Multiple joints robot having cover on end effector attachment

摘要

A multiple joint robot includes a wrist part provided with a reduction gear unit capable of receiving an end effector and of transmitting power to the end effector. The reduction gear unit includes a fixed part fixed to the wrist part by means of a fixing element, a rotational part rotatable relative to the fixed part, and a sealing element provided in a circumference of the rotational part. There is a cover at the fixed part of the reduction gear unit, and the fixing element and the sealing element are covered by the cover. The cover is provided to flatten a convex portion or a concave portion formed by the fixing element.

主权项

1. A multiple joint robot, comprising:
an arm, a wrist part provided at a tip end of the arm, and a reduction gear unit provided at the wrist part and capable of receiving an end effector and of transmitting power to the end effector, wherein the reduction gear unit includes
a fixed part fixed to the wrist part by a fixing element,a rotational part rotatable relative to the fixed part, anda sealing element provided in a circumference of the rotational part, wherein the multiple joint robot further comprises a cover attached to the fixed part of the reduction gear unit, the cover being adapted to cover a convex portion or a concave portion formed on the fixed part by the fixing element and to cover the sealing element so as to prevent the sealing element from being exposed to an exterior, the cover is a ring-shaped member including an outer circumferential portion and an inner circumferential portion, and a thickness of the inner circumferential portion is less than a thickness of the outer circumferential portion.