Abstract: An robot operation device attached to a robot having a long tool fixed to a flange provided at a distal end of the robot, the robot operation device includes a handle having an inner hole through which the tool is inserted, the handle configured to be held by one of hands of an operator in a manner that a longitudinal axis of the tool is enclosed by the one of the hands, and a sensor configured to attach the handle to the flange, the sensor detecting force or moment applied to the handle by the operator. The robot is operable by lead-through control which changes a position and posture of the robot in response to the force or the moment detected by the sensor.

Abstract: A robot is provided with a first base, a robot arm having a rotation arm member, and a second base. A bottom end portion of the first base is fixed to an upper end portion of the second base using a fixing member, the rotation arm member includes an arm member opening, the second base includes an upper surface having an upper opening and a side surface having a side opening, the rotation arm member and the first base are configured to allow the conduit containing the welding wire and introduced into an interior of the rotation arm member through the arm member opening to reach the upper opening, the side opening allows the conduit introduced into an interior of the second base through the upper opening to come out of the second base.

Abstract: A robot operating device is mounted to a robot. The robot is capable of performing a motion by means of lead-through control in which a force applied by an operator is detected and a position and an orientation are changed in accordance with the detected force and the robot operating device including: a bracket that is secured to a flange at a distal end of the robot and with which an elongated tool is attached at a decentered position with respect to a rotation axis of the flange so as to be parallel to a plane containing the rotation axis; and two handles that are secured to the bracket and that are respectively grasped by two hands of the operator, wherein the handle is disposed in the plane so as to extend in a direction along a longitudinal axis of the tool, and the handle is disposed in a vicinity of the tool so as to extend in a direction intersecting the plane.

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: Provided is an industrial robot in which a gear for causing a work tool to rotate can easily be retrofitted to a robot without requiring work to adjust backlash.

Abstract: A sensor bracket is provided with frame members supporting an acceleration sensor, the frame members having circular arc members holding an outer periphery of a tool of a robot in a state in which circumferential-direction gaps are defined in at least one portion of the circular arc members in a circumferential direction, and a bolt thread-screwed into the frame members so as to reduce the circumferential-direction gaps.

Abstract: A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

Abstract: A linear-object management structure for a robot, where a post-attached linear object is guided via the same path as a basic cable from inside a base and fixed at the position of a first fixing member, is subsequently extended forward beyond the basic cable, through a path closer to a first axis than the basic cable is, is curved in a direction along a first arm, is fixed to a side surface of the first arm, at the position of a second fixing member, such that a certain length margin required for the operation of the first arm is provided between the position of the first fixing member and the position of the second fixing member, and is guided to an upper-side movable portion along the first arm.

Abstract: An industrial robot includes: a first-member and a second-member that are rotatable about a particular axis and that each have a hollow portion extending along the axis; a cylindrical member inserted into the hollow portions along the axis, and fixed to the first-member; and a wire disposed in a cylindrical gap between the cylindrical member, the first-member, and the second-member, the wire having a length that enables rotation between the first-member and the second-member and having one end fixed to the first-member and another end fixed to the second-member. The second-member includes a first-portion rotatably supported by the first-member, a second-portion that fixes the end of the wire, and a third portion serially connected between the second-portion and the first-portion, and the third portion has an inner circumferential surface that faces the gap and has been subjected to a friction reducing process.

Abstract: A robot includes: a base; a swivel body supported rotatable about a first axis; a first arm supported rotatable about a second axis perpendicular to the first axis; a second arm supported rotatable about a third axis parallel to the second axis; and a first wrist element supported rotatable about a fourth axis perpendicular to the third axis and disposed in a same plane as the first axis. A first hollow section penetrating along the first axis is provided in the base and the swivel body; a second hollow section penetrating along the fourth axis is provided in the first wrist element; the first and second arms have shapes allowing a linear object having passed through the first hollow section to be guided to the second hollow section via a space extending along a line connecting intersections of the first and second axes and the third and fourth axes.

Abstract: A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

Abstract: A structure of a robot includes: a first member having a hollow portion in the vicinity of a horizontal axis; a second member rotatably supported on a side surface of the first member and having a hollow portion in the vicinity of the horizontal axis; a drive motor producing power for rotating the second member; and a speed reducer reducing the rotation speed of the drive motor and transmitting the rotation to the second member. The speed reducer includes: an output hypoid gear formed of a ring gear disposed coaxially with the horizontal axis and fixed to the first member; an input hypoid gear engaged with the output hypoid gear; and a transmission mechanism transmitting rotation from the drive motor to the input hypoid gear while reducing the speed. The drive motor, the input hypoid gear, and the transmission mechanism are supported in the second member in an accommodated state.

Abstract: An industrial robot includes: a first-member and a second-member that are rotatable about a particular axis and that each have a hollow portion extending along the axis; a cylindrical member inserted into the hollow portions along the axis, and fixed to the first-member; and a wire disposed in a cylindrical gap between the cylindrical member, the first-member, and the second-member, the wire having a length that enables rotation between the first-member and the second-member and having one end fixed to the first-member and another end fixed to the second-member. The second-member includes a first-portion rotatably supported by the first-member, a second-portion that fixes the end of the wire, and a third portion serially connected between the second-portion and the first-portion, and the third portion has an inner circumferential surface that faces the gap and has been subjected to a friction reducing process.

Abstract: A robot includes: a base; a swivel body supported rotatable about a first axis; a first arm supported rotatable about a second axis perpendicular to the first axis; a second arm supported rotatable about a third axis parallel to the second axis; and a first wrist element supported rotatable about a fourth axis perpendicular to the third axis and disposed in a same plane as the first axis. A first hollow section penetrating along the first axis is provided in the base and the swivel body; a second hollow section penetrating along the fourth axis is provided in the first wrist element; the first and second arms have shapes allowing a linear object having passed through the first hollow section to be guided to the second hollow section via a space extending along a line connecting intersections of the first and second axes and the third and fourth axes.

Abstract: A linear-object management structure for a robot, where a post-attached linear object is guided via the same path as a basic cable from inside a base and fixed at the position of a first fixing member, is subsequently extended forward beyond the basic cable, through a path closer to a first axis than the basic cable is, is curved in a direction along a first arm, is fixed to a side surface of the first arm, at the position of a second fixing member, such that a certain length margin required for the operation of the first arm is provided between the position of the first fixing member and the position of the second fixing member, and is guided to an upper-side movable portion along the first arm.

Abstract: A work table support device capable of adapting to a plurality of applications. The workpiece support device includes a base; a conductive work table rotatably supported on the base; a current-collecting brush that is fixed to the base, slidably contacts an end face of the work table, and supplies electric power to work table, and a cover that is removably attached to the base, surrounds the current-collecting brush and the end face, and includes cover segments that can be assembled and disassembled one another.

Abstract: A linear object handling structure of a robot includes a rotational drum supported above a base in a rotatable manner about a vertical axis line, a plurality of operation shafts supported by the rotational drum, and a hollow part near the vertical axis line in the rotational drum. A first linear object group including cables for driving the operation shafts has one end fixed to the base and the other end wired to the motors of the operation shafts supported by the rotational drum, and is disposed to penetrate through the hollow part. A second linear object group for a peripheral device supported by any one of the operation shafts is collectively covered by a flexible conduit pipe, disposed to penetrate through the hollow part, and detachably fixed to the base and the rotational drum.

Abstract: A robot capable of preventing adhesion of a cutting fluid or the like on components thereof. The robot includes a robot arm, and a wrist connected to a distal end of the robot arm and including a plurality of movable elements connected to each other, and the movable elements being hollow elements, an end effector connected to a distal end of the wrist, a wire member laid to extend through the respective movable elements, and a cover to be mounted on the wrist so as to surround a connection between the two movable elements connected to each other.