Abstract: A welded structure including a base material made of duplex stainless steel and a welded portion formed by welding the base materials to each other, wherein the base material has a predetermined chemical composition, a volume fraction of a ferrite phase in a metallographic structure of a weld metal of the welded portion is 45 to 75%, a ratio of a hardness of the weld metal to a hardness of the base material is 0.80 to 1.20, and an amount of precipitates formed in the ferrite phase of the weld metal is less than 10% in area fraction.

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 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 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 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.