Transport robot

Abstract

The present invention provides a transport robot that can suppress deformation of the transmission section while keeping the robot's size down, even when transporting heavy objects. [Solution] The transport robot 1 comprises a base 3, an arm section 5 having a first arm 9 rotatably connected to the base 3 around a first axis Ax1, a workpiece holding section 7 connected to the tip of the arm section 5 for holding a workpiece W, a motor 27 positioned inside the first arm 9 offset by a distance L1 from the first axis Ax1, a reduction gear 29 positioned on the first axis Ax1 between the base 3 and the first arm 9 and having an input shaft 29a for inputting the rotation of the motor 27 and an output shaft 29b for reducing and outputting the rotational speed of the input shaft 29a, a transmission section 33 positioned inside the first arm 9 for transmitting the power of the motor 27 to the input shaft 29a, and a motor support member 35 positioned inside the first arm 9 for supporting the motor 27 in a state separated from the housing 25 of the first arm 9.

Description

Technical Field

[0001] The disclosed embodiments relate to a transport robot.

Background Art

[0002] Conventionally, as one of the transport robots for transporting workpieces such as glass substrates and semiconductor wafers to desired positions, an articulated robot is known. For example, the transport robot described in Patent Document 1 includes a swing arm part, an arm unit, and a base part.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional transport robot, in the storage space inside the swing arm part, there are installed a motor which is the drive source of the swing arm part, an input shaft provided along the swing axis, a transmission part for transmitting the rotational force of the motor to the input shaft, a speed reducer for reducing the rotational speed of the input shaft and outputting it to the output shaft, and the like. The transmission part is composed of two pulleys and a belt.

[0005] If the transport robot with the above configuration is applied to the transport of heavy objects, it is conceivable that the housing of the swing arm part will bend. In this case, since the motor is installed on the housing of the swing arm part in the above transport robot, deformation may occur in the transmission part, which may affect the power transmission function and lifespan. On the other hand, if the rigidity of the housing is improved to suppress the bending of the housing, it may lead to an increase in the size of the drive components such as the motor and the speed reducer as the weight of the transport robot increases. Therefore, there has been a demand for a transport robot that can suppress the deformation of the transmission part while suppressing the increase in the size of the robot even when transporting heavy objects.

[0006] Furthermore, in order to miniaturize the transport robot, there was room for further reduction in the height of the swing arm section.

[0007] The embodiments of the disclosure were made in view of these problems, and the first objective is to provide a transport robot that can suppress deformation of the transmission section while suppressing the increase in the size of the robot, even when transporting heavy objects.

[0008] Furthermore, a second objective is to provide a transport robot that can be further miniaturized by reducing the height of the arm. [Means for solving the problem]

[0009] To solve the above problems, according to one aspect of the present invention, a transport robot is applied that includes a base, an arm portion having a first arm rotatably connected to the base about a first axis along the height direction of the robot, a workpiece holding portion connected to the tip of the arm portion and holding a workpiece, a motor positioned inside the first arm offset by a first predetermined distance from the first axis, a reduction gear positioned on the first axis between the base and the first arm and having an input shaft for inputting the rotation of the motor and an output shaft for reducing and outputting the rotational speed of the input shaft, a transmission portion positioned inside the first arm and transmitting the power of the motor to the input shaft, and a motor support member positioned inside the first arm and supporting the motor in a state separated from the housing of the first arm.

[0010] Furthermore, according to another aspect of the present invention, a transport robot is applied, comprising: a base; an arm portion having a first arm rotatably connected to the base about a first axis along the height direction of the robot; a workpiece holding portion connected to the tip of the arm portion and holding a workpiece; a motor positioned inside the first arm offset by a first predetermined distance from the first axis; a reduction gear positioned between the base and the first arm, comprising an input shaft for inputting the rotation of the motor and an output shaft for reducing and outputting the rotational speed of the input shaft, wherein the output shaft is positioned coaxially with the first axis and the input shaft is positioned offset by a second predetermined distance from the first axis and has a hollow portion penetrating along the first axis; and a transmission portion positioned inside the first arm and transmitting the power of the motor to the input shaft. [Effects of the Invention]

[0011] According to the embodiments of the disclosure, even when transporting heavy objects, deformation of the transmission section can be suppressed while keeping the robot's size down. Furthermore, the height of the arm can be reduced, enabling further miniaturization of the robot. [Brief explanation of the drawing]

[0012] [Figure 1] This is a perspective view showing an example of the external configuration of a transport robot common to the first and second embodiments. [Figure 2] This is a perspective view showing an example of the external configuration of a transport robot common to the first and second embodiments. [Figure 3] This is a cross-sectional perspective view taken from an oblique angle above in the height direction, showing an example of the internal configuration of the first arm of the transport robot according to the first embodiment. [Figure 4] This is a side cross-sectional view, seen from the width direction, showing an example of the internal configuration of the first arm of a transport robot according to the first embodiment. [Figure 5] This is a cross-sectional perspective view taken from an oblique angle above the height direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the first embodiment. [Figure 6]It is a side sectional view seen from the width direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the first embodiment. [Figure 7] It is a side sectional view seen from the width direction, conceptually showing an example of the internal configuration of the first arm according to a modification of the first embodiment. [Figure 8] It is a side sectional view seen from the width direction, conceptually showing another example of the internal configuration of the first arm according to a modification of the first embodiment. [Figure 9] It is a cross-sectional perspective view seen from the upper diagonal side in the height direction, showing an example of the internal configuration of the first arm of the transport robot according to the second embodiment. [Figure 10] It is a side sectional view seen from the width direction, showing an example of the internal configuration of the first arm of the transport robot according to the second embodiment. [Figure 11] It is a cross-sectional perspective view seen from the upper diagonal side in the height direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the second embodiment. [Figure 12] It is a side sectional view seen from the width direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the second embodiment.

Embodiments for Carrying out the Invention

[0013] Hereinafter, the embodiments will be described with reference to the drawings.

[0014] <1. Appearance Configuration of the Transport Robot> An example of the appearance configuration of the transport robot common to the first and second embodiments will be described with reference to FIGS. 1 and 2.

[0015] The transport robot 1 shown in FIGS. 1 and 2 executes an operation of receiving the workpiece W and transporting it to the target position. A controller (not shown) is connected to the transport robot 1, and the controller controls the operation of the transport robot 1.

[0016] The type of the workpiece W to be transported by the transport robot 1 is not particularly limited. The workpiece W may be a heavy object. The weight of the workpiece W may be, for example, 300 kg or more, 450 kg or more, or 600 kg or more. That is, the transportable weight of the transport robot 1 may be 300 kg or more, 450 kg or more, or 600 kg or more. As an example, the workpiece W may be a battery module for driving an electric vehicle. In this case, the workpiece W may be a single battery module, or a plurality of battery modules transported together as one unit. Further, the workpiece W may be a battery unit in which a plurality of battery modules are integrated. The transport robot 1 may transport the workpiece W with a shelf having a plurality of cells arranged vertically as a target position. Also, when attaching the workpiece W to another workpiece, the workpiece W may be transported with the attachment position as the target position.

[0017] As shown in FIGS. 1 and 2, the transport robot 1 includes a base 3, an arm portion 5, and a workpiece holding portion 7. The arm portion 5 is a horizontally articulated robot arm. The arm portion 5 includes a first arm 9, a second arm 11, and an attitude adjustment portion 13.

[0018] The base 3 is a base member fixed to, for example, a horizontal floor surface or a horizontal pedestal. The base 3 supports other members such as the arm portion 5 included in the transport robot 1. By fixing the base 3 to the floor surface or the like, the transport robot 1 is fixed in the region where work is performed on the workpiece W. The floor surface or the pedestal may be inclined with respect to the horizontal. The base 3 may be fixed to, for example, a wall surface or a ceiling.

[0019] The first arm 9 is rotatably connected to the base 3 around a first axis Ax1 that is aligned with the height direction of the transport robot 1. The first arm 9 rotates relative to the base 3 around the first axis Ax1. In this embodiment, the base end 9a of the first arm 9 is rotatably connected to the upper part of the base 3. The first arm 9 extends horizontally in a direction away from the first axis Ax1. The height direction of the transport robot 1 is vertical when the base 3 is fixed to a horizontal floor surface, as in this embodiment. That is, the height direction of the transport robot 1 is perpendicular to the mounting surface of the base 3. For example, when the base 3 is fixed to a floor surface that is inclined with respect to the horizontal direction, the height direction of the transport robot 1 is perpendicular to the inclination direction, and when the base 3 is fixed to a vertical wall surface, the height direction of the transport robot 1 is horizontal when it is perpendicular to the vertical direction.

[0020] The second arm 11 is rotatably connected to the first arm 9 around a second axis Ax2 parallel to the first axis Ax1. The second arm 11 rotates relative to the first arm 9 around the second axis Ax2. In this embodiment, the base end 11a of the second arm 11 is rotatably connected to the upper part of the tip 9b of the first arm 9. The second arm 11 extends horizontally in a direction away from the second axis Ax2.

[0021] The workpiece holding section 7 is connected to the tip of the arm section 5 and is configured to hold the workpiece W via a holding member 15. The holding member 15 is, for example, a flat plate-shaped member that mounts and holds the workpiece W on its upper part. The workpiece holding section 7 is connected to the second arm 11 via a posture adjustment section 13 so as to rotate around a third axis Ax3 parallel to the second axis Ax2. The workpiece holding section 7 rotates around the third axis Ax3 relative to the second arm 11. In this embodiment, the workpiece holding section 7 is connected to the upper part of the tip 11b of the second arm 11 via the posture adjustment section 13.

[0022] The workpiece holding section 7 has a lifting base section 17 and a movable section 19. The lifting base section 17 is supported by a posture adjustment section 13. The lifting base section 17 is configured to extend in a direction intersecting the extension direction of the second arm 11. The extension direction of the second arm 11 is the direction in which the line segment connecting the second axis Ax2 and the third axis Ax3 by the shortest distance extends. The posture of the workpiece holding section 7 is changed by the posture adjustment section 13. Therefore, the direction in which the lifting base section 17 extends may be approximately coincident with the vertical direction, or it may be inclined with respect to the vertical direction.

[0023] The movable part 19 supports the holding member 15. In this embodiment, the holding member 15 is supported such that it is positioned laterally to the workpiece holding part 7. The movable part 19 is provided on the lifting base part 17 so as to move along the direction in which the lifting base part 17 extends. The movable part 19 moves along the extending direction of the lifting base part 17.

[0024] The posture adjustment unit 13 adjusts the posture of the workpiece W held by the workpiece holding unit 7. By adjusting the posture of the workpiece holding unit 7 by the posture adjustment unit 13, the posture of the workpiece W held by the holding member 15 is adjusted. The posture adjustment unit 13 is provided between the second arm 11 and the workpiece holding unit 7. In this embodiment, the posture adjustment unit 13 is provided so as to be rotatable around the third axis Ax3 relative to the tip portion 11b of the second arm 11.

[0025] The posture adjustment unit 13 has a first adjustment unit 21 and a second adjustment unit 23. The first adjustment unit 21 is an actuator that rotates the workpiece holder 7 around the fourth axis Ax4. The second adjustment unit 23 is an actuator that rotates the workpiece holder 7 around the fifth axis Ax5. Each of the first adjustment unit 21 and the second adjustment unit 23 has, for example, a motor and a reduction gear. The posture adjustment unit 13 changes the posture of the workpiece holder 7 using the first adjustment unit 21 and the second adjustment unit 23.

[0026] The fourth axis Ax4 and the fifth axis Ax5 are set to intersect each other. The fourth axis Ax4 and the fifth axis Ax5 are axes that are in the same plane intersecting the third axis Ax3, and they intersect in such a way that they have an intersection point. The fourth axis Ax4 and the fifth axis Ax5 may be set to have an intersection point on the third axis Ax3, for example, or they may be set to have an intersection point at a position away from the third axis Ax3.

[0027] The configuration of the transport robot 1 described above is just one example and is not limited to what is stated above. For example, the arm section 5 may have three or more arms. Alternatively, the workpiece holding section 7 may be connected to the tip 11b of the second arm 11 so as to be rotatable around the third axis Ax3 without the attitude adjustment section 13. Furthermore, the attitude adjustment section 13 may be provided with a balancer member to generate a corrective force to counteract the weight of the workpiece W.

[0028] <2. First Embodiment> First, the first embodiment will be described. The first embodiment is an embodiment in which a motor that rotates the first arm 9 around the first axis Ax1 relative to the base 3 is supported at a distance from the housing of the first arm 9.

[0029] (2-1. Internal configuration of the first arm of the transport robot) An example of the internal configuration of the first arm of the transport robot according to the first embodiment will be described with reference to Figures 3 to 6. Figure 3 is a cross-sectional perspective view taken from an oblique angle above in the height direction, showing an example of the internal configuration of the first arm of the transport robot according to the first embodiment. Figure 4 is a side cross-sectional view taken from the width direction, showing an example of the internal configuration of the first arm of the transport robot according to the first embodiment. Figure 5 is a cross-sectional perspective view taken from an oblique angle above in the height direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the first embodiment. Figure 6 is a side cross-sectional view taken from the width direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the first embodiment. Note that in Figures 3 and 4, the cables and cable support members shown in Figures 5 and 6 are omitted from the illustration.

[0030] As shown in Figures 3 and 4, the first arm 9 has a hollow housing 25 that extends in the direction of extension of the first arm 9. The direction of extension of the first arm 9 is the direction in which the line segment connecting the first axis Ax1 and the second axis Ax2 by the shortest distance extends. Inside the housing 25, the first arm 9 has a motor 27, a part of a reduction gear 29, a flange 31, a transmission unit 33, and a motor support member 35.

[0031] Motor 27 is a power source for rotating the first arm 9 around the first axis Ax1 relative to the base 3. Motor 27 rotates its output shaft (not shown) around the sixth axis Ax6. As shown in Figure 4, motor 27 is positioned such that the sixth axis Ax6 is offset from the first axis Ax1 by a distance L1 (an example of a first predetermined distance) in the direction of extension of the first arm 9. Motor 27 may also be positioned such that the sixth axis Ax6 is offset by a distance L1 in a direction deviated from the direction of extension of the first arm 9 (for example, an oblique direction offset in both the extension and width directions, the opposite side from the second axis Ax2, or the width direction).

[0032] As shown in Figure 4, the reduction gear 29 is positioned on the first axis Ax1 between the base 3 and the first arm 9. The reduction gear 29 includes an input shaft 29a that receives the rotation of the motor 27, and an output shaft 29b that reduces the rotational speed of the input shaft 29a and outputs it. The input shaft 29a is supported so as to be rotatable around the seventh axis Ax7 by a bearing member 37 provided on the upper part of the flange 31. The input shaft 29a is positioned such that the seventh axis Ax7 is offset from the first axis Ax1 by a distance L2 (an example of a second predetermined distance) toward the motor 27 side along the extending direction of the first arm 9. Alternatively, the input shaft 29a may be positioned so that the seventh axis Ax7 is offset by a distance L2 in a direction that is offset from the first axis Ax1 with respect to the extending direction of the first arm 9 (for example, an oblique direction offset in both the extending direction and the width direction, the opposite side from the motor 27, the width direction, etc.). As shown in Figures 3 and 4, the reducer 29 has a hollow section 39 that penetrates along the first axis Ax1. The distance L2 is set so that the bearing member 37 does not interfere with the hollow section 39 (opening 31d of the flange 31) of the reducer 29. As shown in Figure 4, the output shaft 29b is positioned at least partially outside the housing 25 of the first arm 9 and is fixed to the base 3. The output shaft 29b is positioned coaxially with the first axis Ax1. A hollow section 39 is formed in the output shaft 29b.

[0033] The flange 31 (an example of a connection part) connects the reduction gear 29 to the housing 25 of the first arm 9. As shown in Figures 3 and 4, the flange 31 is a disc-shaped member with an opening 31d in the center that communicates with the hollow part 39 of the reduction gear 29. As shown in Figure 3, the flange 31 has, for example, an annular first fixing part 31a and, for example, an annular second fixing part 31b. Multiple first bolts 41 for fixing the flange 31 to the housing 25 are inserted through the first fixing part 31a and fastened to the housing 25. The second fixing part 31b is located on the inner circumference side of the first fixing part 31a, and multiple second bolts 43 for fixing the reduction gear 29 to the flange 31 are inserted through it and fastened to the reduction gear 29. At least one of the first fixing part 31a and the second fixing part 31b may be formed in a shape other than an annular shape, for example, an arc shape with the annular shape broken in the middle, a straight line shape, a square shape, etc. Furthermore, the first fixing part 31a, the second fixing part 31b, the first bolt 41, the second bolt 43, etc., are omitted from the illustration in Figures 4 and 6. The flange 31 may be integrally molded with the housing 25 of the first arm 9.

[0034] The transmission unit 33 transmits power from the motor 27 to the input shaft 29a of the reduction gear 29. As shown in Figures 3 and 4, the transmission unit 33 includes a first pulley 33a connected to the output shaft of the motor 27, a second pulley 33b connected to the input shaft 29a of the reduction gear 29, and a belt 33c wound around the first pulley 33a and the second pulley 33b. The first pulley 33a and the second pulley 33b are positioned at approximately the same height in the height direction of the transport robot 1.

[0035] The motor support member 35 supports the motor 27 in a position separated from the housing 25 of the first arm 9. As shown in Figures 3 and 4, the motor support member 35 has one end fixed to the flange 31 and the motor 27 fixed to the other end, so that one end is cantilevered by the housing 25. As shown in Figure 3, the motor support members 35 are arranged in pairs so as to face each other in the width direction of the first arm 9, which is perpendicular to the extending direction of the first arm 9 and the height direction of the transport robot 1, and they support the motor 27 by sandwiching it with the other end. Note that the motor support member 35 does not have to be two (a pair), it may consist of one, or it may be made up of a plate. Also, the motor support member 35 may be integrally molded with the flange 31 or the housing 25.

[0036] As shown in Figure 4, each motor support member 35 has a first horizontal section 35a, a second horizontal section 35b, and an inclined section 35c. The first horizontal section 35a extends along a horizontal direction perpendicular to the height direction of the transport robot 1 and is fixed to a flange 31. The second horizontal section 35b extends along a horizontal direction, and the motor 27 is fixed to the second horizontal section 35b via a motor flange 45 which is roughly rectangular in shape. The inclined section 35c extends in a direction inclined with respect to the horizontal direction and connects the first horizontal section 35a and the second horizontal section 35b. The first horizontal section 35a, the second horizontal section 35b, and the inclined section 35c may extend along the extending direction of the first arm 9, or they may extend along a direction offset from the extending direction (for example, an oblique direction offset in both the extending direction and the width direction, the opposite side of the second axis Ax2, the width direction, etc.).

[0037] As shown in Figure 3, each motor support member 35 has a height H, which is the height dimension of the transport robot 1, that is greater than the thickness T, which is the width dimension of the first arm 9. The height H and thickness T are common to each of the first horizontal section 35a, the second horizontal section 35b, and the inclined section 35c of the motor support member 35. However, at least one of the height H and thickness T may be different for each of the first horizontal section 35a, the second horizontal section 35b, and the inclined section 35c of the motor support member 35.

[0038] As shown in Figure 3, the flange 31 has a third fixing portion 31c that extends inward from the first fixing portion 31a. The third fixing portion 31c is provided at two locations corresponding to each of the pair of motor support members 35 and extends along the extending direction of the first horizontal portion 35a of the motor support member 35 for a length corresponding to the first horizontal portion 35a. Multiple third bolts 47 for fixing the motor support member 35 to the flange 31 are fastened to the third fixing portion 31c by passing through the first horizontal portion 35a. The third fixing portion 31c may extend outward from the first fixing portion 31a, or it may be provided at the same location as the first fixing portion 31a. If the motor support member 35 is integrally molded with the flange 31 or housing 25, the third fixing portion 31c is not necessary.

[0039] As shown in Figures 5 and 6, a cable support member 49 is provided on the upper part of the flange 31 at a position different from the input shaft 29a of the reduction gear 29, near the hollow portion 39 (opening 31d of the flange 31) of the reduction gear 29. The cable support member 49 (an example of a wire support member) has a support portion 49a and a guide portion 49b. The support portion 49a supports the cable 51 (an example of a wire) that passes through the hollow portion 39 of the reduction gear 29 at a position between the transmission portion 33 and the flange 31 in the direction of the first axis Ax1, i.e., in the height direction of the transport robot 1. The guide portion 49b guides the cable 51 held by the support portion 49a so that it is positioned on one side in the width direction of the first arm 9 relative to the bearing member 37 and a pair of motor support members 35, etc., at a height position between the transmission portion 33 and the flange 31. As a result, the cable 51 is routed so as to avoid (bypass) the input shaft 29a of the reduction gear 29, the transmission unit 33, the pair of motor support members 35, and the motor 27 in the width direction of the first arm 9. The type of cable 51 is not particularly limited and may include power lines, control lines, etc. In addition, the cable support member 49 may support, in place of or in addition to the cable 51, a tube through which a fluid such as air or paint flows (an example of a linear body).

[0040] (2-2. Effects of the First Embodiment) As described above, in the transport robot 1 of the first embodiment, the motor support member 35 supports the motor 27 in a state where it is separated from the housing 25 of the first arm 9. As a result, even if deformation such as bending occurs in the housing 25 of the first arm 9 due to the workpiece holding section 7 holding the heavy workpiece W, the position and orientation of the motor 27 will be less affected by the deformation of the housing 25. As a result, deformation of the transmission section 33, which transmits the power of the motor 27 to the input shaft 29a of the reduction gear 29, can be suppressed, so deformation of the transmission section 33 can be suppressed without improving the rigidity of the housing 25. This suppresses a decrease in the power transmission function and a shortening of the lifespan of the transmission section 33. Therefore, even when transporting heavy objects, deformation of the transmission section 33 can be suppressed while suppressing an increase in the size of the transport robot 1.

[0041] Furthermore, in this embodiment, the motor support member 35 may be a cantilevered member in which one end is fixed to the flange 31, the motor 27 is fixed to the other end, and one end is supported by the housing 25. In this case, one end of the motor support member 35 can be fixed near the input shaft 29a of the reduction gear 29, which is the recipient of the power transmission from the motor 27, thereby reducing the impact of deformation of the housing 25 of the first arm 9 on the power transmission function and lifespan of the transmission unit 33.

[0042] Furthermore, in this embodiment, the flange 31 may have a first fixing portion 31a, a second fixing portion 31b, and a third fixing portion 31c. In this case, the motor support member 35 can be firmly fixed to the flange 31 by fastening a plurality of third bolts 47 to the third fixing portion 31c.

[0043] Furthermore, in this embodiment, the height H of the motor support member 35, which is the dimension in the height direction, may be made larger than the thickness T, which is the dimension in the width direction. In this case, the rigidity of the motor support member 35 against bending in the height direction can be increased (the natural frequencies for the vibration modes of bending in the height direction of the housing 25 and the motor support member 35 can be made different). Therefore, resonance with vibrations caused by the deformation of the housing 25 of the first arm 9 can be suppressed, and the support of the motor 27 can be stabilized. In addition, deformation of the motor support member 35 due to the weight of the supported motor 27, etc. can be suppressed, and displacement of the motor 27 or the first pulley 33a can be suppressed.

[0044] Furthermore, in this embodiment, a pair of motor support members 35 may be arranged facing each other in the width direction of the first arm 9, and the motor 27 may be supported by sandwiching it between the other ends of the pair of motor support members 35. In this case, the rigidity of the motor support members 35 against the rotational movement of the first arm 9 can be increased. Therefore, the motor support members 35 become less likely to deform in the rotational direction of the first arm 9, and thus the support of the motor 27 can be stabilized.

[0045] Furthermore, in this embodiment, the motor support member 35 may have a first horizontal section 35a, a second horizontal section 35b, and an inclined section 35c. In this case, the layout of the motor 27 and the input shaft 29a of the reduction gear 29 can be adjusted by adjusting the angle and length of the inclined section 35c. Therefore, the height dimension of the first arm 9 can be reduced, and the transport robot 1 can be miniaturized.

[0046] Furthermore, in this embodiment, the gearbox 29 may have a hollow section 39 that penetrates along the first axis Ax1. In this case, cables 51 and the like can be passed through the gearbox 29 and wired inside the first arm 9.

[0047] Furthermore, in this embodiment, the reduction gear 29 may be configured such that the output shaft 29b is arranged coaxially with the first axis Ax1, and the input shaft 29a is offset by a distance L2 toward the motor 27 with respect to the first axis Ax1. In this case, interference between the input shaft 29a (bearing member 37) and the cable 51, etc., passing through the hollow portion 39 of the reduction gear 29 can be prevented.

[0048] Furthermore, in this embodiment, a cable support member 49 may be provided to support the cable 51, etc., that passes through the hollow portion 39 of the reduction gear 29 at a position between the transmission portion 33 and the flange 31 in the direction of the first axis Ax1. In this case, the cable 51, etc., that passes through the hollow portion 39 can be routed within the first arm 9 at the height between the transmission portion 33 and the flange 31. This reduces the height dimension of the first arm 9, and the transport robot 1 can be miniaturized.

[0049] Furthermore, in this embodiment, the transmission unit 33 may include a first pulley 33a, a second pulley 33b, and a belt 33c. In this case, fluctuations in the distance between the axes or in the axial direction of the two pulleys 33a and 33b (the distance between the axes or in the axial direction of the output shaft of the motor 27 and the input shaft 29a of the reduction gear 29) can be suppressed, so fluctuations in belt tension can be suppressed without increasing the rigidity of the housing 25. As a result, the belt tension can be maintained within an appropriate range, thus suppressing a decrease in power transmission function, belt damage, and reduced lifespan caused by the belt tension being outside the allowable range. Therefore, even when transporting heavy objects, fluctuations in belt tension in the transmission unit 33 can be suppressed while suppressing an increase in the size of the transport robot 1.

[0050] (2-3. Modifications of the First Embodiment) The first embodiment is not limited to the above, and various modifications are possible without departing from its spirit and technical concept. For example, in the first embodiment, the transmission section 33 is composed of a pulley and a belt, but the transmission section may be composed of a gear train including a plurality of gears. An example of the internal configuration of the first arm of the transport robot according to this modified example will be explained using Figures 7 and 8. Figure 7 is a side cross-sectional view taken from the width direction, conceptually representing an example of the internal configuration of the first arm according to the modified example of the first embodiment, and Figure 8 is a side cross-sectional view taken from the width direction, conceptually representing another example of the internal configuration of the first arm according to the modified example of the first embodiment. In Figures 7 and 8, components similar to those described in Figure 4, etc., are denoted by the same reference numerals, and their explanations are omitted as appropriate. Also, in Figures 7 and 8, the illustration of cables and cable support members, etc., is omitted.

[0051] Figure 7 shows an example configuration in which the input shaft 29a of the reduction gear 29 is offset from the output shaft 29b, similar to the first embodiment. As shown in Figure 7, the first arm 9 has a motor 27, a part of the reduction gear 29, a flange 31, a transmission unit 53, and a gear train box 55 inside the housing 25.

[0052] The transmission unit 53 transmits power from the motor 27 to the input shaft 29a of the reduction gear 29. As shown in Figure 7, the transmission unit 53 has a first gear 53a connected to the output shaft of the motor 27, a second gear 53b connected to the input shaft 29a of the reduction gear 29, and an intermediate gear 53c that meshes with the first gear 53a and the second gear 53b. The first gear 53a, the second gear 53b, and the intermediate gear 53c are housed in a gear train box 55 and rotatably supported. The first gear 53a, the second gear 53b, and the intermediate gear 53c are arranged at approximately the same height in the height direction of the transport robot 1 and are arranged in a line along the extending direction of the first arm 9. The intermediate gear may consist of two or more gears, or the first gear and the second gear may mesh without an intermediate gear. Furthermore, at least one of the first gear 53a and the intermediate gear 53c may be positioned in a direction deviating from the extending direction of the first arm 9 relative to the second gear 53b.

[0053] The gear train box 55 (an example of a motor support member) supports the motor 27 in a position separated from the housing 25 of the first arm 9. As shown in Figure 7, the gear train box 55 has one end fixed to the flange 31 and the motor 27 fixed to the other end, so that one end is supported by the housing 25 in a cantilevered manner. The other configurations are the same as in the first embodiment and will not be described.

[0054] Figure 8 shows an example configuration where the input shaft 29a and output shaft 29b of the reduction gear 29 are arranged coaxially. As shown in Figure 8, the first arm 9 has a motor 27, a part of the reduction gear 29, a flange 31, a transmission unit 57, and a gear train box 59 inside the housing 25.

[0055] The reduction gear 29 includes an input shaft 29c that receives the rotation of the motor 27, and an output shaft 29b that reduces the rotational speed of the input shaft 29c and outputs it. The input shaft 29c and the output shaft 29b are each supported so as to be rotatable around a first axis Ax1. Hollow sections 39 are provided in the input shaft 29c and the output shaft 29b.

[0056] The transmission unit 57 transmits power from the motor 27 to the input shaft 29c of the reduction gear 29. As shown in Figure 8, the transmission unit 57 has a first gear 57a connected to the output shaft of the motor 27, a second gear 57b connected to the input shaft 29c of the reduction gear 29, and an intermediate gear 57c that meshes with the first gear 57a and the second gear 57b. The first gear 57a, the second gear 57b, and the intermediate gear 57c are housed in a gear train box 59 and rotatably supported. An opening 57b1 is formed in the center of the second gear 57b, which communicates with the hollow section 39 of the reduction gear 29. The first gear 57a, the second gear 57b, and the intermediate gear 57c are arranged at approximately the same height in the height direction of the transport robot 1 and are arranged in a line along the extending direction of the first arm 9. The intermediate gear may consist of two or more gears, or the first gear and the second gear may mesh without an intermediate gear. Furthermore, at least one of the first gear 57a and the intermediate gear 57c may be positioned in a direction deviating from the extending direction of the first arm 9 relative to the second gear 57b.

[0057] The gear train box 59 (an example of a motor support member) supports the motor 27 at a distance from the housing 25 of the first arm 9. As shown in Figure 8, the gear train box 59 has one end fixed to the flange 31 and the motor 27 fixed to the other end, so that one end is supported by the housing 25 in a cantilevered manner. The other configurations are the same as in the first embodiment and will not be described.

[0058] As in this modified example, when the transmission units 53 and 57 are composed of a gear train, deformation of the transmission units 53 and 57 may affect the power transmission function of the gears and the lifespan of the gears. Specifically, if there is a change in the distance between the axes or the axial direction (relative orientation between the axes) of each gear constituting the transmission units 53 and 57, the backlash may change. For example, if the distance between the axes increases, the backlash will increase, the meshing will become shallower, and power may not be transmitted properly. On the other hand, if the distance between the axes decreases, the backlash will decrease, which may lead to gear damage, or if the backlash becomes too small, the gears may stop rotating. On the other hand, if the rigidity of the housing 25 is increased to suppress the deflection of the housing 25, the weight of the transport robot 1 may increase, which may lead to the enlargement of drive components such as motors and reducers.

[0059] In this modified configuration, the gear train boxes 55 and 59 support the motor 27 at a distance from the housing 25 of the first arm 9. This suppresses fluctuations in the inter-axis distance and axial direction of each gear constituting the transmission section 53 and 57, thus suppressing fluctuations in the inter-axis distance and axial direction without increasing the rigidity of the housing 25. As a result, the inter-axis distance can be maintained within an appropriate range, thereby suppressing a decrease in power transmission function, gear damage, and reduced lifespan caused by the inter-axis distance being outside the allowable range. Therefore, even when transporting heavy objects, deformation of the transmission section 53 and 57 can be suppressed while keeping the transport robot 1 from becoming too large.

[0060] <3. Second Embodiment> Next, a second embodiment will be described. The second embodiment is an embodiment in which a motor that rotates the first arm 9 around the first axis Ax1 relative to the base 3 is installed in the housing of the first arm 9.

[0061] (3-1. Internal configuration of the first arm of a transport robot) An example of the internal configuration of the first arm of the transport robot according to the second embodiment will be described with reference to Figures 9 to 12. Figure 9 is a cross-sectional perspective view taken from the upper oblique side in the height direction, showing an example of the internal configuration of the first arm of the transport robot according to the second embodiment. Figure 10 is a side cross-sectional view taken from the width direction, showing an example of the internal configuration of the first arm of the transport robot according to the second embodiment. Figure 11 is a cross-sectional perspective view taken from the upper oblique side in the height direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the second embodiment. Figure 12 is a side cross-sectional view taken from the width direction, showing an example of the cable arrangement inside the first arm of the transport robot according to the second embodiment. Note that in Figures 9 and 10, the cables and cable support members shown in Figures 11 and 12 are omitted. Also, in Figures 9 to 12, components similar to those described in Figures 3 to 6 are denoted by the same reference numerals, and explanations are omitted as appropriate.

[0062] As shown in Figures 9 and 10, the first arm 9 has a motor 27, a part of a reduction gear 29, a flange 31, a transmission unit 33, and a motor support member 61 inside the housing 25. The motor support member 61 is installed in the housing 25 and supports the motor 27. For example, the motor support member 61 is erected on the inner surface of the housing 25, protruding in the height direction. A pair of motor support members 61 are arranged facing each other in the width direction of the first arm 9, which is perpendicular to the extending direction of the first arm 9 and the height direction of the transport robot 1. A motor flange 45 is fixed to the upper end of the pair of motor support members 61, and the motor support members 61 support the motor 27 by sandwiching it between them via the motor flange 45.

[0063] The configuration of the motor 27, reduction gear 29, flange 31, transmission unit 33, and other components, as well as the layout of each component, are the same as in the first embodiment, so their explanation will be omitted.

[0064] As shown in Figures 11 and 12, a cable support member 49 is provided on the upper part of the flange 31 at a position different from the input shaft 29a of the reduction gear 29, near the hollow portion 39 (opening 31d of the flange 31) of the reduction gear 29. The cable support member 49 (an example of a wire support member) has a support portion 49a and a guide portion 49b. The support portion 49a supports the cable 51 (an example of a wire) that passes through the hollow portion 39 of the reduction gear 29 at a position between the transmission portion 33 and the flange 31 in the direction of the first axis Ax1, i.e., in the height direction of the transport robot 1. The guide portion 49b guides the cable 51 held by the support portion 49a so that it is positioned on one side in the width direction of the first arm 9 relative to the bearing member 37 and a pair of motor support members 61, etc., at a height position between the transmission portion 33 and the flange 31. As a result, the cable 51 is routed so as to avoid (bypass) the input shaft 29a of the reduction gear 29, the transmission unit 33, the pair of motor support members 61, and the motor 27 in the width direction of the first arm 9.

[0065] (3-2. Effects of the second embodiment) In the second embodiment described above, the reduction gear 29 has a hollow section 39 that passes through along the first axis Ax1. The reduction gear 29 has an output shaft 29b arranged coaxially with the first axis Ax1, and an input shaft 29a arranged to be offset by a distance L2 toward the motor 27 with respect to the first axis Ax1. This allows cables 51 and the like to be routed through the hollow section 39 of the reduction gear 29 and wired into the first arm 9, while preventing the input shaft 29a (bearing member 37) from interfering with the cables 51 and the like that passing through the hollow section 39. In this way, the wiring and component layout within the first arm 9 can be optimized, making it possible to reduce the height dimension of the first arm 9 and miniaturize the transport robot 1.

[0066] Furthermore, in this embodiment, a cable support member 49 may be provided to support the cable 51, etc., that passes through the hollow portion 39 of the reduction gear 29 at a position between the transmission portion 33 and the flange 31 in the direction of the first axis Ax1. In this case, the cable 51, etc., that is routed through the hollow portion 39 can be routed within the first arm 9 at the height between the transmission portion 33 and the flange 31. This further reduces the height dimension of the first arm 9, making the transport robot 1 more compact.

[0067] Furthermore, in this embodiment, the motor support member 61 may be extended in the extending direction of the housing 25, acting as a rib to increase the rigidity of the housing 25 against deformation in the height direction. In this case, the motor support member 61 also functions as a cable guide to prevent interference between the cable and the belt.

[0068] In the above explanation, where terms such as "perpendicular," "parallel," and "plane" are used, these terms do not have a strict meaning. These terms "perpendicular," "parallel," and "plane" refer to situations where design and manufacturing tolerances and errors are acceptable, meaning they are "effectively perpendicular," "effectively parallel," and "effectively plane."

[0069] In the above explanation, if there are descriptions such as "identical," "same," "equal," or "different" regarding external dimensions, size, shape, position, etc., these descriptions do not have a strict meaning. These "identical," "same," "equal," and "different" terms mean that tolerances and errors in design and manufacturing are allowed, and that they are "substantially identical," "substantially the same," "substantially equal," or "substantially different."

[0070] In addition to what has already been described above, the methods of the above embodiments and their respective modifications may be used in appropriate combinations. Furthermore, although not exemplified individually, the above embodiments and their respective modifications may be implemented with various modifications, without departing from their intended purpose.

[0071] The problems and effects that the embodiments and modifications described above aim to solve are not limited to those stated above. The embodiments and modifications may solve problems not mentioned above, or produce effects not mentioned above, and may solve only some of the problems described or produce only some of the effects described. [Explanation of symbols]

[0072] 1. Transport robot 3 base 5. Arm section 7 Workpiece holding section 9. First Arm 11. Second Arm 13 Posture adjustment part 25 cabinets 27 Motor 29 Reducer 29a Input axis 29b Output shaft 29c input axis 31. Flange (an example of a connection part) 31a 1st fixed part 31b 2nd fixed part 31c 3rd fixed part 31d aperture 33 Transmission Section 33a First pulley 33b Second pulley 33cm belt 35 Motor support member 35a 1st horizontal section 35b 2nd horizontal section 35c slope section 39 Hollow part 41 Bolt 1 43 Second bolt 47 Third bolt 49 Cable support member (an example of a wire support member) 49a Support part 49b Guide section 51 Cable (an example of a wire structure) 53 Transmission Section 53a First gear 53b Second Gear 53c relay gear 55 Gear train box (an example of a motor support member) 57 Transmission Section 57a First gear 57b Second Gear 57c relay gear 59 Gear train box (an example of a motor support member) 61 Motor support member Ax1 1st axis Ax2 2nd axis Ax3 3rd axis Ax4 4th axis Ax5 5th axis Ax6 6th axis Ax7 7th axis L1 Distance (Example of the first predetermined distance) L2 Distance (An example of the second predetermined distance) Double job

Claims

1. The base and, The base comprises an arm section having a first arm that is rotatably connected to it around a first axis along the height direction of the robot, A workpiece holding section connected to the tip of the aforementioned arm section for holding the workpiece, Inside the first arm, a motor is positioned offset by a first predetermined distance from the first axis, A reduction gear is provided, which is arranged on the first axis between the base and the first arm, and includes an input shaft for inputting the rotation of the motor and an output shaft for reducing the rotational speed of the input shaft and outputting it. A transmission unit is located inside the first arm and transmits the power of the motor to the input shaft, A motor support member is disposed inside the first arm and supports the motor in a state where it is separated from the housing of the first arm, A transport robot having

2. The reduction gear further has a connection part for connecting to the housing, The motor support member is This is a member in which one end is fixed to the connecting part and the motor is fixed to the other end, and the one end is supported by the housing. The transport robot according to claim 1.

3. The aforementioned connection part is A first fixing portion through which a plurality of first bolts for fixing the aforementioned connection portion to the housing are inserted, A second fixing portion is located on the inner circumference side of the first fixing portion, through which a plurality of second bolts for fixing the reduction gear to the connection portion are inserted, A third fixing portion through which a plurality of third bolts for fixing the motor support member to the connection portion are inserted, Having, The transport robot according to claim 2.

4. The motor support member is The height dimension of the robot is greater than the width dimension of the first arm perpendicular to the extending direction of the first arm and the height dimension of the robot. The transport robot according to claim 2.

5. The motor support member is A pair of these are arranged so as to face each other in the width direction of the first arm, which is perpendicular to the extending direction of the first arm and the height direction of the robot, and the other end supports the motor by sandwiching it between them. The transport robot according to claim 2.

6. The motor support member is A first horizontal section extends along a horizontal direction perpendicular to the height direction of the robot and is fixed to the connection part, A second horizontal section extending along the aforementioned horizontal direction, to which the motor is fixed, An inclined portion extending in a direction inclined with respect to the horizontal direction, connecting the first horizontal portion and the second horizontal portion, Having, The transport robot according to claim 2.

7. The aforementioned reduction gear is Having a hollow portion that penetrates along the first axis, A transport robot according to any one of claims 1 to 6.

8. The aforementioned reduction gear is The output shaft is arranged coaxially with the first axis, and the input shaft is configured to be offset by a second predetermined distance with respect to the first axis. The output shaft is provided with the hollow portion. The transport robot according to claim 7.

9. A connection part for connecting the reduction gear to the housing, A wire support member supports the wire passing through the hollow portion at a position between the transmission portion and the connecting portion in the direction of the first axis, It further possesses, The transport robot according to claim 8.

10. The aforementioned transmission unit is A first pulley connected to the motor, A second pulley connected to the input shaft, The belt is wound around the first pulley and the second pulley, Having, A transport robot according to any one of claims 1 to 6.

11. The base and, The base comprises an arm section having a first arm that is rotatably connected to it around a first axis along the height direction of the robot, A workpiece holding section connected to the tip of the aforementioned arm section for holding the workpiece, Inside the first arm, a motor is positioned offset by a first predetermined distance from the first axis, Displaced between the base and the first arm, the reduction gear comprises an input shaft for inputting the rotation of the motor and an output shaft for reducing and outputting the rotational speed of the input shaft, wherein the output shaft is arranged coaxially with the first axis, and the input shaft is arranged to be offset by a second predetermined distance with respect to the first axis, and has a hollow portion penetrating along the first axis, A transmission unit is located inside the first arm and transmits the power of the motor to the input shaft, A transport robot having

12. A connection part for connecting the reduction gear to the housing of the first arm, A wire support member supports the wire body, which is wired through the hollow portion, at a position between the transmission portion and the connection portion in the direction of the first axis, It further possesses, The transport robot according to claim 11.

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