a, is fixed to the motor 241, and the other plate, 243b, is fixed to the rotation shaft of the motor 241 and rotates together with the rotation shaft. By controlling the ON / OFF of the current supply, the brake 243 switches between a brake state in which the plates 243a and 243b are in contact with each other and a brake-released state in which the plates 243a and 243b are separated from each other. In particular, the brake 243 of this embodiment is a non-excitation type electromagnetic brake that is in the brake-released state when current is applied (ON) and in the brake state when current is cut off (OFF). This shortens the time the brake is applied, thereby enabling the robot system 100 to save power. However, the configuration and arrangement of the brake 243 are not particularly limited. For example, brake 243 may be an electromagnetic brake that is in a brake state when power is applied (ON) and in a brake release state when power is cut off (OFF), or it may be a brake other than an electromagnetic brake, such as a hydraulic brake.

[0030] Above is a brief description of the configuration of the main parts of the robot 1. Next, the second arm 12 will be described in more detail.

[0031] As described above, the second arm 12 has a rigid arm base 121 connected to the first arm 11, a frame 122 fixed to the arm base 121, and a cover 123 placed over the frame 122 and onto the arm base 121.

[0032] The frame 122 is formed by, for example, molding a metal plate. As shown in FIGS. 3 and 4, the frame 122 extends in the direction in which the second arm 12 extends in a plan view along the second rotation axis J2. The frame 122 is fixed to the arm base 121 at a base end located on the base end side of the second arm 12, and has a cantilever shape with a distal end serving as a free end spaced apart from the arm base 121. The frame 122 generally has a shape in which a strip of metal plate is bent at three points along the same direction, and is configured such that, from the base end side, a fixing portion 122a, a duct holding portion 122b, a connector holding portion 122c, and a board holding portion 122d are arranged side by side. The plate surfaces of the fixing portion 122a, the duct holding portion 122b, the connector holding portion 122c, and the board holding portion 122d are oriented in different directions.

[0033] Furthermore, the inclination angle θ relative to the second rotation axis J2 gradually increases from the fixed portion 122a toward the connector holding portion 122c. In other words, the inclination angle θ of the fixed portion 122a is greater than the inclination angle θ of the duct holding portion 122b and less than the inclination angle θ of the connector holding portion 122c. In particular, in this embodiment, the inclination angle θ of the fixed portion 122a is greater than or equal to 10° and less than or equal to 30°, the inclination angle θ of the duct holding portion 122b is 60°, and the inclination angle θ of the connector holding portion 122c is 90°. In other words, the connector holding portion 122c is horizontally oriented with its plate surface perpendicular to the second rotation axis J2. In contrast, the board holding portion 122d is bent downward at a right angle relative to the connector holding portion 122c, and its inclination angle θ relative to the second rotation axis J2 is 0°. In other words, the board holding portion 122d is vertically oriented with its plate surface parallel to the second rotation axis J2.

[0034] The fixed portion 122a is fixed to the arm base 121. A connection portion 124 to which the duct 14 is connected is disposed on the duct holding portion 122b. The duct 14 is fixed to the connection portion 124 with its tip inserted through the connection portion 124. The connection portion 124 is located above the second rotation axis J2 and intersects with the second rotation axis J2. This minimizes deformation of the duct 14 when the second arm 12 rotates around the second rotation axis J2, thereby reducing stress on the duct 14 and the wiring 31 and piping 32 passing through the duct 14. However, the position of the connection portion 124 is not particularly limited, and it does not have to overlap with the second rotation axis J2.

[0035] Furthermore, connector holding portion 122c is provided with connector group 161 including connector 161a for wiring 31 and connector 161b for piping 32, and brake release button 17 for releasing brake 243. Connector group 161 and brake release button 17 are exposed to the outside of second arm 12 without being covered by cover 123. This allows the user to easily access connector group 161 and brake release button 17. As shown in FIG. 1 , connector group 162 including multiple connectors 162a, 162b that form pairs with each of connectors 161a, 161b included in connector group 161 is provided on the back surface of base 10. The paired connectors 161a, 162a are connected to each other via wiring 31, and the paired connectors 161b, 162b are connected to each other via piping 32.

[0036] In addition, a lens 85 that shines when light L from a light-emitting element 82 described later is incident on the lens 85 is disposed in the connector holding portion 122c. The lens 85 is not covered by the cover 123, but is exposed to the outside of the second arm 12.

[0037] 6 and 7, a brake control board 8 that controls the brake 243 is fixed to the board holding portion 122d. As shown in FIGS. 3 and 4, the brake control board 8 is electrically connected to the control board 91 via wiring 31. The brake control board 8 is also electrically connected to the brake 243 via wiring 34, and is electrically connected to the brake release button 17 via wiring 33. The brake control board 8 controls the drive of the brake 243 based on a command from the control board 91, and switches between the brake state and the brake release state. The brake control board 8 also controls the drive of the brake 243 based on the operation of the brake release button 17, and switches between the brake state and the brake release state.

[0038] 7, the brake control board 8 also has a light-emitting element 82. The light-emitting element 82 is, for example, an LED (Light Emitting Diode). Light L emitted from the light-emitting element 82 is diffusely reflected upward by the frame 122 and then enters the lens 85. This causes the lens 85 to emit light. Therefore, by controlling the driving of the light-emitting element 82 to switch the lens 85 between on / blinking / off and to switch the color of light emitted from the lens 85, it is possible to notify the user of various information via the lens 85.

[0039] While power is being supplied to the motors 212, 222, 231, and 241, i.e., while the robot 1 is powered on, the brake control board 8 emits light L of a predetermined color from the light-emitting element 82 to illuminate the lens 85. Hereinafter, this state will also be referred to as the first light-emitting state. This allows the user to easily be notified that the robot 1 is powered on. When the brake release button 17 is pressed and the brake 243 enters the brake release state, the brake control board 8 emits light L of a color different from that of the first light-emitting state from the light-emitting element 82 to illuminate the lens 85. Hereinafter, this state will also be referred to as the second light-emitting state. This allows the user to easily be notified that the brake 243 is in the brake release state. Switching between the first light-emitting state and the second light-emitting state allows the user to more clearly be notified of the state of the robot 1. However, the notification method is not particularly limited. For example, the first light-emitting state may be illuminated and the second light-emitting state may be extinguished, or the first light-emitting state may be illuminated and the second light-emitting state may be flashing.

[0040] The brake control board 8 as described above includes a CPU (Central Processing Unit), a ROM (Read Only Memory), etc. The CPU reads and executes programs and data stored in the ROM, thereby achieving the above-mentioned functions.

[0041] 6, the second arm 12 is fixed to the arm base 121 and has a first support member 41 and a second support member 42 that support the frame 122. That is, the frame 122 is supported by the arm base 121 via the first support member 41 and the second support member 42. More specifically, the first support member 41 and the second support member 42 support a portion of the frame 122 that is located closer to the tip of the second arm 12 than the connectors 161a and 161b. As described above, the frame 122 is a cantilever beam, and therefore the tip side is easily bent up and down. Therefore, for example, when a user inserts connectors into connectors 161a and 162b, presses brake release button 17, or installs wiring or devices to be connected to connectors 161a and 162b on frame 122, vertical downward stress (hereinafter also referred to as "connection stress" for ease of explanation) may be applied to frame 122, which may cause frame 122 to bend downward, undergo plastic deformation, or become damaged. Therefore, by supporting the portion of frame 122 distal to connectors 161a and 161b with first support member 41 and second support member 42, the rigidity of frame 122 is increased, and plastic deformation and damage to frame 122 can be effectively suppressed by resisting the connection stress. Furthermore, by supporting frame 122 with first support member 41 and second support member 42, frame 122 is less likely to vibrate when second arm 12 rotates, and vibration of the entire second arm 12 can also be effectively reduced.

[0042] In particular, in this embodiment, as described above, the fixing portion 122a of the frame 122 is inclined with respect to the vertical direction (see FIGS. 3 and 4). Specifically, the fixing portion 122a is inclined with respect to the vertical direction so that the tip side is located higher than the base side and the tip side is located closer to the tip side of the second arm 12 than the base side. This makes the frame 122 more likely to bend, increasing the risk of plastic deformation or breakage of the frame 122. Therefore, the above-described effects of the first support member 41 and the second support member 42 are more pronounced.

[0043] Furthermore, in this embodiment, the first support member 41 and the second support member 42 support the connector holding portion 122c of the frame 122. As described above, because the connectors 161a and 162b are disposed in the connector holding portion 122c, stress is applied to the connector holding portion 122c during connection. Therefore, by having the first support member 41 and the second support member 42 directly support the connector holding portion 122c, to which stress is applied during connection, plastic deformation and damage to the frame 122 due to stress during connection can be more effectively suppressed. However, without being limited to this, the first support member 41 and the second support member 42 may support a portion closer to the tip end than the connector holding portion 122c, i.e., the board holding portion 122d.

[0044] As shown in FIG. 5 , when viewed from above along the second rotation axis J2, a virtual line segment passing through the second rotation axis J2 and the third rotation axis J3 is defined as a virtual center axis A. The first support member 41 is located on one side of the virtual center axis A, and the second support member 42 is located on the other side. As shown in FIG. 6 , one end of the connector holding portion 122c in a direction perpendicular to the virtual center axis A is supported by the first support member 41, and the other end is supported by the second support member 42. In other words, the connector holding portion 122c is supported on both sides in the width direction by the first support member 41 and the second support member 42. This configuration in which the connector holding portion 122c is supported at both ends allows the connector holding portion 122c to be held in a stable position by the first support member 41 and the second support member 42, effectively preventing plastic deformation and damage to the frame 122 due to stress during connection. Furthermore, it is possible to more effectively suppress vibration of the frame 122 when the second arm 12 rotates. However, this is not limited to this, and for example, the frame 122 may be supported by the first support member 41 and the second support member 42 on one side in the width direction.

[0045] 6, the first support member 41 and the second support member 42 each support the connector holding portion 122c so as to support it from below in the vertical direction. With this configuration, the first support member 41 and the second support member 42 can bear the stress at the time of connection, and therefore plastic deformation and damage to the frame 122 due to the stress at the time of connection can be more effectively suppressed. However, this is not limited thereto, and for example, the first support member 41 and the second support member 42 may each support the connector holding portion 122c so as to suspend it from above in the vertical direction.

[0046] Next, the shapes of the first support member 41 and the second support member 42 will be described. The first support member 41 and the second support member 42 have the same configuration. By making the first support member 41 and the second support member 42 have the same configuration, it is possible to standardize parts, thereby reducing the manufacturing cost of the robot 1. The first support member 41 and the second support member 42 are made of a metal material such as electro-galvanized steel sheet (SECC). However, the material of which the first support member 41 and the second support member 42 are made is not particularly limited. For example, they may be made of a lightweight and hard metal material such as aluminum.

[0047] As shown in FIG. 8, the first support member 41 has a long plate shape, and both ends thereof are bent at right angles in opposite directions to form a crank shape. The first support member 41 has a base portion 411 extending in the vertical direction, a mounting portion 412 connected to the upper end of the base 411 and bent at right angles toward the imaginary central axis A relative to the base 411, and a fixing portion 413 connected to the lower end of the base 411 and bent at right angles toward the base 411 in the opposite direction to the mounting portion 412. As shown in FIG. 6, the plate surface of the base 411 extends in the extension direction of the end of the connector holding portion 122c. However, this is not limited thereto, and the plate surface of the base 411 may be inclined with respect to the extension direction of the end of the connector holding portion 122c. The first support member 41 is fixed to the arm base 121 at the fixing portion 413, and is fixed to the connector holding portion 122c at the placing portion 412.

[0048] Specifically, a screw insertion hole 413a is formed in the fixing portion 413, and a screw hole 121a is formed in the arm base 121. Then, with the fixing portion 413 placed on the arm base 121, a screw B3 inserted into the screw insertion hole 413a is fastened to the screw hole 121a of the arm base 121, thereby fixing the fixing portion 413 and the arm base 121. Also, a screw insertion hole is formed in the connector holding portion 122c, and a screw hole 412a is formed in the placing portion 412. Then, with the connector holding portion 122c placed on the placing portion 412, a screw inserted into the screw insertion hole of the connector holding portion 122c is fastened to the screw hole 412a, thereby fixing the placing portion 412 and the connector holding portion 122c. This configuration makes it easy to attach the first support member 41 to the second arm 12.

[0049] Furthermore, the base 411 is formed with a constricted portion 411a that is narrower than the upper and lower portions. A plurality of constricted portions 411a are formed along the extending direction of the base 411, i.e., the vertical direction. The use of the constricted portion 411a is not particularly limited. For example, a cable tie bundling the wiring 31 can be fastened to the constricted portion 411a to secure the wiring 31 to the first support member 41. Furthermore, a screw hole 412b is formed in the base 411, allowing a screw B4 to be fastened as needed. The use of the screw B4 is not particularly limited. For example, a bonding wire drawn from an electronic component in the second arm 12 can be fixed to the first support member 41 with the screw B4 for electrical connection, thereby using the first support member 41 as a bonding conductor (bonding circuit) for protective bonding, functional bonding, or the like.

[0050] 9, the second arm 12 has a first positioning portion 51 that positions the first support member 41 and the arm base 121. The first positioning portion 51 has a pair of first protrusions 511a, 511b formed on one of the arm base 121 and the first support member 41, and a pair of first holes 512a, 512b formed on the other. In this embodiment, the pair of first protrusions 511a, 511b is formed on the arm base 121, and the pair of first holes 512a, 512b is formed in the fixing portion 413 of the first support member 41. The first protrusion 511a is inserted into the first hole 512a, and the first protrusion 511b is inserted into the first hole 512b, thereby engaging the first protrusions 511a, 511b with the first holes 512a, 512b. Such a first positioning portion 51 allows the first support member 41 and the arm base 121 to be easily positioned, facilitating the fixing of the first support member 41 and the arm base 121. Furthermore, since the first positioning portion 51 positions the first support member 41 and the arm base 121, the first support member 41 and the frame 122 are automatically positioned, making it easy to fix the first support member 41 and the frame 122. In particular, when the plate surface of the base 411 is inclined with respect to the extending direction of the end of the connector holding portion 122c, the first positioning portion 51 allows the first support member 41 and the arm base 121 or the frame 122 to be easily positioned.

[0051] However, the configuration of the first positioning portion 51 is not particularly limited. For example, a pair of first protrusions 511a, 511b may be formed on the fixed portion 413, and a pair of first holes 512a, 512b may be formed on the arm base 121. Alternatively, the first protrusion 511a and the first hole 512a may be formed on the fixed portion 413, and the first protrusion 511b and the first hole 512b may be formed on the arm base 121. Alternatively, the first protrusion 511b and the first hole 512b may be omitted. In this case, in order to restrict the rotation of the first support member 41 with respect to the arm base 121 in a state in which the first protrusion 511a is inserted into the first hole 512a, it is preferable that the shape of the first hole 512a and the first protrusion 511a be oval, rectangular, or the like, rather than circular. Alternatively, the first positioning portion 51 may be omitted.

[0052] Although the first support member 41 has been described above, the configuration of the first support member 41 is not particularly limited. For example, the placing portion 412 and the fixing portion 413 may be bent toward the same side relative to the base portion 411. Furthermore, the constricted portion 411a and the screw hole 411b may be omitted from the base portion 411.

[0053] Next, the configuration of the second support member 42 will be described. However, as described above, the second support member 42 has the same configuration as the first support member 41, and therefore will be briefly described below. As shown in Fig. 8, the second support member 42 is in the form of a long plate, and both ends thereof are bent at a right angle in opposite directions to form a crank shape. The second support member 42 has a base portion 421 extending along the vertical direction, a mounting portion 422 connected to the upper end of the base 421 and bent at a right angle toward the imaginary central axis A with respect to the base 421, and a fixing portion 423 connected to the lower end of the base 421 and bent at a right angle with respect to the base 421 in the direction opposite to the mounting portion 422.

[0054] Furthermore, a screw insertion hole 423a is formed in the fixing portion 423, and a screw hole 121b is formed in the arm base 121. Then, with the fixing portion 423 placed on the arm base 121, a screw B5 inserted into the screw insertion hole 423a is fastened to the screw hole 121b of the arm base 121, thereby fixing the fixing portion 423 to the arm base 121. Also, a screw insertion hole is formed in the connector holding portion 122c, and a screw hole 422a is formed in the placing portion 422. Then, with the connector holding portion 122c placed on the placing portion 422, a screw inserted into the screw insertion hole of the connector holding portion 122c is fastened to the screw hole 422a, thereby fixing the placing portion 422 and the connector holding portion 122c.

[0055] Furthermore, the base 421 has a plurality of narrowed portions 421a formed along the extension direction of the base 411, the narrowed portions being narrower than the upper and lower portions. The base 411 also has screw holes 412b formed therein so that screws B6 can be fastened as needed. The uses of the narrowed portions 421a and the screws B6 are not particularly limited, but for example, they can be used for the same purposes as the first support member 41 described above.

[0056] 10, the second arm 12 has a second positioning portion 52 that positions the second support member 42 and the arm base 121. The second positioning portion 52 has a pair of second protrusions 521a, 521b formed on one of the arm base 121 and the second support member 42, and a pair of second holes 522a, 522b formed on the other. In this embodiment, the pair of second protrusions 521a, 521b are formed on the arm base 121, and the pair of second holes 522a, 522b are formed on the fixing portion 423. The second hole 522a engages with the second protrusion 521a, and the second hole 522b engages with the second protrusion 521b, respectively, thereby positioning the second support member 42 with respect to the arm base 121. However, similar to the first positioning portion 51 described above, the configuration of the second positioning portion 52 is not particularly limited.

[0057] Although the second support member 42 has been described above, the configuration of the second support member 42 is not particularly limited. For example, the placing portion 422 and the fixing portion 423 may be bent toward the same side relative to the base portion 421. Furthermore, the constricted portion 421a and the screw hole 421b may be omitted from the base portion 421.

[0058] The above has described the robot system 100. As described above, the robot 1 included in such a robot system 100 includes the base 10, the first arm 11 connected to the base 10 and rotatable about a first rotation axis J1 relative to the base 10, the second arm 12 connected at a base end 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, the spline shaft 133 located at the tip end of the second arm 12 and rotatable about a third rotation axis J3 parallel to the first rotation axis J1 and linearly moving along the third rotation axis J3, and the connectors 161a and 161b disposed on the second arm 12 and exposed to the outside of the second arm 12. The second arm 12 has an arm base 121 connected to the first arm 11, a frame 122 fixed to the arm base 121 and having connectors 161a and 161b arranged thereon, and a first support member 41 and a second support member 42 fixed to the arm base 121 and supporting the frame 122. The frame 122 is a cantilever beam that extends in the extension direction of the second arm 12 in a plan view from the direction along the second rotation axis J2, is fixed to the arm base 121 at a base end located on the base end side of the second arm 12, and has a tip end that is a free end separated from the arm base 121, and is supported by the first support member 41 and the second support member 42 at a portion closer to the tip side of the second arm 12 than the connectors 161a and 161b. According to this configuration, first support member 41 and second support member 42 increase the rigidity of frame 122, and by resisting stress at the time of connection, it is possible to effectively suppress plastic deformation and breakage of frame 122. Furthermore, frame 122 is less likely to vibrate when second arm 12 rotates, and vibration of the entire second arm 12 can also be effectively reduced.

[0059] As described above, frame 122 has connector holding portion 122c in which connectors 161a and 161b are arranged, and first support member 41 and second support member 42 support connector holding portion 122c. In this way, first support member 41 and second support member 42 directly support connector holding portion 122c, to which stress is applied during connection, thereby more effectively suppressing plastic deformation and damage to frame 122 due to stress during connection.

[0060] As described above, when viewed from above in a plan view along the second rotation axis J2, if a virtual line segment passing through the second rotation axis J2 and the third rotation axis J3 is defined as a virtual center axis A, one end of the connector holding portion 122c in a direction perpendicular to the virtual center axis A is supported by the first support member 41, and the other end is supported by the second support member 42. In other words, the connector holding portion 122c is supported on both sides in the width direction by the first support member 41 and the second support member 42. With this configuration, the connector holding portion 122c is held in a stable position by the first support member 41 and the second support member 42, which more effectively prevents plastic deformation and damage of the frame 122 due to stress during connection. Furthermore, it is also more effectively possible to suppress vibration of the frame 122 when the second arm 12 rotates.

[0061] As described above, the first support member 41 and the second support member 42 each support the connector holding portion 122c from below in the vertical direction. With this configuration, the first support member 41 and the second support member 42 can bear the stress during connection, which makes it possible to more effectively prevent plastic deformation and damage to the frame 122 due to the stress during connection.

[0062] As described above, the robot 1 has the first positioning unit 51 that positions the first support member 41 and the arm base 121, and the second positioning unit 52 that positions the second support member 42 and the arm base 121. This configuration makes it easy to fix the first and second support members 41, 42 to the arm base 121, and to fix the first and second support members 41, 42 to the frame 122.

[0063] As described above, the first positioning part 51 has first protrusions 511a, 511b formed on one of the arm base 121 and the first support member 41, and first holes 512a, 512b formed on the other and engaging with the first protrusions 511a, 511b. This configuration facilitates positioning of the arm base 121 and the first support member 41. Similarly, the second positioning part 52 has second protrusions 521a, 521b formed on one of the arm base 121 and the second support member 42, and second holes 522a, 522b formed on the other and engaging with the second protrusions 521a, 521b. This configuration facilitates positioning of the arm base 121 and the second support member 42.

[0064] As described above, the frame 122 has a fixed portion 122a that is fixed to the arm base 121, and the fixed portion 122a is inclined with respect to the vertical direction. With this configuration, the tip of the frame 122 becomes more flexible, increasing the risk of plastic deformation or breakage of the frame 122. Therefore, the effects of the first support member 41 and the second support member 42 described above are more pronounced.

[0065] 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 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 at a base end thereof and rotatable about a second rotation axis J2 parallel to the first rotation axis J1 relative to the first arm 11, a spline shaft 133 located at the tip end of the second arm 12 and rotatable about a third rotation axis J3 parallel to the first rotation axis J1 and linearly moving along the third rotation axis J3, and connectors 161a and 161b disposed on the second arm 12 and exposed to the outside of the second arm 12. The second arm 12 has an arm base 121 connected to the first arm 11, a frame 122 fixed to the arm base 121 and having connectors 161a and 161b arranged thereon, and a first support member 41 and a second support member 42 fixed to the arm base 121 and supporting the frame 122. The frame 122 is a cantilever beam that extends in the extension direction of the second arm 12 in a plan view from the direction along the second rotation axis J2, is fixed to the arm base 121 at a base end located on the base end side of the second arm 12, and has a tip end that is a free end separated from the arm base 121, and is supported by the first support member 41 and the second support member 42 at a portion closer to the tip side of the second arm 12 than the connectors 161a and 161b. According to this configuration, first support member 41 and second support member 42 increase the rigidity of frame 122, and by resisting stress at the time of connection, it is possible to effectively suppress plastic deformation and breakage of frame 122. Furthermore, frame 122 is less likely to vibrate when second arm 12 rotates, and vibration of the entire second arm 12 can also be effectively reduced.

[0066] Second Embodiment FIG. 11 is a cross-sectional view showing a first support member and a second support member of a robot according to a second embodiment.

[0067] The robot 1 according to this embodiment is similar to the robot 1 according to the first embodiment described above, except that the first support member 41 and the second support member 42 are different in configuration. In the following description, differences between the robot 1 according to this embodiment and the first embodiment will be mainly described, and descriptions of similar points will be omitted. In addition, in the drawings of this embodiment, the same reference numerals are used to designate similar components to those in the previously described embodiment.

[0068] 11, in the robot 1 of this embodiment, the first support member 41 and the second support member 42 are inclined in a V-shape. That is, in a plan view from a direction along the imaginary central axis A, the first support member 41 and the second support member 42 are inclined with respect to the vertical direction so that the separation distance D between them increases downward in the vertical direction. With this configuration, the frame 122 can be supported in an even more stable state by the first support member 41 and the second support member 42.

[0069] As described above, in the robot 1 of this embodiment, the first support member 41 and the second support member 42 are inclined with respect to the vertical direction so that the separation distance D between them increases downward in the vertical direction, when viewed from above in a direction along the imaginary central axis A. With this configuration, the frame 122 can be supported in an even more stable state by the first support member 41 and the second support member 42.

[0070] The second embodiment can also achieve the same effects as the first embodiment.

[0071] <Third embodiment> Fig. 12 is an enlarged perspective view showing a first support member and a second support member of the robot according to the third embodiment, and Fig. 13 is a top view showing the inside of the second arm.

[0072] The robot 1 according to this embodiment is similar to the robot 1 according to the first embodiment, except for the configuration of the second support member 42. In the following description, differences between the robot 1 according to this embodiment and the first embodiment will be mainly described, and descriptions of similar points will be omitted. In addition, in each drawing of this embodiment, the same reference numerals are used to designate the same components as those in the above-described embodiment.

[0073] 12, in the robot 1 of this embodiment, the first support member 41 and the second support member 42 have different shapes. By making the shapes of the first support member 41 and the second support member 42 different from each other in this way, the degree of freedom in the shapes of the first support member 41 and the second support member 42 increases, which makes it easier to design the robot 1. Note that the first support member 41 has the same configuration as in the first embodiment described above, and therefore only the second support member 42 will be described below.

[0074] As shown in FIG. 12, the second support member 42, like the first embodiment described above, has a base 421, a mounting portion 422 connected to the upper end of the base 421 and bent at a right angle toward the imaginary central axis A relative to the base 421, and a fixed portion 423 connected to the lower end of the base 421 and bent at a right angle toward the base 421 opposite the mounting portion 422. The base 421 is bent in a crank shape midway, and the lower end (the end on the fixing portion 423 side) is located closer to the tip of the second arm 12 than the upper end (the end on the mounting portion 422 side). As shown in FIG. 13, the fixed portion 423 is fixed to the arm base 121 closer to the tip of the second arm 12 than the first support member 41. In particular, in this embodiment, the fixed portion 423 is fixed to the arm base 121 closer to the tip of the second arm 12 than the first intermediate pulley 233b. Therefore, when the second support member 42 is fixed to the arm base 121, the first intermediate pulley 233b is unlikely to get in the way, and the arm base 121 and the second support member 42 can be easily fixed together.

[0075] The third embodiment can also achieve the same effects as the first embodiment.

[0076] While the robot and robot system of the present invention have been described above based on the illustrated embodiments, the present invention is not limited to these, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other configuration may be added to the present invention.

[0077] For example, in the above-described embodiment, the robot 1 has the duct 14, but the duct 14 may be omitted. In this case, the wiring 31 and the piping 32 are routed through the first arm 11 to the base 10 and the second arm 12. Also, 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 it 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, for example, a top plate located at the top of a stand having frame-shaped legs. [Explanation of symbols]

[0078] 1...robot, 10...base, 100...robot system, 11...first arm, 12...second arm, 121...arm base, 122...frame, 122a...fixing portion, 122b...duct holding portion, 122c...connector holding portion, 122d...board holding portion, 123...cover, 124...connection portion, 13...working head, 131...spline nut, 132...ball screw nut, 133...spline shaft, 14...duct, 141...base end opening, 142...tip opening, 161...connector group, 161a...connector, 161b...connector, 162...connector group, 162a... Connector, 162b...connector, 17...brake release button, 21...first arm drive mechanism, 211...reduction gear, 211a...circular spline, 211b...flex spline, 211c...wave generator, 212...motor, 22...second arm drive mechanism, 221...reduction gear, 221a...circular spline, 221b...flex spline, 221c...wave generator, 222...motor, 23...spline shaft first drive mechanism, 231...motor, 232...reduction mechanism, 233...first reduction mechanism, 233a...first pulley, 233b... First intermediate pulley, 233c...first belt, 234...second reduction mechanism, 234a...second intermediate pulley, 234b...second pulley, 234c...second belt, 24...spline shaft Second drive mechanism, 241...motor, 242...reduction mechanism, 242a...first pulley, 242b...second pulley, 242c...belt, 243...brake, 243a...plate, 243b...plate, 31...wiring, 32...piping, 33...wiring, 34...wiring, 41...first support member, 411...base, 411a...constricted portion, 412...mounting portion, 412a...screw hole, 412b...screw hole, 413...fixing portion, 413a...screw insertion hole, 42...second support member, 421...base portion, 421a...constricted portion, 422...mounting portion, 422a...screw hole, 423...fixing portion, 423a...screw insertion hole, 51...first positioning portion, 511a...first protrusion, 511b...first protrusion, 512a...first hole, 512b...first hole, 52...second positioning portion, 521a...second protrusion, 521b...second protrusion, 522a...second hole, 522b...second hole, 6...inertial sensor module, 8...brake control board, 82...light-emitting element, 85...lens, 9...control device, 91...control board, 92...power supply board, A...virtual center axis, B3...screw,B4...screw, B5...screw, B6...screw, D...distance, J1...first rotation axis, J2...second rotation axis, J3...third rotation axis, J4...fourth rotation axis, L...light, θ...tilt angle,

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 at a base end thereof and configured to rotate relative to the first arm about a second rotation axis parallel to the first rotation axis; a shaft located at a tip end of the second arm, which rotates around a third rotation axis parallel to the first rotation axis and moves linearly along the third rotation axis; a connector disposed on the second arm and exposed to an outside of the second arm, the second arm has an arm base connected to the first arm, a frame fixed to the arm base and on which the connector is arranged, and a first support member and a second support member fixed to the arm base and supporting the frame; The frame is a cantilever beam that extends in the extension direction of the second arm when viewed in a plan view from a direction along the second rotation axis, is fixed to the arm base at a base end located on the base end side of the second arm, and has a free end at a tip end that is spaced apart from the arm base, and is supported by the first support member and the second support member at a portion of the second arm that is closer to the tip end than the connector.

2. the frame has a connector holding portion in which the connector is disposed, The robot according to claim 1 , wherein the first support member and the second support member support the connector holder.

3. When viewed from a plane along the second rotation axis, When a line segment passing through the second rotation axis and the third rotation axis is defined as a virtual center axis, 3. The robot according to claim 2, wherein one end of the connector holding portion in a direction perpendicular to the imaginary central axis is supported by the first support member, and the other end is supported by the second support member.

4. 4. The robot according to claim 3, wherein, in a plan view from a direction along the imaginary central axis, the first support member and the second support member are inclined with respect to the vertical direction so that the distance between them increases downward in the vertical direction.

5. The robot according to claim 2 , wherein the first support member and the second support member each support the connector holding portion from below in the vertical direction.

6. a first positioning unit that positions the first support member and the arm base; The robot according to claim 1 , further comprising a second positioning unit that positions the second support member and the arm base.

7. the first positioning portion has a first protrusion formed on one of the arm base and the first support member, and a first hole formed on the other of the arm base and engaging with the first protrusion; 7. The robot according to claim 6, wherein the second positioning portion has a second protrusion formed on one of the arm base and the second support member, and a second hole formed on the other of the arm base and engaging with the second protrusion.

8. the frame has a fixed portion fixed to the arm base, The robot according to claim 1 , wherein the fixing portion is inclined relative to the vertical direction.

9. When viewed in a plan view from a direction along the second rotation axis, a line segment passing through the second rotation axis and the third rotation axis is defined as a virtual center axis, the first support member is located on one side of the virtual center axis and the second support member is located on the other side, and further, the first support member and the second support member are inclined with respect to the vertical direction so that a distance between them increases downward in the vertical direction, the frame is formed by bending a metal plate, and has a plate-shaped fixing portion fixed to the arm base, and a plate-shaped connector holding portion in which the connector is arranged, the fixing portion is disposed with a tip side inclined toward the tip side of the second arm with respect to a vertical direction, the first support member and the second support member each support the connector holding portion from below in a vertical direction, a first positioning portion having a first protrusion formed on one of the arm base and the first support member and a first hole formed on the other of the arm base and engaging with the first protrusion, the first positioning portion positioning the first support member and the arm base; 2. The robot according to claim 1, further comprising: a second positioning portion having a second protrusion formed on one of the arm base and the second support member, and a second hole formed on the other of the arm base and engaging with the second protrusion, and which positions the second support member and the arm base.

10. 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 at a base end thereof and configured to rotate relative to the first arm about a second rotation axis parallel to the first rotation axis; a shaft located at a tip end of the second arm, which rotates around a third rotation axis parallel to the first rotation axis and moves linearly along the third rotation axis; a connector disposed on the second arm and exposed to an outside of the second arm, the second arm has an arm base connected to the first arm, a frame fixed to the arm base and on which the connector is arranged, and a first support member and a second support member fixed to the arm base and supporting the frame; The frame is a cantilever beam that extends in the extension direction of the second arm when viewed in a plan view from a direction along the second rotation axis, is fixed to the arm base at a base end located on the base end side of the second arm, and has a tip end that is a free end separated from the arm base, and is supported by the first support member and the second support member at a portion of the second arm that is closer to the tip end than the connector.

Images