Patent ID: 11865710
Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  F | IPC B  F

Claim 0:
1. A vertical articulated robot comprising:
a plurality of arms; and
a plurality of joint axis portions configured to rotationally drive the plurality of arms; wherein
the plurality of joint axis portions include a predetermined joint axis portion;
the predetermined joint axis portion includes:
a motor including a motor shaft having a motor shaft rotation axis;
a speed reducer directly connected to the motor shaft;
a brake configured to hold the motor; and
an oil seal mounted on the motor shaft;

the speed reducer of the predetermined joint axis portion includes a recess defined by at least a shaft input and a bearing and recessed along a rotation axis direction of the motor shaft rotation axis;
in the predetermined joint axis portion, at least a portion of the brake and the oil seal are arranged inside the recess;
an entirety of the brake and an entirety of the oil seal are disposed closer to the motor shaft rotation axis than an outer periphery of the shaft input in a radial direction orthogonal to the rotation axis direction;
the speed reducer includes a wave gear speed reducer;
the wave gear speed reducer includes a wave generator as the shaft input, a circular spline, and a flexspline; and
at least the portion of the brake and the oil seal are arranged inside the recess defined by at least the wave generator, the circular spline, the flexspline, and the bearing.