Robot and robot system

A robot includes a base, an arm provided on the base, an actuator that drives the arm, a connector to which at least a part of a first wire of another apparatus is connected, and a second wire that connects the actuator and the connector, and the base has a housing having an hole, to which the connector is fixed and a lid covering at least a part of the hole, through which the first wire is inserted.

BACKGROUND

1. Technical Field

The present invention relates to a robot and robot system.

2. Related Art

Research and development of technologies on respective robots and robot control apparatuses that control robots are carried out.

In this regard, a horizontal articulated robot connected to a separate robot control apparatus by a wire (wired connection) and controlled by the robot control apparatus is known (see Patent Document 1 (JP-A-2016-78221)).

In the horizontal articulated robot, a connecting portion (e.g. connector) to which the wire connecting between the horizontal articulated robot and the robot control apparatus is provided outside of the base of the horizontal articulated robot. In the connecting portion provided outside of the base, a defect of deformation by application of an unintended impact or the like may be caused. On the other hand, when the connecting portion is provided inside of the base of the horizontal articulated robot, the connecting portion floats in the air inside of the base, and a defect of breaking of the wire connected to the connecting portion may be caused.

SUMMARY

An aspect of the invention is directed to a robot including a base, a movable unit provided on the base, a drive unit that drives the movable unit, a connecting portion to which at least a part of a first wire of another apparatus is connected, and a second wire that connects the drive unit and the connecting portion, wherein the base has a housing part having an opening portion, to which the connecting portion is fixed, and a lid part covering at least a part of the opening portion, through which the first wire is inserted.

According to this configuration, the robot includes the base, the movable unit provided on the base, the drive unit that drives the movable unit, the connecting portion to which at least a part of the first wire of another apparatus is connected, and the second wire that connects the drive unit and the connecting portion, wherein the base has the housing part having the opening portion, to which the connecting portion is fixed, and the lid part covering at least a part of the opening portion, through which the first wire is inserted. Thereby, the robot may suppress a defect in at least one of the connecting portion and the second wire.

In another aspect of the invention, the robot may be configured such that the lid part has a cutout portion with which the lid part can be detached from the housing part in a state in which a fastening member for fastening the lid part and the housing part is loosened.

According to this configuration, in the robot, the lid part has the cutout portion with which the lid part can be detached from the housing part in the state in which the fastening member for fastening the lid part and the housing part is loosened. Thereby, the robot may shorten the time required for work of attaching the lid part from the housing part.

In another aspect of the invention, the robot may be configured such that a first sealing member is provided between the first wire and the lid part.

According to this configuration, the robot has the first sealing member between the first wire and the lid part. Thereby, the robot may suppress entry of foreign matter from between the first wire and the lid part.

In another aspect of the invention, the robot may be configured such that the other apparatus is a robot control apparatus that controls the robot.

According to this configuration, in the robot, the other apparatus is the robot control apparatus that controls the robot. Thereby, the robot may suppress a defect in at least one of the connecting portion and the second wire to which at least a part of the first wire of the robot control apparatus is connected through the connecting portion.

In another aspect of the invention, the robot may be configured such that the first wire includes a power line for supplying electric power from the robot control apparatus to the drive unit and a signal line for transmitting signals between the robot control apparatus and the drive unit.

According to this configuration, in the robot, the first wire includes the power line for supplying electric power from the robot control apparatus to the drive unit and the signal line for transmitting signals between the robot control apparatus and the drive unit. Thereby, the robot may suppress a defect in at least one of the connecting portion and the second wire to which at least a part of the first wire including the power line and the signal line is connected.

In another aspect of the invention, the robot may be configured such that the connecting portion has a first connecting portion to which the power line is connected and a second connecting portion to which the signal line is connected.

According to this configuration, in the robot, the connecting portion has the first connecting portion to which the power line is connected and a second connecting portion to which the signal line is connected. Thereby, the robot may suppress a defect in a part or all of the connecting portion having the first connecting portion and the second connecting portion and the second wire.

Another aspect of the invention is directed to a robot system including the above described robot and a robot control apparatus that controls the robot.

According to this configuration, in the robot system, the robot includes the base, the movable unit provided on the base, the drive unit that drives the movable unit, the connecting portion to which at least a part of the first wire of another apparatus is connected, and the second wire that connects the drive unit and the connecting portion, wherein the base has the housing part having the opening portion, to which the connecting portion is fixed, and the lid part covering at least a part of the opening portion, through which the first wire is inserted. Thereby, the robot system may suppress a defect in at least one of the connecting portion and the second wire.

As descried above, the robot includes the base, the movable unit provided on the base, the drive unit that drives the movable unit, the connecting portion to which at least a part of the first wire of another apparatus is connected, and the second wire that connects the drive unit and the connecting portion, wherein the base has the housing part having the opening portion, to which the connecting portion is fixed, and the lid part covering at least a part of the opening portion, through which the first wire is inserted. Thereby, the robot may suppress a defect in at least one of the connecting portion and the second wire.

Further, in the robot system, the robot includes the base, the movable unit provided on the base, the drive unit that drives the movable unit, the connecting portion to which at least a part of the first wire of another apparatus is connected, and the second wire that connects the drive unit and the connecting portion, wherein the base has the housing part having the opening portion, to which the connecting portion is fixed, and the lid part covering at least a part of the opening portion, through which the first wire is inserted. Thereby, the robot system may suppress a defect in at least one of the connecting portion and the second wire.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Embodiment

As below, an embodiment of the invention will be explained with reference to the drawings.

Outline of Robot

FIG. 1shows an example of a configuration of a robot system1according to an embodiment.

First, the outline of a robot20of a robot system1according to the embodiment will be explained.

Here, in a robot X (e.g. a robot of related art) different from the robot20, a connecting portion (e.g. connector) to which a wire connecting the robot X and a robot control apparatus30may be provided outside of the base of the robot X. In this case, in the connecting portion provided outside of the base, a defect of deformation by application of an unintended impact or the like may be caused. Further, in this case, a liquid such as water may enter between the connecting portion and the wire, and the connecting portion and the wire are waterproofed and monetary cost of the manufacture of the robot X may increase. On the other hand, when the connecting portion is provided inside of the base, the connecting portion floats in the air inside of the base, and a defect of breaking of the wire connected to the connecting portion may occur.

Accordingly, the robot20includes a base, a movable unit provided on the base, a drive unit that drives the movable unit, a connecting portion to which at least a part of a first wire of another apparatus is connected, and a second wire that connects the drive unit and the connecting portion, and the base has a housing part having an opening portion, to which the connecting portion is fixed and a lid part covering at least a part of the opening portion, through which the first wire is inserted. Thereby, the robot20may suppress a defect in at least one of the connecting portion and the second wire. Further, the robot20may suppress entry of a liquid such as water between the connecting portion and the first wire. As a result, the inexpensive connecting portion and the inexpensive first wire may be used and the increase in the monetary cost of the manufacture of the robot20may be suppressed. As below, a specific example of the configuration of the robot system1including the configuration of the robot20will be explained in detail. Further, as below, as an example, the case where the other apparatus is the robot control apparatus30will be explained.

Configuration of Robot System

As below, the configuration of the robot system1will be explained.

As shown inFIG. 1, the robot system1includes the robot20and the robot control apparatus30.

The robot20is a horizontal articulated robot (scalar robot). Note that the robot20may be another robot such as a Cartesian coordinate robot or vertical articulated robot (e.g. single-arm robot, dual-arm robot, or the like) in place of the horizontal articulated robot. The Cartesian coordinate robot is e.g. a gantry robot.

In the example shown inFIG. 1, the robot20is installed on an installation surface as a predetermined surface. The installation surface is e.g. a floor surface of a room in which the robot20is installed. Note that the installation surface may be another surface such as a wall surface or ceiling surface within the room, a table, a jig, an upper surface of a bench, an outdoor floor surface or wall surface in place of the floor surface. Hereinafter, for convenience of explanation, a direction orthogonal to the installation surface from the center of gravity of the robot20toward the installation surface is referred to as “lower” or “downward direction” and a direction opposite to the direction is referred to as upper or upward direction. Further, as below, as an example, the case where the downward direction coincides with both a negative direction of a Z-axis in a robot coordinate system RC as a robot coordinate system of the robot20and the direction of gravity will be explained. Note that the downward direction may not necessarily coincide with one or both of the negative direction and the gravity direction instead.

The robot20includes a base B installed (fixed) unmovably on the installation surface and a movable unit A. The movable unit A includes a first arm A1rotatably supported by the base B about a first axis AX1, a second arm A2rotatably supported by the first arm A1about a second axis AX2, and a shaft S rotatably supported about a third axis AX3and translationally supported in the axis direction of the third axis AX3by the second arm A2.

The shaft S is an axial member having a cylindrical shape. A ball screw groove and a spline groove (not shown) are respectively formed in the circumference surface of the shaft S. The shaft S is provided to penetrate an opposite end portion to the first arm A1of the end portions of the second arm A2in the upward and downward directions. Further, in the shaft S, in the example, a flange in a circular disc shape having a larger radius than the radius of the cylinder is provided in the upper end portion of the end portions of the shaft S. The center axis of the cylinder coincides with the center axis of the flange. It may be possible or impossible to attach an end effector to the distal end as the end portion of the shaft S in which the flange is not provided. Further, the cylinder and the flange may be integrally or separately formed.

In the example shown inFIG. 1, the shape of the base B is a rectangular parallelepiped shape. Hereinafter, for convenience of explanation, the surface in contact with the installation surface of the six surfaces of the base B is referred to as the lower surface of base B. Further, in the example, the direction along the longitudinal direction of the base B of the directions parallel to the installation surface coincides with the direction along an X-axis in the robot coordinate system RC. Furthermore, in the example, the direction along the lateral direction of the base B of the directions parallel to the installation surface coincides with the direction along a Y-axis in the robot coordinate system RC. Here, the positive direction of the Z-axis in the robot coordinate system RC coincides with a direction of a vector obtained by an outer product of a vector toward the positive direction of the X-axis and a vector toward the positive direction of the Y-axis. Note that the direction along the X-axis does not necessarily coincide with the direction along the longitudinal direction (that is, the direction along the Y-axis does not necessarily coincide with the direction along the lateral direction). Hereinafter, for convenience of explanation, the surface orthogonal to the lower surface of the base B of the six surfaces of the base B on the negative direction side of the X-axis in the robot coordinate system RC is referred to as “back surface” of the base B.

Further, the base B has a housing part R. In the example shown inFIG. 1, the housing part R is provided on the back surface of the base B so that the whole housing part R may be located (contained) inside of the base B. Note that the housing part R may be provided on another surface than the back surface of the six surfaces of the base B so that the whole housing part R may be located inside of the base B.

The housing part R is a member that can fix a connecting portion CN, which will be described later, inside of the housing part R, in e.g. a container shape. However, the part may have a frame shape instead or any shape as long as the member can fix a connecting portion CN inside of the housing part R. In the example shown inFIG. 1, the housing part R is a container having a rectangular parallelepiped shape. In the example, one surface of the six surfaces of the housing part R is formed by the back surface of the base B. Note that a part or all of the six surfaces of the housing part R may be formed by at least a part of one or more surfaces of the base B or not formed by at least one or more surfaces of the base B. A part or entire of the housing part R may not be contained inside of the base B. In this case, at least a part of the housing part R is provided outside of the base B. In the case, for example, at least a part of the housing part R is provided in the back surface of the base B to be located outside of the base B.

An opening portion RH as a hole connecting outside and inside of the housing part R is formed in the back surface of the base B (i.e., the surface on the negative direction side of the X-axis in the robot coordinate system RC of the surfaces of the housing part R). The shape of the opening portion RH when the base B is seen toward the positive direction of the X-axis in the robot coordinate system RC is nearly a rectangular shape with the respective triangles on the four corners cut off in the rectangular shape. Note that the shape of the opening portion RH in the case may be another shape such as a circular shape.

Further, the housing part R is the container to which the connecting portion CN is fixed.

The connecting portion CN has a first part CN1(not shown inFIG. 1) as a part to which a first wire CA1is connected and a second part CN2(not shown inFIG. 1) as a part to which a second wire CA2(not shown inFIG. 1) is connected.

The first wire CA1is a wire connecting between the robot control apparatus30and the robot20. The first wire CA1includes a power line for supplying electric power from the robot control apparatus30to a drive unit (i.e., an actuator, which will be described later) of the robot20, and a signal line for transmitting signals between the robot control apparatus30and the drive unit. Note that the first wire CA1may include another wire in addition to the power line and the signal line.

The second wire CA2is a wire connecting the drive unit of the robot20and the connecting portion CN.

The first wire CA1is connected to the first part CN1(not shown inFIG. 1, seeFIG. 3, for example) of the connecting portion CN and the second wire CA2is connected to the second part CN2(not shown inFIG. 1, seeFIG. 3, for example) of the connecting portion CN, and thereby, the first wire CA1is connected to the drive unit via the connecting portion CN and the second wire CA2. That is, the robot control apparatus30is connected to the drive unit via the first wire CA1, the connecting portion CN, and the second wire CA2.

Note that the connecting portion CN may be another connecting member in place of the connector. Or, the connecting portion CN may be a connector to which a part of the first wire CA1(e.g. one of the above described power line and signal line, a part of the power line, a part of the signal line, or the like) is connected. Or, the connecting portion CN may be a connector to which a part of the second wire CA2(a wire corresponding to the first wire CA1) is connected.

The surface to which the connecting portion CN of the surfaces of the housing part R is fixed is the surface on the positive direction side of the X-axis in the robot coordinate system RC of the surfaces of the housing part R. Note that the surface to which the connecting portion CN is fixed of the surfaces of the housing part R may be another surface of the housing part R in place of the surface on the positive direction side.

Further, the base B has a lid part CV through which the first wire CA1is inserted. The lid part CV covers at least a part of the opening portion RH. As below, as an example, the case where the lid part CV has a plate-like member that covers the whole opening portion RH, in which an insertion hole CH (not shown inFIG. 1, seeFIG. 4, for example) through which the first wire CA1is inserted will be explained. Note that the lid part CV may be a member having another shape in place of the plate-like member with the insertion hole CH formed therein. The lid part CV is fastened (fixed) to the housing part R by one or more fastening members SC (not shown inFIG. 1, seeFIG. 4, for example). As below, as an example, the case where the lid part CV is fastened (fixed) to the housing part R by four fastening members SC will be explained. The fastening members SC are e.g. screws that can be fastened or loosened by a user with a hand. Note that the fastening members SC may be other fastening members that can fix the lid part CV to the housing part R by fastening such as screws that can be fastened or loosened by a user using a tool such as a driver instead.

Here, referring toFIGS. 2 to 7, the housing part R and the lid part CV are explained. Note that, inFIGS. 2 to 7, the first wire CA1, the movable unit A, a part of the second wire CA2are respectively omitted to avoid complication of the drawings.

FIG. 2shows an example of the base B in a state in which the lid part CV is detached from the housing part R as seen toward the positive direction of the X-axis in the robot coordinate system RC.

In the example shown inFIG. 2, the shape of the opening portion RH formed in the back surface of the base B (i.e., the opening portion RH formed in the housing part R) is nearly the rectangular shape as described above with the respective triangles on the four corners cut off in the rectangular shape. Screw holes are formed in the respective surfaces corresponding to the four corners of the back surface. In the example, the screw holes are threaded and the fastening members SC as the screws in the example are fastened thereto. The screw hole H1shown inFIG. 2is an example of the screw hole formed in the corner on the fourth quadrant side within the YZ-plane in the robot coordinate system RC of the four corners. The screw hole H2shown inFIG. 2is an example of the screw hole formed in the corner on the first quadrant side within the YZ-plane of the four corners. The screw hole H3shown inFIG. 2is an example of the screw hole formed in the corner on the second quadrant side within the YZ-plane of the four corners. The screw hole H4shown inFIG. 2is an example of the screw hole formed in the corner on the third quadrant side within the YZ-plane of the four corners.

Further, in the example shown inFIG. 2, the lid part CV is not attached to the housing part R, and it may be confirmed that the first part CN1of the connecting portion CN fixed to the housing part R is located inside of the housing part R through the opening portion RH.

FIG. 3shows an example of the base B in the state in which the lid part CV is detached from the housing part R as seen toward positive direction of the Y-axis in the robot coordinate system RC. In the example shown inFIG. 3, the connecting portion CN is fixed to the housing part R so that the first part CN1may be placed inside of the housing part R and the second part CN2may be placed outside of the housing part R. Note that the connecting portion CN may be fixed to the housing part R so that both the first part CN1and the second part CN2may be placed inside of the housing part R, or the connecting portion CN may be fixed so that both may be placed outside of the housing part R.

FIG. 4shows an example of the base B in a state in which the lid part CV is fastened to the housing part R by the fastening members SC as seen toward the positive direction of the X-axis in the robot coordinate system RC. Hereinafter, for convenience of explanation, the relative position relationship between the lid part CV and the housing part R in the state is referred to as “first position relationship”. That is,FIG. 4shows the respective lid part CV and housing part R when the relative position relationship between the lid part CV and the housing part R coincides with the first position relationship.

In the example shown inFIG. 4, the lid part CV is fastened to the housing part R by the fastening members SC fastened to the screw holes H1to H4as described above. That is, the lid part CV and the housing part R are fastened (fixed) by the fastening members SC. More specifically, the relative position relationship between the lid part CV and the housing part R is fastened (fixed) by the fastening members SC.

Here, the lid part CV has cutout portions with which the lid part CV can be detached from the housing part R in the state in which the fastening members SC for fastening the relative position relationship between the lid part CV and the housing part R are loosened. The cutout portion CO1shown inFIG. 4is an example of the cutout portion corresponding to the above described screw hole H1of the cutout portions with which the lid part CV can be detached from the housing part R. The cutout portion CO2shown inFIG. 4is an example of the cutout portion corresponding to the above described screw hole H2of the cutout portions with which the lid part CV can be detached from the housing part R. The cutout portion CO3shown inFIG. 4is an example of the cutout portion corresponding to the above described screw hole H3of the cutout portions with which the lid part CV can be detached from the housing part R. The cutout portion CO4shown inFIG. 4is an example of the cutout portion corresponding to the above described screw hole H4of the cutout portions with which the lid part CV can be detached from the housing part R.

The cutout portion CO1has a first hole CO11, a second hole CO12, and a third hole CO13. That is, the cutout portion CO1is formed in the lid part CV to have a structure of a combination of the first hole CO11, the second hole CO12, and the third hole CO13.

The cutout portion CO2has a first hole CO21, a second hole CO22, and a third hole CO23. That is, the cutout portion CO2is formed in the lid part CV to have a structure of a combination of the first hole CO21, the second hole CO22, and the third hole CO23.

The cutout portion CO3has a first hole CO31, a second hole CO32, and a third hole CO33. That is, the cutout portion CO3is formed in the lid part CV to have a structure of a combination of the first hole CO31, the second hole CO32, and the third hole CO33.

The cutout portion CO4has a first hole CO41, a second hole CO42, and a third hole CO43. That is, the cutout portion CO4is formed in the lid part CV to have a structure of a combination of the first hole CO41, the second hole CO42, and the third hole CO43.

The respective structures of the cutout portions CO1to CO4are the same as one another. That is, the respective structures of the first holes CO11to CO41are the same as one another. The respective structures of the second holes CO12to CO42are the same as one another. The respective structures of the third holes CO13to CO43are the same as one another. Accordingly, as below, the cutout portion CO1will be explained and the explanation of the respective cutout portions CO2to CO4will be omitted.

The first hole CO11is a hole having the same radius as the radius of the screw hole H1. Further, the first hole CO11is a hole overlapping (coinciding) with the screw hole H1when the base B is seen toward the positive direction of the X-axis in the robot coordinate system RC and the relative position relationship between the lid part CV and the housing part R coincides with the first position relationship.

The second hole CO12is a hole having a radius larger than the radius of a screw head SH of the fastening member SC. The screw head SH is a part grasped when the user turns the fastening member SC with a hand as described above. Further, the center of the second hole CO12is a hole that coincides with the center of the screw hole H1when the base B is seen toward the positive direction and the relative position relationship between the lid part CV and the housing part R coincides with a second position relationship. That is, in this case, the second hole CO12and the screw hole H1are concentric. The second position relationship refers to a relative position relationship between the lid part CV and the housing part R when the lid part CV is detached from the housing part R. In the example, the second position relationship refers to a relative position relationship between the lid part CV and the housing part R when the lid part CV is rotated by a predetermined angle about a predetermined axis from the state in which the relative position relationship between the lid part CV and the housing part R coincides with the first position relationship. The predetermined axis is e.g. an axis passing through the center of the lid part CV orthogonally to the lid part CV when the back surface is seen toward the positive direction. Note that the predetermined axis may be another axis according to the lid part CV instead. The predetermined angle is e.g. 10°. Note that the predetermined angle may be an angle smaller than 10° or larger than 10°. The rotation about the predetermined axis may be clockwise rotation or counterclockwise rotation.

FIG. 5shows an example of the relative position relationship between the lid part CV and the housing part R when the lid part CV shown inFIG. 4is rotated by the predetermined angle about the predetermined axis. As shown inFIG. 5, in this case, the relative position relationship between the lid part CV and the housing part R coincides with the second position relationship, and thus, the second hole CO12and the screw hole H1are concentric. Further, in the case, the radius of the second hole CO12is larger than the radius of the screw head SH and the user moves the lid part CV in the negative direction of the X-axis in the robot coordinate system RC, and thereby, in the state in which the fastening members SC are loosened, but the fastening members SC are not detached from the housing part R, the lid part CV may be detached from the housing part R. As a result, the robot20may shorten the time required for work of detaching the lid part CV from the housing part R.

Note thatFIG. 4is only a conceptual diagram. Accordingly, when the lid part CV shown inFIG. 4is rotated by the predetermined angle about the predetermined axis, the center of the screw hole H1and the center of the second hole CO12appear not to coincide.

Returning toFIG. 4, the third hole CO13is a hole connecting the first hole CO11and the second hole CO12. Further, the third hole CO13is a hole (groove) for an axis portion SX of the fastening member SC to pass from the first hole CO11to the second hole CO12when the lid part CV is rotated by the predetermined angle about the predetermined axis and the relative position relationship between the lid part CV and the housing part R is changed from the first position relationship to the second position relationship in the state in which the fastening member SC is not detached from the housing part R, but loosened. Accordingly, the width of the third hole CO13is larger than the diameter of the axis portion SX. The axis portion SX refers to a part in which a thread is formed of the parts of the fastening member SC. The cutout portion CO1has the third hole CO13, and thus, the user may rotate the lid part CV by the predetermined angle about the predetermined axis. As a result, the user may detach the lid part CV from the housing part R without detaching the fastening member SC from the housing part R in the state in which the fastening member SC is loosened.

FIG. 6shows an example of a state in which the fastening member SC is detached from the lid part CV and the housing part R in the base B shown inFIG. 4. As shown inFIG. 6, when the base B is seen toward the positive direction of the X-axis in the robot coordinate system RC, the first hole CO11of the cutout portion CO1and the screw hole H1overlap in the state.

FIG. 7is a side view of the base B shown inFIG. 4as seen toward the positive direction of the Y-axis in the robot coordinate system RC. Note that, inFIG. 7, the respective cutout portions CO1to CO4of the lid part CV are omitted to avoid complication of the drawings. It is desirable that a depth DT of the housing part R shown inFIG. 7is from about 20 to 40 millimeters, e.g. about 30 millimeters. This is because, if the depth DT is too deep, the user's hand does not reach the depth of the housing part R and, if the depth DT is too shallow, the connecting portion CN interferes with the back surface of the base B and the lid part CV. Here, the depth DT shown inFIG. 7refers to a length along the X-axis direction in the robot coordinate system RC from the lower surface of the lid part CV to the bottom surface of the housing part R when the lid part CV is fastened to the housing part R. The lower surface of the lid part CV refers to a surface on the housing part R side of the surfaces of the lid part CV in the case. Further, the bottom surface of the housing part R refers to a surface facing the lid part CV of the inner surfaces of the housing part R in the case. Note that the depth DT may be shallower than 20 millimeters unless the connecting portion CN interferes with the back surface of the base B and the lid part CV, and may be deeper than 40 millimeters when the size of the opening portion RH is larger than the user's hand or when the user is allowed to use a tool for connecting the first wire CA1to the connecting portion CN.

Further, in the example shown inFIG. 7, a sealing member SL is stuck to the surface on the housing part R side of the surfaces of the lid part CV when the lid part CV is fastened to the housing part R. Accordingly, in the example, the sealing member SL exists between the lid part CV and the housing part R. The sealing member SL may be any member as long as the member suppresses entry of foreign matter (e.g. liquids, powder and granular materials, gasses) into the housing part R from between the lid part CV and the housing part R. The material of the sealing member SL is e.g. a resin, however, may be another material instead. Note that the sealing member SL may not necessarily exist between the lid part CV and the housing part R.

Next, referring toFIG. 8, the first wire CA1and the lid part CV will be explained.FIG. 8shows an example of the lid part CV shown inFIG. 4with the first wire CA1inserted through the lid part CV. Further,FIG. 8is a sectional view of the lid part CV through which the first wire CA1is inserted cut in a plane passing through the center of an insertion hole CH formed in the lid part CV and parallel to the ZX-plane in the robot coordinate system RC. Note that the section of the first wire CA1shown inFIG. 8is shown in white to avoid complication of the drawing. As shown inFIG. 8, the first wire CA1is inserted through the insertion hole CH formed in the lid part CV. In this regard, as shown inFIG. 8, a sealing member SM is provided between the first wire CA1and the lid part CV. The sealing member SM may be any member as long as the member suppresses entry of foreign matter (e.g. liquids, powder and granular materials, gasses) into the housing part R from between the first wire CA1and the lid part CV. The material of the sealing member SM is e.g. a resin, however, may be another material instead. Note that the sealing member SM may not necessarily be provided between the first wire CA1and the lid part CV. The sealing member SM is an example of a first sealing member.

Next, referring toFIG. 9, the first part CN1of the connecting portion CN will be explained.FIG. 9shows an example of the first part CN1of the connecting portion CN shown inFIG. 4. As shown inFIG. 9, a first connecting portion CN11and a second connecting portion CN12are provided in the first part CN1. The first connecting portion CN11is a connector to which the above described power line is connected. The second connecting portion CN12is a connector to which the above described signal line is connected. Thereby, the robot20may suppress defects in a part or all of the first connecting portion CN11, the second connecting portion CN12, and the second wire CA2. The user may suppress erroneous connection of the signal line to the portion to which the power line is connected and erroneous connection of the power line to the portion to which the signal line is connected. Note that, in the first part CN1, only one of the first connecting portion CN11and the second connecting portion CN12may be provided, another connector may be provided in place of one or both of the first connecting portion CN11and the second connecting portion CN12, or another connector may be provided in addition to one or both of the first connecting portion CN11and the second connecting portion CN12. Or, the first connecting portion CN11and the second connecting portion CN12may collectively form a single connector.

As described above, the first part CN1and the first wire CA1of the connecting portion CN are housed inside of the housing part R. Accordingly, it is unnecessary to perform processing for suppressing entry of foreign matter such as waterproofing between the first part CN1and the first wire CA1. As a result, a manufacturer of the robot20may manufacture the robot20using an inexpensive connector as the connecting portion CN and may manufacture the robot20using an inexpensive wire as the first wire CA1. That is, the robot20may suppress monetary cost increase related to the manufacture of the robot20.

The connecting portion CN is fixed to the housing part R, and thus, the connecting portion CN is not taken from inside of the base B to outside of the base B when work of detaching the first wire CA1from the connecting portion CN is performed. Accordingly, regarding the second wire CA2connected to the second part CN2of the connecting portion CN outside of the housing part R inside of the base B, the extra length for the connecting portion CN to be taken from inside of the base B to outside of the base B may be made shorter. As a result, the robot20may suppress generation of noise in the second wire CA2.

Returning toFIG. 1, the above described drive unit of the robot20drives the movable unit A. The drive unit refers to each of a first drive unit M1, a second drive unit M2, a third drive unit M3, and a fourth drive unit M4. Note that the drive unit may include another drive unit in place of a part or all of these four drive units, or may include another drive unit in addition to all of the four drive units.

The base B includes the first drive unit M1as the drive unit that rotates the first arm A1about the first axis AX1. The first drive unit M1is an actuator controlled by the robot control apparatus30. That is, the first axis AX1is an axis that coincides with the rotation shaft of the first drive unit M1.

The first arm A1rotates about the first axis AX1and moves in horizontal directions with the rotation of the rotation shaft of the first drive unit M1. The horizontal directions are directions orthogonal to the upward and downward directions in the example. The horizontal directions are e.g. directions along the XY-plane in the world coordinate system or directions along the XY-plane in the robot coordinate system RC of the robot20.

The second arm A2rotates about the second axis AX2and moves in the horizontal directions. The second arm A2includes the second drive unit M2as the drive unit that rotates the second arm A2about the second axis AX2with respect to the first arm A1. The second drive unit M2is an actuator controlled by the robot control apparatus30. That is, the second axis AX2is an axis that coincides with the rotation shaft of the second drive unit M2.

Further, the second arm A2includes the third drive unit M3as a vertical actuator and the fourth drive unit M4as a rotation actuator and supports the shaft S. The third drive unit M3turns the ball screw nut provided in the outer circumference part of the ball screw groove of the shaft S with a timing belt (not shown) or the like, and thereby, moves the shaft S in the upward and downward directions. The fourth drive unit M4turns the ball spline nut provided in the outer circumference part of the spline groove of the shaft S with a timing belt (not shown) or the like, and thereby, rotates the shaft S about the center axis of the shaft S.

The respective first drive unit M1to fourth drive unit M4as the four drive units of the robot20are communicably connected to the robot control apparatus30by the first wire CA1. The first wire CA1includes power lines for supplying electric power from the robot control apparatus30to the respective four drive units and signal lines for transmitting signals between the robot control apparatus30and the respective four drive units. Thereby, the respective four drive units perform operation based on control signals acquired from the robot control apparatus30. Note that the wired communications via the signal lines are performed according to standards of e.g. Ethernet (registered trademark), USB (Universal Serial Bus), or the like. Or, part of the four drive units may be adapted to be connected to the robot control apparatus30via wireless communications performed according to communication standards of Wi-Fi (registered trademark) or the like. Or, the first wire CA1may include another wire in addition to the power lines and the signal lines.

The robot control apparatus30transmits the control signals to the robot20to operate the robot20. Thereby, the robot control apparatus30may allow the robot to perform predetermined work. The robot control apparatus30is separately provided from the robot20and placed outside of the robot20.

Note that the first wire CA1connected to the connecting portion CN may be a wire connected from another apparatus than the robot control apparatus30to the robot20in place of the wire connected from the robot control apparatus30to the robot20. For example, the other apparatus is a teaching pendant, notebook PC (Personal Computer), or the like connected to the robot20.

InFIGS. 1 and 8, the first wire CA1including the power lines and the signal lines is drawn as an integrated single wire, however, this is only an example. The first wire CA1may be formed by two or more wires. In this case, for example, the power lines are collected as a single wire and the signal lines are collected as a single wire. Further, in the case, the insertion hole CH through which the first wire CA1formed by two or more wires is inserted may have a configuration with insertion holes corresponding to the respective two or more wires or a configuration through which all of the two or more wires are inserted.

The respective cutout portions CO1to CO4of the lid part CV may be formed in the lid part CV by e.g. cutting out through holes for screws to which the ground of the first wire CA1is fixed.

Or, the lid part CV does not necessarily include a part or all of the cutout portions CO1to CO4. When the lid part CV does not include all of the cutout portions CO1to CO4, screw holes through which the fastening members SC as screws are inserted are formed in the lid part CV. Then, the lid part CV is fastened to the housing part R by the fastening members SC. Note that, in the case, the lid part CV may be fixed to the housing part R using another member than the fastening members SC.

The first wire CA1is connected to the first part CN1of the connecting portion CN using e.g. a one-touch panel-mounted connector. In this case, the user may easily detach the first wire CA1from the connecting portion CN with a hand. Note that the first wire CA1may be connected to the connecting portion CN by another connector.

As described above, the robot20in the embodiment includes a base (the base B in the example), a movable unit (the movable unit A in the example) provided on the base, a drive unit (the first drive unit M1to fourth drive unit M4in the example) that drives the movable unit, a connecting portion (the connecting portion CN) to which at least a part of a first wire (the first wire CA1in the example) of another apparatus (the robot control apparatus30in the example) is connected, and a second wire (the second wire CA2in the example) that connects the drive unit and the connecting portion, and the base has a housing part (the housing part R in the example) having an opening portion (the opening portion RH in the example), to which the connecting portion is fixed and a lid part (the lid part CV in the example) covering at least a part of the opening portion, through which the first wire is inserted. Thereby, the robot20may suppress a defect in at least one of the connecting portion and the second wire.

Further, in the robot20, the lid part has a cutout portion (the the cutout portions CO1to CO4in the example) with which the lid part can be detached from the housing part in the state in which a fastening member for fastening the lid part and the housing part is loosened. Thereby, the robot20may shorten the time required for work of detaching the lid part from the housing part.

The robot20has a first sealing member (the sealing member SM in the example) between the first wire and the lid part. Thereby, the robot20may suppress entry of foreign matter from between the first wire and the lid part.

In the robot20, the other apparatus is a robot control apparatus (the robot control apparatus30in the example) that controls the robot20. Thereby, the robot20may suppress a defect in at least one of the connecting portion and the second wire to which at least a part of the first wire of the robot control apparatus is connected via the connecting portion.

In the robot20, the first wire includes a power line for supplying electric power from the robot control apparatus to the drive unit and a signal line for transmitting signals between the robot control apparatus and the drive unit. Thereby, the robot20may suppress a defect in at least one of the connecting portion and the second wire to which at least a part of the first wire including the power line and the signal line is connected.

In the robot20, the connecting portion has a first connecting portion (the first connecting portion CN11in the example) to which the power line is connected and a second connecting portion (the second connecting portion CN12in the example) to which the signal line is connected. Thereby, the robot20may suppress a defect in a part or all of the connecting portion having the first connecting portion and the second connecting portion and the second wire.

As above, the embodiments of the invention are described with reference to the drawings, however, the specific configurations are not limited to the embodiments and changes, replacements, deletions, etc. may be made without departing from the scope of the invention.

The entire disclosure of Japanese Patent Application No. 2017-121159, filed Jun. 21, 2017 is expressly incorporated by reference herein.