Abstract: Provided is a packing material that makes it possible to omit an exclusive part for installing a robot on a stand, and to reduce the number of parts of the robot. The packing material for packing the robot has a first support member that supports the robot in a state in which a base of the robot is exposed, and the first support member is provided with grip portions which are held by a worker to lift the robot together with the first support member.

Abstract: A driving-unit that rotates a first-member and a second-member constituting a robot-arm about a rotary-axis. The driving-unit includes: a bracket fixed to the first-member and including a first-hollow-hole penetrating along the rotary-axis; a motor fixed to the bracket and accommodated in the first-member; a reducer that connects the bracket and the second-member rotatable about the rotary-axis and that includes a second-hollow-hole penetrating along the rotary-axis; and a driving power transmission mechanism accommodated in the bracket and transmitting a rotation of the motor to the reducer. The driving power transmission mechanism includes a driving-shaft, a first-transmission-mechanism that transmits the rotation of the motor to the driving-shaft, and a second-transmission-mechanism that transmits a rotation of the driving-shaft to an input-shaft of the reducer. A distance between a shaft of the motor and the rotary-axis is shorter than a distance between the driving-shaft and the rotary-axis.

Abstract: A driving-unit that rotates a first-member and a second-member constituting a robot-arm about a rotary-axis. The driving-unit includes: a bracket fixed to the first-member and including a first-hollow-hole penetrating along the rotary-axis; a motor fixed to the bracket and accommodated in the first-member; a reducer that connects the bracket and the second-member rotatable about the rotary-axis and that includes a second-hollow-hole penetrating along the rotary-axis; and a driving power transmission mechanism accommodated in the bracket and transmitting a rotation of the motor to the reducer. The driving power transmission mechanism includes a driving-shaft, a first-transmission-mechanism that transmits the rotation of the motor to the driving-shaft, and a second-transmission-mechanism that transmits a rotation of the driving-shaft to an input-shaft of the reducer. A distance between a shaft of the motor and the rotary-axis is shorter than a distance between the driving-shaft and the rotary-axis.

Abstract: A drive device capable of allowing a brake operation of a braking mechanism of the drive device to suppress a mechanical load applied to a mechanism unit (i.e., a robot mechanical section) provided with the drive device. The drive device includes a first braking mechanism provided in a first motor to execute a first brake operation on an operation shaft, a second braking mechanism provided in a second motor to execute a second brake operation on the operation shaft, and a brake controller configured to control the first braking mechanism and the second braking mechanism to allow the first brake operation and the second brake operation to be continuously executed after starting the first brake operation before starting the second brake operation.

Abstract: A drive device capable of allowing a brake operation of a braking mechanism of the drive device to suppress a mechanical load applied to a mechanism unit (i.e., a robot mechanical section) provided with the drive device. The drive device includes a first braking mechanism provided in a first motor to execute a first brake operation on an operation shaft, a second braking mechanism provided in a second motor to execute a second brake operation on the operation shaft, and a brake controller configured to control the first braking mechanism and the second braking mechanism to allow the first brake operation and the second brake operation to be continuously executed after starting the first brake operation before starting the second brake operation.

Abstract: Provided is a method for controlling a robot including plural articulated shafts capable of moving a workpiece in a same direction while supporting the workpiece. In moving the workpiece by the robot, the method controls each of the articulated shafts in such a way that an interference torque caused by acceleration or deceleration of one articulated shaft and acting on another articulated shaft and a torque for accelerating or decelerating the other articulated shaft do not act in opposite directions simultaneously.

Abstract: A robot with a downsized joint unit is disclosed. The articulated robot includes a motor which is provided with a gear or a pulley at an end of a motor shaft, and which generates a force for driving a joint, a speed reduction mechanism which reduces the speed of rotation of the gear or pulley rotating integrally with the motor shaft, and a supporting member which supports the motor and the speed reduction mechanism, and which defines an interior space for accommodating the motor, wherein the supporting member has an opposing face opposing the motor in the interior space and spreading in a plane perpendicular to the motor shaft, and the opposing face includes a groove-like recessed portion recessed in a protruding direction of the motor shaft and extending in a direction perpendicular to the motor shaft.

Abstract: A robot with a downsized joint unit is disclosed. The articulated robot includes a motor which is provided with a gear or a pulley at an end of a motor shaft, and which generates a force for driving a joint, a speed reduction mechanism which reduces the speed of rotation of the gear or pulley rotating integrally with the motor shaft, and a supporting member which supports the motor and the speed reduction mechanism, and which defines an interior space for accommodating the motor, wherein the supporting member has an opposing face opposing the motor in the interior space and spreading in a plane perpendicular to the motor shaft, and the opposing face includes a groove-like recessed portion recessed in a protruding direction of the motor shaft and extending in a direction perpendicular to the motor shaft.