Abstract: A robot includes a base installed on an installation surface, a robot arm coupled to the base, a force detection section coupled to the base and detecting a force applied to the robot arm, a coupling member having a plurality of convex parts provided between the installation surface and the force detection section, projecting toward the force detection section side, and contacting the force detection section, and first fixing members provided in positions where the convex parts are provided and fixing the force detection section and the coupling member.

Abstract: An aspect of a motor according to the invention includes a stator, a rotor, a detector configured to detect a rotating position of the rotor, a holder disposed between the stator and the detector in the predetermined direction, and a bearing held by the holder and configured to rotatably support the shaft. A recess opened toward the stator and housing the bearing and an injection hole including a first opening opened toward the detector, the injection hole communicating with the recess, are provided in the holder. A groove into which an adhesive is injected is provided on the inner surface of the recess. The outer circumferential surface of the bearing is fixed to the inner surface via the adhesive. The injection hole includes a second opening opened in the inner circumferential surface of the recess and connected to the groove. The injection hole is closed by a screw.

Abstract: In a motor according to an aspect of the invention, a brake includes a first clamp and a second clamp, a member to be clamped disposed between the first clamp and the second clamp, a first fixing member configured to fix the member to be clamped to a shaft, and a driving section configured to bring the first clamp and the second clamp into contact with the member to be clamped. The first clamp includes a first contact section. The second clamp includes a second contact section. A first housing hole is provided in a housing. The driving section includes a power cable drawn out to the outside of the housing via the first housing hole. The first housing hole overlaps the first contact section, the second contact section, the member to be clamped, and the first fixing member in a plan view from a first radial direction.

Abstract: A robot includes a base installed on an installation surface, a robot arm coupled to the base, a force detection section coupled to the base and detecting a force applied to the robot arm, a coupling member having a plurality of convex parts provided between the installation surface and the force detection section, projecting toward the force detection section side, and contacting the force detection section, and first fixing members provided in positions where the convex parts are provided and fixing the force detection section and the coupling member.

Abstract: A motor unit includes a motor and an amplifier section including a drive circuit that drives the motor. The amplifier section includes an amplifier cover. A power line for supplying power to the motor is bound to the amplifier cover.

Abstract: A robot includes an arm that rotates about a rotation axis, a motor that is provided in the arm, and an amplifier unit that includes an amplifier substrate which drives the motor and that is provided in the motor, in which, when a longitudinal direction of the arm as seen from an axial direction that is parallel to the rotation axis is a first direction and a direction orthogonal to the first direction is a second direction, the amplifier unit and the motor are arranged in a direction different from the second direction.

Abstract: A force detecting device attachable to a robot including an arm includes a first base including a projection having an attachment surface to which an end effector is attachable, a second base attached to the arm, and at least one piezoelectric element supported between the first base and the second base and configured to detect external forces applied to the first base and the second base.

Abstract: To obtain a force detection device and a robot light in weight and having excellent detection accuracy, a force detection device includes a first member, a second member joined to the first member, and a piezoelectric element joined to the second member. A material forming the first member is different from a material forming the second member. The first member is formed in a plate shape. The piezoelectric element and the second member are disposed at an end portion of the first member. A through-hole is formed in the center portion of the first member.

Abstract: In a motor according to an aspect of the invention, a brake includes a first clamp and a second clamp, a member to be clamped disposed between the first clamp and the second clamp, a first fixing member configured to fix the member to be clamped to a shaft, and a driving section configured to bring the first clamp and the second clamp into contact with the member to be clamped. The first clamp includes a first contact section. The second clamp includes a second contact section. A first housing hole is provided in a housing. The driving section includes a power cable drawn out to the outside of the housing via the first housing hole. The first housing hole overlaps the first contact section, the second contact section, the member to be clamped, and the first fixing member in a plan view from a first radial direction.

Abstract: An aspect of a motor according to the invention includes a stator, a rotor, a detector configured to detect a rotating position of the rotor, a holder disposed between the stator and the detector in the predetermined direction, and a bearing held by the holder and configured to rotatably support the shaft. A recess opened toward the stator and housing the bearing and an injection hole including a first opening opened toward the detector, the injection hole communicating with the recess, are provided in the holder. A groove into which an adhesive is injected is provided on the inner surface of the recess. The outer circumferential surface of the bearing is fixed to the inner surface via the adhesive. The injection hole includes a second opening opened in the inner circumferential surface of the recess and connected to the groove. The injection hole is closed by a screw.

Abstract: A force sensor unit includes a force sensor, a casing housing the force sensor within a space surrounded by one end portion, another end portion, and a side portion, an attachment member having a first attachment portion that can be attached to a robot arm of a robot and a second attachment portion detachably attached to the one end portion of the casing in a position different from that of the first attachment portion, and a wiring cable connected to the force sensor and routed from inside the casing to outside of the casing, wherein a positioning portion for positioning with respect to the robot arm is provided in the first attachment portion, and a part of the wiring cable is provided along a circumferential direction of the side portion.

Abstract: A force detecting device attachable to a robot including an arm includes a first base including a projection having an attachment surface to which an end effector is attachable, a second base attached to the arm, and at least one piezoelectric element supported between the first base and the second base and configured to detect external forces applied to the first base and the second base.

Abstract: A robot includes a motor, an amplifier that includes a drive circuit for driving the motor, and a first object that includes at least one of a brake which brakes a driving shaft of the motor, a pulley which transmits a motive power from the driving shaft of the motor, and a computing unit which performs calculation related to rotation of the motor, in which the motor is provided with the amplifier such that the amplifier is positioned at a position other than a position axially above the driving shaft.

Abstract: A robot includes an arm that rotates about a rotation axis, a motor that is provided in the arm, and an amplifier unit that includes an amplifier substrate which drives the motor and that is provided in the motor, in which, when a longitudinal direction of the arm as seen from an axial direction that is parallel to the rotation axis is a first direction and a direction orthogonal to the first direction is a second direction, the amplifier unit and the motor are arranged in a direction different from the second direction.

Abstract: A force sensor unit includes a force sensor, a casing housing the force sensor within a space surrounded by one end portion, another end portion, and a side portion, an attachment member having a first attachment portion that can be attached to a robot arm of a robot and a second attachment portion detachably attached to the one end portion of the casing in a position different from that of the first attachment portion, and a wiring cable connected to the force sensor and routed from inside the casing to outside of the casing, wherein a positioning portion for positioning with respect to the robot arm is provided in the first attachment portion, and a part of the wiring cable is provided along a circumferential direction of the side portion.

Abstract: A motor unit includes a motor and an amplifier section including a drive circuit that drives the motor. The amplifier section includes an amplifier cover. A power line for supplying power to the motor is bound to the amplifier cover.

Abstract: To obtain a force detection device and a robot light in weight and having excellent detection accuracy, a force detection device includes a first member, a second member joined to the first member, and a piezoelectric element joined to the second member. A material forming the first member is different from a material forming the second member. The first member is formed in a plate shape. The piezoelectric element and the second member are disposed at an end portion of the first member. A through-hole is formed in the center portion of the first member.

Abstract: A moving mechanism includes a first moving body arranged to move in a first direction relative to a support, a second moving body provided on a side of the support with the first moving body therebetween, and moves in a second direction intersecting the first direction relative to the first moving body, and a first vibrating body arranged in the support and biased to press the moving body or is arranged in the first moving body and biased to press the support. A direction in which first and second grooves face each other intersects a direction in which the support and the moving body face each other, and a biasing direction in which the first vibrating body is biased intersects the direction in which the first and second grooves face each other and the direction in which the support and the moving body face each other.

Abstract: A drive device includes plural moving portions, piezoelectric motors that move the moving portions, at least one drive circuit that drives the piezoelectric motors, and a connection/disconnection portion that connects and disconnects the piezoelectric motors and the drive circuit. The number of drive circuits is fewer than the number of piezoelectric motors.

Abstract: A vibrating body is accommodated in a vibrating body case in a state where both sides of the vibrating body containing a piezoelectric material are sandwiched between buffer portions from a direction intersecting a bending direction of the vibrating body, and the buffer portions are pressed against the vibrating body using a pressing lid through elastic portions. Pressing plates are provided between the buffer portions and the elastic portions to restrict the movement of the pressing plates in a vibration direction of the vibrating body.