robot

Abstract

A carrier (36) for an eccentric oscillation speed reducer (3) of a robot (100) is attached to a base (1) so as not to rotate with the rotation of a first arm (8) rotated by an output part (35) of the eccentric oscillation speed reducer (3) when the eccentric oscillation speed reducer (3) is provided to a first joint part (8a), and is attached to the first arm (8) so as not to rotate with the rotation of a second arm (9) rotated by the output part of the eccentric oscillation speed reducer (3) when the eccentric oscillation speed reducer (3) is provided to a second joint part (9a). A motor (2) is attached to the carrier (36).

Description

[Technical field]

[0001] The present invention relates to a robot, and more particularly to a robot equipped with a motor. [Background technology]

[0002] Conventionally, a robot equipped with a motor is known. Such a robot is disclosed in, for example, Japanese Patent Application Laid-Open No. 2020-116716.

[0003] The above-mentioned JP 2020-116716 A discloses a robot including a motor, a base, and first to sixth arm members. Here, the joint structure between the second arm member and the third arm member of the first to sixth arm members in the robot includes the second arm member, the third arm member, a reducer, a casing, and a motor. The third arm is rotatably attached to the second arm.

[0004] The reducer in the joint structure of the robot of JP 2020-116716 A is provided to rotate the third arm relative to the second arm by the motor. The reducer includes an input gear, a crankshaft, and a reducer output shaft. The input gear is connected to the motor. The crankshaft rotates by the driving force of the motor transmitted from the input gear. The reducer output shaft rotates by the driving force of the motor transmitted after the rotation of the crankshaft is reduced. The casing is configured to rotate together with the reducer output shaft. The casing is connected to the third arm. As a result, the third arm rotates in accordance with the rotation of the casing. Here, the motor is attached to the casing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-116716 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the robot of JP 2020-116716 A, since the motor is attached to the casing, the motor rotates together with the casing. Therefore, in the robot of JP 2020-116716 A, the wiring connected to the motor moves repeatedly with the rotation of the motor, so that special wiring such as a movable harness is required to accommodate the repeated movement. For this reason, it is desirable to simplify the configuration of the robot by using more general-purpose wiring in the robot of JP 2020-116716 A.

[0007] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a robot that can simplify the configuration of the robot by enabling the use of more general-purpose wiring. [Means for solving the problem]

[0008] According to a first aspect of the present invention, there is provided a robot comprising: a base; a first arm attached to the base so as to be rotatable relative to the base; a second arm attached to the first arm so as to be rotatable relative to the first arm; a first joint section which connects the first arm and the base; a second joint section which connects the first arm and the second arm; a motor; an input section which rotates by a driving force of the motor; an eccentric rotation section to which the rotation of the input section is reduced and transmitted; an output section to which the rotation of the eccentric rotation section is reduced and transmitted; and an eccentric oscillating reducer including a carrier arranged inside the output section, wherein the carrier of the eccentric oscillating reducer is Leave The first arm is rotated by the output part of the eccentric oscillating reducer, and the second arm is attached to the base so as not to rotate with the rotation of the first arm. Configuration , and, When the eccentric oscillating reducer is provided in the second joint section, Leave The second arm is attached to the first arm so as not to rotate with the rotation of the second arm which is rotated by the output part of the eccentric oscillating reducer. The present invention has at least one of the following configurations:The motor is mounted on a carrier. the motor holder is attached to the carrier in a state in which the motor is held, the carrier is attached to the base so as not to rotate with the rotation of the first arm, the motor is fixed to the carrier via the motor holder in a state in which the motor is disposed in the external space of the base, and an oil seal is further provided between the motor holder and the first arm. .

[0009] In the robot according to the first aspect of the present invention, as described above, when the eccentric oscillating reducer is provided in the first joint portion, Leave The first arm is rotated by the output part of the eccentric oscillating reducer, and the second arm is attached to the base so as not to rotate with the rotation of the first arm. Configuration , and, When the eccentric oscillating reducer is provided in the second joint section, Leave The second arm is attached to the first arm so as not to rotate with the rotation of the second arm which is rotated by the output part of the eccentric oscillating reducer. The present invention has at least one of the following configurations: In addition, the motor is attached to the carrier. As a result, the motor does not rotate (pivot) together with the first arm or the second arm, and therefore there is no need to use special wiring such as a movable harness that corresponds to repeated movement of the wiring connected to the motor. As a result, more versatile wiring can be used, and the configuration of the robot can be simplified. In addition, since the motor does not rotate together with the first arm or the second arm, the wiring path of the wiring that extends from the motor and is connected to the motor arranged in the base can be made constant. Therefore, compared to the case where the motor rotates together with the first arm or the second arm, an increase in the wiring space required for arranging the wiring can be suppressed (fixed wiring). As a result, since an increase in the wiring space can be suppressed, the wiring connected to the motor can be easily arranged in the base or the first arm. Furthermore, even if there is insufficient space to directly mount the motor on the carrier, the motor can be mounted on the carrier by using a motor holder, so that the motor can be reliably mounted on the carrier. Furthermore, since the motor can be cooled by outside air, the motor can be cooled more efficiently than in the case where the motor is disposed inside the base. Furthermore, even when the first arm is rotated by rotating the output part while a motor arranged in the external space of the base is attached to the carrier, it is possible to prevent grease used in the eccentric oscillating reducer from leaking to the outside through the gap between the carrier and the output part. According to a second aspect of the present invention, there is provided a robot comprising: a base; a first arm attached to the base so as to be rotatable relative to the base; a second arm attached to the first arm so as to be rotatable relative to the first arm; a first joint section which connects the first arm and the base; a second joint section which connects the first arm and the second arm; a motor; an input section which rotates by a driving force of the motor; an eccentric rotation section to which the rotation of the input section is reduced and transmitted; an output section to which the rotation of the eccentric rotation section is reduced and transmitted; and an eccentric oscillating reducer including a carrier arranged inside the output section, wherein when the eccentric oscillating reducer is provided in the first joint section, the carrier of the eccentric oscillating reducer is attached to the base so as not to rotate in conjunction with the rotation of the first arm which is rotated by the output section of the eccentric oscillating reducer; and when the eccentric oscillating reducer is provided in the second joint section, the output section of the eccentric oscillating reducer is The motor has at least one of a configuration in which the motor is attached to the first arm so that it does not rotate with the rotation of the second arm which is rotated by the force portion, the motor is attached to the carrier, and further includes a motor holder attached to the carrier in a state in which the motor is held, the carrier is attached to the base so that it does not rotate with the rotation of the first arm, the motor is disposed in the external space of the base and fixed to the carrier via the motor holder, one motor is provided, the carrier includes a first carrier portion provided on the opposite side to the base in the direction in which the rotation axis of the eccentric rotation portion extends, and a second carrier portion connected to the first carrier portion and provided on the base side in the direction in which the rotation axis of the eccentric rotation portion extends, the second carrier portion is attached to the base, and the motor is attached to the first carrier portion. In the robot according to the second aspect of the present invention, as described above, the second carrier part is attached to the base, and the motor is attached to the first carrier part. With this, since the second carrier part is attached to the base, it is possible to prevent the second carrier part from rotating together with the first arm, and therefore it is possible to prevent the first carrier part connected to the second carrier part from rotating together with the first arm. As a result, it is possible to easily assemble the motor, which is configured not to rotate together with the first arm, to the carrier. Furthermore, even if there is insufficient space to directly mount the motor on the carrier, the motor can be mounted on the carrier by using a motor holder, so that the motor can be reliably mounted on the carrier. Furthermore, since the motor can be cooled by outside air, the motor can be cooled more efficiently than in the case where the motor is disposed inside the base. According to a third aspect of the present invention, there is provided a robot comprising: a base; a first arm attached to the base so as to be rotatable relative to the base; a second arm attached to the first arm so as to be rotatable relative to the first arm; a first joint section which connects the first arm and the base; a second joint section which connects the first arm and the second arm; a motor; an input section which rotates by a driving force of the motor; an eccentric rotation section to which the rotation of the input section is reduced and transmitted; an output section to which the rotation of the eccentric rotation section is reduced and transmitted; and an eccentric oscillating reducer including a carrier arranged inside the output section, wherein when the eccentric oscillating reducer is provided in the first joint section, the carrier of the eccentric oscillating reducer is rotated by the output section of the eccentric oscillating reducer. and when the eccentric oscillating reducer is provided in the second joint portion, the eccentric oscillating reducer is attached to the first arm so as not to rotate with the rotation of the second arm which is rotated by the output part of the eccentric oscillating reducer. The motor is attached to the carrier and further includes a motor holder attached to the carrier in a state in which the motor is held, and a plurality of motors are provided so as to drive synchronously with each other, the eccentric rotating portion has a plurality of crankshafts, and the plurality of crankshafts are configured to rotate by the driving force of the plurality of motors. In the robot according to the third aspect of the present invention, as described above, the multiple crankshafts are configured to be rotated by the driving force of the multiple motors. This makes it possible to increase the driving force of the eccentric oscillating reducer compared to a case in which multiple crankshafts are rotated by one motor. As a result, the payload that can be rotated by the eccentric oscillating reducer can be increased. Furthermore, even if there is insufficient space to directly mount the motor on the carrier, the motor can be mounted on the carrier by using a motor holder, so that the motor can be reliably mounted on the carrier.

[0011] In the robot according to the third aspect, Preferably, the carrier is attached to the base so as not to rotate with the rotation of the first arm, and the motor is fixed to the carrier via a motor holder while being disposed in the external space of the base. With this configuration, the motor can be cooled by external air, and therefore the motor can be cooled more efficiently than when the motor is disposed inside the base.

[0012] The robot having the motor disposed in the external space of the base preferably further comprises an oil seal disposed between the motor holder and the first arm. With this configuration, even when the motor disposed in the external space of the base is attached to the carrier and the output part is rotated to rotate the first arm, it is possible to prevent grease used in the eccentric oscillating reducer from leaking out from the gap between the carrier and the output part.

[0013] In the robot according to the first aspect, Preferably, one motor is provided, and the carrier includes a first carrier part provided on the opposite side to the base in the direction in which the rotation axis of the eccentric rotation part extends, and a second carrier part connected to the first carrier part and provided on the base side in the direction in which the rotation axis of the eccentric rotation part extends, the second carrier part is attached to the base, and the motor is attached to the first carrier part. With this configuration, since the second carrier part is attached to the base, it is possible to prevent the second carrier part from rotating together with the first arm, and therefore the first carrier part connected to the second carrier part can also be prevented from rotating together with the first arm. As a result, a motor configured not to rotate together with the first arm can be easily assembled to the carrier.

[0014] In the robot having the motor attached to the first carrier part, the motor is preferably disposed at a position offset from the center of the first carrier part in a radial direction perpendicular to the direction in which the rotation axis of the eccentric rotor extends. With this configuration, the motor can be prevented from covering a central part of the first carrier part in the radial direction perpendicular to the direction in which the rotation axis of the eccentric rotor extends, and therefore the central part of the first carrier part can be used for purposes such as passing wiring through it.

[0015] In the robot having the motor disposed at an offset position from the center of the first carrier part, the eccentric oscillating reducer preferably has a through hole penetrating in the direction of extension of the rotation axis of the eccentric rotor, includes a hollow transmission shaft connected to the input part for transmitting the driving force from the motor to the eccentric rotor, and further includes wiring connected to the motor while passing through the through hole. With this configuration, unlike the case where the wiring is exposed to the outside of the first carrier part, the wiring can be contained within the first carrier part, thereby reducing the exposure of the wiring.

[0016] In the robot equipped with the hollow transmission shaft including the through hole, the base preferably includes a base-side ventilation part for ventilating the internal space of the base with the external space of the base, and further includes a shaft cover covering the motor side in the direction in which the rotation axis of the eccentric rotating part extends in the through hole of the transmission shaft and including a reducer-side ventilation part for ventilating the internal space of the base with the external space of the base via the through hole. With this configuration, air can flow via the base-side ventilation part, the through hole of the transmission shaft, and the reducer-side ventilation part of the shaft cover, so that the eccentric oscillating reducer can be efficiently cooled.

[0017] In the robot according to the first aspect, the second aspect or the third aspect Preferably, convex fins are formed on the outer surface of the motor holder. With this configuration, the motor holder can be efficiently cooled by the convex fins, and therefore the motor held in the motor holder can be efficiently cooled.

[0018] In the robot equipped with the hollow transmission shaft including the through hole, preferably, the base includes a base-side ventilation part for ventilating an internal space of the base with an external space of the base, and further includes a motor cover that covers the motor and includes a motor-side ventilation part for ventilating the internal space of the base with the external space of the base via the through hole. With this configuration, the dustproofness of the motor can be improved by covering the motor with the motor cover, and air can be made to flow from the base-side ventilation part toward the motor-side ventilation part, thereby efficiently cooling the motor inside the motor cover.

[0019] In the robot equipped with the motor cover, the motor and the motor cover are preferably connected directly or via a heat conductor, which facilitates heat transfer from the motor to the motor cover, thereby allowing the motor inside the motor cover to be cooled efficiently.

[0020] In the robot according to the first aspect, Preferably, a plurality of motors are provided so as to drive synchronously with each other, and the eccentric rotation unit has a plurality of crankshafts, which are configured to rotate by the driving force of the plurality of motors. With this configuration, the driving force of the eccentric oscillating reducer can be made larger than when a single motor is used to rotate a plurality of crankshafts. As a result, the payload that can be rotated by the eccentric oscillating reducer can be increased.

[0021] In the robot having the multiple motors, the multiple motors preferably have a first motor and a second motor, the carrier includes a first carrier part provided on the opposite side of the base or the first arm in the direction in which the rotation axis of the crankshaft extends, and a second carrier part connected to the first carrier part and provided on the base or the first arm in the direction in which the rotation axis of the crankshaft extends, the first motor is attached to at least one of the first carrier part and the second carrier part, and the second motor is attached to at least one of the first carrier part and the second carrier part. With this configuration, since the second carrier part is attached to the base or the first arm, it is possible to prevent the second carrier part from rotating together with the first arm or the second arm, and therefore the first carrier part connected to the second carrier part can also be prevented from rotating together with the first arm or the second arm. As a result, it is easy to assemble the first motor and the second motor to the carrier so that they do not rotate together with the first arm or the second arm.

[0022] In the robot including the first carrier part and the second carrier part, preferably, the second carrier part is attached to the base or the first arm, and both the first motor and the second motor are attached to the second carrier part while being disposed in the internal space of the base or the first arm. With this configuration, both the first motor and the second motor can be disposed in the internal space of the base or the first arm without rotating together with the first arm or the second arm, so that interference between the first motor and the second motor and other members disposed in the internal space of the base or the first arm can be suppressed.

[0023] In the robot having the first carrier part and the second carrier part, the second carrier part is preferably attached to the base or the first arm, and both the first motor and the second motor are attached to the first carrier part while being disposed in the external space of the base or the first arm. With this configuration, the first motor and the second motor can be cooled by external air, and therefore the first motor and the second motor can be efficiently cooled.

[0024] In the robot including the first carrier part and the second carrier part, preferably, the second carrier part is attached to the base or the first arm, the first motor is attached to the first carrier part, and the second motor is attached to the base or the first arm together with the second carrier part while being disposed in the internal space of the base or the first arm. With this configuration, the first motor can be attached to the first carrier part without rotating with the first arm or the second arm, and the second motor can be disposed in the internal space of the base or the first arm without rotating with the first arm or the second arm. Therefore, since both the first motor and the second motor do not rotate with the first arm or the second arm, it is possible to prevent the first motor and the second motor from rotating relative to each other. As a result, it is not necessary to control the rotation speed of the motors taking into account the relative rotation between the first motor and the second motor caused by the rotation of the first arm or the second arm, so that the synchronous control of the first motor and the second motor can be easily performed.

[0025] In the robot having the second motor disposed in the internal space of the base or the second arm, the input unit preferably includes a first input gear connected to the first motor and a second input gear connected to the second motor, and the eccentric oscillating reducer includes a plurality of spur gears that transmit the driving force of the first input gear and the driving force of the second input gear to the plurality of crankshafts. With this configuration, the plurality of spur gears can be rotated with both the first input gear and the second input gear meshed with each other, so that the rotation of each of the first motor and the second motor can be decelerated and transmitted to the plurality of crankshafts by changing the number of teeth of each of the plurality of spur gears, the first input gear, and the second input gear.

[0026] In the robot having the first input gear and the second input gear, the first input gear and the second input gear are preferably meshed with the same spur gears, and the same spur gears are arranged on the base or the first arm side of each of the crankshafts, with the first input gear meshing with the first carrier side and the second input gear meshing with the second carrier side. With this configuration, both the first input gear and the second input gear can be connected to the same spur gears, so that the load and friction of the eccentric oscillating reducer applied to the first motor and the load and friction of the eccentric oscillating reducer applied to the second motor can be made substantially the same. As a result, the first motor and the second motor can be controlled in the same way to rotate the multiple crankshafts in the same way, making it easy to synchronize the first motor and the second motor.

[0027] In the robot having the first input gear and the second input gear, preferably, the plurality of spur gears are arranged on the opposite side of the base or the first arm of each of the plurality of crankshafts, and include a first spur gear connected to the first input gear, and a second spur gear arranged on the base or the first arm of each of the plurality of crankshafts, and connected to the second input gear. With this configuration, the first spur gear can be arranged closer to the first motor, so that the interval between the first input gear and the first motor can be reduced. Also, the second spur gear can be arranged closer to the second motor, so that the interval between the second input gear and the second motor can be reduced. As a result, the mass of the shaft between the first input gear and the first motor can be reduced, and the mass of the shaft between the second input gear and the second motor can be reduced, so that an increase in the load inertia (load moment of inertia) applied to the first motor and the second motor can be suppressed.

[0028] In the robot having the first and second spur gears, preferably, the distance from the first motor to the first input gear in the direction in which the crankshaft extends is substantially the same as the distance from the second motor to the second input gear. With this configuration, the length of the shaft connecting the first motor and the first input gear and the length of the shaft connecting the second motor and the second input gear can be made the same, so that the mass of the shaft connecting the first motor and the first input gear and the mass of the shaft connecting the second motor and the second input gear can be made substantially the same. As a result, the inertia (moment of inertia) generated when rotating the first input gear and the inertia (moment of inertia) generated when rotating the second input gear can be made substantially the same.

[0029] In the robot having the first input gear and the second input gear, preferably, the eccentric oscillating reducer further includes an external gear part having external teeth that mesh with the output part and that oscillates with the rotation of the crankshaft while being oscillated on the carrier to transmit the rotation of the crankshaft to the output part at a reduced speed, and each of the plurality of spur gears is disposed between an end of the external gear part opposite to the base or first arm side and an end of the external gear part on the base or first arm side in the extending direction of the crankshaft. With this configuration, it is possible to reduce the difference between the distance between the first motor and the first input gear and the distance between the second motor and the second input gear, and therefore the difference between the mass of the shaft from the first motor to the first input gear and the mass of the shaft from the second motor to the second input gear can be reduced. As a result, the difference between the inertia (moment of inertia) generated when rotating the first input gear and the inertia (moment of inertia) generated when rotating the second input gear can be reduced, making it easier to perform synchronous control of the first motor and the second motor.

[0030] In the robot having the first carrier part and the second carrier part, preferably, at least one of the first motor and the second motor is fixed to the second carrier part with the motor disposed in the internal space of the base, and the robot further includes an impeller attached to the first arm and rotating together with the first arm to cause air to flow from the internal space of the base to the external space of the base. With this configuration, at least one of the first motor and the second motor disposed in the internal space of the base can be cooled by the impeller, and therefore at least one of the first motor and the second motor disposed in the internal space of the base can be efficiently cooled.

[0031] In the robot having the first carrier part and the second carrier part, preferably, at least one of the first motor and the second motor is fixed to the second carrier part with the motor disposed in the internal space of the base, and the robot further includes an electric fan attached to the base for blowing air from the internal space of the base to the external space of the base. With this configuration, at least one of the first motor and the second motor disposed in the internal space of the base can be cooled by the electric fan, and therefore at least one of the first motor and the second motor disposed in the internal space of the base can be efficiently cooled. The first aspect of this invention 4 The robot according to this aspect includes a base, a first arm attached to the base so as to be rotatable relative to the base, a second arm attached to the first arm so as to be rotatable relative to the first arm, a first joint portion which connects the first arm and the base, a second joint portion which connects the first arm and the second arm, a motor, an input portion which rotates by a driving force of the motor, an eccentric rotation portion to which the rotation of the input portion is reduced and transmitted, an output portion to which the rotation of the eccentric rotation portion is reduced and transmitted, and an eccentric oscillating reducer including a carrier disposed inside the output portion, wherein the carrier of the eccentric oscillating reducer is attached to the base so as not to rotate in conjunction with the rotation of the first arm which is rotated by the output portion of the eccentric oscillating reducer when the eccentric oscillating reducer is provided in the first joint portion. and when the eccentric oscillating reducer is provided in the second joint portion, the motor is attached to the first arm so as not to rotate with the rotation of the second arm which is rotated by the output portion of the eccentric oscillating reducer. The motor is attached to the carrier, and the carrier includes a first carrier portion provided on the side opposite to the base side or the first arm side in the direction in which the rotation axis of the eccentric rotating part extends, and a second carrier portion connected to the first carrier portion and provided on the base side or the first arm side in the direction in which the rotation axis of the eccentric rotating part extends, the second carrier portion is attached to the base or the first arm, and the motor is attached to the first carrier portion or the second carrier portion. The first aspect of this invention 5The robot according to this aspect includes a base, a first arm attached to the base so as to be rotatable relative to the base, a second arm attached to the first arm so as to be rotatable relative to the first arm, a first joint portion which connects the first arm and the base, a second joint portion which connects the first arm and the second arm, a motor, an input portion which rotates by a driving force of the motor, an eccentric rotation portion to which the rotation of the input portion is reduced and transmitted, an output portion to which the rotation of the eccentric rotation portion is reduced and transmitted, and an eccentric oscillating reducer including a carrier disposed inside the output portion, wherein when the eccentric oscillating reducer is provided in the first joint portion, the carrier of the eccentric oscillating reducer rotates in accordance with the rotation of the first arm which is rotated by the output portion of the eccentric oscillating reducer. The motor has at least one of a configuration in which the eccentric oscillating reducer is attached to the base so as not to rotate, and a configuration in which the eccentric oscillating reducer is attached to the first arm so as not to rotate with rotation of the second arm which is rotated by the output part of the eccentric oscillating reducer when the eccentric oscillating reducer is provided at the second joint portion. The motor is attached to the carrier, and further includes a motor holder attached to the carrier while holding the motor, and an oil seal arranged at least either between the motor holder and the first arm when the eccentric oscillating reducer is provided at the first joint portion, or between the motor holder and the second arm when the eccentric oscillating reducer is provided at the second joint portion. Effect of the Invention

[0032] According to the present invention, as described above, it is possible to simplify the configuration of the robot by enabling the use of more general-purpose wiring. [Brief description of the drawings]

[0033] [Figure 1] FIG. 1 is a side view of a SCARA robot according to a first embodiment. [Diagram 2] FIG. 1 is a plan view of a SCARA robot according to a first embodiment. [Diagram 3] FIG. 2 is an enlarged cross-sectional view of a portion K in FIG. [Figure 4] FIG. 2 is a schematic cross-sectional view of a reducer of the SCARA robot according to the first embodiment. [Diagram 5] 13 is an enlarged cross-sectional view of a joint portion connecting a first arm and a second arm of a SCARA robot according to a second embodiment. FIG. [Figure 6] 13 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a third embodiment. FIG. [Figure 7] FIG. 13 is a plan view of a joint portion connecting a base and a first arm of a SCARA robot according to a fourth embodiment. [Figure 8] 13 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a fifth embodiment. FIG. [Figure 9] FIG. 13 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a sixth embodiment. [Figure 10] FIG. 13 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a seventh embodiment. [Figure 11] FIG. 23 is a schematic cross-sectional view of a first reducer of a SCARA robot according to the seventh embodiment. [Figure 12] 13 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to an eighth embodiment. FIG. [Figure 13] FIG. 23 is a schematic cross-sectional view of a first reducer of a SCARA robot according to an eighth embodiment. [Figure 14] FIG. 13 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a ninth embodiment. [Figure 15] FIG. 13 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a ninth embodiment. [Figure 16] 23 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a tenth embodiment. FIG. [Figure 17] FIG. 23 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to an eleventh embodiment. [Figure 18] FIG. 23 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a twelfth embodiment. [Figure 19]FIG. 23 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a thirteenth embodiment. [Figure 20] FIG. 13 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a first modified example of the seventh to ninth embodiments. [Figure 21] FIG. 13 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a second modified example of the seventh to ninth embodiments. [Figure 22] FIG. 23 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a third modified example of the seventh and eighth embodiments. [Figure 23] FIG. 23 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a fourth modified example of the seventh and eighth embodiments. [Figure 24] FIG. 23 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a fifth modified example of the seventh and eighth embodiments. [Diagram 25] FIG. 23 is a schematic cross-sectional view of a first reducer of a SCARA robot according to a sixth modified example of the seventh and eighth embodiments. [Figure 26] FIG. 23 is an enlarged cross-sectional view of a joint portion connecting a base and a first arm of a SCARA robot according to a seventh modified example of the sixth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0034] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0035] [First embodiment] The configuration of a SCARA robot 100 according to a first embodiment of the present invention will be described with reference to Figures 1 to 4. The SCARA robot 100 is an example of the "robot" in the claims.

[0036] (Structure of SCARA robot) As shown in Figures 1 and 2, the SCARA robot 100 is a robot whose arm moves in a horizontal direction. The SCARA robot 100 includes a base 1, a first motor 2, a first reducer 3, a second motor 4, a second reducer 5, a third motor 6, a fourth motor 7, a first arm 8, a second arm 9, and a working unit 10. The first motor 2 is an example of the "motor" in the claims.

[0037] The base 1 is a base for fixing the SCARA robot 100 to an installation surface. The first motor 2 is a drive source that generates a drive force for driving the first arm 8. The first reducer 3 is configured to reduce the speed of rotation of the first motor 2. The second motor 4 is a drive source that generates a drive force for driving the second arm 9. The second reducer 5 is configured to reduce the speed of rotation of the second motor 4. The third motor 6 is a drive source that drives an elevator device (not shown) that raises and lowers the working unit 10. The fourth motor 7 is a drive source that drives a rotation drive device (not shown) that rotates the working unit 10.

[0038] The first arm 8 is attached to the base 1 so as to be relatively rotatable. The first arm 8 is configured to rotate about a rotation axis J1 by the rotation of the first motor 2 being reduced in speed by the first reduction gear 3 and then transmitted to the first arm 8. The second arm 9 is attached to the first arm 8 so as to be relatively rotatable. The second arm 9 is configured to rotate about a rotation axis J2 by ​​the rotation of the second motor 4 being reduced in speed by the second reduction gear 5 and then transmitted to the second arm 9.

[0039] Here, a first joint 8a is provided at a portion connecting the first arm 8 and the base 1. The first joint 8a is configured by connecting a portion of the base 1 on the first arm 8 side and a portion of the first arm 8 on the base 1 side. In addition, a second joint 9a is provided as a portion connecting the first arm 8 and the second arm 9. The second joint 9a is configured by connecting a portion of the first arm 8 on the second arm 9 side and a portion of the second arm 9 on the first arm 8 side.

[0040] In this way, in the SCARA robot 100, the desired work is performed by the working unit 10 through a combination of rotation of the first arm 8, rotation of the second arm 9, lifting by a lifting device (not shown), and rotation by a rotary drive device (not shown).

[0041] <Joint structure connecting the base and the first arm> In the SCARA robot 100 of the first embodiment, as shown in Fig. 3, when a desired task is performed by the working unit 10, even if the first arm 8 rotates, the first motor 2 does not rotate with the first arm 8. Therefore, since the wiring 11 connected to the first motor 2 does not rotate with the rotation of the first arm 8, the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0042] As shown in Figures 3 and 4, the SCARA robot 100 includes the base 1, the first motor 2, the first reducer 3, the first arm 8, wiring 11, a motor holder 12, an oil seal 13, a stay 14, a clamp 15, and a grommet 16.

[0043] The first reducer 3 is an eccentric oscillating reducer. In particular, the first reducer 3 is a Rotate Vector (RV) reducer. The first reducer 3 is provided at the first joint portion 8a. The first reducer 3 includes an input portion 31, a spur gear 32, an eccentric rotation portion 33, an external gear portion 34, an output portion 35, and a carrier 36.

[0044] The input unit 31 has an input gear to which the shaft 21 of the first motor 2 is connected. The input unit 31 is configured to rotate by the driving force of the first motor 2. The spur gear 32 is configured to transmit the driving force of the input unit 31 to the eccentric rotation unit 33. The spur gear 32 is disposed on the base 1 side of the eccentric rotation unit 33 in the direction in which the rotation axis C1 of the eccentric rotation unit 33 extends.

[0045] The eccentric rotation portion 33 has a plurality of (two or three) crankshafts 33a. The rotation of the input portion 31 is reduced and transmitted to the eccentric rotation portion 33 by the spur gear 32. The external gear portion 34 has a plurality of (two) RV gears 34a. The RV gears 34a have external teeth 134 that mesh with the output portion 35. The RV gears 34a are swingably mounted on the carrier 36 and swing with the rotation of the crankshafts 33a to transmit the rotation of the crankshafts 33a to the output portion 35 at a reduced speed. The output portion 35 is a case. The output portion 35 is configured to rotate around the rotation axis J1 in the R1 direction or the R2 direction in accordance with the swing of the RV gears 34a.

[0046] 3, the carrier 36 is disposed inside the output unit 35. The carrier 36 is attached to the base 1 so as not to rotate in conjunction with the rotation of the first arm 8, which is rotated by the output unit 35 of the first reduction gear 3. In addition, the first motor 2 is attached to the carrier 36.

[0047] Specifically, the carrier 36 has a first carrier portion 36a and a second carrier portion 36b. The first carrier portion 36a is provided on the opposite side to the base 1 side in the direction in which the rotation axis J1 of the eccentric rotation portion 33 extends. One first motor 2 is attached to the first carrier portion 36a. The first motor 2 is fixed to the first carrier portion 36a by being fastened with a fastening member B1. The second carrier portion 36b is connected to the first carrier portion 36a by a fastening member B2 and a pin (not shown), etc. The second carrier portion 36b is provided on the base 1 side in the direction in which the rotation axis J1 of the eccentric rotation portion 33 extends. The second carrier portion 36b is attached to the base 1. That is, the second carrier portion 36b is fixed to the base 1 by a fastening member B3.

[0048] As a result, the first motor 2 does not rotate in conjunction with the rotation of the first arm 8.

[0049] The first arm 8 is configured to rotate together with the output unit 35 by being connected to the output unit 35. The first arm 8 is fixed to the output unit 35 by a fastening member B4. In this manner, the first arm 8 is attached to the base 1 via the first reduction gear 3 so as to be relatively rotatable. The wiring 11 is a motor wiring connected to the first motor 2.

[0050] The motor holder 12 is a frame made of a metal such as aluminum. The motor holder 12 is disposed on the opposite side of the first carrier portion 36a from the base 1. The motor holder 12 is attached to the carrier 36 while holding the first motor 2. That is, the motor holder 12 is fastened to the first carrier portion 36a by fastening members B1 while holding the first motor 2. The first motor 2 is fastened to the motor holder 12 by fastening members B5. The first motor 2 is fixed to the carrier 36 via the motor holder 12 while being disposed in the external space S1 of the base 1. The first motor 2 is disposed on the opposite side of the motor holder 12 from the base 1.

[0051] The oil seal 13 is disposed between the motor holder 12 and the first arm 8. The oil seal 13 is disposed on the opposite side of the base 1 between the motor holder 12 and the first arm 8. The stay 14 is fixed to the base 1 by a fastening member B6. The stay 14 is provided to support the wiring 11. The stay 14 is formed with a through hole 14a for communicating the internal space S2 of the base 1 with the external space S1 of the base 1. The clamp 15 is a member for attaching the wiring 11 to the stay 14. The grommet 16 is attached to the stay 14 to pass the wiring 11 through the stay 14.

[0052] (Effects of the first embodiment) In the first embodiment, the following effects can be obtained.

[0053] In the first embodiment, as described above, the eccentric oscillating reducer 3 is provided at the first joint portion 8a. Here, the carrier 36 of the eccentric oscillating reducer 3 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the eccentric oscillating reducer 3. Also, the first motor 2 is attached to the carrier 36. As a result, the first motor 2 does not rotate (pivot) together with the first arm 8, and therefore it is not necessary to use special wiring such as a movable harness corresponding to the repeated movement of the wiring 11 connected to the first motor 2. As a result, it becomes possible to use a more versatile wiring 11, and the configuration of the SCARA robot 100 can be simplified.

[0054] In the first embodiment, as described above, the carrier 36 is attached to the base 1 so as not to rotate with the rotation of the first arm 8. The first motor 2 is attached to the carrier 36. As a result, the first motor 2 does not rotate together with the first arm 8, and the wiring path of the wiring 11 extending from the first motor 2 and connected to the first motor 2 arranged in the base 1 can be made constant. Therefore, compared to the case where the first motor 2 rotates together with the first arm 8, it is possible to suppress an increase in the wiring space required for arranging the wiring 11 (to fixed wiring). As a result, the wiring 11 connected to the first motor 2 can be easily arranged in the base 1.

[0055] Furthermore, in the first embodiment, as described above, the SCARA robot 100 includes the motor holder 12 attached to the carrier 36 while holding the first motor 2. As a result, even if there is insufficient space to directly attach the first motor 2 to the carrier 36, the first motor 2 can be attached to the carrier 36 by using the motor holder 12, so that the first motor 2 can be reliably attached to the carrier 36.

[0056] In the first embodiment, as described above, the carrier 36 is attached to the base 1 so as not to rotate with the rotation of the first arm 8. The first motor 2 is fixed to the carrier 36 via the motor holder 12 in a state in which it is disposed in the external space S1 of the base 1. This allows the first motor 2 to be cooled by outside air, and therefore the first motor 2 can be cooled more efficiently than in the case where the first motor 2 is disposed inside the base 1.

[0057] Furthermore, in the first embodiment, as described above, the SCARA robot 100 includes an oil seal 13 disposed between the motor holder 12 and the first arm 8. This prevents grease used in the first reduction gear 3 from leaking out from the gap between the carrier 36 and the output part 35, even when the first motor 2 disposed in the external space S1 of the base 1 is attached to the carrier 36 and the output part 35 is rotated to rotate the first arm 8.

[0058] In the first embodiment, as described above, one first motor 2 is provided. The carrier 36 includes a first carrier portion 36a provided on the opposite side to the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends, and a second carrier portion 36b connected to the first carrier portion 36a and provided on the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. The second carrier portion 36b is attached to the base 1. The first motor 2 is attached to the first carrier portion 36a. As a result, since the second carrier portion 36b is attached to the base 1, it is possible to prevent the second carrier portion 36b from rotating together with the first arm 8, and therefore the first carrier portion 36a connected to the second carrier portion 36b can also be prevented from rotating together with the first arm 8. As a result, the first motor 2 having a configuration that does not rotate together with the first arm 8 can be easily assembled to the carrier 36.

[0059] In addition, in the first embodiment, as described above, the first motor 2 is fixed to the base 1 via the carrier 36, so that the base 1 does not need to be formed in a shape that avoids interference with the arm 8, and therefore the base 1 can be prevented from having a complex shape. As a result, a decrease in the rigidity of the base 1 can be suppressed.

[0060] In the first embodiment, as described above, the first motor 2 is disposed in the external space S1 of the base 1, so that an operator can easily perform maintenance on the first motor 2. Furthermore, since the internal space S2 in the base 1 can be made wider than when the first motor 2 is disposed in the base 1, the robot cable can be easily disposed on the lower side of the internal space S2 in the base 1. Furthermore, since the vertical dimension of the internal space S2 in the base 1 can be made smaller than when the first motor 2 is disposed in the base 1, the vertical dimension of the SCARA robot 100 can also be made smaller.

[0061] [Second embodiment] The configuration of a SCARA robot 200 according to the second embodiment will be described with reference to Fig. 5. In the second embodiment, unlike the first embodiment, a second reducer 205 is attached to a first arm 8. Note that in the second embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

[0062] The configuration of a SCARA robot 200 according to a second embodiment of the present invention will be described with reference to Fig. 5. The SCARA robot 200 is an example of the "robot" in the claims.

[0063] (Structure of SCARA robot) As shown in Fig. 5, the SCARA robot 200 is a robot whose arm moves in the horizontal direction. The SCARA robot 200 includes a base 1 (see Fig. 1), a first motor 2 (see Fig. 1), a first reducer 3 (see Fig. 1), a second motor 4, a second reducer 205, a third motor 6 (see Fig. 1), a fourth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). The second motor 4 is an example of the "motor" in the claims.

[0064] Here, a first joint portion 8a (see FIG. 1) is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a is provided as a portion connecting the first arm 8 and the second arm 9.

[0065] <Joint structure connecting the first arm and the second arm> 5, in the SCARA robot 200 of the second embodiment, even if the second arm 9 rotates when a desired task is performed by the working unit 10, the second motor 4 does not rotate with the second arm 9. Therefore, since the wiring 211 connected to the second motor 4 does not rotate with the rotation of the second arm 9, the wiring 211 is arranged at a fixed position. Details of such a joint structure (second joint unit 9a) connecting the first arm 8 and the second arm 9 will be described below.

[0066] As shown in FIG. 5, the SCARA robot 200 includes the second motor 4, the second reducer 205, the first arm 8, the second arm 9, wiring 211, a motor holder 212, an oil seal 213, a stay 214, a clamp 215, and a grommet 216.

[0067] The second reducer 205 is an eccentric oscillating reducer. In particular, the second reducer 205 is an RV reducer. The second reducer 205 is provided on the second arm 9. The second reducer 205 includes an input portion 251, a spur gear 252, an eccentric rotation portion 253, an external gear portion 254, an output portion 255, and a carrier 256.

[0068] The input part 251 has an input gear to which the shaft 41 of the second motor 4 is connected. The input part 251 is configured to rotate by the driving force of the second motor 4. The spur gear 252 is configured to transmit the driving force of the input part 251 to the eccentric rotation part 253. The spur gear 252 is disposed on the first arm 8 side of the eccentric rotation part 253 in the direction in which the rotation axis C1 of the eccentric rotation part 253 extends.

[0069] The eccentric rotation part 253 has a plurality of (two or three) crankshafts 253a. The rotation of the input part 251 is reduced and transmitted to the eccentric rotation part 253 by the spur gear 252. The external gear part 254 has a plurality of (two) RV gears 254a. The RV gears 254a have external teeth (not shown) that mesh with the output part 255. The RV gears 254a are provided swingably on the carrier 256 and swing with the rotation of the crankshafts 253a to transmit the rotation of the crankshafts 253a to the output part 255 at a reduced speed. The output part 255 is a case. The output part 255 is configured to rotate in accordance with the swing of the RV gears 254a.

[0070] The carrier 256 is disposed inside the output portion 255. The carrier 256 is attached to the first arm 8 so as not to rotate with the rotation of the second arm 9, which is rotated by the output portion 255 of the second reduction gear 205. In addition, the second motor 4 is attached to the carrier 256.

[0071] Specifically, the carrier 256 has a first carrier part 256a and a second carrier part 256b. The first carrier part 256a is provided on the opposite side to the first arm 8 side in the direction in which the rotation axis C1 of the eccentric rotation part 253 extends. One second motor 4 is attached to the first carrier part 256a. The second motor 4 is fixed to the second carrier part 256b by being fastened with a fastening member B1. The second carrier part 256b is connected to the second carrier part 256b by a fastening member B2 and a pin (not shown), etc. The second carrier part 256b is provided on the first arm 8 side in the direction in which the rotation axis C1 of the eccentric rotation part 253 extends. The second carrier part 256b is attached to the first arm 8. That is, the second carrier part 256b is fixed to the first arm 8 by a fastening member B3.

[0072] As a result, the second motor 4 does not rotate in conjunction with the rotation of the second arm 9.

[0073] The second arm 9 is configured to rotate together with the output unit 255 by being connected to the output unit 255. The second arm 9 is fixed to the output unit 255 by a fastening member B4. In this manner, the second arm 9 is attached to the first arm 8 via the second reducer 205 so as to be relatively rotatable. The wiring 211 is a motor wiring connected to the second motor 4.

[0074] The motor holder 212 is a frame made of a metal such as aluminum. The motor holder 212 is disposed on the opposite side of the first carrier portion 256a from the first arm 8 side. The motor holder 212 is attached to the carrier 256 while holding the second motor 4. That is, the motor holder 212 is fastened to the first carrier portion 256a by fastening members B1 while holding the second motor 4. The second motor 4 is fastened to the motor holder 212 by fastening members B5. The second motor 4 is fixed to the carrier 256 via the motor holder 212 while being disposed in the external space S1 of the first arm 8. The second motor 4 is disposed on the opposite side of the motor holder 212 from the first arm 8.

[0075] The oil seal 213 is disposed between the motor holder 212 and the second arm 9. The oil seal 213 is disposed between the motor holder 212 and the second arm 9 on the opposite side to the first arm 8 side. The stay 214 is fixed to the first arm 8 by a fastening member B6. The stay 214 is provided to support the wiring 211. The stay 214 is formed with a through hole 214a for communicating the internal space S2 of the first arm 8 with the external space S1 of the first arm 8. The clamp 215 is a member for attaching the wiring 211 to the stay 214. The grommet 216 is attached to the stay 214 to pass the wiring 211 through the stay 214. The other configurations of the second embodiment are similar to those of the first embodiment.

[0076] (Effects of the second embodiment) In the second embodiment, similarly to the first embodiment, the second reducer 205 is provided at the second joint portion 9a. Here, the carrier 256 of the second reducer 205 is attached to the first arm 8 so as not to rotate with the rotation of the second arm 9 which is rotated by the output portion 255 of the second reducer 205. Also, the second motor 4 is attached to the carrier 256. This allows the use of more general-purpose wiring 211, thereby simplifying the configuration of the SCARA robot 200. Other effects of the second embodiment are similar to those of the first embodiment.

[0077] [Third embodiment] The configuration of a SCARA robot 300 according to the third embodiment will be described with reference to Fig. 6. In the third embodiment, unlike the first embodiment, a first reducer 303 has a hollow transmission shaft 337. Note that in the third embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

[0078] The configuration of a SCARA robot 300 according to a third embodiment of the present invention will be described with reference to Fig. 6. The SCARA robot 300 is an example of the "robot" in the claims.

[0079] (Structure of SCARA robot) As shown in Fig. 6, the SCARA robot 300 is a robot whose arm moves in the horizontal direction. The SCARA robot 300 includes a base 1, a first motor 2, a first reducer 303, a second motor 4 (see Fig. 1), a second reducer 5 (see Fig. 1), a third motor 6 (see Fig. 1), a fourth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). The first motor 2 is an example of the "motor" in the claims.

[0080] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0081] <Joint structure connecting the base and the first arm> In the SCARA robot 300 of the third embodiment, as shown in Fig. 6, when a desired task is performed by the working unit 10, even if the first arm 8 rotates, the first motor 2 does not rotate with the first arm 8. Therefore, since the wiring 11 connected to the first motor 2 does not rotate with the rotation of the first arm 8, the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0082] As shown in FIG. 6, the SCARA robot 300 includes the base 1, the first motor 2, the first reducer 303, the first arm 8, wiring 11, a motor holder 12, an oil seal 13, a stay 14, a clamp 15, a grommet 316, a stay 317, and a clamp 318.

[0083] The first reducer 303 is an eccentric oscillating reducer. In particular, the first reducer 303 is an RV reducer. The first reducer 303 includes an input portion 331, a spur gear 32, an eccentric rotating portion 33, an external gear portion 34, an output portion 35, a carrier 36, and a transmission shaft 337.

[0084] The input unit 331 has an input gear to which the shaft 21 of the first motor 2 is connected. The input unit 331 is configured to rotate by the driving force of the first motor 2. The transmission shaft 337 has a hollow shape with a through hole 337a penetrating in the direction in which the rotation axis C1 of the eccentric rotation unit 33 extends. The transmission shaft 337 is connected to the input unit 331 and configured to transmit the driving force from the first motor 2 to the eccentric rotation unit 33 via the spur gear 32. In this manner, the input gear of the input unit 331 and the gear of the transmission shaft 337 mesh with each other. The input unit 331 and the transmission shaft 337 may be connected by a pulley and a belt.

[0085] The spur gear 32 is configured to transmit the driving force of the transmission shaft 337 to the eccentric rotation part 33. The spur gear 32 is disposed on the side of the eccentric rotation part 33 opposite to the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation part 33 extends.

[0086] The eccentric rotation portion 33 has a plurality of (two or three) crankshafts 33a. The rotation of the input portion 331 is reduced and transmitted to the eccentric rotation portion 33 by the spur gear 32. The external gear portion 34 has a plurality of (two) RV gears 34a. The RV gears 34a have external teeth (not shown) that mesh with the output portion 35. The RV gears 34a are swingably mounted on the carrier 36 and swing with the rotation of the crankshafts 33a to transmit the rotation of the crankshafts 33a to the output portion 35 at a reduced speed. The output portion 35 is a case. The output portion 35 is configured to rotate in accordance with the swing of the RV gears 34a.

[0087] 6, the carrier 36 is disposed inside the output unit 35. The carrier 36 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output unit 35 of the first reduction gear 303. In addition, the first motor 2 is attached to the carrier 36.

[0088] Specifically, the carrier 36 has a first carrier portion 36a and a second carrier portion 36b. The first carrier portion 36a is provided on the opposite side to the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. One first motor 2 is attached to the first carrier portion 36a. The first motor 2 is fixed to the first carrier portion 36a by being fastened with a fastening member B1. The second carrier portion 36b is connected to the first carrier portion 36a by a fastening member B2 and a pin (not shown), etc. The second carrier portion 36b is provided on the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. The second carrier portion 36b is attached to the base 1. That is, the second carrier portion 36b is fixed to the base 1 by a fastening member B3.

[0089] As a result, the first motor 2 does not rotate in conjunction with the rotation of the first arm 8.

[0090] Here, the first motor 2 is disposed at a position offset from the center of the first carrier portion 36a in a radial direction perpendicular to the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends.

[0091] The wiring 11 is a motor wiring that is connected to the first motor 2. The wiring 11 is connected to the first motor 2 while being passed through the through hole 337a.

[0092] The motor holder 12 is a frame made of a metal such as aluminum. The motor holder 12 is disposed on the opposite side of the first carrier portion 36a from the base 1. The motor holder 12 is attached to the carrier 36 while holding the first motor 2. That is, the motor holder 12 is fastened to the first carrier portion 36a by fastening members B1 while holding the first motor 2. The first motor 2 is fastened to the motor holder 12 by fastening members B5. The first motor 2 is fixed to the carrier 36 via the motor holder 12 while being disposed in the external space S1 of the base 1. The first motor 2 is disposed on the opposite side of the motor holder 12 from the base 1.

[0093] The oil seal 13 is disposed between the motor holder 12 and the first arm 8. The oil seal 13 is disposed on the opposite side of the base 1 between the motor holder 12 and the first arm 8. The stay 14 is fixed to the base 1 by a fastening member B6. The stay 14 is provided to support the wiring 11. The clamp 15 is a member for attaching the wiring 11 to the stay 14. The grommet 316 covers the through hole 337a. The grommet 316 is attached to the motor holder 12 to pass the wiring 11 through the through hole 337a. The stay 317 is provided to support the wiring 11. The stay 317 is fixed to the base 1 by a fastening member B7. The clamp 318 is a member for attaching the wiring 11 to the stay 317. The other configurations of the third embodiment are similar to those of the first embodiment.

[0094] (Effects of the third embodiment) In the third embodiment, similarly to the first embodiment, the first reducer 303 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 303 is attached to the base 1 so as not to rotate with the rotation of the first arm 8, which is rotated by the output portion 35 of the first reducer 303. In addition, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 300.

[0095] In the third embodiment, as described above, the first motor 2 is disposed at a position offset from the center of the first carrier part 36a in the radial direction perpendicular to the extension direction of the rotation axis C1 of the eccentric rotation part 33. This makes it possible to prevent the first motor 2 from covering the central part of the first carrier part 36a in the radial direction perpendicular to the extension direction of the rotation axis C1 of the eccentric rotation part 33, and therefore makes it possible to use the central part of the first carrier part 36a for purposes such as passing the wiring 11 through.

[0096] In the third embodiment, as described above, the first reducer 303 has a through hole 337a penetrating in the direction in which the rotation axis C1 of the eccentric rotation part 33 extends, and includes a hollow transmission shaft 337 connected to the input part 331 to transmit the driving force from the first motor 2 to the eccentric rotation part 33. The SCARA robot 300 includes a wiring 11 connected to the first motor 2 while passing through the through hole 337a. This allows the wiring 11 to be contained within the first carrier part 36a, unlike the case in which the wiring 11 is disposed outside the first carrier part 36a, and therefore the exposure of the wiring 11 can be reduced. Other effects of the third embodiment are similar to those of the first embodiment.

[0097] [Fourth embodiment] The configuration of a SCARA robot 400 according to the fourth embodiment will be described with reference to Fig. 7. In the fourth embodiment, unlike the third embodiment, a motor holder 412 has fins 412a. Note that in the fourth embodiment, detailed description of the same configuration as in the third embodiment will be omitted.

[0098] The configuration of a SCARA robot 400 according to a fourth embodiment of the present invention will be described with reference to Fig. 7. The SCARA robot 400 is an example of the "robot" in the claims.

[0099] (Structure of SCARA robot) As shown in Fig. 7, the SCARA robot 400 is a robot whose arm moves in the horizontal direction. The SCARA robot 400 includes a base 1, a first motor 2, a first reducer 303 (see Fig. 6), a second motor 4 (see Fig. 6), a second reducer 5 (see Fig. 1), a third motor 6 (see Fig. 1), a fourth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). The first motor 2 is an example of the "motor" in the claims.

[0100] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0101] <Joint structure connecting the base and the first arm> In the SCARA robot 400 of the fourth embodiment, when a desired task is performed by the working unit 10, even if the first arm 8 rotates, the first motor 2 does not rotate with the first arm 8. Therefore, the wiring 11 connected to the first motor 2 does not rotate with the rotation of the first arm 8, and the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0102] As shown in FIG. 7, the SCARA robot 400 includes the base 1, the first motor 2, the first reducer 303, the first arm 8, wiring 11, a motor holder 412, an oil seal 13, a stay 14, a clamp 15, and a grommet 316.

[0103] The motor holder 412 is a frame made of a metal such as aluminum. Convex fins 412a are formed on the outer surface of the motor holder 412. The other configurations of the fourth embodiment are similar to those of the third embodiment.

[0104] (Effects of the fourth embodiment) In the fourth embodiment, similarly to the third embodiment, the first reducer 303 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 303 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 303. Also, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 400.

[0105] In the fourth embodiment, as described above, the convex fins 412a are formed on the outer surface of the motor holder 412. This allows the motor holder 412 to be efficiently cooled by the convex fins 412a, and therefore allows the first motor 2 held by the motor holder 412 to be efficiently cooled. Other effects of the fourth embodiment are similar to those of the third embodiment.

[0106] [Fifth embodiment] The configuration of a SCARA robot 500 according to the fifth embodiment will be described with reference to Fig. 8. In the fifth embodiment, unlike the third embodiment, a base 501 includes a base-side ventilation portion 501a. Note that in the fifth embodiment, detailed description of the same configuration as in the third embodiment will be omitted.

[0107] The configuration of a SCARA robot 500 according to a fifth embodiment of the present invention will be described with reference to Fig. 8. The SCARA robot 500 is an example of the "robot" in the claims.

[0108] (Structure of SCARA robot) As shown in Fig. 8, the SCARA robot 500 is a robot whose arm moves in the horizontal direction. The SCARA robot 500 includes a base 501, a first motor 2, a first reducer 303, a second motor 4 (see Fig. 1), a second reducer 5 (see Fig. 1), a third motor 6 (see Fig. 1), a fourth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). The first motor 2 is an example of the "motor" in the claims.

[0109] Here, a first joint portion 508a is provided at a portion connecting the first arm 8 and the base 501. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0110] <Joint structure connecting the base and the first arm> 8, in the SCARA robot 500 of the fifth embodiment, even if the first arm 8 rotates when a desired task is performed by the working unit 10, the first motor 2 does not rotate with the first arm 8. Therefore, the wiring 11 connected to the first motor 2 does not rotate with the rotation of the first arm 8, and the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 508a) connecting the base 501 and the first arm 8 will be described below.

[0111] As shown in FIG. 8, the SCARA robot 500 includes the base 501, the first motor 2, the first reducer 303, the first arm 8, wiring 11, a motor holder 12, an oil seal 13, a stay 14, a clamp 15, a grommet 316, a stay 517, a clamp 518, and an axis cover 519.

[0112] The base 501 includes a base-side ventilation portion 501a that provides ventilation between an internal space S2 of the base 501 and an external space S1 of the base 501. The base-side ventilation portion 501a is a slit. The base-side ventilation portion 501a may be a filter.

[0113] The stay 517 is fixed to the base 501 by a fastening member B7. The stay 517 is provided to support the wiring 11. The stay 517 is fixed to the base 501 by the fastening member B7. The clamp 518 is a member for attaching the wiring 11 to the stay 517.

[0114] The shaft cover 519 covers the first motor 2 side of the through hole 337a of the transmission shaft 337 in the extending direction of the rotation axis C1 of the eccentric rotation part 33. The shaft cover 519 includes a reducer side ventilation part 519a that ventilates the internal space S2 of the base 501 and the external space S1 of the base 501 via the through hole 337a. The reducer side ventilation part 519a is a slit. The reducer side ventilation part 519a may be a filter.

[0115] As a result, air flows in the order of the base-side ventilation portion 501a, the internal space S2 of the base 501, the through-hole 337a, the reducer-side ventilation portion 519a, and the external space S1 of the base 501. Other configurations of the fifth embodiment are similar to those of the third embodiment.

[0116] (Effects of the fifth embodiment) In the fifth embodiment, similarly to the third embodiment, the first reducer 303 is provided at the first joint portion 508a. Here, the carrier 36 of the first reducer 303 is attached to the base 501 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 303. Also, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 500.

[0117] In the fifth embodiment, as described above, the base 501 includes a base-side ventilation portion 501a that ventilates the internal space S2 of the base 501 and the external space S1 of the base 501. The SCARA robot 500 includes a shaft cover 519 that covers the first motor 2 side in the direction in which the rotation axis C1 of the eccentric rotation unit 33 extends in the through hole 337a of the transmission shaft 337 and includes a reducer-side ventilation portion 519a that ventilates the internal space S2 of the base 501 and the external space S1 of the base 501 through the through hole 337a. This allows air to flow through the base-side ventilation portion 501a, the through hole 337a of the transmission shaft 337, and the reducer-side ventilation portion 519a of the shaft cover 519, so that the first reducer 303 can be efficiently cooled. Other effects of the fifth embodiment are similar to those of the third embodiment.

[0118] [Sixth embodiment] The configuration of a SCARA robot 600 according to the sixth embodiment will be described with reference to Fig. 9. In the sixth embodiment, unlike the third embodiment, the SCARA robot 600 includes a motor cover 618. Note that in the sixth embodiment, detailed description of the same configuration as in the third embodiment will be omitted.

[0119] The configuration of a SCARA robot 600 according to a sixth embodiment of the present invention will be described with reference to Fig. 9. The SCARA robot 600 is an example of the "robot" in the claims.

[0120] (Structure of SCARA robot) As shown in Fig. 9, the SCARA robot 600 is a robot whose arm moves in the horizontal direction. The SCARA robot 600 includes a base 601, a first motor 2, a first reducer 303, a second motor 4, a second reducer 5 (see Fig. 1), a third motor 6 (see Fig. 1), a fourth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). The first motor 2 is an example of the "motor" in the claims.

[0121] Here, a first joint portion 608a is provided at a portion connecting the first arm 8 and the base 601. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0122] <Joint structure connecting the base and the first arm> 9, in the SCARA robot 600 of the sixth embodiment, even if the first arm 8 rotates when a desired task is performed by the working unit 10, the first motor 2 does not rotate with the first arm 8. Therefore, the wiring 11 connected to the first motor 2 does not rotate with the rotation of the first arm 8, and the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 608a) connecting the base 601 and the first arm 8 will be described below.

[0123] As shown in FIG. 9, the SCARA robot 600 includes the base 601, the first motor 2, the first reducer 303, the first arm 8, wiring 11, a motor holder 12, an oil seal 13, a stay 14, a clamp 15, a stay 616, a clamp 617, a motor cover 618, and a thermal conductor 619.

[0124] The base 601 includes a base-side ventilation portion 601a that provides ventilation between an internal space S2 of the base 601 and an external space S1 of the base 601. The base-side ventilation portion 601a is a slit. The base-side ventilation portion 601a may be a filter.

[0125] The stay 616 is fixed to the base 601 by a fastening member B7. The stay 616 is provided to support the wiring 11. The clamp 617 is a member for attaching the wiring 11 to the stay 616.

[0126] The motor cover 618 covers the first motor 2. The motor cover 618 includes a motor side ventilation portion 618a that ventilates the internal space S2 of the base 601 and the external space S1 of the base 601 via the through hole 337a of the transmission shaft 337. The motor side ventilation portion 618a is a slit. The motor side ventilation portion 618a may be a filter.

[0127] As a result, air flows through the base-side ventilation portion 601a, the internal space S2 of the base 601, the through-hole 337a, the motor-side ventilation portion 618a, and the external space S1 of the base 601 in this order.

[0128] The thermal conductor 619 is a member that thermally conducts heat from the first motor 2 to the motor cover 618. In this manner, the first motor 2 and the motor cover 618 are connected via the thermal conductor 619. Other configurations of the sixth embodiment are similar to those of the third embodiment.

[0129] (Effects of the sixth embodiment) In the sixth embodiment, similarly to the third embodiment, the first reducer 303 is provided at the first joint portion 608a. Here, the carrier 36 of the first reducer 303 is attached to the base 601 so as not to rotate with the rotation of the first arm 8 rotated by the output portion 35 of the first reducer 303. In addition, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 600.

[0130] In the sixth embodiment, as described above, the base 601 includes a base-side ventilation portion 601a that ventilates the internal space S2 of the base 601 and the external space S1 of the base 601. The SCARA robot 600 includes a motor cover 618 that covers the first motor 2 and includes a motor-side ventilation portion 618a that ventilates the internal space S2 of the base 601 and the external space S1 of the base 601 via the through-hole 337a. Thus, by covering the first motor 2 with the motor cover 618, the dustproofness of the first motor 2 can be improved, and air can be made to flow from the base-side ventilation portion 601a toward the motor-side ventilation portion 618a, so that the first motor 2 inside the motor cover 618 can be efficiently cooled.

[0131] In the sixth embodiment, as described above, the first motor 2 and the motor cover 618 are connected via the thermal conductor 619. This makes it easier for heat to be transferred from the first motor 2 to the motor cover 618, so that the first motor 2 inside the motor cover 618 can be efficiently cooled. Other effects of the sixth embodiment are similar to those of the third embodiment.

[0132] [Seventh embodiment] The configuration of a SCARA robot 700 according to the seventh embodiment will be described with reference to Figures 10 and 11. In the seventh embodiment, unlike the first embodiment, the SCARA robot 700 drives a first reducer 703 by a first motor 721 and a second motor 722. Note that in the seventh embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

[0133] The configuration of a SCARA robot 700 according to a seventh embodiment of the present invention will be described with reference to Figures 10 and 11. The SCARA robot 700 is an example of the "robot" in the claims.

[0134] (Structure of SCARA robot) As shown in Figures 10 and 11, the SCARA robot 700 is a robot whose arm moves in the horizontal direction. The SCARA robot 700 includes a base 1, a first motor 721, a second motor 722, a first reducer 703, a third motor 4 (see Figure 1), a second reducer 5 (see Figure 1), a fourth motor 6 (see Figure 1), a fifth motor 7 (see Figure 1), a first arm 8, a second arm 9, and a working unit 10 (see Figure 1). Each of the first motor 721 and the second motor 722 is an example of the "motor" in the claims.

[0135] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0136] <Joint structure connecting the base and the first arm> 10, in the SCARA robot 700 of the seventh embodiment, even if the first arm 8 rotates when the working unit 10 performs a desired task, the first motor 721 and the second motor 722 do not rotate together with the first arm 8. Therefore, since the wiring (not shown) connected to the first motor 721 and the second motor 722 does not rotate together with the rotation of the first arm 8, the wiring is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0137] As shown in FIGS. 10 and 11, the SCARA robot 700 includes the base 1, the first motor 721, the second motor 722, the first reducer 703, the first arm 8, and a motor holder 12.

[0138] A plurality of first motors 721 and second motors 722 are provided so as to be driven synchronously with each other by a control unit (not shown). The control unit is configured to perform control to synchronize the rotation of first motor 721 and second motor 722 based on the rotation angle of the rotor of first motor 721 acquired by a resolver and the rotation angle of the rotor of second motor 722 acquired by the resolver. The control unit includes a CPU (Central Processing Unit) and a storage unit having a memory, a hard disk, and the like.

[0139] The first reducer 703 is an eccentric oscillating reducer. In particular, the first reducer 703 is an RV reducer. The first reducer 703 is provided on the first arm 8. The first reducer 703 includes an input portion 731, a spur gear 32, an eccentric rotation portion 33, an external gear portion 34, an output portion 35, and a carrier 36.

[0140] 11, the input portion 731 has a first input gear 731a to which a shaft 721a of the first motor 721 is connected, and a second input gear 731b to which a shaft (not shown) of the second motor 722 is connected. The first input gear 731a is configured to rotate by the driving force of the first motor 721. The second input gear 731b is configured to rotate by the driving force of the second motor 722.

[0141] The spur gear 32 is configured to transmit the driving force of the input portion 731 to the eccentric rotation portion 33. A plurality of (three) spur gears 32 are provided. The spur gears 32 are arranged on the base 1 side of the eccentric rotation portion 33 in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. The plurality of spur gears 32 include a first spur gear 32a, a second spur gear 32b, and a third spur gear 32c. A first motor 721 is connected to the first spur gear 32a and the second spur gear 32b via a first input gear 731a. A second motor 722 is connected to the second spur gear 32b and the third spur gear 32c via a second input gear 731b.

[0142] The eccentric rotation portion 33 has a plurality of (three) crankshafts 33a. The rotation of the input portion 31 is reduced and transmitted to the eccentric rotation portion 33 by the spur gear 32. The plurality of crankshafts 33a are configured to rotate by the driving forces of the first motor 721 and the second motor 722.

[0143] 10, the carrier 36 is disposed inside the output unit 35. The carrier 36 is attached to the base 1 so as not to rotate with the rotation of the first arm 8, which is rotated by the output unit 35 of the first reduction gear 703. In addition, the first motor 721 and the second motor 722 are attached to the carrier 36.

[0144] Specifically, the carrier 36 has a first carrier portion 36a and a second carrier portion 36b. The first carrier portion 36a is provided on the opposite side to the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. The second carrier portion 36b is connected to the first carrier portion 36a by a fastening member B1, a pin (not shown), or the like. The second carrier portion 36b is provided on the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. The second carrier portion 36b is attached to the base 1. The second carrier portion 36b is fixed to the base 1 by being fastened by a fastening member B2 via the motor holder 12.

[0145] Both the first motor 721 and the second motor 722 are attached to the second carrier portion 36b. The first motor 721 and the second motor 722 are fixed to the second carrier portion 36b by being fastened to each other via a motor holder 12 by a fastening member B3.

[0146] As a result, the first motor 721 and the second motor 722 do not rotate in conjunction with the rotation of the first arm 8.

[0147] The first arm 8 is configured to rotate together with the output unit 35 by being connected to the output unit 35. The first arm 8 is fixed to the output unit 35 by a fastening member B4. In this manner, the first arm 8 is attached to the base 1 via the first reducer 703 so as to be relatively rotatable.

[0148] The motor holder 12 is a frame made of metal such as aluminum. The motor holder 12 is disposed on the base 1 side of the second carrier portion 36b. The motor holder 12 is attached to the carrier 36 while holding the first motor 721 and the second motor 722. That is, the motor holder 12 is fastened to the second carrier portion 36b by the fastening member B3 while holding the first motor 721 and the second motor 722. The first motor 721 and the second motor 722 are fastened to the motor holder 12 by the fastening member B5. Both the first motor 721 and the second motor 722 are attached to the second carrier portion 36b while being disposed in the internal space S2 of the base 1. The other configurations of the seventh embodiment are similar to those of the first embodiment.

[0149] (Effects of the Seventh Embodiment) In the seventh embodiment, similarly to the first embodiment, the first reducer 703 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 703 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 703. Also, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 700.

[0150] In the seventh embodiment, as described above, the first motor 721 and the second motor 722 are provided to drive in synchronization with each other. The eccentric rotation unit 33 has a plurality of crankshafts 33a. The plurality of crankshafts 33a are configured to rotate by the driving forces of the first motor 721 and the second motor 722. This makes it possible to increase the driving force of the first reduction gear 703 compared to a case in which the plurality of crankshafts 33a are rotated by one motor. As a result, it is possible to increase the payload that can be rotated by the first reduction gear 703.

[0151] In the seventh embodiment, as described above, the carrier 36 includes the first carrier portion 36a provided on the opposite side to the base 1 side in the direction in which the rotation axis C1 of the crankshaft 33a extends, and the second carrier portion 36b connected to the first carrier portion 36a and provided on the base 1 side in the direction in which the rotation axis C1 of the crankshaft 33a extends. The first motor 721 is attached to the second carrier portion 36b, and the second motor 722 is attached to the second carrier portion 36b. As a result, since the second carrier portion 36b is attached to the base 1, it is possible to prevent the second carrier portion 36b from rotating together with the first arm 8, and therefore the first carrier portion 36a connected to the second carrier portion 36b can also be prevented from rotating together with the first arm 8. As a result, it is possible to easily assemble the first motor 721 and the second motor 722 to the carrier 36 so as not to rotate together with the first arm 8.

[0152] In the seventh embodiment, as described above, the second carrier portion 36b is attached to the base 1. Both the first motor 721 and the second motor 722 are attached to the second carrier portion 36b in a state in which they are disposed in the internal space S2 of the base 1. This allows both the first motor 721 and the second motor 722 to be disposed in the internal space S2 of the base 1 without rotating together with the first arm 8, so that interference between the first motor 721 and the second motor 722 and other members disposed in the internal space S2 of the base 1 can be suppressed compared to a case in which the first motor 721 and the second motor 722 rotate together with the first arm 8.

[0153] In the seventh embodiment, as described above, the first motor 721 is connected to the first spur gear 32a and the second spur gear 32b via the first input gear 731a. The second motor 722 is connected to the second spur gear 32b and the third spur gear 32c via the second input gear 731b. This allows the load and friction of the first reducer 703 applied to the first motor 721 to be substantially the same as the load and friction of the first reducer 703 applied to the second motor 722. Also, the load inertia of the first reducer 703 applied to the first motor 721 to be substantially the same as the load inertia of the first reducer 703 applied to the second motor 722. Other effects of the seventh embodiment are similar to those of the first embodiment.

[0154] [Eighth embodiment] The configuration of a SCARA robot 800 according to the eighth embodiment will be described with reference to Fig. 12 and Fig. 13. Unlike the first embodiment, the eighth embodiment has a SCARA robot 800 that drives a first reducer 803 by a first motor 821 and a second motor 822. Note that in the eighth embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

[0155] The configuration of a SCARA robot 800 according to an eighth embodiment of the present invention will be described with reference to Figures 12 and 13. The SCARA robot 800 is an example of the "robot" in the claims.

[0156] (Structure of SCARA robot) As shown in Figures 12 and 13, the SCARA robot 800 is a robot whose arm moves in the horizontal direction. The SCARA robot 800 includes a base 1, a first motor 821, a second motor 822, a first reducer 803, a third motor 4 (see Figure 1), a second reducer 5 (see Figure 1), a fourth motor 6 (see Figure 1), a fifth motor 7 (see Figure 1), a first arm 8, a second arm 9, and a working unit 10 (see Figure 1). Each of the first motor 821 and the second motor 822 is an example of the "motor" in the claims.

[0157] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0158] <Joint structure connecting the base and the first arm> 12, in the SCARA robot 800 of the eighth embodiment, even if the first arm 8 rotates when a desired task is performed by the working unit 10, the first motor 821 and the second motor 822 do not rotate together with the first arm 8. Therefore, the wiring 11 connected to the first motor 821 and the second motor 822 does not rotate together with the rotation of the first arm 8, and the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0159] As shown in Figures 12 and 13, the SCARA robot 800 includes the base 1, the first motor 821, the second motor 822, the first reducer 803, the first arm 8, wiring 11, a motor holder 12, an oil seal 13, a stay 14, and a clamp 15.

[0160] A plurality of first motors 821 and second motors 822 are provided so as to be driven synchronously with each other by a control unit (not shown). The control unit is configured to perform control to synchronize the rotation of first motor 821 and second motor 822 based on the rotation angle of the rotor of first motor 821 acquired by the resolver and the rotation angle of the rotor of second motor 822 acquired by the resolver. The control unit includes a CPU and a storage unit having a memory, a hard disk, and the like.

[0161] The first reducer 803 is an eccentric oscillating reducer. In particular, the first reducer 803 is an RV reducer. The first reducer 803 is provided in the first joint portion 8a. The first reducer 803 includes an input portion 831, a spur gear 32, an eccentric rotation portion 33, an external gear portion 34, an output portion 35, and a carrier 36.

[0162] 13, the input unit 831 has a first input gear 831a to which a shaft 821a of the first motor 821 is connected, and a second input gear 831b to which a shaft (not shown) of the second motor 822 is connected. The first input gear 831a is configured to rotate by the driving force of the first motor 821. The second input gear 831b is configured to rotate by the driving force of the second motor 822.

[0163] The spur gear 32 is configured to transmit the driving force of the input portion 831 to the eccentric rotation portion 33. A plurality of (three) spur gears 32 are provided. The spur gears 32 are arranged on the opposite side of the eccentric rotation portion 33 from the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. The plurality of spur gears 32 include a first spur gear 32a, a second spur gear 32b, and a third spur gear 32c. A first motor 821 is connected to the first spur gear 32a and the second spur gear 32b via a first input gear 831a. A second motor 822 is connected to the second spur gear 32b and the third spur gear 32c via a second input gear 831b.

[0164] The eccentric rotation portion 33 has a plurality of (three) crankshafts 33a. The rotation of the input portion 831 is reduced and transmitted to the eccentric rotation portion 33 by the spur gear 32. The plurality of crankshafts 33a are configured to rotate by the driving forces of the first motor 821 and the second motor 822.

[0165] 12, the carrier 36 is disposed inside the output unit 35. The carrier 36 is attached to the base 1 so as not to rotate with the rotation of the first arm 8, which is rotated by the output unit 35 of the first reduction gear 803. In addition, the first motor 821 and the second motor 822 are attached to the carrier 36.

[0166] Specifically, the carrier 36 has a first carrier portion 36a and a second carrier portion 36b. The first carrier portion 36a is provided on the opposite side to the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation portion 33 extends. A first motor 821 and a second motor 822 are attached to the first carrier portion 36a. The first motor 821 and the second motor 822 are fixed to the first carrier portion 36a by being fastened with a fastening member B1. The first motor 821 and the second motor 822 are fixed to the first carrier portion 36a by being fastened with a fastening member B1 via a motor holder 12.

[0167] The second carrier part 36b is connected to the first carrier part 36a by a fastening member B2, a pin (not shown), or the like. The second carrier part 36b is provided on the base 1 side in the extension direction of the rotation axis C1 of the eccentric rotation part 33. The second carrier part 36b is attached to the base 1. The second carrier part 36b is fixed to the base 1 by being fastened by a fastening member B3.

[0168] As a result, the first motor 821 and the second motor 822 do not rotate in conjunction with the rotation of the first arm 8.

[0169] The first arm 8 is configured to rotate together with the output unit 35 by being connected to the output unit 35. The first arm 8 is fixed to the output unit 35 by a fastening member B4. In this manner, the first arm 8 is attached to the base 1 via the first reducer 803 so as to be capable of relative rotation.

[0170] The motor holder 12 is a frame made of a metal such as aluminum. The motor holder 12 is disposed on the opposite side of the first carrier portion 36a from the base 1 side. The motor holder 12 is attached to the carrier 36 while holding the first motor 821 and the second motor 822. That is, the motor holder 12 is fastened to the first carrier portion 36a by fastening members B1 while holding the first motor 821 and the second motor 822. The first motor 821 and the second motor 822 are fastened to the motor holder 12 by fastening members B5. Both the first motor 821 and the second motor 822 are attached to the first carrier portion 36a while being disposed in the external space S1 of the base 1.

[0171] The oil seal 13 is disposed between the motor holder 12 and the first arm 8. The oil seal 13 is disposed on the opposite side of the space between the motor holder 12 and the first arm 8 from the base 1 side. The stay 14 is fixed to the base 1 by fastening members B6. The other configurations of the eighth embodiment are similar to those of the first embodiment.

[0172] (Effects of the eighth embodiment) In the eighth embodiment, similarly to the first embodiment, the first reducer 803 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 803 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 803. In addition, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 800.

[0173] In the eighth embodiment, as described above, the second carrier portion 36b is attached to the base 1. Both the first motor 821 and the second motor 822 are attached to the first carrier portion 36a while being disposed in the external space S1 of the base 1. This allows the first motor 821 and the second motor 822 to be cooled by outside air, so that the first motor 821 and the second motor 822 can be efficiently cooled. Other effects of the eighth embodiment are similar to those of the first embodiment.

[0174] [Ninth embodiment] The configuration of a SCARA robot 900 according to the ninth embodiment will be described with reference to Fig. 14 and Fig. 15. In the ninth embodiment, unlike the first embodiment, the SCARA robot 900 drives a first reducer 903 by a first motor 921 and a second motor 922. Note that in the ninth embodiment, detailed description of the same configuration as in the first embodiment will be omitted.

[0175] The configuration of a SCARA robot 900 according to a ninth embodiment of the present invention will be described with reference to Figures 14 and 15. The SCARA robot 900 is an example of the "robot" in the claims.

[0176] (Structure of SCARA robot) As shown in Figures 14 and 15, the SCARA robot 900 is a robot whose arm moves in the horizontal direction. The SCARA robot 900 includes a base 1, a first motor 921, a second motor 922, a first reducer 903, a third motor 4 (see Figure 1), a second reducer 5 (see Figure 1), a fourth motor 6 (see Figure 1), a fifth motor 7 (see Figure 1), a first arm 8, a second arm 9, and a working unit 10 (see Figure 1). Each of the first motor 921 and the second motor 922 is an example of the "motor" in the claims.

[0177] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0178] <Joint structure connecting the base and the first arm> 14, in the SCARA robot 900 of the ninth embodiment, even if the first arm 8 rotates when the working unit 10 performs a desired task, the first motor 921 and the second motor 922 do not rotate together with the first arm 8. Therefore, the wiring 11 connected to the first motor 921 and the second motor 922 does not rotate together with the rotation of the first arm 8, and the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0179] As shown in Figures 14 and 15, the SCARA robot 900 includes the base 1, the first motor 921, the second motor 922, the first reducer 903, the first arm 8, wiring 11, a first motor holder 912, a second motor holder 913, an oil seal 14, a stay 15, and a clamp 16.

[0180] A plurality of first motors 921 and second motors 922 are provided so as to be driven synchronously with each other by a control unit (not shown). The control unit is configured to perform control for synchronizing the rotation of first motor 921 and second motor 922 based on the rotation angle of the rotor of first motor 921 acquired by the resolver and the rotation angle of the rotor of second motor 922 acquired by the resolver. The control unit includes a CPU and a storage unit having a memory, a hard disk, and the like.

[0181] The first reducer 903 is an eccentric oscillating reducer. In particular, the first reducer 903 is an RV reducer. The first reducer 903 is provided at the first joint portion 8a. The first reducer 903 includes an input portion 931, a spur gear 32, an eccentric rotation portion 33, an external gear portion 34, an output portion 35, and a carrier 36.

[0182] The input portion 931 has a first input gear 931a to which a shaft 921a of the first motor 921 is connected, and a second input gear 931b to which a shaft 922a of the second motor 922 is connected. The first input gear 931a is configured to rotate by the driving force of the first motor 921. The second input gear 931b is configured to rotate by the driving force of the second motor 922.

[0183] The spur gear 32 is configured to transmit the driving force of both the first input gear 931a and the second input gear 931b to the eccentric rotation part 33. A plurality (three) of spur gears 32 are provided. The spur gears 32 are arranged on the base 1 side of the eccentric rotation part 33 in the direction in which the rotation axis C1 of the eccentric rotation part 33 extends. The plurality of spur gears 32 include a first spur gear 32a, a second spur gear 32b, and a third spur gear 32c. A first motor 921 is connected to the first spur gear 32a, the second spur gear 32b, and the third spur gear 32c via the first input gear 931a, and a second motor 922 is connected to the first spur gear 32a, the second spur gear 32b, and the third spur gear 32c via the second input gear 931b.

[0184] In this way, the first input gear 931a and the second input gear 931b mesh with the same spur gears 32. Each of the spur gears 32 is disposed on the base 1 side of each of the crankshafts 33a with the first input gear 931a meshing with the first carrier portion 36a side and the second input gear 931b meshing with the second carrier portion 36b side.

[0185] The eccentric rotation portion 33 has a plurality of (three) crankshafts 33a. The rotation of the input portion 931 is reduced and transmitted to the eccentric rotation portion 33 by the spur gear 32. The plurality of crankshafts 33a are configured to rotate by the driving forces of the first motor 921 and the second motor 922.

[0186] 14, the carrier 36 is disposed inside the output unit 35. The carrier 36 is attached to the base 1 so as not to rotate with the rotation of the first arm 8, which is rotated by the output unit 35 of the first reduction gear 903. In addition, the first motor 921 and the second motor 922 are attached to the carrier 36.

[0187] Specifically, the carrier 36 has a first carrier portion 36a and a second carrier portion 36b.

[0188] The first carrier part 36a is provided on the opposite side to the base 1 side in the extending direction of the rotation axis C1 of the eccentric rotation part 33. A first motor 921 is attached to the first carrier part 36a. The first motor 921 is fixed to the first carrier part 36a by being fastened by a fastening member B1 via a first motor holder 912.

[0189] The second carrier portion 36b is coupled to the first carrier portion 36a, such as by fasteners B2 and pins (not shown).

[0190] The second carrier part 36b is provided on the base 1 side in the direction in which the rotation axis C1 of the eccentric rotation part 33 extends. A second motor 922 is attached to the second carrier part 36b. The second motor 922 is fixed to the second carrier part 36b by being fastened by a fastening member B3 via a second motor holder 913.

[0191] The second carrier portion 36b is attached to the base 1. The second carrier portion 36b is fixed to the base 1 by being fastened with a fastening member B4.

[0192] As a result, the first motor 921 and the second motor 922 do not rotate in conjunction with the rotation of the first arm 8.

[0193] The first arm 8 is configured to rotate together with the output unit 35 by being connected to the output unit 35. The first arm 8 is fixed to the output unit 35 by a fastening member B5. In this manner, the first arm 8 is attached to the base 1 via the first reducer 903 so as to be capable of relative rotation.

[0194] The first motor holder 912 is a frame made of a metal such as aluminum. The first motor holder 912 is disposed on the opposite side of the first carrier portion 36a from the base 1 side. The first motor holder 912 is attached to the carrier 36 while holding the first motor 921. That is, the first motor holder 912 is fastened to the first carrier portion 36a by fastening members B1 while holding the first motor 921. The first motor 921 is fastened to the first motor holder 912 by fastening members B6. The first motor 921 is attached to the first carrier portion 36a while being disposed in the external space S1 of the base 1.

[0195] The second motor holder 913 is a frame made of a metal such as aluminum. The second motor holder 913 is disposed on the base 1 side of the second carrier portion 36b. The second motor holder 913 is attached to the carrier 36 while holding the second motor 922. That is, the second motor holder 913 is fastened to the second carrier portion 36b by fastening members B3 while holding the second motor 922. The second motor 922 is fastened to the second motor holder 913 by fastening members B7. The second motor 922 is attached to the base 1 together with the second carrier portion 36b while being disposed in the internal space S2 of the base 1.

[0196] The oil seal 14 is disposed between the first motor holder 912 and the first arm 8. The oil seal 14 is disposed between the first motor holder 912 and the first arm 8 on the opposite side from the base 1 side. The stay 15 is fixed to the base 1 by a fastening member B8. The other configurations of the ninth embodiment are similar to those of the first embodiment.

[0197] (Effects of the ninth embodiment) In the ninth embodiment, similarly to the first embodiment, the first reducer 903 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 903 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 903. Also, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 900.

[0198] In the ninth embodiment, as described above, the second carrier portion 36b is attached to the base 1, and the first motor 921 is attached to the first carrier portion 36a. The second motor 922 is attached to the base 1 together with the second carrier portion 36b in a state in which it is disposed in the internal space S2 of the base 1. This allows the first motor 921 to be attached to the first carrier portion 36a in a state in which it does not rotate together with the first arm 8, and allows the second motor 922 to be disposed in the internal space S2 of the base 1 in a state in which it does not rotate together with the first arm 8. As a result, since neither the first motor 921 nor the second motor 922 rotates together with the first arm 8, it is possible to prevent the first motor 921 and the second motor 922 from rotating relative to each other. As a result, since there is no need to control the rotation speed of each of the first motor 921 and the second motor 922 taking into account the relative rotation between the first motor 921 and the second motor 922 caused by the rotation of the first arm 8, synchronous control of the first motor 921 and the second motor 922 can be easily performed.

[0199] In the ninth embodiment, as described above, the input unit 931 includes a first input gear 931a connected to the first motor 921 and a second input gear 931b connected to the second motor 922. The first reducer 903 includes a plurality of spur gears 32 that transmit the driving force of the first input gear 931a and the driving force of the second input gear 931b to the plurality of crankshafts 33a. This allows the plurality of spur gears 32 to rotate in a state in which both the first input gear 931a and the second input gear 931b are meshed with the plurality of spur gears 32, so that the rotation of each of the first motor 921 and the second motor 922 can be decelerated and transmitted to the plurality of crankshafts 33a by changing the number of teeth of each of the plurality of spur gears 32, the first input gear 931a, and the second input gear 931b.

[0200] In the ninth embodiment, as described above, the first input gear 931a and the second input gear 931b are meshed with the same plurality of spur gears 32. Each of the same plurality of spur gears 32 is disposed on the base 1 side of each of the plurality of crankshafts 33a, with the first input gear 931a meshing with the first carrier portion 36a side and the second input gear 931b meshing with the second carrier portion 36b side. This allows both the first input gear 931a and the second input gear 931b to be connected to the same plurality of spur gears 32, so that the load and friction of the first reduction gear 903 applied to the first motor 921 and the load and friction of the first reduction gear 903 applied to the second motor 922 can be made substantially the same. As a result, the first motor 921 and the second motor 922 can be controlled in the same way to rotate the plurality of crankshafts 33a in the same way, so that the synchronous control of the first motor 921 and the second motor 922 can be facilitated. In addition, since the load and friction of the first reducer 903 applied to the first motor 921 and the load and friction of the first reducer 903 applied to the second motor 922 can be made substantially the same, it is possible to reduce the difference between the current supplied to the first motor 921 and the current supplied to the second motor 922. Other effects of the ninth embodiment are similar to those of the first embodiment.

[0201] [Tenth embodiment] The configuration of a SCARA robot 1000 according to the tenth embodiment will be described with reference to Fig. 16. Unlike the ninth embodiment, the tenth embodiment includes a SCARA robot 1000 having a first spur gear 1032a and a second spur gear 1032b. Note that in the tenth embodiment, detailed description of the same configuration as in the ninth embodiment will be omitted.

[0202] The configuration of a SCARA robot 1000 according to a tenth embodiment of the present invention will be described with reference to Fig. 16. The SCARA robot 1000 is an example of the "robot" in the claims.

[0203] (Structure of SCARA robot) As shown in Fig. 16, the SCARA robot 1000 is a robot whose arm moves in the horizontal direction. The SCARA robot 1000 includes a base 1, a first motor 921, a second motor 922, a first reducer 1003, a third motor 4 (see Fig. 1), a second reducer 5 (see Fig. 1), a fourth motor 6 (see Fig. 1), a fifth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). Each of the first motor 921 and the second motor 922 is an example of the "motor" in the claims.

[0204] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0205] <Joint structure connecting the base and the first arm> In the SCARA robot 1000 of the tenth embodiment, when a desired task is performed by the working unit 10, even if the first arm 8 rotates, the first motor 921 and the second motor 922 do not rotate together with the first arm 8. Therefore, the wiring 11 connected to the first motor 921 and the second motor 922 does not rotate together with the rotation of the first arm 8, so that the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0206] As shown in FIG. 16, the SCARA robot 1000 includes the base 1, the first motor 921, the second motor 922, the first reducer 1003, the first arm 8, wiring 11, a first motor holder 912, a second motor holder 913, an oil seal 14, a stay 15, and a clamp 16.

[0207] The first reducer 1003 is an eccentric oscillating reducer. In particular, the first reducer 1003 is an RV reducer. The first reducer 1003 is provided at the first joint portion 8a. The first reducer 1003 includes an input portion 1031, a spur gear 1032, an eccentric rotation portion 33, an external gear portion 34, an output portion 35, and a carrier 36.

[0208] The input portion 1031 has a first input gear 1031a to which a shaft 921a of the first motor 921 is connected, and a second input gear 1031b to which a shaft 922a of the second motor 922 is connected. The first input gear 1031a is configured to rotate by the driving force of the first motor 921. The second input gear 1031b is configured to rotate by the driving force of the second motor 922.

[0209] The plurality of spur gears 1032 include a first spur gear 1032a and a second spur gear 1032b. The first spur gear 1032a is disposed on the opposite side of each of the plurality of crankshafts 33a from the base 1 side. The first input gear 1031a is connected to the first spur gear 1032a. The second spur gear 1032b is disposed on the base 1 side of each of the plurality of crankshafts 33a. The second input gear 1031b is connected to the second spur gear 1032b.

[0210] In the extending direction of the crankshaft 33a, a distance M1 from the first motor 921 to the first input gear 1031a is substantially the same as a distance M2 from the second motor 922 to the second input gear 1031b. Other configurations of the tenth embodiment are similar to those of the ninth embodiment.

[0211] (Effects of the Tenth Embodiment) In the tenth embodiment, similarly to the above ninth embodiment, the first reducer 1003 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 1003 is attached to the base 1 so as not to rotate with the rotation of the first arm 8, which is rotated by the output portion 35 of the first reducer 1003. In addition, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 1000.

[0212] In the tenth embodiment, as described above, the plurality of spur gears 1032 are arranged on the opposite side of the base 1 of each of the plurality of crankshafts 33a, and include a first spur gear 1032a connected to the first input gear 1031a, and a second spur gear 1032b arranged on the base 1 side of each of the plurality of crankshafts 33a, and connected to the second input gear 1031b. This allows the first spur gear 1032a to be arranged closer to the first motor 921, so that the distance between the first input gear 1031a and the first motor 921 can be reduced. In addition, the second spur gear 1032b can be arranged closer to the second motor 922, so that the distance between the second input gear 1031b and the second motor 922 can be reduced. As a result, the mass of the shaft between the first input gear 1031a and the first motor 921 can be reduced, and the mass of the shaft between the second input gear 1031b and the second motor 922 can be reduced, thereby suppressing an increase in the load inertia (load moment of inertia) applied to the first motor 921 and the second motor 922.

[0213] In the tenth embodiment, as described above, in the extending direction of the crankshaft 33a, the distance M1 from the first motor 921 to the first input gear 1031a is substantially the same as the distance M2 from the second motor 922 to the second input gear 1031b. This allows the length of the shaft 921a connecting the first motor 921 and the first input gear 1031a to be the same as the length of the shaft 922a connecting the second motor 922 and the second input gear 1031b, and therefore the mass of the shaft connecting the first motor 921 and the first input gear 1031a to be substantially the same as the mass of the shaft connecting the second motor 922 and the second input gear 1031b. As a result, the inertia (moment of inertia) generated when rotating the first input gear 1031a can be made substantially the same as the inertia (moment of inertia) generated when rotating the second input gear 1031b. Other effects of the tenth embodiment are similar to those of the ninth embodiment.

[0214] [Eleventh embodiment] The configuration of a SCARA robot 1100 according to an eleventh embodiment will be described with reference to Fig. 17. In the eleventh embodiment, unlike the ninth embodiment, a spur gear 1132 is disposed in the central portion of the crankshaft 33a. Note that in the eleventh embodiment, detailed description of the same configuration as in the ninth embodiment will be omitted.

[0215] The configuration of a SCARA robot 1100 according to an eleventh embodiment of the present invention will be described with reference to Fig. 17. The SCARA robot 1100 is an example of the "robot" in the claims.

[0216] (Structure of SCARA robot) As shown in Fig. 17, the SCARA robot 1100 is a robot whose arm moves in the horizontal direction. The SCARA robot 1100 includes a base 1, a first motor 921, a second motor 922, a first reducer 1103, a third motor 4 (see Fig. 1), a second reducer 5 (see Fig. 1), a fourth motor 6 (see Fig. 1), a fifth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). Each of the first motor 921 and the second motor 922 is an example of the "motor" in the claims.

[0217] Here, a first joint portion 8a is provided at a portion connecting the first arm 8 and the base 1. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0218] <Joint structure connecting the base and the first arm> 17, in the SCARA robot 1100 of the eleventh embodiment, even if the first arm 8 rotates when the working unit 10 performs a desired task, the first motor 921 and the second motor 922 do not rotate together with the first arm 8. Therefore, the wiring 11 connected to the first motor 921 and the second motor 922 does not rotate together with the rotation of the first arm 8, and the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 8a) connecting the base 1 and the first arm 8 will be described below.

[0219] As shown in FIG. 17, the SCARA robot 1100 includes the base 1, the first motor 921, the second motor 922, the first reducer 1103, the first arm 8, wiring 11, a first motor holder 912, a second motor holder 913, an oil seal 14, a stay 15, and a clamp 16.

[0220] The first reducer 1103 is an eccentric oscillating reducer. In particular, the first reducer 1103 is an RV reducer. The first reducer 1103 is provided at the first joint portion 8a. The first reducer 1103 includes an input portion 1131, a spur gear 1132, an eccentric rotation portion 33, an external gear portion 34, an output portion 35, and a carrier 36.

[0221] The input portion 1131 has a first input gear 1131a to which a shaft 921a of the first motor 921 is connected, and a second input gear 1131b to which a shaft 922a of the second motor 922 is connected. The first input gear 1131a is configured to rotate by the driving force of the first motor 921. The second input gear 1131b is configured to rotate by the driving force of the second motor 922.

[0222] In the extending direction of the crankshaft 33a, each of the plurality of spur gears 1132 is disposed between an end E1 on the side opposite to the base 1 side of the external gear part 34 and an end E2 on the base 1 side of the external gear part 34. Specifically, in the extending direction of the crankshaft 33a, each of the plurality of spur gears 1132 is disposed in the central portion of the crankshaft 33a.

[0223] The spur gear 1132 meshes with both the first input gear 1131a and the second input gear 1131b. Other configurations of the eleventh embodiment are similar to those of the ninth embodiment.

[0224] (Effects of the eleventh embodiment) In the eleventh embodiment, similarly to the above-described ninth embodiment, the first reducer 1103 is provided at the first joint portion 8a. Here, the carrier 36 of the first reducer 1103 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 1103. Also, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 1100.

[0225] In the eleventh embodiment, as described above, the first reducer 1103 includes an external gear unit 34 that has external teeth 134 that mesh with the output unit 35 and is swingably mounted on the carrier 36, and swings with the rotation of the crankshaft 33a to transmit the rotation of the crankshaft 33a to the output unit 35 after reducing the speed. In the extending direction of the crankshaft 33a, each of the spur gears 1132 is disposed between an end E1 of the external gear unit 34 on the side opposite to the base 1 side and an end E2 of the external gear unit 34 on the base 1 side. This makes it possible to reduce the difference between the interval between the first motor 921 and the first input gear 1131a and the interval between the second motor 922 and the second input gear 1131b, and therefore the difference between the mass of the shaft from the first motor 921 to the first input gear 1131a and the mass of the shaft from the second motor 922 to the second input gear 1131b. As a result, it is possible to reduce the difference between the inertia (moment of inertia) generated when rotating the first input gear 1131a and the inertia (moment of inertia) generated when rotating the second input gear 1131b, which makes it easier to perform synchronous control of the first motor 921 and the second motor 922. Other effects of the eleventh embodiment are similar to those of the ninth embodiment.

[0226] [Twelfth embodiment] The configuration of a SCARA robot 1200 according to the twelfth embodiment will be described with reference to Fig. 18. In the twelfth embodiment, unlike the eleventh embodiment, the SCARA robot 1200 includes an impeller 1217. Note that in the twelfth embodiment, detailed description of the same configuration as in the eleventh embodiment will be omitted.

[0227] The configuration of a SCARA robot 1200 according to a twelfth embodiment of the present invention will be described with reference to Fig. 18. The SCARA robot 1200 is an example of the "robot" in the claims.

[0228] (Structure of SCARA robot) As shown in Fig. 18, the SCARA robot 1200 is a robot whose arm moves in the horizontal direction. The SCARA robot 1200 includes a base 1201, a first motor 921, a second motor 922, a first reducer 1203, a third motor 4 (see Fig. 1), a second reducer 5 (see Fig. 1), a fourth motor 6 (see Fig. 1), a fifth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). Each of the first motor 921 and the second motor 922 is an example of the "motor" in the claims.

[0229] Here, a first joint portion 1208a is provided at a portion connecting the first arm 8 and the base 1201. Also, a second joint portion 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0230] <Joint structure connecting the base and the first arm> In the SCARA robot 1200 of the twelfth embodiment, when a desired task is performed by the working unit 10, even if the first arm 8 rotates, the first motor 921 and the second motor 922 do not rotate together with the first arm 8. Therefore, the wiring 11 connected to the first motor 921 and the second motor 922 does not rotate together with the rotation of the first arm 8, so that the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 1208a) that connects the base 1201 and the first arm 8 will be described below.

[0231] As shown in FIG. 18, the SCARA robot 1200 includes the base 1201, the first motor 921, the second motor 922, the first reducer 1203, the first arm 8, wiring 11, the first motor holder 912, the second motor holder 1213, an oil seal 14, a stay 15, a clamp 16, and an impeller 1217.

[0232] The base 1201 includes a base-side ventilation portion 1201a that provides ventilation between an internal space S2 of the base 1201 and an external space S1 of the base 1201. The base-side ventilation portion 1201a is a slit. The base-side ventilation portion 1201a may be a filter.

[0233] The second motor holder 1213 includes a holder-side ventilation portion 1213a that provides ventilation between the internal space S2 of the base 1201 and the external space S1 of the base 1201. The holder-side ventilation portion 1213a is a slit. The holder-side ventilation portion 1213a may be a filter.

[0234] The impeller 1217 is attached to the first arm 8 and rotates together with the first arm 8 to allow air to flow from the internal space S2 of the base 1201 to the external space S1 of the base 1201. The impeller 1217 is a centrifugal impeller. The impeller 1217 is attached to a portion of the first arm 8 on the base 1201 side. Here, as the impeller 1217 rotates, air flows in the order of the base side ventilation portion 1201a, the internal space S2 of the base 1201, the holder side ventilation portion 1213a, the impeller 1217, and the external space S1 of the base 1201. As a result, the second motor 922 fixed to the second carrier portion 36b is cooled while being disposed in the internal space S2 of the base 1201. The other configurations of the twelfth embodiment are the same as those of the eleventh embodiment.

[0235] (Effects of the twelfth embodiment) In the twelfth embodiment, similarly to the eleventh embodiment, the first reducer 1203 is provided at the first joint 1208a. Here, the carrier 36 of the first reducer 1203 is attached to the base 1201 so as not to rotate with the rotation of the first arm 8 rotated by the output part 35 of the first reducer 1203. In addition, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 1200.

[0236] In the twelfth embodiment, as described above, the second motor 922 is fixed to the second carrier portion 36b in a state in which it is disposed in the internal space S2 of the base 1201. The SCARA robot 1200 includes an impeller 1217 that is attached to the first arm 8 and rotates together with the first arm 8 to cause air to flow from the internal space S2 of the base 1201 to the external space S1 of the base 1201. This allows the impeller 1217 to cool the second motor 922 disposed in the internal space S2 of the base 1201, so that the second motor 922 disposed in the internal space S2 of the base 1201 can be efficiently cooled. As a result, the thermal characteristics of both the first motor 921 and the second motor 922 can be made substantially the same, so that synchronous control can be easily performed. Other effects of the twelfth embodiment are similar to those of the eleventh embodiment.

[0237] [Thirteenth embodiment] The configuration of a SCARA robot 1300 according to the thirteenth embodiment will be described with reference to Fig. 19. Unlike the eleventh embodiment, the thirteenth embodiment includes a SCARA robot 1300 equipped with an electric fan 1317. Note that in the thirteenth embodiment, detailed description of the same configuration as in the eleventh embodiment will be omitted.

[0238] The configuration of a SCARA robot 1300 according to a thirteenth embodiment of the present invention will be described with reference to Fig. 19. The SCARA robot 1300 is an example of the "robot" in the claims.

[0239] (Structure of SCARA robot) As shown in Fig. 19, the SCARA robot 1300 is a robot whose arm moves in the horizontal direction. The SCARA robot 1300 includes a base 1301, a first motor 921, a second motor 922, a first reducer 1103, a third motor 4 (see Fig. 1), a second reducer 5 (see Fig. 1), a fourth motor 6 (see Fig. 1), a fifth motor 7 (see Fig. 1), a first arm 8, a second arm 9, and a working unit 10 (see Fig. 1). Each of the first motor 921 and the second motor 922 is an example of the "motor" in the claims.

[0240] Here, a first joint 1308a is provided at a portion connecting the first arm 8 and the base 1301. Also, a second joint 9a (see FIG. 1) is provided as a portion connecting the first arm 8 and the second arm 9.

[0241] <Joint structure connecting the base and the first arm> 19, in the SCARA robot 1300 of the thirteenth embodiment, even if the first arm 8 rotates when the working unit 10 performs a desired task, the first motor 921 and the second motor 922 do not rotate together with the first arm 8. Therefore, the wiring 11 connected to the first motor 921 and the second motor 922 does not rotate together with the rotation of the first arm 8, so that the wiring 11 is arranged at a fixed position. Details of such a joint structure (first joint unit 1308a) connecting the base 1301 and the first arm 8 will be described below.

[0242] As shown in FIG. 19, the SCARA robot 1300 includes the base 1301, the first motor 921, the second motor 922, the first reducer 1103, the first arm 8, wiring 11, the first motor holder 912, the second motor holder 913, an oil seal 14, a stay 15, a clamp 16, and an electric fan 1317.

[0243] The base 1301 includes a first base-side ventilation portion 1301a that ventilates the internal space S2 of the base 1301 and the external space S1 of the base 1301. The first base-side ventilation portion 1301a is a slit. The first base-side ventilation portion 1301a may be a filter. The base 1301 also includes a second base-side ventilation portion 1301b that ventilates the internal space S2 of the base 1301 and the external space S1 of the base 1301. The second base-side ventilation portion 1301b is a slit. The second base-side ventilation portion 1301b may be a filter.

[0244] The electric fan 1317 is attached to the base 1301 and configured to flow air from the internal space S2 of the base 1301 to the external space S1 of the base 1301. The electric fan 1317 is attached to the inner surface of the base 1301 at a location where the first base side ventilation part 1301a is provided. Here, by driving the electric fan 1317, air flows in the order of the first base side ventilation part 1301a, the internal space S2 of the base 1301, the second base side ventilation part 1301b, and the external space S1 of the base 1301. As a result, the second motor 922 fixed to the second carrier part 36b is cooled while being disposed in the internal space S2 of the base 1301. The other configurations of the thirteenth embodiment are the same as those of the eleventh embodiment.

[0245] (Effects of the thirteenth embodiment) In the thirteenth embodiment, similarly to the eleventh embodiment, the first reducer 1103 is provided in the first joint portion 1308a. Here, the carrier 36 of the first reducer 1103 is attached to the base 1 so as not to rotate with the rotation of the first arm 8 which is rotated by the output portion 35 of the first reducer 1103. In addition, the first motor 2 is attached to the carrier 36. This allows the use of more versatile wiring 11, thereby simplifying the configuration of the SCARA robot 1300.

[0246] In the thirteenth embodiment, as described above, the second motor 922 is fixed to the second carrier portion 36b in a state in which it is disposed in the internal space S2 of the base 1301. The SCARA robot 1300 is provided with an electric fan 1317 that is attached to the base 1301 and that flows air from the internal space S2 of the base 1301 to the external space S1 of the base 1301. This allows the second motor 922 disposed in the internal space S2 of the base 1301 to be cooled by the electric fan 1317, so that the second motor 922 disposed in the internal space S2 of the base 1301 can be efficiently cooled. Other effects of the thirteenth embodiment are similar to those of the eleventh embodiment.

[0247] [Variations] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0248] For example, in the above ninth to thirteenth embodiments, the spur gears 32 have the first spur gear 32a, the second spur gear 32b, and the third spur gear 32c, but the present invention is not limited to this. In the present invention, as in the first modified example shown in FIG. 20, the spur gears 1432 may have the first spur gear 1432a and the second spur gear 1432b. In this case, the first motor (not shown) is connected to the first spur gear 1432a and the second spur gear 1432b via the first input gear 1431a, and the second motor (not shown) is connected to the first motor (not shown) via the second input gear (not shown). In addition, only in the seventh and eighth embodiments among the above ninth to thirteenth embodiments, as in the second modified example shown in FIG. 21, the spur gears 1532 may have the first spur gear 1532a and the second spur gear 1532b. In this case, the first spur gear 1532a is connected to a first motor (not shown) via a first input gear 1531a, and is connected to a second motor (not shown) via a second input gear 1531b. The second spur gear 1532b is connected to a first motor (not shown) via a first input gear 1531a, and is connected to a second motor (not shown) via a second input gear 1531b. In the ninth to thirteenth embodiments, the plurality of spur gears 1632 may have a first spur gear 1632a and a second spur gear 1632b, as in a third modified example shown in FIG. 22. In this case, the first motor (not shown) is connected to the first spur gear 1632a via the first input gear 1631a. The second spur gear 1632b is connected to a second motor (not shown) via a second input gear 731b.

[0249] In the seventh and eighth embodiments, the first motor 721 (821) is connected to the first spur gear 32a and the second spur gear 32b via the first input gear 731a (831a), and the second motor 722 (822) is connected to the second spur gear 32b and the third spur gear 32c via the second input gear 731b (831b), but the present invention is not limited to this. In the present invention, as in a fourth modified example shown in FIG. 23, the first motor (not shown) may be connected to the first spur gear 1732a via the first input gear 1731a, and the second motor (not shown) may be connected to the second spur gear 1732b via the second input gear 1731b.

[0250] In the seventh and eighth embodiments, the input portion 731 (831) has the first input gear 731a (831a) and the second input gear 731b (831b), but the present invention is not limited to this. In the present invention, as in a fifth modified example shown in FIG. 24, the input portion 1831 may have the first input gear 1831a, the second input gear 1831b, and the third input gear 1831c. The third input gear 1831c is connected to a shaft (not shown) of a third motor (not shown). The first spur gear 32a is connected to the first motor (not shown) via the first input gear 1831a, and is connected to the third motor (not shown) via the third input gear 1831c. A first motor (not shown) is connected to the second spur gear 32b via a first input gear 1831a, and a second motor (not shown) is connected to the second input gear 1831b. A second motor (not shown) is connected to the third spur gear 32c via a second input gear 1831b, and a third motor (not shown) is connected to the third input gear 1831c.

[0251] Also, as in a sixth modified example shown in FIG. 25, the input section 1931 may have a first input gear 1931a, a second input gear 1931b, and a third input gear 1931c. A shaft (not shown) of a third motor (not shown) is connected to the third input gear 1931c. The third motor (not shown) is connected to the first spur gear 32a via the third input gear 1931c. The first motor (not shown) is connected to the second spur gear 32b via the first input gear 1931a. The second motor (not shown) is connected to the third spur gear 32c via the second input gear 1931b.

[0252] In the sixth embodiment, the first motor 2 and the motor cover 618 are connected via the thermal conductor 619, but the present invention is not limited to this. In the present invention, the first motor 2 and the motor cover 2018 may be directly connected as in a seventh modified example shown in Fig. 26 .

[0253] In the above first, third to sixth and eighth embodiments, the first motor 2 is disposed above the base 1, but the present invention is not limited to this. In the present invention, the first motor may be disposed below the base.

[0254] In the above first to thirteenth embodiments, the "robot" in the claims is the SCARA robot 100 (200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300), but the present invention is not limited to this. In the present invention, the robot may be a vertical articulated robot.

[0255] In the first to sixth embodiments, the first reducer 3 (eccentric oscillating reducer) is an RV reducer, but the present invention is not limited to this. In the present invention, the eccentric oscillating reducer may be a Cyclo reducer (registered trademark). [Explanation of symbols]

[0256] 1, 501, 601, 1201, 1301 Base 2, 721, 821, 921 1st motor (motor) 3, 303, 703, 803, 903, 1003, 1103 First reducer (eccentric oscillating reducer) 4, 722, 822, 922 Second Motor (Motor) 8 First Arm 8a, 508a, 608a, 1208a, 1308a First joint 9 Second Arm 9a, second joint 11, 211 Wiring 12, 212, 412 Motor holder 13, 213 Oil seal 14 Oil seal 16, 216 Cover 31, 331, 731, 831, 931, 1031, 1131, 1831, 1931 Input section 32, 1032, 1132, 1432, 1532, 1632 Spur Gear 32a, 1032a, 1432a, 1532a, 1632a, 1732a 1st spur gear 32b, 1032b, 1432b, 1532b, 1632b, 1732b 2nd spur gear 33 Eccentric Rotating Part 33a Crankshaft 34 External gear section 35 Output section 36 Career 36a First Carrier Section 36b 2nd Carrier Section 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300 SCARA Robot 134 Outer teeth 251 Input section 252 Spur Gear 253 Eccentric Rotating Part 253a Crankshaft 254 External gear section 255 Output section 256 Carriers 256a 1st Carrier Section 256b: Second carrier section 337 Transmission shaft 337a Through hole 412a Fin 501a, 601a, 1201a Base side ventilation section 519 Axis cover 519a Reducer side ventilation section 618 Motor cover 618a Motor side ventilation 619 Thermal Conductors 731a, 831a, 931a, 1031a, 1131a 1st input gear 731b, 831b, 931b, 1031b, 1131b 2nd input gear 1217 Impeller 1301a First base side ventilation part (base side ventilation part) 1301b Second base side ventilation part (base side ventilation part) 1317 Electric fan C1 Rotation axis E1 end E2 end S1 External space S2 interior space

Claims

1. With the base, A first arm attached to the base so as to be relatively rotatable; a second arm attached to the first arm so as to be capable of rotating relative to the first arm; a first joint portion that connects the first arm and the base; a second joint portion that connects the first arm and the second arm; A motor; an eccentric oscillating reducer including an input section that rotates by a driving force of the motor, an eccentric rotating section to which the rotation of the input section is decelerated and transmitted, an output section to which the rotation of the eccentric rotating section is decelerated and transmitted, and a carrier disposed inside the output section, the carrier of the eccentric oscillating reducer has at least one of a configuration in which, when the eccentric oscillating reducer is provided at the first joint portion, the carrier is attached to the base so as not to rotate in association with rotation of the first arm rotated by the output portion of the eccentric oscillating reducer, and a configuration in which, when the eccentric oscillating reducer is provided at the second joint portion, the carrier is attached to the first arm so as not to rotate in association with rotation of the second arm rotated by the output portion of the eccentric oscillating reducer, The motor is attached to the carrier; a motor holder attached to the carrier in a state where the motor is held; the carrier is attached to the base so as not to rotate with the rotation of the first arm; the motor is fixed to the carrier via the motor holder in a state where the motor is disposed in an external space of the base, The robot further includes an oil seal disposed between the motor holder and the first arm.

2. A base, A first arm attached to the base so as to be relatively rotatable; a second arm attached to the first arm so as to be capable of rotating relative to the first arm; a first joint portion that connects the first arm and the base; a second joint portion that connects the first arm and the second arm; A motor; an eccentric oscillating reducer including an input section that rotates by a driving force of the motor, an eccentric rotating section to which the rotation of the input section is decelerated and transmitted, an output section to which the rotation of the eccentric rotating section is decelerated and transmitted, and a carrier disposed inside the output section, the carrier of the eccentric oscillating reducer has at least one of a configuration in which, when the eccentric oscillating reducer is provided at the first joint portion, the carrier is attached to the base so as not to rotate in association with rotation of the first arm rotated by the output portion of the eccentric oscillating reducer, and a configuration in which, when the eccentric oscillating reducer is provided at the second joint portion, the carrier is attached to the first arm so as not to rotate in association with rotation of the second arm rotated by the output portion of the eccentric oscillating reducer, The motor is attached to the carrier; a motor holder attached to the carrier in a state where the motor is held; the carrier is attached to the base so as not to rotate with the rotation of the first arm; the motor is fixed to the carrier via the motor holder in a state where the motor is disposed in an external space of the base, The motor is provided in one piece, The carrier is a first carrier portion provided on a side opposite to the base side in a direction in which a rotation axis of the eccentric rotation portion extends; a second carrier portion connected to the first carrier portion and provided on the base side in a direction in which a rotation axis of the eccentric rotation portion extends, the second carrier portion is attached to the base; The motor is attached to the first carrier part.

3. A base, A first arm attached to the base so as to be relatively rotatable; a second arm attached to the first arm so as to be capable of rotating relative to the first arm; a first joint portion that connects the first arm and the base; a second joint portion that connects the first arm and the second arm; A motor; an eccentric oscillating reducer including an input section that rotates by a driving force of the motor, an eccentric rotating section to which the rotation of the input section is decelerated and transmitted, an output section to which the rotation of the eccentric rotating section is decelerated and transmitted, and a carrier disposed inside the output section, the carrier of the eccentric oscillating reducer has at least one of a configuration in which, when the eccentric oscillating reducer is provided at the first joint portion, the carrier is attached to the base so as not to rotate in association with rotation of the first arm rotated by the output portion of the eccentric oscillating reducer, and a configuration in which, when the eccentric oscillating reducer is provided at the second joint portion, the carrier is attached to the first arm so as not to rotate in association with rotation of the second arm rotated by the output portion of the eccentric oscillating reducer, The motor is attached to the carrier; a motor holder attached to the carrier in a state where the motor is held; The motor is provided in plurality so as to be driven synchronously with one another, The eccentric rotating portion has a plurality of crankshafts, The plurality of crankshafts are configured to rotate by driving forces of the plurality of motors.

4. the carrier is attached to the base so as not to rotate with the rotation of the first arm; The robot according to claim 3 , wherein the motor is fixed to the carrier via the motor holder in a state where the motor is disposed in an external space of the base.

5. The robot according to claim 4 , further comprising an oil seal disposed between the motor holder and the first arm.

6. The motor is provided in one piece, The carrier is a first carrier portion provided on a side opposite to the base side in a direction in which a rotation axis of the eccentric rotation portion extends; a second carrier portion connected to the first carrier portion and provided on the base side in a direction in which a rotation axis of the eccentric rotation portion extends, the second carrier portion is attached to the base; The robot of claim 1 , wherein the motor is mounted to the first carrier part.

7. The robot according to claim 6 , wherein the motor is disposed at a position offset from a center of the first carrier part in a radial direction perpendicular to an extension direction of a rotation axis of the eccentric rotor.

8. the eccentric oscillating reducer includes a hollow transmission shaft having a through hole penetrating in a direction in which a rotation axis of the eccentric rotation part extends, the transmission shaft being connected to the input part and transmitting a driving force from the motor to the eccentric rotation part, The robot according to claim 7 , further comprising a wire that is connected to the motor while being passed through the through hole.

9. the base includes a base-side ventilation portion that ventilates an internal space of the base and an external space of the base, 9. The robot according to claim 8, further comprising a shaft cover covering the motor side of the through hole of the transmission shaft in a direction in which a rotation axis of the eccentric rotation part extends, and including a reducer side ventilation part that ventilates an internal space of the base and an external space of the base via the through hole.

10. The robot according to any one of claims 1 to 9, wherein a convex fin is formed on an outer surface of the motor holder.

11. the base includes a base-side ventilation portion that ventilates an internal space of the base and an external space of the base, The robot according to claim 8 , further comprising a motor cover covering the motor and including a motor-side ventilation portion for providing ventilation between an internal space of the base and an external space of the base via the through-hole.

12. The robot according to claim 11 , wherein the motor and the motor cover are directly connected to each other or connected to each other via a thermal conductor.

13. The motor is provided in plurality so as to be driven synchronously with one another, The eccentric rotating portion has a plurality of crankshafts, The robot according to claim 1 , wherein the plurality of crankshafts are configured to rotate by driving forces of the plurality of motors.

14. the plurality of motors includes a first motor and a second motor; The carrier is a first carrier portion provided on a side opposite to the base or the first arm in a direction in which a rotation axis of the crankshaft extends; a second carrier portion connected to the first carrier portion and provided on a side of the base or the first arm in a direction along which a rotation axis of the crankshaft extends, the first motor is attached to at least one of the first carrier part and the second carrier part, The robot of claim 13 , wherein the second motor is mounted to at least one of the first carrier part and the second carrier part.

15. the second carrier portion is attached to the base or the first arm; 15. The robot of claim 14, wherein both the first motor and the second motor are mounted on the second carrier part with the first motor and the second motor disposed in an interior space of the base or the first arm.

16. the second carrier portion is attached to the base or the first arm; The robot of claim 14 , wherein both the first motor and the second motor are attached to the first carrier part with the first motor and the second motor being disposed in an external space of the base or the first arm.

17. the second carrier portion is attached to the base or the first arm; the first motor is attached to the first carrier portion; The robot according to claim 14 , wherein the second motor is attached to the base or the first arm together with the second carrier part in a state in which the second motor is disposed in an internal space of the base or the first arm.

18. The input unit includes: a first input gear connected to the first motor; a second input gear connected to the second motor; 18. The robot of claim 17, wherein the eccentric oscillating reducer includes a plurality of spur gears that transmit the driving force of the first input gear and the driving force of the second input gear to the plurality of crankshafts.

19. the first input gear and the second input gear mesh with the same plurality of spur gears, 19. The robot of claim 18, wherein the same plurality of spur gears are arranged on the base or the first arm side of each of the plurality of crankshafts with the first input gear meshing with the first carrier portion side and the second input gear meshing with the second carrier portion side.

20. The plurality of spur gears are a first spur gear that is disposed on a side of each of the plurality of crankshafts opposite to the base or the first arm side and to which the first input gear is connected; 19. The robot according to claim 18, further comprising: a second spur gear that is arranged on the base or the first arm side of each of the plurality of crankshafts and to which the second input gear is connected.

21. 21. The robot according to claim 20, wherein a distance from the first motor to the first input gear in an extension direction of the crankshaft is substantially the same as a distance from the second motor to the second input gear.

22. the eccentric oscillating reducer further includes an external gear portion that has external teeth that mesh with the output portion, and that oscillates with rotation of the crankshaft while being oscillated on the carrier to transmit the rotation of the crankshaft to the output portion after reducing the speed of the rotation, 19. The robot according to claim 18, wherein, in a direction in which the crankshaft extends, each of the plurality of spur gears is disposed between an end of the external gear portion opposite the base or the first arm side and an end of the external gear portion on the base or the first arm side.

23. At least one of the first motor and the second motor is fixed to the second carrier part while being disposed in the internal space of the base, The robot of claim 14 , further comprising an impeller attached to the first arm and rotating with the first arm to move air from an interior space of the base to an exterior space of the base.

24. At least one of the first motor and the second motor is fixed to the second carrier part while being disposed in the internal space of the base, 15. The robot of claim 14, further comprising an electric fan attached to the base to draw air from an interior space of the base to an exterior space of the base.

25. With the base, A first arm attached to the base so as to be relatively rotatable; a second arm attached to the first arm so as to be capable of rotating relative to the first arm; a first joint portion that connects the first arm and the base; a second joint portion that connects the first arm and the second arm; A motor; an eccentric oscillating reducer including an input section that rotates by a driving force of the motor, an eccentric rotating section to which the rotation of the input section is decelerated and transmitted, an output section to which the rotation of the eccentric rotating section is decelerated and transmitted, and a carrier disposed inside the output section, the carrier of the eccentric oscillating reducer has at least one of a configuration in which, when the eccentric oscillating reducer is provided at the first joint portion, the carrier is attached to the base so as not to rotate in association with rotation of the first arm rotated by the output portion of the eccentric oscillating reducer, and a configuration in which, when the eccentric oscillating reducer is provided at the second joint portion, the carrier is attached to the first arm so as not to rotate in association with rotation of the second arm rotated by the output portion of the eccentric oscillating reducer, The motor is attached to the carrier; The carrier is a first carrier portion provided on a side opposite to the base side or the first arm side in a direction in which a rotation axis of the eccentric rotation portion extends; a second carrier portion connected to the first carrier portion and provided on the base side or the first arm side in a direction in which a rotation axis of the eccentric rotation portion extends, the second carrier portion is attached to the base or the first arm; The motor is mounted to the first carrier part or the second carrier part.

26. With the base, A first arm attached to the base so as to be relatively rotatable; a second arm attached to the first arm so as to be capable of rotating relative to the first arm; a first joint portion that connects the first arm and the base; a second joint portion that connects the first arm and the second arm; A motor; an eccentric oscillating reducer including an input section that rotates by a driving force of the motor, an eccentric rotating section to which the rotation of the input section is decelerated and transmitted, an output section to which the rotation of the eccentric rotating section is decelerated and transmitted, and a carrier disposed inside the output section, the carrier of the eccentric oscillating reducer has at least one of a configuration in which, when the eccentric oscillating reducer is provided at the first joint portion, the carrier is attached to the base so as not to rotate in association with rotation of the first arm rotated by the output portion of the eccentric oscillating reducer, and a configuration in which, when the eccentric oscillating reducer is provided at the second joint portion, the carrier is attached to the first arm so as not to rotate in association with rotation of the second arm rotated by the output portion of the eccentric oscillating reducer, The motor is attached to the carrier; a motor holder attached to the carrier in a state in which the motor is held; the robot further comprising an oil seal disposed at least either between the motor holder and the first arm when the eccentric oscillating reducer is provided at the first joint portion, or between the motor holder and the second arm when the eccentric oscillating reducer is provided at the second joint portion.

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