Abstract: A robot apparatus includes: a door opening/closing robot and a controller. The door opening/closing robot includes a base, a first arm, a second arm, a third arm, and a fourth arm. The door opening/closing robot is disposed between a side surface of the vehicle body and a booth side wall. The controller sequentially performs a door opening control for controlling the door opening/closing robot such that a tool opens a door at an upstream side of a first axis in a direction of a conveyance line, a door following control for controlling the door opening/closing robot such that an opened state of the door is maintained while the vehicle body is being conveyed along the conveyance line, and a door closing control for controlling the door opening/closing robot such that the tool closes the door at a downstream side of the first axis in the direction of the conveyance line.

Abstract: A door opening/closing robot includes: a base provided at a position different from a conveyance line on which a vehicle body is conveyed; a first arm attached to the base to rotate around a first axis and extending away from the first axis; a second arm attached to the first arm to rotate around a second axis and extending away from the second axis; a third arm attached to the second arm to rotate around a third axis and extending away from the third axis; and a fourth arm attached to the third arm to extend vertically and configured to vertically move a tool for holding a door of the vehicle body. At least a portion of a connection area including a distal end of the second arm and a proximal end of the third arm is positioned at a same height as at least a portion of the base.

Abstract: A painting system includes: a conveying apparatus that conveys a vehicle body having a door in a painting area; an operation robot that includes a base fixed in the painting area, a holding tool capable of holding the door, and a horizontal articulated arm that moves the holding tool, and opens the door of the vehicle body that is being conveyed by the conveying apparatus; and a painting robot that paints an inside of the vehicle body in a state where the door is opened by the operation robot. In the vertical direction, at least a portion of the horizontal articulated arm is disposed at a position lower than a height of a lower end of the door where the height of the lower end of the door is maintained by the conveying apparatus.

Abstract: A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide.

Abstract: A coating system includes a first robot configured to open an opening/closing portion of a vehicle body and a second robot configured to coat an interior of the vehicle body through the opening/closing portion opened by the first robot. The first robot has a first base via which the first robot is mounted to a structure forming a coating area. The second robot has a second base via which the second robot is mounted. The second base is mounted below the first base in a vertical direction.

Abstract: A carrying device includes a swivel that swivels around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area for a workpiece to be worked on by a robot, multiple workpiece holders positioned on the swivel such that when a first one of the workpiece holders is positioned in the workpiece transfer area, a second one of the workpiece holders is positioned in the workpiece work area, a revolution driver that causes the swivel to swivel around the central axis line of the revolution orbit, and a tilting driver that tilts each of the workpiece holders with respect to the central axis line of the revolution orbit.

Abstract: A robot is provided which has: a housing including a plurality of joints; a reduction gear placed in the joint, the reduction gear including a lubrication chamber where a gear mechanism for slowing down and transmitting an output of a motor and lubricant is sealed; and an air chamber placed inside the housing, the air chamber communicating with the lubrication chamber.

Abstract: A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide.

Abstract: A robot is provided which has: a first arm portion to which an end effector is attached, a second arm portion configured to support, at a tip portion thereof, the first arm portion swingably about a first axis, a third arm portion configured to support a base end portion of the second arm portion rotatably about a second axis orthogonal to the first axis, a tube arranged from the base end portion side toward the tip portion side of the second arm portion and connected to the end effector; and a first recess portion and a second recess portion, which are formed along an arrangement direction of the tube between the base end portion and the tip portion on one side and the other side in a direction orthogonal to both of the first and second axes, respectively.

Abstract: A carrying device includes a swivel that swivels around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area for a workpiece to be worked on by a robot, multiple workpiece holders positioned on the swivel such that when a first one of the workpiece holders is positioned in the workpiece transfer area, a second one of the workpiece holders is positioned in the workpiece work area. a revolution driver that causes the swivel to swivel around the central axis line of the revolution orbit, and a tilting driver that tilts each of the workpiece holders with respect to the central axis line of the revolution orbit.

Abstract: A robot is provided which has: a first arm portion to which an end effector is attached, a second arm portion configured to support, at a tip portion thereof, the first arm portion swingably about a first axis, a third arm portion configured to support a base end portion of the second arm portion rotatably about a second axis orthogonal to the first axis, a tube arranged from the base end portion side toward the tip portion side of the second arm portion and connected to the end effector; and a first recess portion and a second recess portion, which are formed along an arrangement direction of the tube between the base end portion and the tip portion on one side and the other side in a direction orthogonal to both of the first and second axes, respectively.

Abstract: A robot is provided which has: a housing including a plurality of joints; a reduction gear placed in the joint, the reduction gear including a lubrication chamber where a gear mechanism for slowing down and transmitting an output of a motor and lubricant is sealed; and an air chamber placed inside the housing, the air chamber communicating with the lubrication chamber.