Abstract: A tool drive device including a motor, a movable part driven by the motor to move a tool, and a bracket used to attach the motor and the movable part to a flange at a wrist tip of a robot. The bracket includes a plate-like first attachment part that is attached to the flange and a plate-like second attachment part to which the motor and the movable part are attached. The movable part is disposed on the opposite side from the flange with the first attachment part therebetween in the plate thickness direction thereof and on the opposite side from the motor with the second attachment part therebetween in the plate thickness direction thereof. The first attachment part is provided with a wiring-body passage that guides a wiring body that has been wired through a hollow hole in the flange, to the motor without being exposed toward the movable part.

Abstract: A robot system, including a robot having a wrist mechanism including a flange that is rotatable about a rotation axis, a welding torch fixed to the flange by a torch bracket, and a welding sensor that is fixed with respect to the welding torch and that detects a weld line, where the welding sensor is disposed at a position between the flange and a fixed position at which the welding torch is fixed to the torch bracket, the welding sensor is capable of scanning a laser beam, and the welding torch includes a tubular torch body that is arranged so as to protrude toward a distal end side than the fixed position, and makes a wire protrude from a distal end of the tubular torch body by the tubular torch body curved at least twice.

Abstract: The robot includes a first arm member rotatable about a first axis line which extends in an up-and-down direction with respect to a base member, a second arm member supported by the first arm member so as to be swingable about a second axis line which extends in a horizontal direction, and a third arm member supported by a distal end side of the second arm member so as to be swingable about a third axis line which extends in a horizontal direction, and the first arm member is provided with a first attaching surface which is a surface substantially perpendicular to the second axis line, and to which the second arm member can be attached, and a second attaching surface which faces in a direction opposite from the first attaching surface, and to which the second arm member can be attached.

Abstract: Provided is an arm structure of an industrial robot in which the same wrist element is enabled to have a plurality of types of characteristics, thus allowing a variation model to be readily implemented. An arm structure of an industrial robot with a plurality of wrist elements, the arm structure being provided with, in a housing: a first motor and a second motor that drive the plurality of wrist elements respectively; a first gear that is attached to a first output shaft of the first motor and has an external diameter equal to that of the first output shaft; and a second gear that is attached to a second output shaft of the second motor and has an external diameter equal to that of the second output shaft. The second motor is disposed in front of the first motor and is disposed such that the axis of the second output shaft is laterally offset with respect to the axis of the first output shaft. A space portion is provided to the rear of each of the first motor and the second motor.

Abstract: An arm fixing device that fixes a first arm to a support member, the movable arm being pivotally supported on a base about a second axis, the movable arm being driven to pivot about the second axis by power of a servomotor, the arm fixing device including: an attachment portion that is position-adjustable in a circumferential direction and detachably attached to the base; a pair of protrusion fixing portions that, in a state in which the attachment portion is attached to the base, extend in a radial direction with respect to a second axis and are disposed at positions interposing a protruding portion therebetween in the circumferential direction, the protruding portion being provided in the first arm and protruding in the second axis direction; and a connecting portion 13b that connects the distal ends of the protrusion fixing portions to each other.

Abstract: A life prediction apparatus is configured to accurately predict a life of a cable wired at a joint part of a robot. The life prediction apparatus includes a fatigue-level estimation unit for estimating a fatigue level of the cable based on encoder information of an actuator which moves the joint part of the robot, and a life prediction unit for predicting the life of the cable based on a fatigue level of the cable estimated by the fatigue-level estimation unit and an allowable value of the cable.

Abstract: An arm fixing device that fixes a first arm to a support member, the movable arm being pivotally supported on a base about a second axis, the movable arm being driven to pivot about the second axis by power of a servomotor, the arm fixing device including: an attachment portion that is position-adjustable in a circumferential direction and detachably attached to the base; a pair of protrusion fixing portions that, in a state in which the attachment portion is attached to the base, extend in a radial direction with respect to a second axis and are disposed at positions interposing a protruding portion therebetween in the circumferential direction, the protruding portion being provided in the first arm and protruding in the second axis direction; and a connecting portion 13b that connects the distal ends of the protrusion fixing portions to each other.

Abstract: The robot includes a first arm member rotatable about a first axis line which extends in an up-and-down direction with respect to a base member, a second arm member supported by the first arm member so as to be swingable about a second axis line which extends in a horizontal direction, and a third arm member supported by a distal end side of the second arm member so as to be swingable about a third axis line which extends in a horizontal direction, and the first arm member is provided with a first attaching surface which is a surface substantially perpendicular to the second axis line, and to which the second arm member can be attached, and a second attaching surface which faces in a direction opposite from the first attaching surface, and to which the second arm member can be attached.

Abstract: A life prediction apparatus is configured to accurately predict a life of a cable wired at a joint part of a robot. The life prediction apparatus includes a fatigue-level estimation unit for estimating a fatigue level of the cable based on encoder information of an actuator which moves the joint part of the robot, and a life prediction unit for predicting the life of the cable based on a fatigue level of the cable estimated by the fatigue-level estimation unit and an allowable value of the cable.

Abstract: A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.

Abstract: A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.