Abstract: A robot casing includes, in a hollow resin body portion, two attachment openings and one work opening that communicate between an inside and an outside of the body portion. The two attachment openings are respectively provided in both end portions of the body portion; a metal member constituting an attachment surface is embedded in a resin constituting the body portion at a periphery of the attachment opening; the metal member is provided with attachment holes that allow attachment screws, which are used for attachment to the attachment surface, to penetrate therethrough or to be fastened thereinto, and is also embedded in the resin in a state in which the attachment surface is exposed; and components can be respectively attached to the two attachment openings by utilizing the work opening.

Abstract: A reduction in the amount of filled grease and a reduction in weight are achieved, and an excessive rise in the internal pressure is suppressed. Provided is a gearbox including: a plurality of gears that are rotated by a motor; a housing that has a sealed interior space for rotatably accommodating the respective gears; and a spacer that is disposed in the interior space of the housing and that partially occupies the interior space, wherein the spacer has a lower density than grease and is elastically deformable so as to change the volume thereof according to the internal pressure of the interior space.

Abstract: A rotary axis module includes an actuator that includes a first member and a second member, the actuator relatively driving the second member so as to rotate about a predetermined axis with respect to the first member, a DC power source, and a switch. The actuator includes a brake that is releasable by supplying a DC voltage. A first brake circuit that is connected to a control device that controls the actuator, and a second brake circuit that is provided in parallel with the first brake circuit and connected to the DC power source via the switch, are connected to the brake.

Abstract: Provided is a torque sensor that includes: a bearing that is provided with an inner ring and an outer ring that are supported so as to be relatively movable only in the direction of rotation about a predetermined axis; a connecting member that is provided with fixing sections that are respectively fixed to the inner ring and the outer ring and a strain generation section that connects between the fixing sections; and a strain sensor that is disposed on the connecting member so as to be capable of detecting a strain at least in the circumferential direction.

Abstract: Provided is a method for producing an arm-like structure in which the arm-like structure is produced by: forming an arm precursor member having an external shape of the arm-like structure by, in a state in which a die is closed with a metal pipe member being disposed in a cavity thereof, pressurizing the pipe member with liquid supplied to an inside thereof to cause an external surface of the thus expanded pipe member to be pressed against an inner surface of the cavity; and forming a flange portion to be attached to a driven body by machining at least an end of the formed arm precursor member.

Abstract: A robot wiring additional routing method that includes detaching some fasteners to detach a cover member from a housing member, thus forming a gap between the detached cover member and the housing member; disposing additional wiring at such a position as to be routed across an inside and an outside of the housing member via the formed gap; and, in a state in which a spacer that maintains the gap is sandwiched between the cover member and the housing member, attaching the detached cover member to the housing member by the detached fasteners or other fasteners.

Abstract: A light-weight gear including: an annular tooth portion made of metal; a shaft extending along a central axis of the tooth portion and made of metal; and a coupling element configured to couple the shaft to the tooth portion and made of a resin, in which a joining part between the shaft and the coupling element and a joining part between the tooth portion and the coupling element are provided with irregularities configured to be engaged with one another in a circumferential direction, and corners of the irregularities are rounded to release a stress. Also, provided is a manufacturing method of a light-weight gear including: disposing the tooth portion and the shaft in a mold and injecting a molten resin into a cavity of the mold, thereby simultaneously performing injection molding of the coupling element and joining the coupling element to the tooth portion and the shaft.

Abstract: An arm-shaped structure body including an elongated first portion formed of resin, the first portion having a groove-shaped recessed section that opens in one direction intersecting a longitudinal direction thereof, and a second portion that is disposed so as to cover an opening of the recessed section and that is joined to the first portion in a state in which an elongated hollow section extending in the longitudinal direction is formed between the first portion and the second portion, where the second portion includes a pair of mounting sections that are disposed at both ends in the longitudinal direction, the pair of mounting sections being fixed to respective other parts constituting a robot.

Abstract: To simplify production, a hollow-structure robot link-constituting member is obtained by joining two or more formed members obtained by press-forming steel sheets. Compared to when the robot link-constituting member is formed of castings, the thickness can be easily reduced and high strength can be maintained by forming a hollow structure by joining at least two formed members obtained by press-forming steel sheets. In this manner, significant weight reduction can be achieved compared to iron castings, and occurrence of defects can be reduced compared to aluminum alloy castings.

Abstract: A robot drive unit is provided with: a housing; a shaft body that is relatively rotated with respect to the housing; rotating-body sealing members that is provided in the housing; a contact-surface member that is provided on the shaft body and that contact with the rotating-body sealing members; and a sealing member that seals a gap between the shaft body and the contact-surface member.

Abstract: A robot wiring additional routing method that includes detaching some fasteners to detach a cover member from a housing member, thus forming a gap between the detached cover member and the housing member; disposing additional wiring at such a position as to be routed across an inside and an outside of the housing member via the formed gap; and, in a state in which a spacer that maintains the gap is sandwiched between the cover member and the housing member, attaching the detached cover member to the housing member by the detached fasteners or other fasteners.

Abstract: A rotary shaft structure including: a first member; a second member that is supported so as to be rotatable about a rotation axis with respect to the first member; an actuator that includes an output shaft member connected to the second member and that rotationally drives the second member about the rotation axis with respect to the first member; a sensor that detects a physical quantity acting between the output shaft member and the second member; and a first fixing member that is fixed to the output shaft member. A wire body is routed from the first member side to the second member side; the first fixing member extends toward the second member, with a prescribed gap between the first fixing member and the sensor; and the wire body routed from the first member side is fixed to the first fixing member on the second member side.

Abstract: A manufacturing apparatus includes an arm main body with a long tubular or columnar shape having a uniform lateral cross-section, and attachment interface parts fixed to both sides of the arm main body and attached to another member. The apparatus includes: a pair of fixing parts supporting a part of each of the attachment interface parts and each end of the arm main body and each including a material filling space at least near a joint part between each of the attachment interface parts and the arm main body; a slide mechanism capable of adjusting a distance between the two fixing parts along a longitudinal axis of the arm main body by moving at least one of the fixing parts; and a material injection part injecting a molten material into the space so as to joint each of the attachment interface parts to each end of the arm main body.

Abstract: A robot system including a robot and a control device that controls the robot. The robot includes a first member, a second member that is rotationally driven around a predetermined first axis relative to the first member, and a first torque detector that detects a torque around the first axis. The control device includes an external-force upper-limit-value estimator that estimates an external-force upper limit value serving as an assumable upper limit value for an external force acting on the second member based on the torque detected by the first torque detector, and controls the robot to avoid an increase in the external force when the estimated external-force upper limit value is larger than a predetermined threshold value.

Abstract: A robot including a robot main body having at least two openings passing through an outer wall thereof in a wall thickness direction and a cable routed in an interior of the robot main body, where the cable includes branch cables each of which is split off from a trunk cable of the cable in a vicinity of each of the openings.

Abstract: A robot including: two link members with longitudinal axes that are coupled such that the link members are able to relatively rotate about an axial line; and a sensor that detects a force around the axial line acting between the link members due to an object pinched between the link members, in which the robot has such a shape that a width dimension in a direction along a plane of a cross-sectional surface of at least one of the link members, which perpendicularly intersects the axial line, on at least one sides from the longitudinal axes that intersect the axial line continuously spread from at least midway positions of the at least one of the link members in the direction of the longitudinal axes toward the axial line, respectively.

Abstract: A robot drive unit is provided with: a first member and a second member rotated about a axis; a housing fixed to the first member; an output shaft member supported by the housing so as to rotate about the axis and fixed to the second member; a hollow shaft fixed to the output shaft member, and supported by the housing so as to rotate about the axis; and rotating-body sealing members seal a gap between the housing and the output shaft member and a gap between the housing and the hollow shaft, respectively. The hollow shaft is provided with: a shaft body made of a non-ferrous material; and a contact-surface member made of a material having a higher surface hardness than the shaft body and forms a contact surface to be in contact with the corresponding rotating-body sealing member.

Abstract: The present invention provides an unmanned transfer robot system including: an unmanned transfer vehicle capable of traveling on a road surface between a plurality of work stations; a robot that is mounted on the unmanned transfer vehicle; a sensor that is mounted on the robot and that detects a condition of the road surface; and a control unit that controls the robot and the unmanned transfer vehicle. Within an operation range of the robot, the sensor is disposed at a position where the sensor can detect a condition of the road surface in the periphery of the unmanned transfer vehicle, and the control unit controls the unmanned transfer vehicle on the basis of the condition of the road surface acquired by the sensor.

Abstract: A robot includes: a first member; a second member that is rotationally driven around a first axis with respect to the first member; a third member that is rotationally driven around a second axis with respect to the second member, the second axis being located at an interval from the first axis; a single axis torque detection unit that detects only at least one of torque around the first axis and torque around the second axis; and a force sensor that is provided between the first member and a surface to be installed, or in the first member, the second member or the third member, and is capable of detecting force in a direction intersecting with both the first axis and the second axis.

Abstract: A rotation axis module includes: an actuator which relatively rotates a fixed member and a movable member; a umbilical member which penetrates through the interior of the actuator to extend; a first fixing portion which fixes the umbilical member at a rotation axis of the fixed member or at a position corresponding to the vicinity thereof; a second fixing portion which fixes the umbilical member at an output axis of the movable member or in the vicinity thereof; a first relay portion which is positioned at a side of the fixed member, one end of the umbilical member being connected to the first relay portion; and a second relay portion which is positioned at a side of the movable member, the other end of the umbilical member being connected to the second relay portion.