robot

Abstract

This invention provides a robot that can house electronic circuit boards by effectively utilizing the space within the second arm. [Solution] A robot comprising: a first arm; a second arm rotatable about a second axis relative to the first arm; a shaft; a power unit having a first motor that generates power to rotate the shaft; and a second motor that generates power to raise and lower the shaft; a power transmission unit having a first transmission unit that transmits the power of the first motor to the shaft; and a second transmission unit that transmits the power of the second motor to the shaft; wherein the second arm comprises a housing that houses the power unit and the power transmission unit; and a support member housed in the housing that supports an electronic circuit board; wherein the support member comprises a first electronic circuit board mounting portion extending along a first direction parallel to the second axis; and a second electronic circuit board mounting portion extending along a second direction intersecting the first direction.

Description

Technical Field

[0001] The present invention relates to a robot. Background Art

[0002] The robot described in Patent Document 1 includes: a base; a first arm provided on the base and rotatable relative to the base; a second arm provided on the first arm and rotatable relative to the first arm; and a rotatable and liftable shaft provided on the second arm. Housed in the second arm are a motor that generates power for rotating the shaft, a belt and spline mechanism that transmits power of the motor to the shaft, a motor that generates power for lifting and lowering the shaft, and a belt and lead screw mechanism that transmits power of the motor to the shaft. Prior Art Literature Patent Literature

[0003] Patent Document 1 Japanese Unexamined Patent Publication No. 2016-140921 Summary of the Invention Problem to be Solved by the Invention

[0004] Here, there are cases where it is desired to house various electronic substrates in the second arm, such as an electronic substrate that transmits or receives signals to devices in the second arm or devices attached to the robot, and an electronic substrate that functions as a sensor. However, as described above, the second arm accommodates, in a predetermined arrangement, the motor that generates power for rotating the shaft, the transmission section that transmits power of the motor to the shaft, the motor that generates power for lifting and lowering the shaft, and the transmission section that transmits power of the motor to the shaft, so the space inside the second arm is limited. In order to suppress an increase in size of the second arm, it is required to effectively utilize the space inside the second arm to arrange the electronic substrates. Means for Solving the Problem

[0005] A robot according to an application example of the present invention is Base and, A first arm is provided on the base and is rotatable about a first axis relative to the base, A second arm is provided on the first arm and is rotatable around a second axis parallel to the first axis relative to the first arm, A shaft provided at the tip of the second arm, which is rotatable around a third axis parallel to the second axis and can move up and down along the third axis, A power unit having a first motor that generates power to rotate the shaft and a second motor that generates power to raise and lower the shaft, A power transmission unit having a first transmission unit that transmits the power of the first motor to the shaft, and a second transmission unit that transmits the power of the second motor to the shaft, Equipped with, The second arm comprises a housing that houses the power unit and the power transmission unit, and a support member housed in the housing that supports an electronic circuit board. The support member has a first electronic substrate mounting portion extending along a first direction parallel to the second axis, and a second electronic substrate mounting portion extending along a second direction intersecting the first direction. The first electronic circuit board mounting section and the second electronic circuit board mounting section are located above the power transmission section.

[0006] A robot according to an application example of the present invention is Base and, A first arm is provided on the base and is rotatable about a first axis relative to the base, A second arm is provided on the first arm and is rotatable around a second axis parallel to the first axis relative to the first arm, A shaft provided at the tip of the second arm, which is rotatable around a third axis parallel to the second axis and can move up and down along the third axis, A power unit having a first motor that generates power to rotate the shaft and a second motor that generates power to raise and lower the shaft, A power transmission unit having a first transmission unit that transmits the power of the first motor to the shaft, and a second transmission unit that transmits the power of the second motor to the shaft, Equipped with, The second arm comprises a housing that houses the power unit and the power transmission unit, and a support member housed in the housing that supports an electronic circuit board. The support member is located above the power unit and has an electronic circuit board mounting portion that extends in a second direction intersecting a first direction parallel to the second axis. [Brief explanation of the drawing]

[0007] [Figure 1] This is a side view showing a robot system comprising a robot according to the first embodiment of the present invention. [Figure 2] This is a partial cross-sectional view of the second arm of the robot shown in Figure 1. [Figure 3] This is a partial cross-sectional view showing the state in which the cover of the second arm is being removed from the state shown in Figure 2. [Figure 4] This is a perspective view showing a magnified portion of the second arm shown in Figure 2. [Figure 5] This is a plan view showing an enlarged portion of the second arm shown in Figure 2. [Figure 6] This is a side view showing a robot system comprising a robot according to a second embodiment of the present invention. [Figure 7] This is a partial cross-sectional view of the second arm of the robot shown in Figure 6. [Figure 8] This is a perspective view showing a magnified portion of the second arm shown in Figure 6. [Modes for carrying out the invention]

[0008] Embodiments of the present invention will be described below with reference to the drawings. Note that the following description does not limit the technical scope or the meaning of terms as defined in the claims. Furthermore, the dimensional ratios in the drawings are exaggerated for illustrative purposes and may differ from actual ratios.

[0009] <First Embodiment> FIG. 1 is a side view showing a robot system 1 including a robot 10 according to the present embodiment. FIG. 2 is a partial cross-sectional view of a second arm 12b included in the robot 10 shown in FIG. 1. FIG. 3 is a partial cross-sectional view showing a state in the middle of detaching a cover 124 of the second arm 12b from the state of FIG. 2. FIG. 4 is an enlarged perspective view showing a part of the second arm 12b shown in FIG. 2. FIG. 5 is an enlarged plan view showing a part of the second arm 12b shown in FIG. 2. Note that illustration of the cover 124 is omitted in FIGS. 4 and 5.

[0010] Hereinafter, although details will be described later, a base 11, a first arm 12a, a second arm 12b, and a shaft 13c of the robot 10 are sequentially connected in this order, and in this connection path, the base 11 side is referred to as a "proximal end side", and the opposite side is referred to as a "distal end side".

[0011] Also, in each drawing, an X-axis, a Y-axis, and a Z-axis are set as three mutually orthogonal axes with respect to the work space of the robot 10. Each axis is represented by an arrow, the tip side of the arrow is defined as the "+ side", and the proximal end side of the arrow is defined as the "- side". In the following description, for example, "X-axis direction" includes both the positive direction and the negative direction of the X-axis. The same applies to the Y-axis direction and the Z-axis direction.

[0012] Also, in each drawing, a direction parallel to a third axis A3, which is an elevation axis of the shaft 13c described later, is defined as the Z-axis direction. Also, in the Z-axis direction, the direction in which the distal end portion of the shaft 13c where an end effector 13d is attached approaches the second arm 12b (Z-axis direction + side) is referred to as "upward" or "upper direction", and the opposite direction (Z-axis direction - side) is referred to as "downward" or "lower direction". The Z-axis does not necessarily need to be parallel to the vertical direction, and may be inclined with respect to the vertical direction. Also, movement of the shaft 13c toward the Z-axis direction + side is referred to as "ascending", movement toward the Z-axis direction - side is referred to as "descending", and movement in the Z-axis direction is referred to as "elevating / lowering".

[0013] Further, in the present specification, the term "parallel" includes not only the case where two objects are strictly parallel, but also the case where, for example, one object is inclined within ±10° from the strictly parallel state of the two objects, that is, the case where they are substantially parallel. Further, in the present specification, the term "perpendicular" includes not only the case where two objects are strictly perpendicular, but also the case where, for example, one object is inclined within ±10° from the strictly perpendicular state of the two objects, that is, the case where they are substantially perpendicular.

[0014] Outlined with reference to Figure 1, the robot system 1 according to the present embodiment includes a robot 10, and a control device 30 that controls driving of each part of the robot 10.

[0015] The robot 10 is a horizontal articulated robot (SCARA robot). The robot 10 is used in various operations such as holding, conveying, assembling, processing, painting and inspecting workpieces such as electronic components, for example. However, the application of the robot 10 and the types of operations thereof are not limited to the above.

[0016] The robot 10 includes a base 11, a robot arm 12 provided on the base 11, and a work head 13 provided at the distal end of the robot arm 12.

[0017] The base 11 is fixed to a support such as a floor, a ceiling, a side wall, or a frame, and supports the robot arm 12. Hereinafter, an example will be described in which the base 11 is of a "ceiling-mounted type" that is attached to a support W1 located above the robot arm 12 in the vertical direction such as a ceiling and suspended from the support W1. Accordingly, in the present embodiment, the Z direction is parallel to the vertical direction. However, the robot 10 may be of a wall-mounted type in which the base 11 is attached to a support located on the lateral side of the robot arm 12 in the horizontal direction such as a side wall, or may be of a floor-standing type in which the base 11 is attached to a support located below the robot 10 in the vertical direction such as a floor.

[0018] The base 11 is provided with an interface 11i that can be connected to an external device such as a control device 30. The interface 11i has an external port to which an external device such as a control device 30 can be electrically connected. The interface 11i may further include an external port for supplying a fluid such as compressed air to an end effector 13d, etc. (described later), or for drawing a fluid such as air from the end effector 13d, etc.

[0019] The robot arm 12 is located below the base 11. The robot arm 12 has a first arm 12a provided on the base 11, a second arm 12b provided on the first arm 12a, a first joint 12c, and a second joint 12d.

[0020] The first arm 12a is located below the base 11. The base end of the first arm 12a is rotatably connected to the base 11 by a first joint 12c, so as to a first axis A1. The first axis A1 is parallel to the Z-axis direction. The first arm 12a extends along a direction parallel to the XY plane.

[0021] The second arm 12b is located below the first arm 12a. The base end of the second arm 12b is rotatably connected to the tip of the first arm 12a by a second joint 12d, around a second axis A2. The second axis A2 is parallel to the first axis A1.

[0022] The working head 13 is provided at the tip of the second arm 12b. The working head 13 includes a spline nut 13a and a ball screw nut 13b, which are coaxially arranged on a third axis A3 parallel to the first axis A1 and the second axis A2, and a shaft 13c through which the spline nut 13a and the ball screw nut 13b are inserted.

[0023] The shaft 13c is also called the spline shaft or working shaft. The shaft 13c extends along the third axis A3. The shaft 13c is rotatable around the third axis A3 and can move up and down along the third axis A3. Specifically, the rotation of the spline nut 13a causes the shaft 13c to rotate around the third axis A3. In addition, the rotation of the ball screw nut 13b causes the shaft 13c to move up and down along the third axis A3.

[0024] An end effector 13d is attached to the lower end of the shaft 13c. The end effector 13d is detachable from the shaft 13c. The type of end effector 13d is not particularly limited, but examples include a hand, drill, suction head, etc., and one suitable for the intended work is appropriately selected and attached to the shaft 13c.

[0025] The robot 10 further comprises a first drive unit 14a that rotates the first arm 12a around the first axis A1 relative to the base 11, a second drive unit 14b that rotates the second arm 12b around the second axis A2 relative to the first arm 12a, and a third drive unit 14c that rotates the shaft 13c around the third axis A3 and moves it up and down along the third axis A3.

[0026] The first drive unit 14a is housed in the base 11. The second drive unit 14b is housed in the first arm 12a. The first drive unit 14a and the second drive unit 14b each consist of a motor that generates power to rotate the corresponding arm.

[0027] The third drive unit 14c is housed in the second arm 12b. The third drive unit 14c includes a power unit 140 and a power transmission unit 150.

[0028] As shown in Figure 2, the power unit 140 includes a first motor 141a that generates power to rotate the shaft 13c, and a second motor 142a that generates power to raise and lower the shaft 13c. The output shaft of the first motor 141a is provided with a first brake 141b that can decelerate and stop the rotation of the first motor 141a. The output shaft of the second motor 142a is also provided with a second brake 142b that can decelerate and stop the rotation of the second motor 142a. The brakes 141b and 142b are not particularly limited, but for example, they are configured as magnetic brakes. Note that the brakes 141b and 142b are not required.

[0029] The power transmission unit 150 includes a first transmission unit 151 that transmits power from the first motor 141a to the shaft 13c, and a second transmission unit 152 that transmits power from the second motor 142a to the shaft 13c.

[0030] In this embodiment, the first transmission unit 151 is composed of a single-stage pulley-belt mechanism. Specifically, the first transmission unit 151 includes an input pulley 151a, an output pulley 151b, and an endless belt 151c. The input pulley 151a is connected to the output shaft of the first motor 141a. The output pulley 151b is connected to a spline nut 13a. The belt 151c is wrapped around the input pulley 151a and the output pulley 151b.

[0031] In this embodiment, the second transmission unit 152 is configured as a single-stage pulley-belt mechanism. Specifically, the second transmission unit 152 includes an input pulley 152a, an output pulley 152b, and an endless belt 152c. The input pulley 152a is connected to the output shaft of the second motor 142a. The output pulley 152b is connected to a ball screw nut 13b. The belt 152c is wrapped around the input pulley 152a and the output pulley 152b.

[0032] However, the number of stages in the pulley-belt mechanism of each transmission unit 151, 152 is not limited to the above, and may be two or more stages. Also, each transmission unit 151, 152 is not limited to a pulley-belt mechanism, but may be composed of other winding transmission devices such as a sprocket-chain mechanism, a combination of one or more gears, a gear device such as a wave gear or planetary gear, or a combination thereof.

[0033] The interface 11i of the base 11 shown in Figure 1 is connected via multiple linear members to internal components of the robot arm 12, the end effector 13d, and devices attached to the outside of the second arm 12b. The linear members are not particularly limited, but examples include various types of wiring such as electrical wiring and optical fibers, and pipes through which fluids such as air can flow.

[0034] Specifically, the interface 11i and each drive unit 14a, 14b, and 14c are connected by multiple wires (not shown). Through these wires, the control device 30 supplies power to each drive unit 14a, 14b, and 14c, transmits control signals, and performs other functions. The inside of the robot arm 12 is hollow, and each wire is connected from the interface 11i through the inside of the robot arm 12 to a predetermined connection point.

[0035] Furthermore, as will be described in detail later, an inertial sensor 18 is provided at the tip of the second arm 12b. The inertial sensor 18 detects at least one of the angular velocity and acceleration of the tip of the second arm 12b. The inertial sensor 18 may be a single detection element, a detection element mounted on a circuit board, or a module in which these are housed in a casing.

[0036] The interface 11i and the inertial sensor 18 are connected by a wiring L1. Through this wiring L1, detection signals from the inertial sensor 18 are transmitted to an external device such as a control device 30 connected to the interface 11i. The external device such as the control device 30 may also supply power to the inertial sensor 18 and transmit control signals through this wiring L1. The wiring L1 reaches the inertial sensor 18 from the interface 11i, passing through the base 11, the first arm 12a, and the second arm 12b. In this embodiment, the wiring L1 corresponds to the "first linear member".

[0037] Furthermore, the interface 11i and the end effector 13d are connected by wiring. This wiring supplies power to the end effector 13d and transmits control signals. Alternatively, the interface 11i and the end effector 13d may be connected by a pipe. In this case, fluid is supplied to the end effector 13d or fluid such as air is drawn from the end effector 13d via the pipe.

[0038] Furthermore, various devices such as cameras, sensors, and solenoid valves may be attached to the second arm 12b so as to be exposed from the second arm 12b. Hereinafter, devices attached to the outside of the second arm 12b will be referred to as "mounting devices". The interface 11i and the mounting devices are connected by wiring. Power is supplied to the mounting devices and control signals are transmitted through this wiring. Signals from the mounting devices may also be transmitted to external devices such as the control device 30 through this wiring. Alternatively, the interface 11i and the mounting devices may be connected by a pipe. In this case, a fluid such as compressed air may be supplied to the mounting devices via the pipe, or a fluid such as air may be drawn in.

[0039] The second arm 12b is provided with an interface 124i, which will be described in detail later. The shaft 13c is hollow. The interface 11i of the base 11 and the end effector 13d or mounting device are connected by wiring L2 connecting interface 11i and interface 124i, and external wiring (not shown) connecting interface 124i and the end effector 13d or mounting device. Wiring L2 passes through the inside of the base 11, the first arm 12a, and the second arm 12b to reach interface 124i. In this embodiment, wiring L2 corresponds to the "second linear member". The second arm 12b is further provided with an interface 123i, which will be described in detail later, and the mounting device may be connected to interface 123i instead of interface 124i.

[0040] Multiple linear members may be combined into a single piece or bundled together. Furthermore, a linear member may branch into multiple pieces along its length. Additionally, relay devices may be installed along the length of a linear member.

[0041] Further details regarding the internal structure of the second arm 12b, including the arrangement of the work head 13, the third drive unit 14c, and the wiring L1 and L2, will be described later.

[0042] The control device 30 is located outside the robot 10. However, the control device 30 may be housed in the base 11. The control device 30 comprises a storage unit, a control unit, and a communication unit. These are interconnected by a bus.

[0043] The memory unit consists of memory such as RAM (Random Access Memory) and ROM (Read Only Memory). The memory unit stores various programs and data, such as control programs that control the operation of the robot 10. The control unit consists of at least one processor, such as a CPU (Central Processing Unit). The control unit reads and executes the various programs stored in the memory unit. The communication unit consists of various interfaces that enable communication with external devices such as the robot 10. The communication unit sends and receives information and signals to and from external devices. Communication by the communication unit may be via a network such as a LAN (Local Area Network) or the Internet. Furthermore, the communication method may be wired or wireless.

[0044] Next, the second arm 12b and its internal structure will be described in detail. As shown in Figures 1 and 2, the second arm 12b includes a connecting portion 121 that is rotatably connected to the first arm 12a, a housing 122 that houses the third drive unit 14c, a support member 16 installed inside the housing 122 that supports the electronic circuit boards E1 and E2 (described later), and a guide member 17 that guides the wiring L1. The housing 122 includes an arm base 123 connected to the lower end of the connecting portion 121, and a cover 124 positioned above the arm base 123 and to the side of the connecting portion 121, and detachably attached to the arm base 123.

[0045] In the following, the direction parallel to the second axis A2 will also be called the "first direction D1," the direction perpendicular to the first direction D1 and moving from the second axis A2 toward the third axis A3 will also be called the "second direction D2," and the direction perpendicular to both the first direction D1 and the second direction D2 will also be called the "third direction D3." The first direction D1 is also parallel to the Z-axis direction. The second direction D2 and the third direction D3 are parallel to the XY plane. Furthermore, each direction D1, D2, and D3 will be represented by an arrow, with the tip of the arrow being the "+ side" and the base of the arrow being the "- side."

[0046] As shown in Figure 1, the connecting portion 121 is rotatably connected to the tip of the first arm 12a via a second joint 12d, around the second axis A2. The connecting portion 121 is formed to be integral with the second arm 12b. As shown in Figure 2, the connecting portion 121 is hollow and extends along the second axis A2. The connecting portion 121 is, for example, cylindrical in shape. As shown in Figure 2, an opening 121h is formed in the side wall of the connecting portion 121, which communicates with the internal space of the cover 124 when the cover 124 is attached to the arm base 123. Alternatively, the connecting portion 121 may be rotatably connected to the base end of the second arm 12b via a second joint 12d, around the second axis A2, and may be formed integrally with the first arm 12a.

[0047] The length of the connecting portion 121 along the second axis A2 is set to a length that allows the second arm 12b to rotate 360° relative to the first arm 12a. For example, when the shaft 13c is positioned furthest towards the first direction D1+, the length from the upper wall 123a of the arm base 123 to the upper end of the work head 13 is shorter than the distance along the axial direction of the third axis A3 between the upper wall 123a of the arm base 123 to the bottom plate of the first arm 12a. As a result, even when the shaft 13c is raised to its highest position, the work head 13 does not interfere with the first arm 12a, and the second arm 12b can pass below the first arm 12a. In other words, the second arm 12b can rotate 360° relative to the first arm 12a regardless of the vertical position of the work head 13.

[0048] The arm base 123 is hollow. The shape of the arm base 123 is elongated, extending along the second direction D2. The arm base 123 is, for example, rectangular. Specifically, the arm base 123 has an upper wall 123a, a lower wall 123b, and a side wall 123c. The upper wall 123a is parallel to the XY plane. The lower wall 123b is located below the upper wall 123a and is parallel to the XY plane. The side wall 123c is located between the upper wall 123a and the lower wall 123b and extends in the Z-axis direction.

[0049] As shown in Figure 4, in this embodiment, a plurality of mounting holes 123h are formed in the side wall 123c in the portion located between the end of the upper wall 123a on the third direction D3+ side and the end of the lower wall 123b on the third direction D3+ side. Each mounting hole 123h is a screw hole. However, each mounting hole 123h may be a simple through hole instead of a screw hole. The number of mounting holes 123h may be one or three or more. Mounting holes 123h may also be formed at other positions on the side wall 123c or on the lower wall 123b. The user can attach desired devices or equipment to the second arm 12b using the mounting holes 123h. The devices to be attached are not particularly limited, but examples include cameras, sensors, solenoid valves, etc. The equipment to be attached is not particularly limited, but examples include support for linear members, etc.

[0050] As shown in Figure 2, an interface 123i is provided on the lower wall 123b. A through hole is formed in the upper wall 123a in the portion located between the interface 123i and the connecting portion 121. The interface 123i has an external port to which a linear member from the aforementioned mounting device can be connected, and an internal port to which a linear member (not shown) that is led from the interface 11i of the base 11 into the housing 122 via the inside of the base 11, the first arm 12a, and the connecting portion 121 can be connected.

[0051] The connecting portion 121 is made of a material having sufficient strength to support the housing 122, and the arm base 123 is made of a material having sufficient strength to support the internal components of the second arm 12b and the shaft 13c. The materials used for the connecting portion 121 and the arm base 123 are not particularly limited, but include, for example, various metal materials, various resin materials, especially hard resin materials, various ceramics, etc., and may also be composite materials formed by arbitrarily combining these. Among these, examples of metal materials include stainless steel, aluminum, copper, titanium, etc., or alloys containing these.

[0052] The cover 124 is made of, for example, a plate material molded into a desired three-dimensional shape. The cover 124 covers the upper part of the arm base 123 and has an open shape at the bottom and on the side facing the connection part 121. By attaching the cover 124 to the arm base 123, it forms an internal space in the housing 122, and houses and protects internal components and the like that are located between the arm base 123 and the cover 124 in this internal space.

[0053] As shown in Figure 2, in this embodiment, the upper wall of the cover 124 has a first cover portion 124a that covers the power unit 140, a second cover portion 124b connected to the end of the first cover portion 124a on the second direction D2+ side and descending toward the second direction D2+ side, and a third cover portion 124c connected to the end of the second cover portion 124b on the second direction D2+ side and covering a part of the work head 13. The third cover portion 124c has a through hole through which the shaft 13c can be inserted. However, the specific shape of the cover 124 is not limited to the above.

[0054] Furthermore, the first cover portion 124a is provided with an interface 124i. Similar to interface 123i, interface 124i has an external port and an internal port to which linear members such as wiring L2, which are led out from interface 11i of the base 11 into the housing 122 via the base 11, the first arm 12a, and the connection portion 121, can be connected.

[0055] In this way, by providing interfaces 123i and 124i on the second arm 12b, the connection between the mounting device and external devices such as the control device 30 can be made by linear members from the base 11 to interfaces 123i and 124i, and by linear members from interfaces 123i and 124i to the mounting device. Furthermore, the linear members from the base 11 to interfaces 123i and 124i can be housed inside the robot 10. Therefore, the range of motion of the robot arm 12 can be increased compared to the case where the entire linear member connecting the mounting device and external devices such as the control device 30 is located outside the robot 10. In other words, there is no need to restrict the range of motion of the robot arm 12 to prevent the linear member from becoming entangled with the robot 10. In addition, by providing interfaces 123i and 124i on the upper and lower parts of the second arm 12b, the user can select and use the interface 123i or 124i that is closest to the mounting device. Therefore, the length of the linear member connecting the mounting device and interfaces 123i and 124i can be shortened.

[0056] Furthermore, as shown in Figure 1, when viewed from the first direction D1, the portion of the first arm 12a that houses the second drive unit 14b is located inside the rotational trajectory of the external port of the interface 124i when it rotates around the second axis A2. Therefore, when the second arm 12b is rotated once, interference between the external port of the interface 124i and the linear member connecting the external port to the mounting device and the first arm 12a can be suppressed. This allows the first arm 12a and the second arm 12b to be driven smoothly. In addition, when connecting the linear member to the external port of the interface 124i, the second drive unit 14b is less likely to interfere, making the work easier.

[0057] Furthermore, as shown in Figure 3 of this embodiment, with the shaft 13c lowered, the cover 124 can be removed from the arm base 123 by moving the cover 124 toward the second direction D2+ and slightly lifting the lower end of the cover 124 toward the second direction D2- upward. Therefore, even if the first arm 12a is located directly above the cover 124, the cover 124 can be easily removed from the arm base 123 by moving the cover 124 toward the second direction D2. This simplifies the process of removing the cover 124 when performing maintenance on the internal components of the second arm 12b.

[0058] The cover 124 may be made of a material having strength comparable to that of the connecting portion 121 and the arm base 123, or it may be made of a material that is flexible or elastic enough to deform slightly when force is applied, or it may be made of a combination of these materials. The material used to make up the cover 124 is not particularly limited, but examples include materials similar to those exemplified for the connecting portion 121 and the arm base 123.

[0059] As shown in Figure 2, a through hole is formed at the end (tip) of the arm base 123 on the second direction D2+ side, passing through the upper wall 123a and the lower wall 123b along the third axis A3. The shaft 13c is inserted through this through hole. The spline nut 13a is located below the arm base 123. The ball screw nut 13b is located from above the arm base 123 to the interior of the arm base 123. However, the specific positions of the spline nut 13a and the ball screw nut 13b are not limited to those described above. For example, the spline nut 13a may be located above the ball screw nut 13b.

[0060] Motors 141a and 142a are positioned on the arm base 123. Here, "motors 141a and 142a are positioned on the arm base 123" means that the majority of motors 141a and 142a are located on the arm base 123, and for example, parts of the output shafts of motors 141a and 142a may protrude into the interior of the arm base 123.

[0061] Specifically, the first motor 141a is positioned between the connection part 121 and the shaft 13c. The first motor 141a is fixed to the upper wall 123a of the arm base 123 via a support 19a, as shown in Figure 4, with its output shaft protruding downward from the housing of the first motor 141a. As shown in Figure 2, the first brake 141b is positioned below the first motor 141a and around the output shaft.

[0062] Furthermore, the second motor 142a is positioned between the first motor 141a and the shaft 13c. The second motor 142a is fixed to the upper wall 123a of the arm base 123 via a support 19b, as shown in Figure 4, with the output shaft protruding downward from the housing of the second motor 142a, so that the upper surface of the second motor 142a is positioned above the upper surface of the first motor 141a. As shown in Figure 2, the second brake 142b is positioned below the second motor 142a and around the output shaft.

[0063] Thus, the first motor 141a and the second motor 142a are arranged side by side in the second direction D2. Therefore, compared to the case where the first motor 141a and the second motor 142a are arranged side by side in the third direction D3, the length of the second arm 12b along the third direction D3, i.e., the width of the second arm 12b, can be reduced. This makes it possible to suppress interference between the second arm 12b and objects placed in the robot 10's workspace when it rotates.

[0064] Furthermore, the majority of the first transmission unit 151 is located within the arm base 123. Specifically, a through hole is formed in the upper wall 123a of the arm base 123, in the portion directly below the first motor 141a. The input pulley 151a of the first transmission unit 151 is connected to the output shaft of the first motor 141a on the arm base 123 via this through hole, and extends from within this through hole into the interior of the arm base 123. The output pulley 151b is located above the spline nut 13a and within the arm base 123. Therefore, the belt 151c is also located within the arm base 123.

[0065] The second transmission unit 152 is located on the arm base 123. Specifically, the input pulley 152a of the second transmission unit 152 is located above the arm base 123 and inside the cover 124, and is connected to the output shaft of the second motor 142a. The output pulley 152b is located above the arm base 123 and the ball screw nut 13b and inside the cover 124. Therefore, the belt 152c is also located above the arm base 123 and inside the cover 124.

[0066] The inertial sensor 18 is located below the arm base 123. Specifically, the inertial sensor 18 is attached to the lower surface of the lower wall 123b of the arm base 123.

[0067] The support member 16 is positioned above the arm base 123 and supports at least one electronic circuit board. The electronic circuit board may be installed on the support member 16 by the manufacturer during manufacturing, or the user may install any electronic circuit board depending on the equipment to be attached to the robot 10.

[0068] The following describes an example of installing the first electronic board E1 and the second electronic board E2 on the support member 16. The first electronic board E1 is a power supply board that supplies power to the brakes 141b and 142b. The second electronic board E2 is a relay board that separates the signals to the first motor 141a and the signals to the second motor 142a in a single wiring (not shown) from the base 11 and transmits each separated signal to the corresponding motor.

[0069] However, the use, type, and form of the electronic circuit board installed on the support member 16 are not limited to those described above. The electronic circuit board installed on the support member 16 is not particularly limited, but for example, it may be a power supply board or control board for equipment attached to the robot 10, or it may be a relay board that relays signals between external equipment such as a control device 30 and equipment attached to the robot 10. In addition, the electronic circuit board installed on the support member 16 may be a signal processing board that processes signals from sensors that detect the rotation angle, rotation speed (velocity), acceleration, inertial force, torque, etc. of the motors 141a, 142a and shaft 13c, or a sensor board equipped with sensors.

[0070] As shown in Figure 4, the support member 16 is positioned between the shaft 13c and the second motor 142a in the second direction D2. The support member 16 has a first electronic circuit board mounting portion 161 extending in the first direction D1, a second electronic circuit board mounting portion 162 extending in the second direction D2, and a leg portion 163 extending in the first direction D1, connected to the first electronic circuit board mounting portion 161, and separated from the power transmission portion 150.

[0071] The first electronic circuit board mounting section 161, the second electronic circuit board mounting section 162, and the leg section 163 are each plate-shaped. The support member 16 may be formed by joining together separate plate materials that constitute the first electronic circuit board mounting section 161, the second electronic circuit board mounting section 162, and the leg section 163, or it may be formed by integrally molding these materials, for example, by cutting and bending a part of a single plate material.

[0072] A first electronic circuit board E1 is installed in the first electronic circuit board installation section 161. The first electronic circuit board installation section 161 has a flat plate portion 161a parallel to the first direction D1 and the third direction D3, and a plurality of support columns 161b located between the flat plate portion 161a and the first electronic circuit board E1. The shape of the flat plate portion 161a as viewed from the second direction D2 is substantially rectangular. However, the specific shape of the flat plate portion 161a is not particularly limited. Each support column 161b is fixed to the flat plate portion 161a. Screw holes are formed in each support column 161b, and the first electronic circuit board E1 can be installed in the first electronic circuit board installation section 161 by placing the first electronic circuit board E1 on the plurality of support columns 161b and inserting screws into the first electronic circuit board E1 and screwing them into the screw holes.

[0073] A second electronic board E2 is installed in the second electronic board mounting section 162. The second electronic board mounting section 162 is connected to the lower end of the first electronic board mounting section 161 and extends toward the second direction D2+. The second electronic board mounting section 162 has a flat plate portion 162a parallel to the second direction D2 and the third direction D3 (XY plane), and a plurality of support columns 162b located between the flat plate portion 162a and the second electronic board E2. The shape of the flat plate portion 162a as viewed from the first direction D1 is substantially rectangular. However, the specific shape of the flat plate portion 162a is not particularly limited. Each support column 162b is fixed to the flat plate portion 162a. Each support column 162b has a screw hole formed therein, and the second electronic circuit board E2 can be placed on multiple support columns 162b, and the second electronic circuit board E2 can be installed on the second electronic circuit board installation section 162 by inserting a screw through the second electronic circuit board E2 and screwing it into the screw hole.

[0074] The configuration of the electronic circuit board mounting sections 161 and 162 is not limited to the above, as long as the electronic circuit boards E1 and E2 can be mounted on them. For example, the electronic circuit board mounting sections 161 and 162 do not necessarily have support columns 161b and 162b. In this case, for example, through holes may be provided in the flat plate sections 161a and 162a, spacers (collars) may be placed between the electronic circuit boards E1 and E2 and the flat plate sections 161a and 162a, and the electronic circuit boards E1 and E2 may be mounted on the electronic circuit board mounting sections 161 and 162 by screws that pass through the through holes in the electronic circuit boards E1 and E2, the spacers, and the flat plate sections 161a and 162a.

[0075] In this embodiment, the length of the first electronic substrate mounting section 161 along the first direction D1 is longer than the length of the second electronic substrate mounting section 162 along the second direction D2. This allows the first electronic substrate E1, which has a larger maximum dimension than the second electronic substrate E2, to be installed in the first electronic substrate mounting section 161. Therefore, the first electronic substrate E1 and the second electronic substrate E2 can be compactly arranged in the second direction D2. Furthermore, by installing the first electronic substrate E1, which has a greater mass than the second electronic substrate E2, in the first electronic substrate mounting section 161, which is closer to the second axis A2, the moment of inertia when the second arm 12b rotates can be reduced.

[0076] As shown in Figures 4 and 5, the leg portion 163 includes a first portion 163a located on the third direction D3+ side of the belt 152c and a second portion 163b located on the third direction D3- side of the belt 152c. The belt 152c is located inside the first portion 163a and the second portion 163b, and the first portion 163a and the second portion 163b are separated from the belt 152c in the third direction D3. As a result, the leg portion 163 does not interfere with the belt 152c and does not obstruct the circulating rotation of the belt 152c.

[0077] The lower ends of the first portion 163a and the second portion 163b are fixed to the upper wall 123a of the arm base 123, respectively. The upper end of the first portion 163a is connected to the end of the lower end of the first electronic substrate mounting portion 161 on the third direction D3+ side. The upper end of the second portion 163b is connected to the end of the lower end of the first electronic substrate mounting portion 161 on the third direction D3- side. In this way, since the leg portion 163 has the first portion 163a and the second portion 163b which are spaced apart from each other, it can stably support the first electronic substrate mounting portion 161 and the second electronic substrate mounting portion 162 without interfering with the belt 152c. Therefore, vibration and damage to the electronic substrates E1 and E2 can be suppressed.

[0078] However, the shape of the leg portion 163 is not limited to the above. For example, the leg portion 163 may support the first electronic board mounting portion 161 and the second electronic board mounting portion 162 with a single leg. In this case, the leg portion 163 may pass inside the belt 152c, and the lower end of the leg portion 163 may be fixed to the upper wall 123a of the arm base 123. In this case as well, the leg portion 163 can be installed without interfering with the belt 152c and can achieve the same effect as described above. Furthermore, the leg portion 163 may be connected only to the second electronic board mounting portion 162 and not to the first electronic board mounting portion 161, or it may be connected to both the first electronic board mounting portion 161 and the second electronic board mounting portion 162. Also, the support member 16 does not have to have a leg portion 163. In this case, for example, the first electronic board mounting portion 161 may be fixed to the support 19b of the second motor 142a.

[0079] Here, we will explain the relationship between the support member 16 and the wiring L1 and L2 extending into the housing 122 of the second arm 12b.

[0080] As shown in Figure 1, the second arm 12b has wiring L2 connected to the interface 124i of the cover 124 and wiring L1 connected to the inertial sensor 18. Wiring L2 and wiring L1 are respectively led from the interface 11i of the base 11, through the base 11, the first arm 12a, and the inside of the connection part 121, and into the cover 124 of the second arm 12b through the opening 121h of the connection part 121, as shown in Figure 2.

[0081] As shown in Figures 2 and 4, the wiring L2 led out from the opening 121h passes through the third direction D3+ side of the motors 141a and 142a and above the first electronic board mounting section 161, then through the space S1 which is on the second direction D2+ side of the first electronic board mounting section 161 and above the second electronic board mounting section 162 inside the housing 122, and connects to the interface 124i. The wiring L2 may be fixed to the motors 141a and 142a while running along their sides. The wiring L2 has an excess length beyond the minimum length required to connect the interface 11i of the base 11 and the interface 124i of the cover 124, so that the cover 124 can be removed or so that the wiring does not break when the cover 124 is removed. The excess length of the wiring L2 is arranged in a flexed state in space S1. Furthermore, the second electronic circuit board mounting section 162 functions as a partition, preventing the excess length of the wiring L2 from interfering with the belt 152c of the power transmission section 150. In addition, the second cover section 124b of the cover 124 prevents the wiring L2 from interfering with the shaft 13c.

[0082] As shown in Figure 4, the wiring L1 led out from the opening 121h passes along the third direction D3+ side of the motors 141a and 142a, and is connected to the inertial sensor 18 along the first portion 163a of the leg portion 163 of the support member 16 and the guide member 17.

[0083] With the wiring L1 aligned along the first portion 163a, the wiring L1 and the first portion 163a are fastened together by a fastening member B1. The fastening member B1 is not particularly limited, but can be cable ties, various tapes, various strings, various wires, etc. This prevents the wiring L1 from being separated from the first portion 163a and from interfering with the belt 152c of the power transmission unit 150.

[0084] Furthermore, the first portion 163a has a restricting portion 163k formed thereon that restricts the position of the binding member B1 in the first direction D1, that is, restricts the movement of the binding member B1 in the first direction D1. In this embodiment, the restricting portion 163k is located approximately in the center of the first portion 163a in the first direction D1 and is composed of a pair of grooves that form a constriction in the first portion 163a. ​​One of the pair of grooves is recessed toward the third direction D3+. The other of the pair of grooves is recessed toward the third direction D3-. The binding member B1 is arranged so as to pass through the pair of grooves, that is, so as to be wound within the grooves. This makes it possible to suppress displacement of the binding member B1 in the first direction D1. As a result, interference between the wiring L1 and the belt 152c of the power transmission unit 150 can be further suppressed.

[0085] The guide member 17 is plate-shaped. The guide member 17 is positioned between the support member 16 and the inertial sensor 18, and guides the wiring L1 from the support member 16 to the inertial sensor 18. As shown in Figure 2, the guide member 17 extends from the top of the arm base 123, through the inside of the arm base 123 and the inside of the belt 151c, to the vicinity of the inertial sensor 18 below the arm base 123. With the wiring L1 aligned with the guide member 17, the wiring L1 and the guide member 17 are fastened together by a binding member B2. This prevents the wiring L1 from separating from the guide member 17 and interfering with the belt 151c of the power transmission unit 150. Note that the binding member B2 can be the same as the one exemplified as the binding member B1.

[0086] As shown in Figure 4, the guide member 17 has a restricting portion 17k that restricts the movement of the binding member B2 in the first direction D1. In this embodiment, the restricting portion 17k is located approximately in the center of the guide member 17 in the first direction D1 and is composed of a groove that is recessed toward the third direction D3-. The binding member B2 is arranged to pass through this groove, that is, to be wound within the groove. As a result, interference between the wiring L1 and the belt 151c of the power transmission unit 150 can be further suppressed.

[0087] However, the configuration of the restricting parts 163k and 17k is not limited to the above, as long as it can restrict the position of the fastening members B1 and B2 in the first direction D1. For example, the restricting part 163k may be composed of a single groove, as in the restricting part 17k. Alternatively, the restricting parts 163k and 17k may be composed of a single through hole. In this case, the fastening members B1 and B2 pass through this through hole while fastening the wiring L1 to the leg portion 163 or the guide member 17. Furthermore, the restricting parts 163k and 17k may be composed of a pair of through holes, as in the restricting parts 263k and 27k of the second embodiment described later. Also, the restricting parts 163k and 17k may be composed of projections or hooks on which the fastening members B1 and B2 can catch. Note that the restricting parts 163k and 17k do not have to be provided on the support member 16 and the guide member 17. Also, the wiring L1 does not have to be fastened to the support member 16. Furthermore, the guide member 17 does not necessarily have to be provided on the second arm 12b.

[0088] The support member 16 and the guide member 17 are made of a material having sufficient strength to support the electronic circuit boards E1 and E2. The constituent material of the support member 16 and the guide member 17 is not particularly limited, but examples include the same materials as those exemplified in the connection part 121 and the arm base 123.

[0089] With the configuration described above, interference between the support member 16, electronic circuit boards E1 and E2, and wiring L1 and L2 and the power transmission unit 150 can be suppressed. In particular, the restricting parts 163k and 17k can suppress interference between the wiring L1 and L2 and the belts 152c and 151c. As a result, the shaft 13c can be driven smoothly.

[0090] Next, the positional relationships between the components provided on the second arm 12b will be described in detail. As shown in Figure 1, in the ceiling-mounted robot 10, the connecting part 121 extends along the second axis A2 (first direction D1) to connect the first arm 12a to the housing 122 located below the first arm 12a. Therefore, the connecting part 121, the power unit 140, and the shaft 13c are arranged side by side in the second direction D2. In this specification, when multiple components are described as being "arranged side by side in the second direction D2," it simply means that these multiple components are located on the same straight line extending along the second direction D2, regardless of their order.

[0091] As described above, the connection part 121, the power unit 140, and the shaft 13c are arranged in the second direction D2. Therefore, as shown in Figure 2, the space inside the cover 124, which is arranged in the second direction D2 alongside the connection part 121, is narrower due to the presence of the connection part 121. This applies not only to ceiling-mounted robots but also to wall-mounted robots. The main difference between a wall-mounted robot and a ceiling-mounted robot 10 is the support direction of the base 11, and the connection part 121 is arranged similarly in a wall-mounted robot. Furthermore, from the viewpoint of suppressing the enlargement of the second arm 12b, it is necessary to effectively utilize this limited space to arrange the electronic circuit boards E1 and E2.

[0092] In contrast, in this embodiment, as described above, electronic boards E1 and E2 can be installed in the first electronic board installation section 161 extending in the first direction D1 and the second electronic board installation section 162 extending in the second direction D2. This allows the space inside the housing 122 to be effectively utilized in the first direction D1 and the second direction D2 to accommodate the electronic boards E1 and E2. In particular, depending on the application, shape, size, thickness, number and position of connection terminals of the electronic boards E1 and E2, they can be appropriately distributed and arranged in the first electronic board installation section 161 and the second electronic board installation section 162, which have different installation angles, thereby making even more effective use of the space.

[0093] Furthermore, the power unit 140 and the shaft 13c are separated, and the power transmission unit 150 is positioned between the power unit 140 and the shaft 13c to transmit power from the power unit 140 to the shaft 13c. In this embodiment, the support member 16 is positioned between the power unit 140 and the shaft 13c and above the power transmission unit 150, thereby making effective use of the limited space inside the cover 124.

[0094] Furthermore, the distance between the first electronic circuit board mounting section 161 and the power unit 140 is shorter than the distance between the first electronic circuit board mounting section 161 and the shaft 13c. Here, "the distance between the first electronic circuit board mounting section 161 and the power unit 140" refers to the distance between the first electronic circuit board mounting section 161 and the motor 141a, or 142a, which is one of the two motors 141a and 142a that make up the power unit 140 and the motor 142a. Therefore, in this embodiment, "the distance between the first electronic circuit board mounting section 161 and the power unit 140" corresponds to the distance between the first electronic circuit board mounting section 161 and the second motor 142a. This reduces the moment of inertia when the second arm 12b rotates.

[0095] However, the position of the support member 16 is not limited to the above. For example, the support member 16 may be positioned between the connecting part 121 and the power unit 140. Alternatively, for example, the support member 16 may be positioned between the first motor 141a and the second motor 142a.

[0096] Furthermore, the position of the first electronic circuit board mounting section 161 is not limited to the above. For example, the first electronic circuit board mounting section 161 may be positioned adjacent to the power unit 140 in the third direction D3. Alternatively, depending on the shape of the cover 124, the first electronic circuit board mounting section 161 may be positioned closer to the shaft 13c. In this case, it is preferable that the second electronic circuit board mounting section 162 extends from the first electronic circuit board mounting section 161 toward the second direction D2-. Furthermore, the position of the second electronic circuit board mounting section 162 is not limited to the above. For example, the second electronic circuit board mounting section 162 may be positioned above the power unit 140.

[0097] Furthermore, the second motor 142a may be positioned between the first motor 141a and the connecting portion 121. Also, the first motor 141a and the second motor 142a do not have to be positioned side by side in the second direction D2. For example, the first motor 141a and the second motor 142a may be positioned side by side in the third direction D3. In addition, the first motor 141a and the second motor 142a may be integrated into a single housing or support, or, as in this embodiment, they may be spaced apart from each other and fixed to the housing 122 by separate support members 19a and 19b.

[0098] Furthermore, the position of the power transmission unit 150 is not limited to the above. For example, the power transmission unit 150 may be entirely located on the arm base 123, or it may be entirely located within the arm base 123.

[0099] Furthermore, the second direction D2 in which the second electronic substrate mounting section 162 extends only needs to intersect with the first direction D1, and does not necessarily have to be perpendicular to the first direction D1.

[0100] As described above, the robot 10 according to this embodiment comprises a base 11, a first arm 12a, a second arm 12b, a shaft 13c, a power unit 140, and a power transmission unit 150. The first arm 12a is provided on the base 11 and is rotatable around a first axis A1 relative to the base 11. The second arm 12b is provided on the first arm 12a and is rotatable around a second axis A2 parallel to the first axis A1 relative to the first arm 12a. The shaft 13c is provided at the tip of the second arm 12b and is rotatable around a third axis A3 parallel to the second axis A2 and is movable up and down along the third axis A3. The power unit 140 includes a first motor 141a that generates power to rotate the shaft 13c and a second motor 142a that generates power to move the shaft 13c up and down. The power transmission unit 150 includes a first transmission unit 151 that transmits power from the first motor 141a to the shaft 13c, and a second transmission unit 152 that transmits power from the second motor 142a to the shaft 13c.

[0101] The second arm 12b includes a housing 122 that houses the power unit 140 and the power transmission unit 150, and a support member 16 housed in the housing 122 that supports the electronic circuit boards E1 and E2. The support member 16 has a first electronic circuit board mounting portion 161 that extends along a first direction D1 parallel to the second axis A2, and a second electronic circuit board mounting portion 162 that extends along a second direction D2 intersecting the first direction D1. The first electronic circuit board mounting portion 161 and the second electronic circuit board mounting portion 162 are located above the power transmission unit 150.

[0102] Therefore, electronic boards E1 and E2 can be installed in the first electronic board mounting section 161 extending in the first direction D1 and the second electronic board mounting section 162 extending in the second direction D2. This allows the space inside the housing 122 to be effectively utilized in the first direction D1 and the second direction D2 to arrange the electronic boards E1 and E2. As a result, the size of the second arm 12b can be suppressed.

[0103] Furthermore, since the first electronic circuit board mounting section 161 and the second electronic circuit board mounting section 162 are located above the power transmission section 150, the space above the power transmission section 150 can be effectively utilized. In addition, interference between the wiring connected to the first electronic circuit board mounting section 161 and the second electronic circuit board mounting section 162 and the power transmission section 150 can be suppressed, allowing the shaft 13c to be driven smoothly.

[0104] Furthermore, the robot 10 is a ceiling-mounted robot. The second arm 12b is connected to the first arm 12a via a connecting part 121. The second direction D2 is perpendicular to the first direction D1. The connecting part 121, power unit 140, support member 16, and shaft 13c are arranged in line with the second direction D2.

[0105] Thus, in the ceiling-mounted robot 10, the space between the shaft 13c and the connection part 121 within the housing 122 is narrow due to the presence of the connection part 121. In such cases, the support member 16 allows the electronic circuit boards E1 and E2 to be housed within the housing 122 by effectively utilizing the extremely limited space within the housing 122 in the first direction D1 and the second direction D2. Furthermore, even in the case of a wall-mounted robot, by applying the support member 16, the electronic circuit boards E1 and E2 can be housed within the housing 122 by effectively utilizing the extremely limited space within the housing 122 in the first direction D1 and the second direction D2.

[0106] Furthermore, the support member 16 has a leg portion 163 that extends in the first direction D1 and is connected to at least one of the first electronic substrate mounting portion 161 and the second electronic substrate mounting portion 162. The leg portion 163 is separated from the power transmission portion 150.

[0107] Therefore, interference between the support member 16 and the power transmission unit 150 is suppressed, and the shaft 13c can be driven smoothly. In addition, the space above the power transmission unit 150 can be effectively utilized.

[0108] Furthermore, the robot 10 is further equipped with wiring L1 (first linear member) extending from the base 11 into the housing 122 of the second arm 12b. The wiring L1 is secured to the leg portion 163 by a binding member B1. The leg portion 163 has a restricting portion 163k that restricts the position of the binding member B1 in a first direction D1.

[0109] Therefore, the wiring L1 can be routed along the leg portion 163. Furthermore, the restricting portion 163k can suppress misalignment of the binding member B1. This prevents the wiring L1 from separating from the leg portion 163 and interfering with movable parts such as the power transmission portion 150, allowing the shaft 13c to be driven smoothly.

[0110] Furthermore, the robot 10 is further equipped with wiring L2 (second linear member) extending from the base 11 into the housing 122 of the second arm 12b. The support member 16 is positioned between the power unit 140 and the shaft 13c. The wiring L2 is above the second electronic circuit board mounting section 162 inside the housing 122 and passes through the space S1 between the power unit 140 and the shaft 13c.

[0111] Therefore, the support member 16 functions as a partition, preventing the wiring L2 from interfering with the power transmission unit 150. In addition, since there is no need to provide a separate member to guard the wiring L1 from interfering with the power transmission unit 150, the number of parts can be reduced.

[0112] Furthermore, the support member 16 is positioned between the power unit 140 and the shaft 13c. The distance between the first electronic circuit board mounting portion 161 of the support member 16 and the power unit 140 is shorter than the distance between the first electronic circuit board mounting portion 161 and the shaft 13c.

[0113] Therefore, the support member 16 can be brought closer to the power unit 140. This reduces the moment of inertia when the second arm 12b rotates.

[0114] Furthermore, the electronic circuit board E2 located in the first electronic circuit board installation section 161 or the second electronic circuit board installation section 162 is a relay circuit board that relays electrical signals.

[0115] Therefore, a relay board that relays signals from an external device such as a control device 30, or signals in the reverse direction, to equipment installed within or around the second arm 12b can be housed in the second arm 12b. This allows the relay board in the second arm 12b to perform various processing such as signal conversion, separation of multiple signals within a single wire, and signal amplification. This increases the design flexibility regarding the type and number of wires extending into the second arm 12b, and the type and number of devices installed within or around the second arm 12b.

[0116] Furthermore, especially when separating signals from an external device such as the control device 30 within a single wiring, as in the case of the second electronic circuit board E2, the number of wires extending from the base 11 to the second arm 12b can be reduced. This simplifies and streamlines the wiring within the second arm 12b.

[0117] In this embodiment, an example was described in which the first linear member is wiring L1, but the first linear member may be a pipe through which a fluid such as air flows. That is, it may be a pipe that is bound to the leg portion 163. Also, multiple linear members may be bound to the leg portion 163. In this embodiment, an example was described in which the second linear member is wiring L2, but the second linear member may be a pipe through which a fluid such as air flows. That is, it may be a pipe that passes through space S1. Also, multiple linear members may pass through space S1.

[0118] <Second Embodiment> Figure 6 is a side view showing a robot system 2 equipped with the robot 20 according to this embodiment. Figure 7 is a partial cross-sectional view of the second arm 22b of the robot 20 shown in Figure 6. Figure 8 is an enlarged perspective view showing a part of the second arm 22b shown in Figure 6. Note that the cover 224 is not shown in Figure 8.

[0119] The robot 20 according to this embodiment differs from the robot 10 according to the first embodiment mainly in the internal structure of the second arm 22b. The differences between this embodiment and the first embodiment will be described below, with the same reference numerals used for identical components, and descriptions omitted as appropriate. The robot 20 also differs from the robot 10 according to the first embodiment in the shape and position of the first arm 12a, first joint 12c, second joint 12d, second drive unit 14b, etc., but these will be given the same reference numerals as in the first embodiment, and descriptions omitted. Furthermore, technical matters in the first embodiment are applicable to the robot 20 according to this embodiment, even if not explicitly stated, as long as there is no contradiction.

[0120] As shown in Figure 6, the second arm 22b includes a connecting portion 221, a housing 222, a support member 26, and a guide member 27. The housing 222 includes an arm base 223 connected to the lower end of the connecting portion 221, and a cover 224 positioned above the arm base 223 and to the side of the connecting portion 221, and detachably attached to the arm base 223.

[0121] As shown in Figure 7, the connection portion 221 differs from the connection portion 121 in the first embodiment mainly in that it does not have an opening 121h in the side wall that communicates with the inside of the cover 224, and that an interface 221i is provided on the second direction D2- side of the lower end of the side wall. The interface 221i can be configured in the same way as interfaces 123i and 124i in the first embodiment.

[0122] The arm base 223 differs from the arm base 123 in the first embodiment mainly in that the lateral portion on the second direction D2- side is open and connected to the lower end of the connection portion 221 on the second direction D2+ side, and that, as shown in Figure 8, an opening 223h is formed in the upper wall 123a that communicates with the inside of the cover 224 and allows wiring L1 and L3 to be routed out.

[0123] As shown in Figure 7, the cover 224 differs from the cover 124 in the first embodiment mainly in that the side portion on the second direction D2- side is not open, it covers the upper end of the shaft 13c, and it does not have an interface 124i. Therefore, in this embodiment, the cover 224 can be removed from the arm base 223 by lifting the cover 224 upward when the first arm 12a is not positioned directly above the cover 224. However, the cover 224 may have an open side portion on the connection portion 121 side, similar to the cover 124 in the first embodiment.

[0124] The first motor 141a is fixed to the upper wall 123a of the arm base 223 via a support 19a, as shown in Figure 8, with its output shaft protruding downward from the housing of the first motor 141a. As shown in Figure 7, this embodiment differs from the first embodiment in that a gear device 241b, which will be described later, is provided instead of the first brake 141b. Also, because the gear device 241b is elongated in the first direction D1, the upper surface of the second motor 142a is located lower than the upper surface of the first motor 141a, which is another difference from the first embodiment.

[0125] Furthermore, the second motor 142a is fixed to the upper wall 123a of the arm base 223 via a support 19b, as shown in Figure 8, with its output shaft protruding downward from the housing of the second motor 142a. As shown in Figure 7, the second brake 142b is positioned below the second motor 142a and around the output shaft.

[0126] Furthermore, the power transmission unit 250 includes a first transmission unit 251 that transmits power from the first motor 141a to the shaft 13c, and a second transmission unit 252 that transmits power from the second motor 142a to the shaft 13c.

[0127] The first transmission unit 251 differs from the first transmission unit 151 in the first embodiment in that, in this embodiment, it is composed of a gear unit 241b and a single-stage pulley-belt mechanism. Specifically, the gear unit 241b is connected to the output shaft of the first motor 141a. The gear unit 241b is not particularly limited, but can be composed of, for example, planetary gears or harmonic gears. The gear unit 241b extends in a first direction D1 from above the arm base 223 through the inside of the arm base 223. Alternatively, a first brake 141b may be provided instead of the gear unit 241b, or both the gear unit 241b and the first brake 141b may be provided. Furthermore, the first transmission unit 251 includes, as a pulley-belt mechanism, an input pulley 251a, an output pulley 251b provided on the spline nut 13a, and an endless belt 251c wrapped around the input pulley 251a and the output pulley 251b.

[0128] The input pulley 251a is located within the arm base 223 and connected to the gear unit 241b. The output pulley 251b is located above the spline nut 13a and within the arm base 223. Therefore, the belt 251c is also located within the arm base 223.

[0129] Furthermore, the second transmission unit 252 differs from the second transmission unit 152 in the first embodiment in that it is located within the arm base 223. Specifically, the second transmission unit 252 includes an input pulley 252a connected to the output shaft of the second motor 142a, an output pulley 252b provided on the ball screw nut 13b, and an endless belt 252c wrapped around the input pulley 252a and the output pulley 252b.

[0130] The input pulley 252a is located inside the arm base 223 and is connected to the output shaft of the second motor 142a. The output pulley 252b is located below the ball screw nut 13b and is also located inside the arm base 223. Therefore, the belt 252c is also located inside the arm base 223.

[0131] As shown in Figures 6, 7, and 8, the support member 26 is positioned inside the housing 222 and above the arm base 223, and supports at least one electronic circuit board. In this embodiment, an example in which the first electronic circuit board E1 is installed on the support member 26 is described. However, the type of electronic circuit board installed on the support member 26 is not limited to the above. Examples of electronic circuit boards installed on the support member 26 are the same as those exemplified in the first embodiment.

[0132] By the way, the length of the arm base 223 along the second direction D2 in this embodiment is shorter than the length of the arm base 123 along the second direction D2 in the first embodiment. Therefore, the distance between the second motor 142a and the shaft 13c in this embodiment is shorter than the distance between the second motor 142a and the shaft 13c in the first embodiment. Accordingly, in this embodiment, the support member 26 has an electronic circuit board mounting portion 261 located above the second motor 142a and extending in the second direction D2, and a leg portion 263 extending in the first direction D1 and connected to the electronic circuit board mounting portion 261. Hereinafter, the electronic circuit board mounting portion 261 will also be referred to as the "first electronic circuit board mounting portion 261".

[0133] The first electronic circuit board mounting section 261 and the leg section 263 are each plate-shaped. The support member 26 may be formed by joining separate plate materials that constitute the first electronic circuit board mounting section 261 and the leg section 263, or it may be formed by integrally molding these parts, for example, by cutting and bending a part of a single plate material.

[0134] A first electronic substrate E1 is installed in the first electronic substrate mounting section 261. The first electronic substrate mounting section 261 has a flat plate portion 261a parallel to the second direction D2 and the third direction D3 (parallel to the XY plane), and a plurality of support columns 261b located between the flat plate portion 261a and the first electronic substrate E1. As shown in Figure 8, the shape of the flat plate portion 261a as viewed from the first direction D1 is substantially rectangular. However, the specific shape of the flat plate portion 261a is not particularly limited. Each support column 261b is fixed to the flat plate portion 261a. Screw holes are formed in each support column 261b, and the first electronic substrate E1 can be installed in the first electronic substrate mounting section 261 by placing the first electronic substrate E1 on the plurality of support columns 261b, inserting screws into the first electronic substrate E1, and screwing them into the screw holes.

[0135] The leg portion 263 is positioned between the shaft 13c and the second motor 142a in the second direction D2. Therefore, in this embodiment as well, the connecting portion 221, the power unit 140, the support member 26, and the shaft 13c are arranged in line with the second direction D2. The lower end of the leg portion 263 is fixed to the support 19b of the second motor 142a. The upper end of the leg portion 263 is connected to the end of the first electronic circuit board mounting portion 261 on the second direction D2+ side.

[0136] Furthermore, another electronic circuit board mounting section 241c is provided on the side of the housing of the first motor 141a on the third direction D3+ side. Hereinafter, the electronic circuit board mounting section 241c will also be referred to as the "second electronic circuit board mounting section 241c". The second electronic circuit board E2 is installed in the second electronic circuit board mounting section 241c. The second electronic circuit board mounting section 241c is composed of a plurality of support columns 241d located between it and the second electronic circuit board E2. Each support column 241d is fixed to the housing of the motor 141a. Screw holes are formed in each support column 241d, and the second electronic circuit board E2 can be installed in the second electronic circuit board mounting section 241c by placing the second electronic circuit board E2 on the plurality of support columns 241d and inserting screws into the second electronic circuit board E2 and screwing them into the screw holes.

[0137] Here, we will explain the relationship between the support member 26 and the wiring L1 and L3 that extends into the housing 122 of the second arm 22b.

[0138] The second arm 22b has wiring L1 connected to the inertial sensor 18 and wiring L3 that sends signals with different content from the second electronic board E2 to the first motor 141a and the second motor 142a. As shown in Figure 6, wirings L1 and L3 are led out from the interface 11i of the base 11, through the base 11, the first arm 12a, the connection part 221 and the inside of the arm base 223, and into the cover 224 through the opening 223h of the arm base 223, as shown in Figure 8.

[0139] As shown in Figure 7, the wiring L2 in this embodiment differs from the wiring L2 in the first embodiment in that it is connected to the interface 221i of the connection part 221 and does not extend into the interior of the housing 122.

[0140] As shown in Figure 8, the wiring L3 led out from the opening 223h passes through the third direction D3+ side of the motors 141a and 142a and connects to a branch connector C1 located in the space S2 between the first electronic circuit board mounting section 261 and the second motor 142a, on the second direction D2- side of the leg section 263. This wiring L3 is branched by the branch connector C1 into wiring connected to the first motor 141a and wiring connected to the second motor 142a. The first electronic circuit board mounting section 261 and the leg section 263 function as partitions, preventing interference between the wiring L3 and the branch connector C1 with the shaft 13c, and allowing the shaft 13c to be driven smoothly. Note that multiple combinations of such wiring L3 and branch connector C1 may be provided. Furthermore, the space S2 is not limited to wiring L3; other wiring or linear members such as pipes may also pass through it.

[0141] Furthermore, the wiring L1 led out from the opening 223h passes through the third direction D3+ side of the motors 141a and 142a, along the legs 263 and guide member 27 of the support member 26, and is connected to the inertial sensor 18. Alternatively, after passing through the third direction D3+ side of the motors 141a and 142a, the wiring L1 may be led out through a through-hole in the leg 263 (not shown) to the second direction D2+ side of the leg 263. Alternatively, the opening 223h may be provided on the third direction D3- side of the motors 141a and 142a, and the wiring L1 may pass through the third direction D3- side of the motors 141a and 142a.

[0142] With the wiring L1 running along the leg portion 263, the wiring L1 and the leg portion 263 are secured together by the fastening member B1. This prevents the wiring L1 from interfering with the shaft 13c and the belts 251c and 252c of the lower power transmission section 150 by keeping it away from the leg portion 263, and allows the shaft 13c to be driven smoothly.

[0143] The leg portion 163 has a restricting portion 263k that restricts the position of the binding member B1 in the first direction D1. In this embodiment, the restricting portion 263k is located below the center of the leg portion 263 in the first direction D1 and is composed of a pair of through holes that penetrate the leg portion 263. The pair of through holes are formed approximately in the center of the leg portion 263 in the third direction D3 and are aligned in the third direction D3. The binding member B1 is positioned to pass through the pair of through holes. This prevents the binding member B1 from shifting position in the first direction D1 and the third direction D3. As a result, interference between the wiring L1 and the shaft 13c and the belts 251c and 252c of the lower power transmission section 150 can be further suppressed. This allows the shaft 13c to be driven smoothly.

[0144] As shown in Figure 7, the guide member 27 is located between the support member 26 and the inertial sensor 18, and is positioned inside the belt 251c, guiding the wiring L1 from the support member 26 to the inertial sensor 18. With the wiring L1 aligned with the guide member 17, the wiring L1 and the guide member 27 are fastened together by the fastening member B2. This prevents the wiring L1 from separating from the guide member 17 and interfering with the belts 251c and 252c of the power transmission unit 250, allowing the shaft 13c to be driven smoothly.

[0145] As shown in Figure 8, the guide member 27 has a restricting portion 27k that restricts the position of the binding member B2 in the first direction D1. In this embodiment, the restricting portion 27k is composed of a pair of through holes that penetrate the guide member 27. The binding member B2 is positioned to pass through the pair of through holes. This prevents the binding member B2 from shifting position in the first direction D1 and the third direction D3. As a result, interference between the wiring L1 and the belts 251c and 252c of the power transmission unit 250 can be further suppressed.

[0146] The first electronic circuit board mounting section 261 may be located on the first motor 141a. The second electronic circuit board mounting section 241c may be provided on the side of the second motor 142a, or on the support 19b of the second motor 142a. The second electronic circuit board mounting section 241c may also be provided on the support member 26. In this case, for example, the second electronic circuit board mounting section 241c may be provided on the leg portion 263, provided that the second electronic circuit board E2 and the wiring connected to the second electronic circuit board E2 do not interfere with the shaft 13c. Furthermore, the second electronic circuit board mounting section 241c does not have to be provided on the housing 222.

[0147] As described above, the robot 20 according to this embodiment comprises a base 11, a first arm 12a, a second arm 22b, a shaft 13c, a power unit 140, and a power transmission unit 150. The first arm 12a is provided on the base 11 and is rotatable around a first axis A1 relative to the base 11. The second arm 22b is provided on the first arm 12a and is rotatable around a second axis A2 parallel to the first axis A1 relative to the first arm 12a. The shaft 13c is provided at the tip of the second arm 22b and is rotatable around a third axis A3 parallel to the second axis A2 and is movable up and down along the third axis A3. The power unit 140 includes a first motor 141a that generates power to rotate the shaft 13c and a second motor 142a that generates power to move the shaft 13c up and down. The power transmission unit 150 includes a first transmission unit 151 that transmits power from the first motor 141a to the shaft 13c, and a second transmission unit 152 that transmits power from the second motor 142a to the shaft 13c.

[0148] The second arm 22b includes a housing 222 that houses the power unit 140 and the power transmission unit 150, and a support member 26 housed in the housing 222 that supports the electronic circuit board E1. The support member 26 is located above the power unit 140 and has a first electronic circuit board mounting portion 261 that extends in a second direction D2 that intersects a first direction D1 parallel to the second axis A2.

[0149] Therefore, the electronic circuit board E1 can be installed in the first electronic circuit board mounting section 261 located above the power unit 140. In this way, the electronic circuit board E1 can be installed so as to overlap with the power unit 140 when viewed from the first direction D1, allowing the limited space inside the housing 222 to be effectively utilized to accommodate the electronic circuit board E1. This prevents the second arm 22b from becoming larger.

[0150] Robot 20 is a ceiling-mounted robot. The second arm 22b is connected to the first arm 12a via a connecting part 221. The second direction D2 is perpendicular to the first direction D1. The connecting part 221, power unit 140, support member 26, and shaft 13c are arranged in line with the second direction D2.

[0151] Therefore, within the housing 222, the space between the shaft 13c and the connecting portion 221 is narrowed by the presence of the connecting portion 221. In such a case, the support member 26 allows the electronic circuit board E1 to be housed within the housing 222 by effectively utilizing the extremely limited space within the housing 222.

[0152] Furthermore, the support member 26 has a leg portion 263 that extends in the first direction D1 and is connected to the first electronic circuit board mounting portion 261. The leg portion 263 is separated from the power transmission portion 150.

[0153] Therefore, interference between the support member 26 and the power transmission unit 150 is suppressed, and the shaft 13c can be driven smoothly. In addition, the space above the power unit 140 can be effectively utilized.

[0154] Furthermore, the robot 10 is equipped with wiring L1 extending from the base 11 into the housing 222 of the second arm 22b. The wiring L1 is secured to the leg portion 263 by a binding member B1. The leg portion 263 has a restricting portion 263k that restricts the position of the binding member B1 in a first direction D1.

[0155] Therefore, the wiring L1 can be routed along the leg portion 263. Furthermore, the restricting portion 263k can suppress misalignment of the binding member B1. This prevents the wiring L1 from separating from the leg portion 263 and interfering with movable parts such as the shaft 13c, allowing the shaft 13c to be driven smoothly.

[0156] In the embodiments described above, examples were given in which the connecting parts 121 and 221 are components of the second arms 12b and 22b. However, the connecting parts 121 and 221 that connect the first arm 12a and the second arms 12b and 22b and extend along the second axis A2 may also be components of the first arm 12a. In this case, the second joint 12d is located between the connecting parts 121 and 221 and the arm base 123 of the second arms 12b and 22b.

[0157] Although the robot according to the present invention has been described in detail in the illustrated embodiments, the present invention is not limited to these embodiments. Furthermore, each part of the robot can be replaced with any structure capable of performing similar functions. In addition, any structure may be added to the robot. [Explanation of Symbols]

[0158] 1...Robot system, 2...Robot system, 10...Robot, 11...Base, 11i...Interface, 12...Robot arm, 12a...First arm, 12b...Second arm, 12c...First joint, 12d...Second joint, 13...Working head, 13a...Spline nut, 13b...Ball screw nut, 13c...Shaft, 13d...End effector, 14a...First drive unit, 14b...Second drive unit, 14c...Third drive unit, 16...Support member, 17...Guide member, 17k...Regulating unit, 18...Inertial sensor, 19a...Support, 19b...Support, 20...Robot, 22b...First 2 arms, 26...support member, 27...guide member, 27k...regulating part, 30...control device, 121...connection part, 121h...opening, 122...housing, 123...arm base, 123a...upper wall, 123b...lower wall, 123c...side wall, 123h...mounting hole, 123i...interface, 124...cover, 124a...first cover part, 124b...second cover part, 124c...third cover part, 124i...interface, 140...power unit, 141a...first motor, 141b...first brake, 142a...second motor, 142b...second brake, 150...power transmission unit, 151...first transmission 151a…Input pulley, 151b…Output pulley, 151c…Belt, 152…Second transmission unit, 152a…Input pulley, 152b…Output pulley, 152c…Belt, 161…First electronic circuit board mounting unit, 161a…Flat plate unit, 161b…Support column, 162…Second electronic circuit board mounting unit, 162a…Flat plate unit, 162b…Support column, 163…Legs, 163a…First part, 163b…Second part, 163k…Regulating unit, 221…Connection unit, 221i…Interface, 222…Housing, 223…Arm base, 223h…Opening, 224…Cover, 241b…Gear device, 241c…Electronic 241d...support column, 251...first transmission section, 251a...input pulley, 251b...output pulley, 251c...belt, 252...second transmission section, 252a...input pulley, 252b...output pulley, 252c...belt, 261...first electronic circuit board installation section, 261a...flat plate section, 261b...support column, 263...leg section, 263k...regulating section, A1...first axis, A2...second axis, A3...third axis, B1...binding member, B2...binding member, C1...branch connector, D1...first direction, D2...second direction, D3...third direction, E1...first electronic circuit board, E2...second electronic circuit board, L1...wiring, L2...wiring,L3…wiring, S1…space, S2…space, W1…support body,

Claims

1. Base and, A first arm is provided on the base and is rotatable about a first axis relative to the base, A second arm is provided on the first arm and is rotatable around a second axis parallel to the first axis relative to the first arm, A shaft provided at the tip of the second arm, which is rotatable around a third axis parallel to the second axis and can move up and down along the third axis, A power unit having a first motor that generates power to rotate the shaft and a second motor that generates power to raise and lower the shaft, A power transmission unit having a first transmission unit that transmits the power of the first motor to the shaft, and a second transmission unit that transmits the power of the second motor to the shaft, Equipped with, The second arm comprises a housing that houses the power unit and the power transmission unit, and a support member housed in the housing that supports an electronic circuit board. The support member has a first electronic substrate mounting portion extending along a first direction parallel to the second axis, and a second electronic substrate mounting portion extending along a second direction intersecting the first direction. The first electronic circuit board mounting section and the second electronic circuit board mounting section are located above the power transmission section. A robot characterized by the following features.

2. It is a ceiling-mounted robot, The second arm is connected to the first arm via a connecting portion. The second direction is perpendicular to the first direction. The robot according to claim 1, wherein the connecting portion, the power unit, the support member, and the shaft are arranged in the second direction.

3. The support member further has a leg portion that extends in the first direction and is connected to at least one of the first electronic substrate mounting portion and the second electronic substrate mounting portion, The robot according to claim 1 or 2, wherein the legs are separated from the power transmission unit.

4. The second arm further comprises a first linear member extending from the base into the housing of the second arm, The first linear member is attached to the leg portion by a binding member, The robot according to claim 3, wherein the leg portion has a restricting portion that restricts the position of the fastening member in the first direction.

5. The second linear member further comprises the base extending into the housing of the second arm, The support member is positioned between the power unit and the shaft. The robot according to claim 1 or 2, wherein the second linear member is located above the second electronic circuit board mounting portion within the housing and passes through the space between the power unit and the shaft.

6. The support member is positioned between the power unit and the shaft. The robot according to claim 1 or 2, wherein the distance between the first electronic circuit board mounting portion of the support member and the power unit is shorter than the distance between the first electronic circuit board mounting portion and the shaft.

7. The robot according to claim 1 or 2, wherein the electronic circuit board disposed in the first electronic circuit board installation section or the second electronic circuit board installation section is a relay circuit board that relays electrical signals.

8. Base and, A first arm is provided on the base and is rotatable about a first axis relative to the base, A second arm is provided on the first arm and is rotatable around a second axis parallel to the first axis relative to the first arm, A shaft provided at the tip of the second arm, which is rotatable around a third axis parallel to the second axis and can move up and down along the third axis, A power unit having a first motor that generates power to rotate the shaft and a second motor that generates power to raise and lower the shaft, A power transmission unit having a first transmission unit that transmits the power of the first motor to the shaft, and a second transmission unit that transmits the power of the second motor to the shaft, Equipped with, The second arm comprises a housing that houses the power unit and the power transmission unit, and a support member housed in the housing that supports an electronic circuit board. The support member is located above the power unit and has an electronic circuit board mounting portion that extends in a second direction intersecting a first direction parallel to the second axis. A robot characterized by the following features.

9. It is a ceiling-mounted robot, The second arm is connected to the first arm via a connecting portion. The second direction is perpendicular to the first direction. The robot according to claim 8, wherein the connecting portion, the power unit, the support member, and the shaft are arranged in the second direction.

10. The support member further has legs that extend in the first direction and are connected to the electronic circuit board mounting portion. The robot according to claim 8 or 9, wherein the legs are separated from the power transmission unit.

11. The second arm further comprises a first linear member extending from the base into the housing of the second arm, The first linear member is attached to the leg portion by a binding member, The robot according to claim 10, wherein the leg portion has a restricting portion that restricts the position of the fastening member in the first direction.

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