Robotic arm and SCARA robot

Abstract

To provide a robot arm which enables improvement of dust-proof / drip-proof performance with a simple structure, and to provide a scalar robot.SOLUTION: A robot arm includes: a frame; a drive part installed on the frame; a cover which is installed on the frame and covers the drive part; a spacer installed between the cover and the frame; and a packing inserted into a space between the spacer and the frame. Distortion of the cover and the packing are prevented and dust-proof / drip-proof performance is improved with a simple structure.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a robot arm and a scalar robot, and particularly to an invention devised so that the dustproof and drip-proof performance can be enhanced with a simple configuration.

Background Art

[0002] As a conventional robot arm, there is one described in Patent Document 1. The scalar robot described in Patent Document 1 has an arm, and an arm cover is attached to the arm. A guide is formed to project along the edge of the outer periphery of the arm on the side of the arm cover, and the arm cover is attached to the arm by fitting into the guide.

[0003] Also, it is described that a packing is installed along the edge of the outer periphery of the arm on the side of the arm cover, and the arm cover is attached to the arm by fitting into the packing.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the above conventional configuration has the following problems. There is a concern that the arm cover is only fitted into the guide of the arm, and a gap may occur due to the deflection of the arm cover, and the dustproof and drip-proof performance may not be exhibited.

[0006] Also, there is a concern that the packing may be cut by the edge of the arm cover, and the dustproof and drip-proof performance may not be exhibited.

[0007] The present invention is based on these points and aims to provide a robot arm and a SCARA robot that can achieve high dustproof and waterproof performance with a simple configuration. [Means for solving the problem]

[0008] To solve the above problems, the robot arm according to claim 1 of the present invention comprises a frame, a drive unit installed on the frame, a cover installed on the frame and covering the drive unit, a spacer installed between the cover and the frame, and a packing inserted between the spacer and the frame. The spacer has a cover-side engaging recess into which the end of the cover engages, the spacer has a frame-side engaging recess into which the end of the frame engages, and at least one of the frame and the spacer has a packing-receiving recess into which the packing is housed, the cover-side engaging recess has walls on the outside and inside of the end of the cover, and the packing-receiving recess has walls on the outside and inside of the packing and is provided so that the packing is positioned inside the frame-side engaging recess. It is characterized by the following: Furthermore, the robot arm according to claim 2 is the robot arm according to claim 1, and the above The outer circumference of the spacer is provided with a protrusion that extends from the side of the cover and the frame. It is characterized by being [that]. Furthermore, the robot arm according to claim 3 is, 2 In the robot arm described above, The side of the protruding part on the cover side is an inclined surface. It is characterized by having the following features. Furthermore, the robot arm according to claim 4 is, 1 In the robot arm described above, The cover is glued to the spacer mentioned above. It is characterized by having the following features. Furthermore, the robot arm according to claim 5 is the robot arm according to claim 1, and the above The cover and the spacer are fastened together to the frame by fastening members. It is characterized by being such. Furthermore, the robot arm according to claim 6 is the robot arm according to claim 1, wherein the spacer It is made of metal. It is characterized by the following: Furthermore, the robot arm according to claim 7 is the robot arm according to claim 1, and the above The frame is made of metal, and the cover is made of resin. It is characterized by the following: Furthermore, according to claim 8 SCARA robot Claim 1 From any of claim 7 The robot arm described It was established It is characterized by the following: [Effects of the Invention]

[0009] As described above, the robot arm according to claim 1 of the present invention comprises a frame, a drive unit installed on the frame, a cover installed on the frame and covering the drive unit, a spacer installed between the cover and the frame, and a packing interposed between the spacer and the frame. Therefore, a simple configuration can be used to achieve high dustproof and waterproof performance. Furthermore, according to the robot arm described in claim 2, in the robot arm described in claim 1, a packing housing recess is formed in at least one of the frame and the spacer, in which the packing is housed, thereby further improving dustproof and waterproof performance. Furthermore, according to the robot arm described in claim 3, in the robot arm described in claim 1, a protruding portion is provided on the outer circumference of the spacer that protrudes from the cover and the side of the frame, thereby further improving dustproof and waterproof performance. Furthermore, according to the robot arm described in claim 4, in the robot arm described in claim 3, the side surface of the protruding portion on the cover side is an inclined surface, which prevents the accumulation of dust on the outer surface of the cover. Furthermore, according to the robot arm described in claim 5, in the robot arm described in claim 1, a recess is formed in the spacer into which the end of the cover engages, thereby further improving dustproof and waterproof performance. Furthermore, according to the robot arm described in claim 6, in the robot arm described in claim 1, a recess is formed in the spacer into which the end of the frame engages, thereby further improving dustproof and waterproof performance. Furthermore, according to the robot arm described in claim 7, in the robot arm described in claim 1, the cover is bonded to the spacer, which further enhances dustproof and waterproof performance. Furthermore, according to the robot arm described in claim 8, in the robot arm described in claim 1, the cover and the spacer are fastened together to the frame by a fastening member, which further enhances dustproof and waterproof performance. Moreover, according to the robot arm described in claim 9, in the robot arm described in claim 1, since the spacer is made of metal, distortion of the spacer is prevented, and the dustproof and drip-proof performance can be further enhanced. Moreover, according to the robot arm described in claim 10, in the robot arm described in claim 1, since the frame is made of metal and the cover is made of resin, the weight can be reduced. Moreover, according to the scalar robot described in claim 11, since the robot arm described in any one of claims 1 to 10 is provided, the dustproof and drip-proof performance can be enhanced with a simple configuration in the scalar robot.

Brief Description of the Drawings

[0010] <00000​​​​​​​​​​​​​​​​​​​​​​​​​As shown in Figures 1 to 3, the SCARA robot 1 according to this embodiment consists of a base unit 3, a first arm 5 rotatably mounted on the base unit 3, and a second arm 7, which serves as a robot arm, rotatably provided at the tip of the first arm 5. The configuration of each part will be described in detail below.

[0012] The base unit 3 described above includes a hollow base body 11, a second base body 13, a third base body 15, and a base cover 17. As shown in Figure 3, a first arm rotation motor 21 and a first arm rotation speed reducer 23 are installed on the base body 11. A pulley 27 is fixed to the output shaft 25 of the first arm rotation motor 21, and a pulley 31 is fixed to the input shaft 29 of the first arm rotation speed reducer 23. A timing belt 33 is wound around and meshed with the pulleys 27 and 31, and the rotation of the output shaft 25 of the first arm rotation motor 21 is transmitted to the input shaft 29 of the first arm rotation speed reducer 23. A gear (not shown) is fixed to the input shaft 29, and the rotation of the input shaft 29 is reduced via this gear (not shown) and other gears (not shown), and output via an output shaft (not shown).

[0013] Furthermore, as shown in Figure 3, the base body 11 is provided with a bottom opening 41, a side opening 43, an upper opening 45, and an output shaft opening 47.

[0014] The bottom opening 41 is closed by a bottom cover 51. The bottom cover 51 is secured by fixing bolts 53. The side opening 43 is closed by a side cover 57. The side cover 57 is secured by fixing bolts 59. The upper opening 45 is closed by an upper cover 63. The upper cover 63 is secured by fixing bolts 65. A cable through-hole 69 is also formed in the upper cover 63. Furthermore, packings (not shown) are interposed between the bottom cover 51 and the outer edge of the bottom opening 41, between the side cover 57 and the outer edge of the side opening 43, and between the top cover 63 and the outer edge of the top opening 45.

[0015] The second base body 13 is installed on the upper side of the upper cover 63 shown in Figure 3. A cable penetration portion 71 is provided inside the second base body 13. The third base body 15 is installed above the second base body 13 in Figure 3. The third base body 15 is provided with a cable penetration portion 77 and a first arm rotation axis housing portion 79. Furthermore, packings (not shown) are interposed between the outer edge of the lower opening in Figure 3 of the cable penetration portion 71 of the second base body 13 and the upper outer edge in Figure 3 of the cable penetration hole 69 of the upper cover 63, and between the outer edge of the lower opening in Figure 3 of the cable penetration portion 77 of the third base body 15 and the outer edge of the upper opening in Figure 3 of the cable penetration portion 71 of the second base body 13.

[0016] The base cover 17 is installed on the upper side of the third base body 15 shown in Figure 3. The base cover 17 is made of, for example, resin. A packing (not shown) is interposed between the third base body 15 and the base cover 17.

[0017] Furthermore, a packing (not shown) is interposed between the lower outer edge of the output shaft opening 47 of the base body 11 in Figure 3 and the upper outer edge of the first arm rotation reduction gear 23 in Figure 3.

[0018] The first arm 5 described above includes a hollow arm body 91 and arm end covers 93 and 95 that close the left-right openings of the arm body 91 in Figure 3. Furthermore, packings (not shown) are interposed between the arm body 91 and the arm end cover 93, and between the arm body 91 and the arm end cover 95.

[0019] A through-hole 101 for mounting the base end rotating shaft is formed on the upper right side of the arm body 91 in Figure 3, and the upper rotating shaft 103 for the first arm is fixed by engaging with the through-hole 101 from above in Figure 3. A through-hole 105 for mounting a joint is formed on the lower right side of the arm body 91 in Figure 3, and the lower rotating shaft 107 for the first arm is fixed coaxially with the upper rotating shaft 103 for the first arm by engaging with the through-hole 105 from below in Figure 3. The upper rotating shaft 103 for the first arm is rotatably connected to the first arm rotating shaft housing 79 of the third base body 15 via a bearing 109, and the lower rotating shaft 107 for the first arm is connected to an output shaft (not shown) of the first arm rotation reduction gear 23, and the first arm 5 rotates around the upper rotating shaft 103 for the first arm. In Figure 3, the lower side of the first arm rotation shaft housing portion 79 is enlarged to form a seal housing recess 108, and a seal member 110 is installed inside the seal housing recess 108.

[0020] Furthermore, packings (not shown) are interposed between the upper rotating shaft 103 for the first arm and the arm body 91, and between the lower rotating shaft 107 for the first arm and the arm body 91.

[0021] A through-hole 121 for mounting the tip-side rotating shaft is formed on the upper left end of the arm body 91 in Figure 3, and the upper rotating shaft 123 for the second arm is fixed by engaging with the through-hole 121 from the upper side in Figure 3. Furthermore, a through-hole 125 for mounting the second arm rotation reducer is formed on the lower left end of the arm body 91 in Figure 3, and a support member 126 for the second arm rotation reducer is engaged with the through-hole 125, and the second arm rotation reducer 127 is fixed to the support member 126 coaxially with the upper rotating shaft 123 for the second arm. A packing (not shown) is interposed between the upper rotating shaft 123 for the second arm and the arm body 91, and between the second arm rotation reduction gear support member 126 and the arm body 91.

[0022] A pulley 169 is fixed to the upper end of the input shaft 167 of the second arm rotation reduction gear 127 shown above in Figure 3.

[0023] Furthermore, in the upper part of the arm body 91 in Figure 3, a through hole 171 for installing the second arm swivel motor is formed between the through hole 101 for mounting the base end rotating shaft and the through hole 121 for mounting the tip end rotating shaft. Inside the arm body 91, a motor support member 173 is installed below the through hole 171 for installing the second arm swivel motor, and a second arm swivel motor 175 is installed above the motor support member 173 in Figure 3. The upper part of the second arm swivel motor 175 in Figure 3 protrudes to the outside of the arm body 91, and a motor cover 177 covering the protruding portion of the second arm swivel motor 175 is installed on the upper part of the arm body 91 in Figure 3. The motor cover 177 is made of resin, for example. A packing (not shown) is interposed between the lower edge of the motor cover 177 in Figure 3 and the arm body 91.

[0024] A pulley 183 is fixed to the output shaft 181 of the second arm rotation motor 175. A belt 185 is wound between the pulley 169 and the pulley 183, and the rotation of the second arm rotation motor 175 is transmitted to the input shaft 167 of the second arm rotation reduction gear 127. The rotation transmitted to the input shaft 167 is reduced by the second arm rotation reduction gear 127 and output to an output shaft (not shown).

[0025] The second arm 7 described above has a frame 201. As shown in Figures 1 to 3, the frame 201 consists of an upper frame 203 at the top in Figure 3, a lower frame 205 at the bottom in Figure 3, and an intermediate frame 207 inserted between the upper frame 203 and the lower frame 205. The upper frame 203, lower frame 205, and intermediate frame 207 are made of, for example, aluminum. A packing (not shown) is interposed between the intermediate frame 207 and the upper frame 203, and between the intermediate frame 207 and the lower frame 205.

[0026] A rotating shaft housing 213 is provided on the right side of the upper frame 203 in Figure 3. A bearing 215 is installed in the upper part of the rotating shaft housing 213 in Figure 3, and the upper rotating shaft 123 for the second arm is rotatably housed in the rotating shaft housing 213 via the bearing 215. The lower part of the rotating shaft housing 213 in Figure 3 is enlarged to form a seal housing recess 217, and a seal member 219 is installed in the seal housing recess 217.

[0027] A rotating shaft housing 223 is provided on the right side of the lower frame 205 in Figure 3. A shaft connecting member 225 is installed in the upper part of the rotating shaft housing 223 in Figure 3, and the shaft connecting member 225 is connected to the output shaft (not shown) of the second arm swivel reduction gear 127. The lower end of the second arm swivel reduction gear support member 126 in Figure 3 is housed in the rotating shaft housing 223, and a sealing member 229 is installed between the second arm swivel reduction gear support member 126 and the shaft connecting member 225.

[0028] A ball spline nut 231 is rotatably mounted on the tip side (left side in Figure 3) of the lower frame 205 mentioned above, via a bearing 233. Furthermore, a ball spline nut rotation reducer 235 is installed at the tip of the lower frame 205, and a ball spline nut rotation motor 237 is installed on the upper side of the ball spline nut rotation reducer 235 in Figure 3. The output shaft (not shown) of the ball spline nut rotation motor 237 is connected to the input shaft (not shown) of the ball spline nut rotation reducer 235. A pulley 241 is fixed to the output shaft (not shown) of the ball spline nut rotation reducer 235. A pulley 243 is fixed to the ball spline nut 231, and a belt 245 is wound between the pulley 241 and the pulley 243, so that the ball spline nut 231 is rotated by the output shaft (not shown) of the ball spline nut rotation reducer 235.

[0029] A ball spline shaft 251 is inserted through the ball spline nut 231. A connecting member 255 is installed at the lower end of the ball spline shaft 251 via a bearing 253 in Figure 3. An end cap 257 is fixed to the upper end of the ball spline shaft 251 in Figure 3, and a connecting member 261 is installed on the end cap 257 via a bearing 259. The rotation of the ball spline nut 231 causes the ball spline shaft 251 to rotate.

[0030] A ball screw shaft 263 is installed between the connecting member 255 and the connecting member 261, parallel to the ball spline shaft 251. A ball screw support member 265 is installed within the intermediate frame 207. A ball screw nut support member 271 is rotatably mounted on the ball screw support member 265 via bearings 267 and 269. A pulley 275 is fixed to the upper end of the ball screw nut support member 271 in Figure 3, together with a ball screw nut 273.

[0031] A ball screw shaft linear motor 283 is installed on the upper side of the upper frame 203 shown in Figure 3, via a motor support member 281. A pulley 287 is fixed to the output shaft (not shown) of the ball screw shaft linear motor 283. A belt 289 is wound around the pulleys 275 and 287, and the ball screw nut 273 is rotated by the ball screw shaft linear motor 283, causing the ball spline shaft 251 to move vertically in Figure 3 together with the ball screw shaft 263.

[0032] Furthermore, a lower cover 291, for example made of resin, is installed on the lower side of the lower frame 205 in Figure 3. The lower cover 291 is installed so as to cover the ball spline nut 231 and the ball spline nut rotation reducer 235 that protrude from the lower side of the lower frame 205 in Figure 3. A packing (not shown) is interposed between the lower cover 291 and the lower frame 205.

[0033] An opening 295 is provided on the lower side of the lower cover 291 shown in Figure 3, and the ball spline shaft 251 protrudes from the opening 295. A bellows 301 is installed on the lower side of the lower cover 291 in Figure 3 so as to close the opening 295. The upper end of the bellows 301 in Figure 3 is connected to the outer edge of the opening 295 of the lower cover 295, and a packing (not shown) is interposed between the upper end of the bellows 301 in Figure 3 and the outer edge of the opening 295 of the lower cover 291. The lower end of the bellows 301 in Figure 3 is connected to the connecting member 255. As a result, the bellows 301 expands and contracts as the ball spline shaft 251 moves in the vertical direction in Figure 3.

[0034] A resin cover 311, for example, is installed on the upper side of the upper frame 203 shown in Figure 3. The cover 311 is installed so as to cover the portions of the ball screw shaft linear motor 283, the ball screw shaft 263, and the ball spline shaft 251 that protrude above the upper frame 203.

[0035] An opening 313 is provided on the upper right side of the cover 311 in Figure 3, and this opening 313 is closed by a lid 315. A packing (not shown) is interposed between the lid 315 and the outer edge of the opening 313 of the cover 311.

[0036] Furthermore, an opening 319 is provided on the upper left side of the cover 311 in Figure 3, and this opening 319 is closed by a bellows 321. The lower end of the bellows 321 in Figure 3 is connected to the outer edge of the opening 319 of the cover 311, and a packing (not shown) is interposed between the lower end of the bellows 321 in Figure 3 and the outer edge of the opening 319 of the cover 311. The upper end of the bellows 321 in Figure 3 is connected to the connecting member 261. As a result, the bellows 321 expands and contracts as the ball spline shaft 251 moves in the vertical direction in Figure 3. Furthermore, as shown in Figures 1 to 5, the outer peripheral side surface 325 of the cover 311 is inclined to slope downwards toward the outside.

[0037] Furthermore, as shown in Figures 3 to 5, the cover 311 is installed on the upper frame 203 via, for example, an aluminum spacer 331. For example, as shown in Figures 3, 4, and 6, the spacer 331 engages with the upper outer peripheral edge of the upper frame 203 in Figure 3. As shown in Figure 6, the lower side of the spacer 331 in Figure 6 is provided with a frame-side engaging recess 333 that engages with the upper frame 203.

[0038] Furthermore, the upper side of the spacer 331 in Figure 6 is provided with a cover-side engaging recess 335 into which the lower end of the cover 311 in Figure 6 engages. The cover 311 and the spacer 331 are bonded together. Furthermore, as shown in Figure 6, the spacer 331 is provided with a protruding portion 334 that extends outward from the cover 311 and the upper frame 203 (to the right in Figure 6). An inclined surface 336 is formed on the upper side of the protruding portion 334 in Figure 6, with a downward slope toward the outward direction of the cover 311 and the upper frame 203 (to the right in Figure 6).

[0039] Furthermore, as shown in Figures 5 and 6(a), the cover 311 is provided with a screw-fastening portion 337, and the spacer 331 is also provided with a screw-fastening portion 339. As shown in Figure 6(a), the cover 311 and the spacer 331 are both fixed together by a bolt 341 that passes through the screw-fastening portions 337 and 339 and is screwed into the upper frame 203.

[0040] Furthermore, as shown in Figure 6, for example, a packing housing recess 343 is provided on the upper end surface of the upper frame 203 in Figure 6. A packing 345 is housed in the packing housing recess 343. The height of the packing 345 (size in the vertical direction in Figure 6) is set to be greater than the depth of the packing housing recess 343 (size in the vertical direction in Figure 6), and the packing 345 is inserted between the spacer 331 and the upper frame 203 in a compressed state in the vertical direction in Figure 6.

[0041] Next, the operation of this embodiment will be described. The first arm 5 is rotated relative to the base unit 3 by the first arm rotation motor 21, and the second arm 7 is rotated relative to the first arm 5 by the second arm rotation motor 175.

[0042] An object (not shown) is attached to the tip end of the ball spline shaft 251 in Figure 3. The object (not shown) is rotated via the ball spline shaft 251 by the ball spline nut rotation motor 237. In addition, the object (not shown) is moved vertically in Figure 3 via the ball spline shaft 251 by the ball screw shaft linear movement motor 283.

[0043] Packings (not shown) are interposed between the bottom cover 51 and the outer edge of the bottom opening 41 of the base body 11, between the side cover 57 and the outer edge of the side opening 43 of the base body 11, and between the top cover 63 and the outer edge of the top opening 45 of the base body 11, respectively, to prevent foreign matter from entering the base unit 3.

[0044] Furthermore, packings (not shown) are interposed between the second base body 13 and the upper cover 63, between the third base body 15 and the second base body 13, between the third base body 15 and the base cover 17, and between the base body 11 and the first arm rotation reduction gear 23, thereby preventing foreign matter from entering the base unit 3.

[0045] Packings (not shown) are interposed between the arm body 91 and the arm end cover 93, between the arm body 91 and the arm end cover 95, between the upper rotating shaft 103 for the first arm and the arm body 91, and between the lower rotating shaft 107 for the first arm and the arm body 91, respectively, to prevent foreign matter from entering the first arm 5.

[0046] Furthermore, packings (not shown) are interposed between the upper rotating shaft 123 for the second arm and the arm body 91, and between the second arm rotation reduction gear support member 126 and the arm body 91, respectively, to prevent foreign matter from entering the first arm 5.

[0047] A sealing member 219 is installed in the seal housing recess 217 of the rotating shaft housing 213, preventing foreign matter from entering the second arm 7 from between the upper rotating shaft 123 for the second arm and the rotating shaft housing 213. A sealing member 229 is installed between the second arm rotation reduction gear support member 126 and the shaft connecting member 225, preventing foreign matter from entering the second arm 7 from between the second arm rotation reduction gear support member 126 and the shaft connecting member 225.

[0048] Packings (not shown) are also inserted between the intermediate frame 207 and the upper frame 203, and between the intermediate frame 207 and the lower frame 205, respectively, to prevent foreign matter from entering the second arm 7.

[0049] Packings (not shown) are also inserted between the lower cover 291 and the lower frame 205, and between the lower cover 291 and the bellows 301, respectively, to prevent foreign matter from entering the second arm 7.

[0050] Packings (not shown) are also inserted between the lower end of the bellows 321 in Figure 3 and the cover 311, and between the lid 315 and the cover 311, respectively, to prevent foreign matter from entering the second arm 7.

[0051] Furthermore, a packing 345 is interposed between the spacer 331 and the upper frame 203, preventing foreign matter from entering the second arm 7 from between the spacer 331 and the upper frame 203. Furthermore, since the spacer 331 is made of aluminum, for example, it exhibits less distortion, thereby enhancing the dustproof and waterproof function between the spacer 331 and the upper frame 203.

[0052] Next, the effects of this embodiment will be described. A spacer 331 is installed between the cover 311 and the upper frame 203, and a packing 345 is interposed between the spacer 331 and the upper frame 203. As a result, the spacer 331 has sufficient strength and surface area to compress the packing 345, ensuring a tight seal between the spacer 331 and the upper frame 203, and thus enabling high dustproof and waterproof performance with a simple configuration. Furthermore, since the upper frame 203 has a gasket housing recess 343 for housing the gasket 345, the gasket 345 is securely held by the gasket housing recess 343, thereby further improving dustproof and waterproof performance.

[0053] Furthermore, the outer peripheral side surface 325 of the cover 311 is inclined downwards toward the outside, which prevents the accumulation of dust. Since the lower side of the spacer 331 in Figure 6 is provided with a frame-side engaging recess 333 that engages with the upper frame 203, a labyrinthine structure is formed between the spacer 331 and the upper frame 203, further enhancing dustproof and waterproof performance. Furthermore, since the upper side of the spacer 331 in Figure 6 is provided with a cover-side engaging recess 335 into which the lower end of the cover 311 in Figure 6 engages, a labyrinthine structure is formed between the spacer 331 and the cover 311, further enhancing dustproof and waterproof performance. Furthermore, the outer circumference of the spacer 331 is provided with a protruding portion 334 that extends from the cover 311 and the upper frame 203, and an inclined surface 336 is formed on the outer circumference of the protruding portion 334, so that dust and other debris are less likely to accumulate on the upper surface of the protruding portion 334. Since the cover 311 is bonded to the spacer 331, dustproof and waterproof performance can be further enhanced, and by bonding the cover 311 to the spacer 331 in advance, distortion of the cover 311 can be prevented when the cover 311 is installed.

[0054] Since the cover 311 and the spacer 331 are both fixed by a bolt 341 that passes through the screw fastening portions 337 and 339 and is screwed into the upper frame 203, the cover 311 and the spacer 331 are securely fixed, and the dustproof and waterproof performance can be further enhanced. Furthermore, since the spacer 331 is made of aluminum, for example, it further prevents distortion of the cover 311 and the packing 345, ensuring a tight seal with the upper frame 203 via the packing 345, thereby improving dustproof and waterproof performance. Furthermore, since the cover 311 is made of resin, the second arm 7 can be made lighter. Furthermore, even if the cover 311 is made of resin, dustproof and waterproof performance can be ensured by the spacer 331 without unnecessarily increasing the number of fastening parts installed on the upper frame 203. Therefore, the cover 311 can be standardized with the standard specification (non-dustproof and waterproof specification).

[0055] The present invention is not limited to the above-described embodiment. There are various possible numbers of arms between the rotation / linear movement mechanism of the robot arm and the base unit. It is also possible that the spacer side has a gasket-receiving recess, or that both the spacer and the frame have gasket-receiving recesses. There are various materials that can be used for the spacer. The shape of the inclined surface of the spacer's protruding portion may be a straight line. Furthermore, the diagrammed configuration is merely an example. [Industrial applicability]

[0056] The present invention relates to a robot arm and a SCARA robot, and in particular to a robot designed to achieve high dustproof and waterproof performance with a simple configuration, and is suitable for industrial robots, for example. [Explanation of Symbols]

[0057] 1. SCARA robot 7. Second Arm (Robot Arm) 251 Ball spline shaft (part of the drive unit) 263 Ball screw shaft (part of the drive unit) 283 Ball screw shaft linear motor (part of the drive unit) 311 Cover 331 Spacer 333 Frame-side engaging recess 334 Protrusion 336 Slope 335 Cover-side engaging recess 341 Bolts (fastening components) 343 Packing housing recess 345 Packing

Claims

1. Frame and, The drive unit installed on the above frame, A cover that is mounted on the frame above and covers the drive unit, A spacer installed between the above cover and the above frame, The above spacer and the packing inserted between the above frame, It is equipped with, The above spacer has a cover-side engagement recess formed therein, into which the end of the above cover engages. The above spacer has a frame-side engagement recess formed therein, into which the end of the above frame engages. At least one of the above frame and the above spacer has a packing housing recess formed therein, in which the packing is housed. The above-mentioned cover-side engaging recess has a shape in which walls are provided on the outer and inner sides of the end of the cover. The robot arm is characterized in that the packing housing recess has a shape in which walls are provided on the outside and inside of the packing, and the packing is positioned inside the frame-side engaging recess.

2. In the robot arm according to claim 1, A robot arm characterized in that the outer circumference of the spacer is provided with a protrusion that extends from the side of the cover and the frame.

3. In the robot arm according to claim 2, A robot arm characterized in that the side surface of the cover of the above-mentioned protruding portion is an inclined surface.

4. In the robot arm according to claim 1, A robotic arm characterized in that the above cover is glued to the above spacer.

5. In the robot arm according to claim 1, A robot arm characterized in that the cover and the spacer are fastened together to the frame by fastening members.

6. In the robot arm according to claim 1, The robot arm is characterized by the above-mentioned spacer being made of metal.

7. In the robot arm according to claim 1, A robotic arm characterized in that the frame is made of metal and the cover is made of resin.

8. A SCARA robot equipped with a robotic arm according to any one of claims 1 to 7.

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