JP2017035746A - robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot of a higher versatility.SOLUTION: A robot 1 comprises: an arm 40; a wrist 70 connected to the arm 40; an end part 80 connected to the wrist 70; a motor 510 oscillating the wrist 70 about an axis Ax5; and a motor 610 rotating the end part 80. The motors 510 and 610 are disposed at positions on the arm 40 apart from the wrist 70 and are distanced from each other in a direction along the axis Ax5 in a state in which output shafts 512 and 612 of the motors 510 and 610 face to an outside of the arm 40.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a robot.

  In recent years, robots have been used in various environments centering on manufacturing processes of articles. For example, Patent Document 1 discloses a welding robot.

International Publication No. 2008/084737

  An object of the present disclosure is to provide a more versatile robot.

  A robot according to an embodiment of the present disclosure includes an arm, a wrist connected to the arm, an end portion connected to the wrist, a first motor for swinging the wrist around a first axis, and an end portion. A first motor and a second motor, the first motor and the second motor are arranged at positions away from the wrist in the arm, and the output shafts of the first motor and the second motor are directed to the outside of the arm. In the direction along the first axis.

  According to the present disclosure, it is possible to provide a more versatile robot.

It is a perspective view of a robot. It is a perspective view of an arm, a wrist holding part, a wrist, and an end part. It is sectional drawing which follows the III-III line | wire in FIG. It is sectional drawing which follows the IV-IV line in FIG. It is a figure which shows the relationship between arrangement | positioning of a motor, and the length of a list holding | maintenance part.

  Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same functions are denoted by the same reference numerals, and redundant description is omitted.

[Robot overview]
The robot according to the present embodiment includes an arm, a wrist connected to the arm, an end portion connected to the wrist, a first motor for swinging the wrist around the first axis, and a swing of the end portion. And a second motor.

  A specific configuration example of the robot will be described below with reference to FIG. The configuration of the robot 1 can be used for an industrial robot for processing a workpiece using an end effector such as a spot welding gun or an arc welding torch. The robot 1 is, for example, a serial link type multi-joint robot, and includes a base 10, a turning unit 20, an arm 30, an arm 40, a wrist 70, an end unit 80, and actuators 100, 200.300, 500. , 600.

  The base 10 is fixed to the floor and supports the entire robot 1. Hereinafter, in the description of each part other than the base 10, “base end” means an end on the base 10 side, and “tip” means an end on the opposite side of the base 10.

  The swivel unit 20 is provided on the base 10 and is rotatable around a vertical axis Ax1. A base end portion of an arm 30 is connected to the turning portion 20.

  The arm 30 can swing around an axis Ax2 orthogonal to the axis Ax1. A proximal end portion of the arm 40 is connected to the distal end portion of the arm 30.

  The arm 40 can swing around an axis Ax3 parallel to the axis Ax2. A proximal end portion of a wrist 70 is attached to the distal end portion of the arm 40.

  The wrist 70 can swing around an axis Ax5 (first axis) orthogonal to the central axis CL1 of the arm 40. An end portion 80 is provided at the tip of the wrist 70.

  The end portion 80 can turn around an axis Ax6 along the center axis CL2 of the wrist 70. An end effector (not shown) can be attached to the end portion 80 from the opposite side of the wrist 70. The end effector may be integrated with the end portion 80. Specific examples of the end effector include a workpiece gripping hand, a spot welding gun, and an arc welding torch.

  The arm 40 may have a wrist holding portion 60 on the tip side. The list holding unit 60 holds the wrist 70 so as to be swingable about the axis Ax5. The wrist holder 60 may be pivotable about the axis Ax4 along the central axis CL1 of the arm 40.

  The actuator 100 turns the turning unit 20 around the axis Ax1. Although the actuator 100 of FIG. 1 is provided in the turning part 20, it is not restricted to this, You may provide in the base 10. FIG.

  The actuator 200 swings the arm 30 around the axis Ax2. Although the actuator 200 of FIG. 1 is provided in the turning part 20, it is not restricted to this, You may provide in the base end part of the arm 30. FIG.

  The actuator 300 swings the arm 40 about the axis Ax3. The actuator 300 in FIG. 1 is provided at the proximal end portion of the arm 40, but is not limited thereto, and may be provided at the distal end portion of the arm 30.

  The actuator 500 (first actuator) swings the wrist 70 around the axis Ax5. The actuator 500 has a motor 510 (first motor). The motor 510 generates power for swinging the wrist 70 about the axis Ax5.

  The actuator 600 (second actuator) rotates the end portion 80 around the axis Ax6. The actuator 600 has a motor 610 (second motor). The motor 610 generates power for turning the end portion 80 around the axis Ax6.

  The motors 510 and 610 are arranged at positions away from the wrist 70 in the arm 40. As an example, the motors 510 and 610 may be disposed in the wrist holding unit 60 of the arm 40. The motors 510 and 610 are separated from each other in the direction along the axis Ax5 with the respective output shafts facing the outside of the arm 40. The “outside of the arm 40” means the outer peripheral side of the arm 40 when viewed from an extension line of the central axis CL1.

  The robot 1 may further include an actuator 400 (third actuator). The actuator 400 rotates the wrist holding unit 60 about the axis Ax4. The actuator 400 has a motor 410 (third motor). The motor 410 is provided at the base end portion of the arm 40 and generates power for turning the wrist holding portion 60 around the axis Ax4.

  The robot 1 may be configured in any manner as long as it includes the arm 40, the wrist 70, the end unit 80, and the motors 510 and 610, and a specific example thereof is not limited to that described above. . For example, the degree of freedom of the robot 1 is not limited to 6 degrees of freedom, and may be less degrees of freedom (for example, 5 degrees of freedom) or more degrees of freedom (for example, 7 degrees of freedom).

[Configuration of arm tip, wrist and end]
Next, a specific configuration example of the distal end side of the arm 40, the wrist 70, and the end portion 80 will be described with reference to FIG. The arm 40 has a wrist holder 60 on the tip side. The list holding unit 60 includes a base 61 and support walls 62 and 63. The base 61 can turn around the axis Ax4 along the central axis CL1 of the arm 40. The support walls 62 and 63 protrude from the base 61 toward the tip side along the central axis CL1. The support walls 62 and 63 are aligned in a direction along the axis Ax5, and are orthogonal to the axis Ax5.

  The list 70 includes a list main body 71 and joint portions 72 and 73. The joint portions 72 and 73 protrude from the wrist body 71 toward the proximal end along the central axis CL2. The joint portions 72 and 73 are positioned between the support walls 62 and 63 side by side in the direction along the axis Ax5. The joint portion 72 is attached to the inner side (the support wall 63 side) of the support wall 62 so as to be rotatable around the axis Ax5. The joint portion 73 is attached to the inner side (the support wall 62 side) of the support wall 63 so as to be rotatable around the axis Ax5.

  The end portion 80 is attached to the wrist body 71 from the opposite side of the joint portions 72 and 73, and is rotatable around the axis Ax6 along the central axis CL2.

(motor)
As described above, the actuator 500 includes the motor 510 for swinging the wrist 70 around the axis Ax5. The actuator 600 has a motor 610 for turning the end portion 80 around the axis Ax6.

  The motors 510 and 610 may have an outer shape whose size in the direction along the output shaft is smaller than the size in the direction orthogonal to the output shaft. Each of the above sizes means a size excluding the output shaft.

  As shown in FIG. 3, the motor 510 includes a case 511 and an output shaft 512, for example. Case 511 has a cylindrical outer shape. The output shaft 512 protrudes from one end surface of the case 511 along the central axis of the case 511. The length L1 of the case 511 (the size of the motor 510 in the direction along the output shaft 512) is smaller than the diameter D1 of the case 511 (the size of the motor 510 in the direction orthogonal to the output shaft 512). The motor 510 outputs the power for swinging the wrist 70 around the axis Ax5 as the rotation of the output shaft 512.

  The motor 610 is configured similarly to the motor 510 and includes a case 611 and an output shaft 612. The motor 610 may be the same as the motor 510.

  As described above, the motors 510 and 610 are separated from each other in the direction along the axis Ax5 with the respective output shafts facing the outside of the arm 40. The motors 510 and 610 may overlap each other in the direction orthogonal to the axis Ax5. The output shafts 512 and 612 may be along the axis Ax5.

  As an example, the motors 510 and 610 are separated from each other along the axis Ax5 with the output shaft 512 of the motor 510 facing the opposite side of the motor 610 and the output shaft 612 of the motor 610 facing the opposite side of the motor 510. You may line up. The “reverse side” includes a direction that forms an obtuse angle with respect to a reference direction.

  More specifically, the motor 510 is fixed to the inner surface of the support wall 62 with the output shaft 512 facing the opposite side of the support wall 63 between the wrist 70 and the base portion 61. The motor 610 is fixed between the wrist 70 and the base 61 on the inner surface of the support wall 63 with the output shaft 612 facing the opposite side of the support wall 62. The cases 511 and 611 are separated from each other in a direction parallel to the axis Ax5, and overlap each other in a direction orthogonal to the axis Ax5.

  The motors 510 and 610 may be arranged such that the center axis CL3 of the output shaft 512 passes through the case 611 and the center axis CL4 of the output shaft 612 passes through the case 511, or the output shafts 512 and 612 are coaxial with each other. You may arrange | position so that it may become.

  Since the motors 510 and 610 are arranged apart from each other, the space S1 between them can be used for routing an end effector cable or the like (for example, the cable CA1 shown in the figure).

  Since the motors 510 and 610 need only be separated from each other in the direction along the axis Ax5 in a state where the respective output shafts face the outside of the arm 40, the specific arrangement examples are not limited to those described above. For example, the motors 510 and 610 may be separated from each other in the direction orthogonal to the axis Ax5. The output shafts 512 and 513 may be inclined with respect to an axis parallel to the axis Ax5.

  Further, the motors 510 and 610 may have any shape as long as they can be arranged as described above. For example, the motors 510 and 610 may have an outer shape whose size in the direction along the output shaft is larger than the size in the direction orthogonal to the output shaft.

(Gearbox)
The actuator 500 may further include a transmission mechanism 520 and a gear box 530 (first gear box). The transmission mechanism 520 transmits rotation from the motor 510 to the gear box 530. The gear box 530 decelerates and outputs the rotation transmitted from the motor 510.

  The actuator 600 may further include a transmission mechanism 620 and a gear box 630 (second gear box). The transmission mechanism 620 transmits rotation from the motor 610 to the gear box 630. The gear box 630 transmits the power transmitted from the motor 610 to the end portion 80 side.

  The gearboxes 530 and 630 are disposed at the connecting portion between the arm 40 and the wrist 70 and are separated from each other in the direction along the axis Ax5. In the direction along the axis Ax5, the gear box 530 may be provided on the motor 510 side, and the gear box 630 may be provided on the motor 610 side.

  More specifically, the gear box 530 is fixed to the support wall 62 at a position where the axis Ax5 passes. For example, the gear box 530 includes a case 531, an input shaft 532, and an output shaft 533. The case 531 has a cylindrical outer shape along the axis Ax5. The input shaft 532 and the output shaft 533 can rotate around the central axis of the case 531. The input shaft 532 is exposed from the case 531 to the opposite side of the support wall 63. The output shaft 533 is exposed from the case 531 to the support wall 63 side and is fixed to the joint portion 72. The case 531 incorporates at least one gear (not shown) that decelerates the rotation of the input shaft 532 and transmits it to the output shaft 533.

  The transmission mechanism 520 is provided outside the support wall 62 (on the opposite side of the support wall 63), and incorporates an element that transmits power from the output shaft 512 to the input shaft 532. Examples of elements that transmit power from the output shaft 512 to the input shaft 532 include gears and belts.

  The gear box 630 is provided between the support wall 63 and the joint portion 73 at a position where the axis Ax5 passes. For example, the gear box 630 includes an input shaft 631, an output shaft 632, and at least one gear that transmits power from the input shaft 631 to the output shaft 632. The input shaft 631 is provided on the support wall 63, and the output shaft 632 is provided on the wrist body 71 side in the joint portion 73. A relay gear 633 is provided on the outer periphery of the output shaft 632. The relay gear 633 converts the rotation of the output shaft 632 into a rotation around the axis along the axis Ax6 and transmits the rotation to the end unit 80. The relay gear 633 is, for example, a bevel gear.

  The gear box 630 does not have a dedicated case like the gear box 530, and the support wall 63 and the joint portion 73 function as a case for the gear box 630. As described above, the “gear box” includes those that do not have a dedicated case.

  The transmission mechanism 620 is provided outside the support wall 63 (on the opposite side of the support wall 62), and incorporates an element that transmits power from the output shaft 612 to the input shaft 631. Examples of elements that transmit power from the output shaft 612 to the input shaft 631 include gears and belts.

  Since the gear boxes 530 and 630 are arranged apart from each other, the space S1 between the motors 510 and 610 and the space S2 between the gear boxes 530 and 630 are arranged along the wrist holding unit 60. Therefore, the spaces S1 and S2 can be used as a series of paths R1 for handling the cable CA1 for the end effector.

  The actuator 600 may further include a gear box 640 (fourth gear box). The gear box 640 decelerates the rotation transmitted from the gear box 630 and outputs it to the end unit 80. More specifically, the gear box 640 is provided between the wrist main body 71 and the end portion 80.

  For example, the gear box 640 includes a case 641, an input shaft 642, and an output shaft 643. The case 641 has a cylindrical outer shape along the axis Ax6. The input shaft 642 and the output shaft 643 can rotate around the axis Ax6. The case 641 includes at least one gear that decelerates the rotation of the input shaft 642 and transmits it to the output shaft 643. The input shaft 642 is exposed from the case 641 into the wrist body 71. In the list main body 71, a relay gear 645 is provided on the input shaft 642. The relay gear 645 meshes with the relay gear 633 of the gear box 630. The output shaft 643 is exposed to the opposite side of the wrist body 71 from the case 641 and is fixed to the end portion 80. The end part 80 and the output shaft 643 may be integrated.

(Hollow structure)
The wrist 70 and the end portion 80 may have a hollow structure that opens between the gear boxes 530 and 630. As an example, the wrist body 71 and the gear box 640 are formed with through holes 71a and 640a that are continuous along the axis Ax6. The through hole 71a opens toward the joint portions 72 and 73 (that is, between the gear boxes 530 and 630), and the through hole 640a opens toward the end effector side. Both the input shaft 642 and the output shaft 643 of the gear box 640 are provided so as to surround the through hole 640a.

  Since the wrist 70 and the end portion 80 have a hollow structure, the spaces S1 and S2 and the space S3 in the wrist 70 and the end portion 80 can be used as a series of paths R1 for handling the cable CA1 for the end effector. It is.

  The cylinder 81 may be passed through the through holes 71a and 640a. Thus, a continuous through hole 81a is formed on the inner surface from the wrist holding unit 60 side to the end effector side. Therefore, the end effector cable CA1 and the like can be smoothly passed through the space S3.

  The tip of the cylinder 81 may be fixed to the output shaft 643. Thereby, the inner surface of the through hole 81a rotates together with the output shaft 643. For this reason, even when the cable CA1 or the like connected to the end effector rotates together with the output shaft 643, friction between the cable and the inner surface of the through hole 81a is reduced. Therefore, wear of cable CA1 etc. is suppressed.

  Even when the hollow gearbox 640 is used between the wrist 70 and the end portion 80, the actuator 500 may be a solid gearbox 530 having no through hole.

  The wrist holding unit 60 may have a through hole that opens between the motors 510 and 610 on the opposite side of the wrist 70. As an example, the base 61 of the wrist holder 60 is formed with a through hole 61a along the axis Ax4, and the through hole 61a opens between the motors 510 and 610. By having the through-hole 61a in the wrist holder 60, the space S1, S2 and the space S4 in the through-hole 61a can be used as a series of paths R1 for routing the end effector cable CA1 and the like.

[Arms base end configuration]
The arm 40 is connected to the wrist holding unit 60 on the opposite side of the wrist 70, and surrounds the first cylinder that rotates together with the wrist holding unit 60 by the power of the motor 410, together with the first cylinder. You may further have the 2nd cylinder which points the edge part by the side of the list holding | maintenance part 60 of a 1st cylinder, without rotating. For example, as shown in FIGS. 3 and 4, the arm 40 further includes a base 41, a cylinder 43 (first cylinder), and a cylinder 44 (second cylinder).

(base)
The base 41 holds the actuator 400. Hereinafter, the structure of the actuator 400 and the structure of the base 41 will be described in order.

  The actuator 400 has a motor 410. The motor 410 may have an outer shape whose size in the direction along the output shaft is smaller than the size in the direction orthogonal to the output shaft. Each of the above sizes means a size excluding the output shaft. For example, the motor 410 is configured similarly to the motors 510 and 610 and includes a case 411 and an output shaft 412. The motor 410 may be the same as the motors 510 and 610.

  The actuator 400 may further include a transmission mechanism 420 and a gear box 430 (third gear box). The transmission mechanism 420 transmits power from the motor 410 to the gear box 430. The gear box 430 decelerates and outputs the rotation transmitted from the motor 410.

  For example, the gear box 430 includes a case 431, an input shaft 432, and an output shaft 433. The case 431 has a cylindrical outer shape. The input shaft 432 and the output shaft 433 can rotate around the central axis of the case 431. The case 431 includes at least one gear that decelerates the rotation of the input shaft 432 and transmits it to the output shaft 433. The input shaft 432 is exposed on one end side of the case 431, and the output shaft 433 is exposed on the other end side of the case 431.

  The base 41 has a motor mount 41a and a gear mount 41b. The motor mount 41a faces the opposite side of the wrist holder 60, and the gear mount 41b faces the wrist holder 60 side. The motor 410 is fixed to the motor mount 41a with the output shaft 412 facing the wrist holding unit 60 side. The gear box 430 is fixed to the gear mount 41b with the output shaft 433 facing the wrist holding unit 60 side. The transmission mechanism 420 is built in the base 41 between the motor 410 and the gear box 430. The transmission mechanism 420 includes an element that transmits power from the output shaft 412 to the input shaft 432. Examples of elements that transmit power from the output shaft 412 to the input shaft 432 include gears and belts.

  The base portion 41 may have a hollow structure that opens to the wrist holding portion 60 side. As an example, the base 41 and the gear box 430 are formed with through holes 41c and 430a that are continuous along the axis Ax4. The motor mount 41a is provided at a position shifted from the axis Ax4. As a result, the through hole 41 c opens to the opposite side of the wrist holder 60. The through hole 430a is open to the wrist holding part 60 side. The input shaft 432 and the output shaft 433 of the gear box 430 are both provided so as to surround the through hole 430a. Since the base portion 41 has a hollow structure, the space S6 in the base portion 41 can also be used for handling the end effector cable CA1 and the like.

  The cylindrical body 42 may be passed through the through holes 41c and 430a. Thereby, the through-hole 42a without a cut | interruption is formed in an inner surface from the base 41 to the wrist holding part 60 side. For this reason, the cable CA1 and the like can be smoothly passed through the space S6. A base end portion of the cylindrical body 42 is fixed to the base portion 41. For this reason, the inner surface of the through hole 42a does not rotate.

(First cylinder)
The cylindrical body 43 extends along the central axis CL <b> 1 of the arm 40. The distal end portion of the cylindrical body 43 is connected to the wrist holding portion 60 on the opposite side of the wrist 70. The cylinder 43 is rotated together with the wrist holder 60 by the power of the motor 410. On the opposite side of the wrist holder 60, the cylinder 43 is fixed to the output shaft 433 of the gear box 430, for example.

  More specifically, the cylindrical body 43 has a main body 51 and a relay member 52. The cylindrical main body 51 extends along the axis Ax4 and has flanges 51a and 51b on the outer periphery of both ends. The flange 51b on the opposite side of the wrist holder 60 is fixed to the output shaft 433 around the through hole 430a.

  The relay member 52 is an annular body that is continuous to the wrist holding portion 60 side of the main body 51, and is fixed to the flange 51 a of the main body 51 by bolt fastening or the like, and constitutes the distal end portion of the cylindrical body 43. The relay member 52 has a flange 52b on the outer periphery on the wrist holding unit 60 side. The flange 52b is fixed to the base 61 of the wrist holder 60 by bolt fastening or the like.

  The space S5 in the cylindrical body 43 is connected to the space S4 in the through hole 61a on the distal end side, and is connected to the space S6 in the gear box 430 and the base portion 41 on the proximal end side. Therefore, the space S3, S1, S2 and the space S4, S5, S6 can be used as a series of paths R1 for handling the cable CA1 for the end effector.

  The inner surface of the cylinder 43 rotates together with the wrist holder 60. For this reason, even when the cable CA1 or the like connected to the end effector rotates together with the wrist holding unit 60, the friction between the cable CA1 and the like and the inner surface of the cylindrical body 43 is reduced. Therefore, wear of cable CA1 etc. is suppressed.

(Second cylinder)
The cylindrical body 44 surrounds the cylindrical body 43, and does not rotate together with the cylindrical body 43, and supports the distal end portion (end portion on the list holding unit 60 side) of the cylindrical body 43. The cylindrical body 44 has, for example, a ball-type or sliding-type bearing 45 at its distal end, and supports the distal end of the cylindrical body 43 by the bearing 45. For example, the bearing 45 is fitted on the outer periphery of the relay member 52.

  On the opposite side of the wrist holder 60, the cylindrical body 44 is fixed to the case 431 of the gear box 430. “Fixed to the case 431” includes fixing to the case 431 through another member. As an example, the cylindrical body 44 may be fixed to the base 41. In this case, the cylindrical body 44 is fixed to the case 431 via the base 41.

  The relay member 52 of the cylindrical body 43 is inserted into the cylindrical body 44 from the distal end side after the main body 51 of the cylindrical body 43 is fixed to the output shaft 433 and the cylindrical body 44 is fixed to the case 431, and the main body 51 It is fixed to the tip. In a state where the relay member 52 is fixed to the main body 51, the flange 52 b of the relay member 52 is exposed to the outside of the cylindrical body 44 and projects outward from the outer periphery of the cylindrical body 44. The wrist holding unit 60 is fixed to the relay member 52 after the relay member 52 is fixed to the main body 51.

  The space S10 between the cylinders 43 and 44 can be used for handling the drive cable CA10 for the motors 510 and 610. In this case, the base 41 may further include a cable introduction port 41d for introducing the drive cable into the space S10. For example, the cable introduction port 41d is formed on the opposite side of the motor mount 41a with the through hole 41c interposed therebetween.

  The main body 51 of the cylindrical body 43, the relay member 52, and the base 61 of the wrist holder 60 further include cable guide ports 51c, 52c, and 61b for passing the drive cable CA10 from the space S10 to the motors 510 and 610. Also good. The cable guide port 51c is formed in the flange 51a of the main body 51, the cable guide port 52c is formed around the through hole 52a, and the cable guide port 61b is formed around the through hole 61a.

  In order to facilitate the handling operation of the drive cable CA10 in the space S10, the cylindrical body 44 may have a window portion 44c opened to the periphery. The arm 40 may have cable clamps 47 and 48 for fixing the drive cable CA10 in the space S10. For example, the cable clamp 47 is fixed to the cylindrical body 44 on the base 41 side. The cable clamp 48 is fixed to the cylindrical body 43 between the cable clamp 47 and the wrist holder 60.

  The drive cable CA10 is introduced into the space S10 from the cable introduction port 41d, and is connected to the motors 510 and 610 through the cable guide ports 51c, 52c, and 61b. The drive cable CA10 is fixed to the cable clamps 47 and 48 in the space S10. Between the cable clamps 47 and 48, the drive cable CA <b> 10 is routed so as to be wound around the outer periphery of the cylindrical body 43 while being slacked in a U shape.

(Fitting part)
As shown in FIG. 4, the arm 40 may further include a joint portion 46. The joint portion 46 projects outward from the outer periphery of the base portion 41 along a plane parallel to the central axis CL1. The joint portion 46 is attached to the distal end portion of the arm 30 so as to be rotatable around the axis Ax3.

  When the joint portion 46 projects from the outer periphery of the base portion 41, the central axis CL1 is shifted from the axis Ax3. As a result, the through hole 42 a is opened to the opposite side of the wrist holding unit 60 without being blocked by the connecting portion of the arm 30 and the arm 40. For this reason, it is easy to introduce the cable CA1 and the like into the route R1.

  In the direction along the central axis CL1, the base 41 may be positioned closer to the list holding unit 60 than the axis Ax3. In this case, a cable or the like can be gently routed in the path R1 from the arm 30 side. Furthermore, the position of the outer surface 411a of the motor 410 facing the opposite side of the output shaft 412 may coincide with the axis Ax3 in the direction along the central axis CL1, or may be closer to the wrist holding unit 60 than the axis Ax3. In this case, since it becomes difficult for the motor 410 and the cable CA1 and the like to interfere with each other, the handling of the cable and the like from the arm 30 side into the path R1 is further facilitated.

  The configuration of the arm 40 is not limited to that described above. The arm 40 may be anything as long as the wrist 70 can be connected so as to be rotatable around the axis Ax5 and the motors 510 and 610 can be arranged at positions away from the wrist 70. For example, the arm 40 may not have the cylindrical body 44. In the configuration in which the robot 1 does not include the actuator 400, the wrist holding unit 60 may be integrated on the proximal end side of the arm 40. In these cases, the motors 510 and 610 may be arranged at positions farther to the proximal end side of the arm 40 than the wrist holding unit 60.

[Effect of this embodiment]
As described above, the robot 1 includes the arm 40, the wrist 70 connected to the arm 40, the end portion 80 connected to the wrist 70, and the motor 510 for swinging the wrist 70 about the axis Ax5. And a motor 610 for turning the end portion 80. The motors 510 and 610 are disposed at positions away from the wrist 70 in the arm 40, and are separated from each other in the direction along the axis Ax5 in a state where the output shafts 512 and 612 of the motors 510 and 610 face the outside of the arm 40. ing.

  According to this robot 1, the space between the motors 510 and 610 (space S1) can be used for handling the end effector cable CA1 and the like. By reducing the exposure of the cable CA1 etc. using the space S1, interference between the cable CA1 etc. and the surroundings of the robot 1 is suppressed. For this reason, restrictions on the installation environment of the robot 1 can be reduced. Further, since the directions in which the motors 510 and 610 are separated from each other are along the axis Ax5, the space S1 can be opened in a direction orthogonal to the axis Ax5. As a result, the cable CA1 is easily routed using the space S1, so that the end effector can be easily attached and detached according to the application of the robot 1. Therefore, a highly versatile robot can be provided.

  Each of motors 510 and 610 may have an outer shape whose size in the direction along output shafts 512 and 612 is smaller than the size in a direction orthogonal to output shafts 512 and 612. In this case, for example, by arranging the motors 510 and 610 so that the output shaft 512 faces the opposite side of the motor 610 and the output shaft 612 faces the opposite side of the motor 510, the arm 40 is slimmed while securing the space S1. it can. By slimming the arm 40, interference between the arm 40 and the surroundings of the robot 1 is suppressed. For this reason, restrictions on the installation environment of the robot 1 can be further reduced. Therefore, a robot with higher versatility can be provided.

  The motors 510 and 610 may overlap each other in the direction orthogonal to the axis Ax5. In this case, the total occupied area of the motors 510 and 610 in the direction orthogonal to the axis Ax5 is reduced. Thereby, since the arm 40 can be further slimmed, restrictions on the installation environment of the robot 1 can be further reduced. Therefore, a robot with higher versatility can be provided.

  By reducing the total occupied area of the motors 510 and 610 in the direction orthogonal to the axis Ax5, both the motors 510 and 610 can be brought closer to the list 70 without reducing the movable angle of the list 70. Thereby, the length of the arm 40 can be widely adjusted according to an installation environment, a use, etc. This also contributes to improving the versatility of the robot.

  The relationship between the arrangement of the motor and the length of the arm 40 will be described in detail with reference to FIG. The two-dot chain line in FIG. 5 shows the arrangement of the motors when the motors 590 and 690 are used instead of the motors 510 and 610. Each of motors 590 and 690 has an outer shape whose size in the direction along the output shaft is larger than the size in the direction orthogonal to the output shaft. When the motors 510 and 610 are replaced with the motors 590 and 690, the motors 590 and 690 interfere with each other in the direction along the axis Ax5. Under these conditions, the motors 590 and 690 are formed in a direction perpendicular to the axes Ax4 and Ax5 (hereinafter referred to as the “width direction of the support wall 62”) in order to form a space for handling the cable CA1 and the like between the motors. Are separated from each other. For this reason, the occupation area of the motors 590 and 690 in the width direction of the support wall 62 is larger than that of the motors 510 and 610.

  FIG. 5 shows a state in which the motor is closest to the axis Ax5 side with the wrist 70 bent to the movable limit. In the width direction of the support wall 62, the occupied areas of the motors 510 and 610 are smaller than the occupied areas of the motors 590 and 690. For this reason, when the motors 510 and 610 are used, the motors 510 and 610 can be brought closer to the list 70 than when the motors 590 and 690 are used. By shortening the wrist holder 60, the length of the arm 40 can be widely adjusted according to the installation environment and application.

  The output shafts 512 and 612 may be along the axis Ax5. In this case, the total occupied area of the motors 510 and 610 in the direction orthogonal to the axis Ax5 can be further reduced.

  The robot 1 may further include a gear box 530 that decelerates the rotation transmitted from the motor 510 and transmits the rotation to the wrist 70 and a gear box 630 that transmits the rotation transmitted from the motor 610 to the end portion 80 side. The gearboxes 530 and 630 are disposed at the connecting portion of the arm 40 and the wrist 70, and may be separated from each other in the direction along the axis Ax5. In this case, a space between the motors 510 and 610 (space S 1) and a space between the gear boxes 530 and 630 (space S 2) are arranged along the list holding unit 60. Therefore, the spaces S1 and S2 can be used as a series of routes R1 for handling the cable CA1 and the like. For this reason, exposure of cable CA1 etc. can further be reduced. Since the directions in which the motors 510 and 610 are separated from each other and the direction in which the gearboxes 530 and 630 are separated from each other are along the axis Ax5, the spaces S1 and S2 can be opened to the same side of the wrist holder 60. . This facilitates the routing operation of the cable CA1 using the spaces S1 and S2, so that the end effector can be easily attached and detached according to the application of the robot 1. Therefore, a robot with higher versatility can be provided.

  The wrist 70 and the end portion 80 may have a hollow structure that opens between the gear boxes 530 and 630. In this case, the spaces S1 and S2 and the space S3 in the list 70 and the end unit 80 can be used as a series of routes R1 for handling the cable CA1 and the like. For this reason, exposure of cable CA1 etc. can further be reduced. Therefore, a robot with higher versatility can be provided.

  The wrist holding unit 60 may have a through hole 61 a that opens between the motors 510 and 610 on the opposite side of the wrist 70. In this case, the space S4 in the through hole 61a of the list holding unit 60 and the spaces S1 and S2 can be used as a series of paths R1 for handling the cable CA1 and the like. For this reason, exposure of cable CA1 etc. can further be reduced. Therefore, a robot with higher versatility can be provided.

  The robot 1 may further include a motor 410 for rotating the wrist holding unit 60 about the axis Ax4 along the arm 40. The arm 40 extends along the axis Ax4, one end of the arm 40 is fixed to the wrist holder 60, and the cylinder 43 rotates together with the wrist holder 60 by the power of the motor 410. May have a cylinder 44 that supports the end of the cylinder 43 on the wrist holding part 60 side without rotating.

  In this case, the space S5 in the cylinder 43, the space S4 in the through hole 61a of the wrist holder 60, and the spaces S1 and S2 can be used as a series of paths R1 for handling the cable CA1 and the like. For this reason, exposure of cable CA1 etc. can further be reduced.

  As described above, according to the present disclosure, the motors 510 and 610 can be moved closer to the wrist 70. However, when the motors 510 and 610 are moved closer to the wrist 70, the distance from the base of the arm 40 to the motors 510 and 610 is increased. growing. For this reason, the bending moment which acts on the base of the arm 40 due to the weight of the motors 510 and 610 increases. When the bending moment acting on the base portion of the arm 40 is increased, the power transmission mechanism from the motor 410 to the arm 40 may need to be enlarged so that the bending moment can be withstood. On the other hand, according to the configuration in which the end of the cylindrical body 43 on the wrist holding unit 60 side is supported by the cylindrical body 44, the bending moment acting on the power transmission mechanism is suppressed. Therefore, the enlargement of the power transmission mechanism accompanying the shortening of the list holding unit 60 can be suppressed. As described above, a robot with higher versatility can be provided.

  The robot 1 may further include a hollow gear box 430 that decelerates and outputs the rotation transmitted from the motor 410. On the opposite side of the wrist holder 60, the cylinder 43 may be fixed to the output shaft 433 of the gear box 430, and the cylinder 44 may be fixed to the case 431 of the gear box 430.

  In this case, the space S6 in the gear box 430, the space S5 in the cylinder 43, the space S4 in the through hole 61a of the wrist holder 60, and the spaces S1 and S2 are set as a series of paths R1, and the cable CA1 and the like. It can be used for handling. For this reason, exposure of cable CA1 etc. can further be reduced.

  The cylindrical body 43 is fixed to the output shaft 433 of the gear box 430, while the cylindrical body 44 is fixed to the case 431 of the gear box 430. For this reason, the bending moment which acts in the gear box 430 through the cylinder 43 and the output shaft 433 is suppressed. Therefore, the enlargement of the gear box 430 accompanying the shortening of the list holding unit 60 can be suppressed. As described above, a robot with higher versatility can be provided.

  The motor 410 may be the same as the motors 510 and 610. In this case, the robot itself can be efficiently manufactured by sharing the motor. For this reason, a robot can be efficiently provided corresponding to the improvement in versatility. In addition, the number of spare motors for replacement can be reduced.

  Although the embodiments have been described above, the present disclosure is not necessarily limited to the above-described embodiments, and various modifications can be made without departing from the scope of the disclosure.

  DESCRIPTION OF SYMBOLS 1 ... Robot, 40 ... Arm, 43 ... Cylinder (1st cylinder), 44 ... Cylinder (2nd cylinder), 60 ... List holding part, 61a ... Through-hole, 70 ... Wrist, 80 ... End part, 410 ... motor (third motor), 430 ... gear box (third gear box), 510 ... motor (first motor), 512 ... output shaft (output shaft of the first motor), 530 ... gear box (first gear) Box), 610... Motor (second motor), 612... Output shaft (output shaft of the second motor), 630... Gear box (second gear box), Ax5.

Claims (10)

Arm,
A wrist connected to the arm;
An end connected to the list;
A first motor for swinging the wrist around a first axis;
A second motor for turning the end portion,
The first motor and the second motor are disposed at positions away from the wrist in the arm, and the output shafts of the first motor and the second motor are directed to the outside of the arm. Robots that are separated from each other in the direction along the first axis.   2. The robot according to claim 1, wherein each of the first motor and the second motor has an outer shape whose size in a direction along the output shaft is smaller than a size in a direction orthogonal to the output shaft.   The robot according to claim 1, wherein the first motor and the second motor overlap each other in a direction orthogonal to the first axis.   The robot according to claim 1, wherein the output shafts of the first motor and the second motor are along the first axis. A first gear box that decelerates the rotation transmitted from the first motor and transmits it to the list;
A second gear box for transmitting the rotation transmitted from the second motor to the end portion side;
2. The robot according to claim 1, wherein the first gear box and the second gear box are arranged at a connection portion of the arm and the wrist and are separated from each other in a direction along the first axis.   The robot according to claim 5, wherein the wrist and the end portion have a hollow structure that opens between the first gear box and the second gear box. The arm further includes a wrist holding portion that holds the wrist so as to be swingable around the first axis.
The first motor and the second motor are arranged in the list holding unit,
The robot according to any one of claims 1 to 6, wherein the wrist holding unit has a through hole that opens between the first motor and the second motor on the opposite side of the wrist. A third motor for turning the wrist holder;
The arm is
A first cylinder connected to the list holding portion on the opposite side of the list, and rotated together with the list holding portion by the power of the third motor;
A second cylinder that surrounds the first cylinder and does not rotate with the first cylinder but supports an end of the first cylinder on the wrist holding part side. The robot described. A hollow third gear box that decelerates and outputs the rotation transmitted from the third motor;
The said 1st cylinder is fixed to the output shaft of the said 3rd gear box, and the said 2nd cylinder is fixed to the case of the said 3rd gear box in the reverse side of the said list holding | maintenance part. Robot.   The robot according to claim 8 or 9, wherein the third motor is the same as the first motor and the second motor.

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