Vertical articulated robot

Abstract

To provide a vertical articulated robot capable of improving operational performance. [Solution] The fourth arm 224 has a cylindrical first projection 610 that protrudes along the pivot axis J5 and has a shoulder portion 611 on the inside, and an outer ring clamping portion 612 that, together with the shoulder portion 611, clamps the outer ring 640B of the fourth bearing 640 from the direction of the pivot axis J5 and is fixed to the first projection 610. The fifth arm 225 has a second projection 620 that has a first opening 110 on the inside and the inner ring 640A of the fourth bearing 640 positioned on the outside and protrudes along the pivot axis J5, and a first bevel gear 300 that transmits power from the motor and passes through the first opening 110.

Description

Technical Field

[0001] The present invention relates to a vertical articulated robot.

Background Art

[0002] Patent Document 1 discloses a configuration of a robot having a movable casing in which a shaft portion formed in a cylindrical shape in a recess is pivotally supported via a bearing. In other words, a bearing is disposed inside the recess, and a cylindrical shaft portion is disposed inside the bearing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the configuration described in Patent Document 1 above, since the bearing and the shaft portion are supported by the movable casing that functions as an arm, there is a problem that the mass of the movable casing increases and the operation performance deteriorates.

Means for Solving the Problems

[0005] The vertical articulated robot comprises a root arm member having a motor, a first arm member provided on the root arm member and rotating around a first axis, a second arm member provided on the first arm member and rotating around a second axis intersecting the first axis, and an annular first bearing member that rotatably supports the first arm member with respect to the root arm member and has an inner ring and an outer ring disposed on the outside of the inner ring, the root arm member having a cylindrical first projection that protrudes along the first axis and has a shoulder portion on the inside, and an outer ring clamping portion that, together with the shoulder portion, clamps the outer ring of the first bearing member and is fixed to the first projection, the first arm member having an opening on the inside and the inner ring of the first bearing member disposed on the outside and protruding along the first axis, and a power transmission mechanism that transmits power from the motor and passes through the opening. [Brief explanation of the drawing]

[0006] [Figure 1] A side view showing the configuration of a vertical articulated robot. [Figure 2] A cross-sectional view showing the configuration of the tip of a vertical articulated robot. [Figure 3] Figure 2 shows a magnified cross-sectional view of section A of the vertical articulated robot. [Figure 4] Figure 3 shows a magnified cross-sectional view of section B of the vertical articulated robot. [Figure 5] A cross-sectional view showing the configuration of a modified vertical articulated robot. [Figure 6] A cross-sectional view showing the configuration of a modified vertical articulated robot. [Modes for carrying out the invention]

[0007] The configuration of the vertical articulated robot 1 will be explained below with reference to the drawings. In each of the following diagrams, the three axes, which are virtual straight lines and are orthogonal to each other, will be described as the X-axis, Y-axis, and Z-axis. The direction along the X-axis or a virtual line parallel to the X-axis will be called the "X-direction," the direction along the Y-axis or a virtual line parallel to the Y-axis will be called the "Y-direction," and the direction along the Z-axis or a virtual line parallel to the Z-axis will be called the "Z-direction." The direction of the arrow is the + direction, and the direction opposite to the + direction is the - direction. Viewing from the +Z direction or -Z direction is also called a planar view or planar perspective.

[0008] First, the configuration of the vertical articulated robot 1 will be explained with reference to Figure 1.

[0009] As shown in Figure 1, the vertical articulated robot 1 comprises a robot body 2 and a controller 10 that controls the driving of the robot body 2.

[0010] The vertical articulated robot 1 is, for example, a 6-axis robot having 6 drive axes. The vertical articulated robot 1 has a base 21 fixed to the floor and a robot arm 22 connected to the base 21.

[0011] The robot arm 22 includes a first arm 221, a second arm 222, a third arm 223, a fourth arm 224 as a base arm member, a fifth arm 225 as a first arm member, and a sixth arm 226 as a second arm member.

[0012] The first arm 221 is connected to the base 21 and rotates relative to the base 21 around the pivot axis J1. The second arm 222 is connected to the first arm 221 and rotates relative to the first arm 221 around the pivot axis J2. The third arm 223 is connected to the second arm 222 and rotates relative to the second arm 222 around the pivot axis J3. The fourth arm 224 is connected to the third arm 223 and rotates relative to the third arm 223 around the pivot axis J4. The fifth arm 225 is connected to the fourth arm 224 and rotates relative to the fourth arm 224 around the pivot axis J5, which acts as the first axis. The sixth arm 226 is connected to the fifth arm 225 and rotates relative to the fifth arm 225 around the pivot axis J6, which acts as the second axis. An end effector 24 is connected to the tip of the sixth arm 226. Note that each axis of rotation is a hypothetical straight line.

[0013] The robot body 2 includes a first drive mechanism 231, a second drive mechanism 232, a third drive mechanism 233, a fourth drive mechanism 234, a fifth drive mechanism 235, and a sixth drive mechanism 236.

[0014] The first drive mechanism 231 rotates the first arm 221 relative to the base 21 around the pivot axis J1. The second drive mechanism 232 rotates the second arm 222 relative to the first arm 221 around the pivot axis J2. The third drive mechanism 233 rotates the third arm 223 relative to the second arm 222 around the pivot axis J3. The fourth drive mechanism 234 rotates the fourth arm 224 relative to the third arm 223 around the pivot axis J4. The fifth drive mechanism 235 rotates the fifth arm 225 relative to the fourth arm 224 around the pivot axis J5. The sixth drive mechanism 236 rotates the sixth arm 226 relative to the fifth arm 225 around the pivot axis J6.

[0015] The controller 10 independently controls the drive mechanisms 231 to 236 to cause the robot body 2 to perform a predetermined operation. The controller 10 is composed of, for example, a computer and has a processor that processes information, a memory communicably connected to the processor, and an external interface. Various programs executable by the processor are stored in the memory. The processor can read and execute various programs and the like stored in the memory.

[0016] Next, referring to FIGS. 2 and 3, the configuration of the tip arm, specifically, the fourth arm 224 to the sixth arm 226 will be described.

[0017] As shown in FIGS. 2 and 3, the tip of the fourth arm 224 is bifurcated, and between them, the fifth arm 225 is supported in a two-sided manner from both sides of the rotation axis J5. The sixth drive mechanism 236 is arranged at the upper tip portion 224a, and the fifth drive mechanism 235 is arranged at the lower tip portion 224b. By supporting the fifth arm 225 in a two-sided manner like this, the rotation accuracy of the fifth arm 225 is improved, and separate arrangement spaces for the fifth drive mechanism 235 and the sixth drive mechanism 236 can be secured.

[0018] The fourth arm 224 has a housing 31 and a cover 32 attached to the housing 31. The base end portion of the housing 31 is rotatably connected to the third arm 223. The tip portion of the housing 31 is rotatably connected to the fifth arm 225.

[0019] In the housing 31, a motor 41 with an encoder built in, a pulley 43 attached to the output shaft of the motor 41, and a power transmission belt 45 wound around the pulley are fixed. Also, in the housing 31, a motor 61 with an encoder built in, a pulley 63 attached to the output shaft of the motor 61, and a power transmission belt 65 wound around the pulley 63 are fixed.

[0020] As shown in FIG. 3, the fifth arm 225 has a housing 100, a first bevel gear 300, a first bearing 350, a second bevel gear 400, and a second bearing 450.

[0021] The housing 100 has a first opening 110 and a second opening 120 provided at a position different from the first opening 110. The first opening 110 and the second opening 120 are connected inside.

[0022] The first bevel gear 300 is inserted into the first opening 110. The first bevel gear 300 has a first shaft portion 310 extending along a rotation axis J5 as a first shaft, an input portion 311 provided at one end 310a of the first shaft portion 310, and a first bevel gear portion 312 provided at the other end 310b of the first shaft portion 310.

[0023] The first shaft portion 310 has a stepped shape in which the diameter increases from the input portion 311 toward the first bevel gear portion 312. The first bearing 350 has a plurality of first bearings 350A and 350B arranged corresponding to the stepped shape.

[0024] The first bearing 350 rotatably supports the first shaft portion 310 with respect to the housing 100. The first bearing 350 has a first bearing 350A as a second bearing member arranged on the side of one end 310a of the first shaft portion 310 and a first bearing 350B arranged on the side of the other end 310b of the first shaft portion 310.

[0025] The second bevel gear 400 is inserted into the second opening 120. The second bevel gear 400 has a second shaft portion 410 extending along a rotation axis J6 as a second shaft, a second bevel gear portion 412 provided at one end 410a of the second shaft portion 410 and receiving force by meshing with the first bevel gear portion 312, and a connection portion 411 provided at the other end 410b of the second shaft portion 410.

[0026] The second shaft portion 410 has a stepped shape in which the diameter increases from the connection portion 411 toward the second bevel gear portion 412. The second bearing 450 has a plurality of second bearings 450A and 450B arranged corresponding to the stepped shape.

[0027] The second bearing 450 rotatably supports the second shaft portion 410 with respect to the housing 100. The second bearing 450 includes a second bearing 450A located on one end 410a of the second shaft portion 410, and a second bearing 450B located on the other end 410b of the second shaft portion 410.

[0028] As described above, the first shaft portion 310 and the second shaft portion 410 have a stepped shape in which the diameter increases toward the center of the housing 100, making it possible to insert multiple bearings 350A, 350B, 450A, and 450B in sequence, thereby facilitating the assembly of the fifth arm 225.

[0029] The sixth arm 226 includes a flange 500, a reduction gear 510 connected to the flange 500 that amplifies the force received and drives the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the connection portion 411 of the second shaft portion 410.

[0030] A recess 520a is provided on a part of the fitting member 520, specifically on the side of the connecting portion 411 of the second bevel gear 400. A protrusion 411a is provided on a part of the connecting portion 411 of the second bevel gear 400. The second bevel gear 400 and the fitting member 520 are arranged so that the recess 520a and the protrusion 411a are fitted together.

[0031] In this way, the recess 520a and the protrusion 411a fit together, allowing the positions of the second bevel gear 400 and the fitting member 520, in other words, the fifth arm 225 and the reduction gear 510 to be determined. Specifically, since the second bevel gear 400 is supported by two second bearings 450A and 450B, even when the reduction gear 510 is attached to the second bevel gear 400, deflection of the second bevel gear 400 can be suppressed. In addition, since the length of the fitting member 520, which has a large outer diameter, can be shortened, material costs can be reduced.

[0032] The fitting member 520 is provided with a through hole 521. The end of the second bevel gear 400 on the connection portion 411 side is provided with a female thread portion 420. The fitting member 520 is supported by the interlocking of its recess 520a and protrusion 411a, and is fixed to the female thread portion 420 of the second bevel gear 400 by a fixing screw 530 that passes through the through hole 521.

[0033] In this way, the fitting member 520 and the second bevel gear 400 are fixed together, allowing the fifth arm 225 on which the second bevel gear 400 is positioned and the reduction gear 510 into which the fitting member 520 is inserted to be easily attached and detached.

[0034] The gear reducer 510 is, for example, a wave gear reducer having a wave generator. A third bearing 540 is positioned on the outer circumference of the fitting member 520 on the side of the sixth arm 226. In this way, the side of the gear reducer 510 to the fifth arm 225 into which the fitting member 520 is inserted is supported by the recess 520a of the fitting member 520 and the protrusion 411a of the second bevel gear 400 fitting together. On the other hand, the side of the gear reducer 510 to the sixth arm 226 into which the fitting member 520 is inserted is supported by the third bearing 540. In other words, the wave generator of the gear reducer 510 has a double-support structure, so that the gear reducer 510 does not become eccentric, and abnormal wear of the tooth surface due to eccentricity is suppressed.

[0035] Next, with reference to Figure 4, the configuration of the connection between the fourth arm 224 and the fifth arm 225 will be described in detail.

[0036] As shown in Figure 4, the robot body 2 has a fourth arm 224 and a fifth arm 225, as described above.

[0037] The fourth arm 224 has a cylindrical first projection 610 that protrudes in the -Z direction along the pivot axis J5. The first projection 610 has a stepped portion 610a on its inner side. Specifically, the first projection 610 is provided such that its thickness increases as it extends in the +Z direction.

[0038] The first projection 610 has a shoulder portion 611 on a part of the stepped portion 610a. The shoulder portion 611 has a wall portion extending along a hypothetical straight line parallel to the rotation axis J5, and a bottom portion extending along a hypothetical first straight line intersecting, in particular perpendicular to, the rotation axis J5. Inside the shoulder portion 611, the fourth bearing 640 is positioned as the first bearing member. The fourth bearing 640 is an annular member that rotatably supports the fifth arm 225 relative to the fourth arm 224, and has an inner ring 640A and an outer ring 640B positioned outside the inner ring 640A.

[0039] The fourth bearing 640 is fixed by the bottom of the shoulder portion 611 of the first projection 610 and the outer ring clamping portion 612, which sandwich the outer ring 640B. The outer ring clamping portion 612 extends along a hypothetical second straight line that intersects, and in particular orthogonal to, the rotation axis J5, and is fixed to the first projection 610 by fixing bolts 613, which press against it in the direction of the rotation axis J5, specifically in the +Z direction. The first and second straight lines are parallel, that is, the bottom of the shoulder portion 611 and the outer ring clamping portion 612 are parallel, but the first and second straight lines do not have to be parallel.

[0040] The fifth arm 225 has a substantially cylindrical second projection 620 that protrudes in the +Z direction along the pivot axis J5. The second projection 620 is part of the housing 100 described above. The second projection 620 has stepped portions 620a on the inside and outside. Specifically, the second projection 620 is provided such that its thickness increases as it extends in the -Z direction.

[0041] Inside the second projection 620, as described above, there is a first opening 110 into which the first bevel gear 300, which constitutes the power transmission mechanism, is inserted. The inner ring 640A of the fourth bearing 640 is supported on the outside of the second projection 620. The outer ring 350A1 of the first bearing 350A is supported on the inside of the second projection 620.

[0042] In this way, the outer ring 640B of the fourth bearing 640 is fixed to the first projection 610 by the outer ring clamping portion 612, or in other words, the fourth bearing 640 is fixed to the fourth arm 224. Therefore, the fifth arm 225 can be made lighter compared to the case where the fourth bearing 640 and the first projection 610 are arranged on the fifth arm 225. Thus, the operational performance of the fifth arm 225 can be improved.

[0043] As described above, the first bevel gear 300 is inserted into the first opening 110 of the second projection 620. The outer ring 350A1 of the first bearing 350A, which rotatably supports the first bevel gear 300, is positioned in a part 111 of the first opening 110.

[0044] A fixing plate 614 supporting the outer ring 350A1 of the first bearing 350A is positioned at the tip of the second projection 620, that is, at the end on the +Z direction side. Alternatively, another fixing plate for thickness adjustment to eliminate any gaps may be positioned between the fixing plate 614 and the first bearing 350A. The fixing plate 614 is fixed to the second projection 620 by being pressed against the pivot axis J5, specifically in the -Z direction, by fixing bolts 613.

[0045] In this way, since the first bearing 350A is supported by the fixing plate 614 and fixing bolt 613, it is possible to suppress fretting due to differences in thermal expansion, i.e., minute wear, and the generation of abnormal noise and vibration.

[0046] Furthermore, since the first bearing 350A is positioned in a part 111 of the first opening 110 of the second projection 620, and the fourth bearing 640 is positioned on the outside of the second projection 620, that is, the second projection 620 can support the two bearings 350A and 640, the size of the second projection 620 can be made more compact, and the size of the fifth arm 225 can be reduced. Specifically, this can contribute to shortening the arm length of the fifth arm 225, reducing the inertia of the fifth arm 225, and improving the operating performance by reducing the moment of inertia.

[0047] Furthermore, the second projection 620 is provided in a shape that becomes thinner towards the tip side, i.e., the side in the +Z direction. The fourth bearing 640 is positioned closer to the tip than the first bearing 350A. In this way, since the fourth bearing 640 is positioned on the tip side of the second projection 620 where the thickness decreases, it is possible to make the size of the second projection 620, including the fourth bearing 640, more compact, and thus the size of the fifth arm 225 can be reduced.

[0048] Furthermore, as shown in Figure 2, a reduction gear 800 for the pivot shaft J5 is positioned below the pivot shaft J5. Since the diameter D2 of the second projection 620 is smaller than the diameter D1 of the reduction gear 800, the size of the fifth arm 225 can be kept to a minimum even when the second projection 620 is provided.

[0049] As described above, the vertical articulated robot 1 of this embodiment comprises a fourth arm 224 having motors 41 and 61, a fifth arm 225 provided on the fourth arm 224 and rotating around a pivot axis J5, a sixth arm 226 provided on the fifth arm 225 and rotating around a pivot axis J6 intersecting the pivot axis J5, and an annular fourth bearing 640 that rotatably supports the fifth arm 225 relative to the fourth arm 224 and has an inner ring 640A and an outer ring 640B positioned outside the inner ring 640A, and the fourth arm 224 The first projection 610 is cylindrical and protrudes along the pivot axis J5, with a shoulder portion 611 on the inside. The second projection 620 is a second projection 620 that protrudes along the pivot axis J5, with a first opening 110 on the inside and the inner ring 640A of the fourth bearing 640 positioned on the outside. The third projection 620 transmits power from the motors 41 and 61 and passes through the first opening 110.

[0050] With this configuration, the outer ring 640B of the fourth bearing 640 is fixed to the first projection 610 by the outer ring clamping portion 612. In other words, the fourth bearing 640 and the outer ring clamping portion 612 can be fixed to the fourth arm 224. Therefore, the fifth arm 225 can be made lighter compared to the case where the fourth bearing 640 and the outer ring clamping portion 612 are arranged on the fifth arm 225. Thus, the operational performance of the fifth arm 225 can be improved.

[0051] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that the shape of the first opening 110 of the second projection 620 is cylindrical, and that the outer ring 350A1 of the first bearing 350A, which rotatably supports the first bevel gear 300, is arranged in a part 111 of the first opening 110. With this configuration, the first bearing 350A is arranged in the first opening 110 of the second projection 620, and the fourth bearing 640 is arranged on the outside of the second projection 620. In other words, the second projection 620 can support the two bearings 350A and 640, making it possible to make the size of the second projection 620 more compact and thus reduce the size of the fifth arm 225. Specifically, this can contribute to shortening the arm length of the fifth arm 225, reducing the inertia of the fifth arm 225, and improving the operational performance by reducing the moment of inertia.

[0052] Furthermore, in the vertical articulated robot 1 of this embodiment, the second projection 620 has a shape that becomes thinner towards the tip, and it is preferable that the fourth bearing 640 is positioned closer to the tip than the first bearing 350A. With this configuration, since the fourth bearing 640 is positioned closer to the tip of the second projection 620 which becomes thinner, it is possible to make the size of the second projection 620 including the fourth bearing 640 more compact, and thus the size of the fifth arm 225 can be reduced.

[0053] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that the second protrusion 620 is provided with a fixing plate 614 that supports the outer ring 350A1 of the first bearing 350A, and fixing bolts 613 that fix the fixing plate 614 to the second protrusion 620. With this configuration, since the first bearing 350A is supported by the fixing plate 614 and the fixing bolts 613, it is possible to suppress fretting due to differences in thermal expansion, i.e., minute wear, and the generation of abnormal noise and vibration.

[0054] Furthermore, in the vertical articulated robot 1 of this embodiment, it is preferable that the sixth arm 226 has a flange 500, a reduction gear 510 connected to the flange 500 and which amplifies the force received to drive the flange 500, and a fitting member 520 inserted into the reduction gear 510 and detachably fitted to the fifth arm 225. With this configuration, since the fitting member 520 is present and the sixth arm 226, specifically the reduction gear 510, can be detachably attached to the fifth arm 225, the gap in the meshing between the fifth arm 225 and the sixth arm 226 can be reduced, thereby improving the operational performance of the fifth arm 225 and the sixth arm 226.

[0055] The following describes some variations of the embodiments described above.

[0056] As described above, it is not limited to not providing a sealing member between the first protrusion 610 and the second protrusion 620; an oil seal 710 may be provided as shown in Figure 5.

[0057] As shown in Figure 5, in the modified vertical articulated robot 1, the protrusion 720 is provided on the side of the pivot axis J6 (see Figure 3) of the second protrusion 620 where the fourth bearing 640 is located. The oil seal 710 is positioned between the tip 730 of the first protrusion 610 and the protrusion 720 of the second protrusion 620. In addition to the oil seal 710, a sealing member 710a or the like may be placed between the tip 730 of the first protrusion 610 and the protrusion 720 of the second protrusion 620. Alternatively, the sealing member 710a may be omitted, and the entire structure may be the oil seal 710.

[0058] As described above, in the modified vertical articulated robot 1, it is preferable that the protrusion 720 is provided on the side of the pivot axis J6 rather than the portion of the second protrusion 620 where the fourth bearing 640 is located, and that the oil seal 710 is located between the tip portion 730 of the first protrusion 610 and the protrusion 720 of the second protrusion 620.

[0059] As described above, the oil seal 710 is positioned between the first protrusion 610 and the second protrusion 620, which prevents oil from leaking to the outside and reduces wear on the components of the fifth arm 225. Therefore, the operational performance of the fifth arm 225 can be improved. In addition, the waterproofing effect on the fifth arm 225 can be enhanced. Furthermore, by positioning the fourth bearing 640 and the oil seal 710 to overlap in a plan view, the fifth arm 225 can be made smaller.

[0060] As described above, the configuration of the first bevel gear 300, the second bevel gear 400, and the mating member 520 may be as shown in Figure 6.

[0061] Specifically, in the modified fifth arm 225A, the first bevel teeth 312A are provided at the tip of the first bevel gear 300A, i.e., in a part in the +Z direction, and the first bearing 350C, which serves as a third bearing member, is positioned at a part of the tip. The second bevel gear 400A has a hollow internal structure S. The fitting member 520A is provided with a through hole 521A, similar to the embodiment. That is, the internal structure S is hollow from the fitting member 520A to the second bevel gear 400A.

[0062] As described above, in the modified vertical articulated robot 1, the fifth arm 225 has a first bevel gear 300 inserted into the first opening 110, having a first shaft portion 310 extending along the rotation axis J5, an input portion 311 provided at one end 310a of the first shaft portion 310 for receiving force from the motor 61, and a first bevel tooth portion 312 provided at the other end 310b of the first shaft portion 310; a second bevel gear 400 having a second shaft portion 410 extending along the rotation axis J6, and a second bevel tooth portion 412 provided at one end 410a of the second shaft portion 410 for receiving force by meshing with the first bevel tooth portion 312; the first bevel gear 300 has a first bearing 350C positioned at the tip of the first bevel tooth portion 312, and the second bevel gear 400 has a hollow structure S. This configuration makes it possible to reduce the weight of the fifth arm 225, thereby improving the operational performance of both the fifth arm 225 and the sixth arm 226.

[0063] As described above, the outer ring clamping portion 612 that secures the outer ring 640B of the fourth bearing 640 is not limited to being arranged separately from the first protrusion 610, but may be provided integrally with the first protrusion 610. [Explanation of Symbols]

[0064] 1…Vertical articulated robot, 2…Robot body, 10…Controller, 21…Base, 22…Robot arm, 24…End effector, 31…Housing, 32…Cover, 41…Motor, 43…Pulley, 45…Power transmission belt, 61…Motor, 63…Pulley, 65…Power transmission belt, 100…Housing, 110…First opening as an opening, 120…Second opening, 111…Part, 221…First arm, 222…Second arm, 223…Third arm , 224...Fourth arm as a base arm member, 224a...Upper tip, 224b...Lower tip, 225, 225A...Fifth arm as a first arm member, 226...Sixth arm as a second arm member, 231...First drive mechanism, 232...Second drive mechanism, 233...Third drive mechanism, 234...Fourth drive mechanism, 235...Fifth drive mechanism, 236...Sixth drive mechanism, 300, 300A...First bevel gear, 310...First shaft, 310a...One end, 310b...Other end, 3 11…Input section, 312, 312A…First bevel gear section, 350, 350B, 350C…First bearing, 350A…First bearing as second bearing member, 350A1…Outer ring, 350C…First bearing as third bearing member, 400, 400A…Second bevel gear, 410…Second shaft section, 410a…One end, 410b…Other end, 411…Connecting section, 411a…Protrusion, 412…Second bevel gear section, 420…Female thread section, 500…Flange, 510…Reduction gear, 520…Matching member, 520a ...recess, 520A...fitting member, 521, 521A...through hole, 540...third bearing as third bearing member, 610...first projection, 610a...stepped portion, 611...shoulder portion, 612...outer ring clamping portion, 613...fixing bolt, 614...fixing plate, 620...second projection, 620a...stepped portion, 640...fourth bearing as first bearing member, 640A...inner ring, 640B...outer ring, 710...oil seal, 710a...sealing member, 720...protrusion, 730...tip portion, 800...speed reducer.

Claims

1. A base arm member having a motor, A first arm member provided on the base arm member and rotating around the first axis, A second arm member is provided on the first arm member and rotates around a second axis that intersects the first axis, The first arm member is rotatably supported with respect to the base arm member, and an annular first bearing member having an inner ring and an outer ring disposed outside the inner ring, Equipped with, The aforementioned base arm member is, A cylindrical first projection that protrudes along the first axis and has a shoulder portion on the inside, Together with the shoulder portion, the outer ring clamping portion of the first bearing member is sandwiched between the outer ring and fixed to the first protrusion, It has, The first arm member is, An opening is provided on the inside, the inner ring of the first bearing member is positioned on the outside, and a second projection protrudes along the first shaft, A power transmission mechanism that transmits power from the motor and passes through the opening, A vertical articulated robot.

2. A vertical articulated robot according to claim 1, The second projection has a cylindrical shape for the opening, A vertical articulated robot, wherein a part of the opening is positioned on the outer ring of a second bearing member that rotatably supports the power transmission mechanism.

3. A vertical articulated robot according to claim 2, The second projection has a shape that becomes thinner towards the tip. A vertical articulated robot in which the first bearing member is positioned closer to the tip than the second bearing member.

4. A vertical articulated robot according to claim 2, A vertical articulated robot, wherein the second protrusion is provided with a fixing plate that supports the outer ring of the second bearing member, and a fixing bolt that fixes the fixing plate to the second protrusion.

5. A vertical articulated robot according to claim 1, The protrusion is provided on the side of the second shaft that is closer to the second shaft than the portion of the second projection where the first bearing member is located. A vertical articulated robot in which an oil seal is positioned between the tip of the first projection and the convex portion of the second projection.

6. A vertical articulated robot according to claim 1, The second arm member is, Flange and, A reduction gear connected to the flange, which amplifies the force it receives to drive the flange, A fitting member is inserted into the reduction gear and detachably fitted to the first arm member, A vertical articulated robot.

7. A vertical articulated robot according to claim 1, The first arm member is, A first bevel gear having a first shaft portion extending along the first shaft, an input portion provided at one end of the first shaft portion for receiving force from the motor, and a first bevel tooth portion provided at the other end of the first shaft portion, and inserted into the opening, A second bevel gear having a second shaft portion extending along the second shaft, and a second bevel tooth portion provided at one end of the second shaft portion, which receives force by meshing with the first bevel tooth portion, It has, The first bevel gear has a third bearing member positioned at the tip of the first bevel tooth portion. The second bevel gear is a vertical articulated robot having a hollow structure.

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