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. The present invention comprises: a first wrist element that, at the distal end of a front arm of a robot, is capable of rotating about a first axis following the longitudinal direction of the front arm; a second wrist element that, at the first wrist element, is capable of rotating about a second axis intersecting the first axis in a roughly perpendicular manner; a third wrist element that, at the second wrist element, is capable of rotating about a third axis extending from the intersection point of the first and second axes in a direction roughly perpendicular to the direction in which the second axis extends; a first gear that is attached to the third wrist element coaxially with the third axis and that is capable of rotating about the third axis; a second gear that is driven by rotation of the first gear due to meshing with the first gear and that is capable of rotating; and a case secured to the second wrist element. The second gear is attached to the case via a bearing so as to be capable of rotating about a fourth axis positioned at a prescribed distance relative to the third axis.

A joint shaft structure includes: a base member; an output shaft member supported on one side of the base member so as to be rotatable; and a strain wave gear reducer rotating the shaft member relative to the base member by transmitting rotation of a motor to the shaft member while reducing the speed of the rotation. The reducer includes: a wave generator fixed to a shaft rotated by a driving force from the motor; a flexspline having, at one end, an elastic part which includes a plurality of external teeth and inside which the generator is fitted; and a ring gear disposed on a radially outer side of the flexspline and fixed to the shaft member, and having internal teeth meshing with the external teeth. The flexspline is fixed to the base member at the other end disposed farther on the base member side than the elastic part.

A gear device includes an internal gear, a flexible external gear, and a wave generator. The wave generator includes an elliptical cam and a bearing. Grease is applied to the inner circumferential surface of the external gear. A groove is provided along a rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing.

A control device configured to control a robot including an articulated arm having a plurality of joints each provided with a motor and turned by driving of the motor and a base supporting the articulated arm includes: a temperature information obtaining unit configured to obtain temperature information about the plurality of joints; a joint specifying unit configured to specify one of the joints that requires cooling, based on the obtained temperature information about the plurality of joints; and a motor control unit configured to control the motor of each of the plurality of joints, wherein, when the joint specifying unit specifies one of the joints, the motor control unit controls the motor of at least one of the joints that is located on a side closer to the base from the specified joint so as to turn the joint on the base side for a given time.

A linear robot according to the present disclosure includes a main body unit including a main body base part seated on a ground surface, and main body sidewall parts protruding in an upward direction by a predetermined thickness from two opposite sides of the main body base part, the main body unit having an internal space defined by the main body base part and the main body sidewall parts; a transfer block unit partially accommodated in the internal space of the main body unit, configured to linearly move in one direction, and having an upper portion on which a transfer target object is seated, the transfer block unit being configured to transfer the transfer target object from a first position to a second position; and a pair of guide rail units disposed between the main body unit and the transfer block unit, coupled to the main body unit, and configured to guide the transfer block unit, in which the main body sidewall parts each have a guide rail unit accommodation groove recessed by a predetermined length in a direction perpendicular to the upward direction, and at least a part of a surface of the guide rail unit accommodation groove has an uneven machined surface.

The oil content of at least two kinematic modules in different axes of the industrial robot is connected by the oil line to the closed circuit of the oil between interconnected kinematic modules. The system includes the pump engaged in pushing the oil in the upper-mounted kinematic module and the filtration device for filtering the oil in the circulating circuit or in a separate circuit with the oil tank. The system includes at least one diagnostic element, for example an oil temperature sensor or an oil pressure sensor or an oil pollution sensor connected to the evaluation unit. The evaluation unit is interconnected with the industrial robot control system, thus, the oil economy is controlled and planned depending on the actual load of the individual kinematic modules.

A robot tendon system having a robot arm having an exterior surface, and further rigid elements, each of which is moveably attached to the robot arm or to another of the further rigid elements. Further, a tendon retaining element defines a set of closed channels, and has a major exterior surface that is attached to the major surface of the robot arm. Finally, tendons extend through the closed channels and are attached to the rigid elements.

Provided is a joint structure for a robot which can prevent leakage of a lubricant which is charged to the interior of the joint structure while improving a drip-proof property. The joint structure for the robot includes: a first arm which is hollow; a second arm which is rotatably mounted to the first arm; a power transmission mechanism which is provided adjacent to the outside of the first arm, the power transmission mechanism including a gear and an inner space which houses the gear and is charged with a lubricant; a booster section which increases a pressure in an interior of the first arm to be higher than an outside pressure; and a one-way communication section which allows the interior of the first arm and the inner space to communicate with each other and a gas in the interior of the first arm to flow into the inner space, while preventing the lubricant in the inner space from flowing out to the interior of the first arm.

A joint structure of a robot includes a first member, a second member which is rotatably supported around a horizontal rotation axis line with respect to the first member, and an actuator which rotates the second member with respect to the first member, a through-holes, each of which allows a lubrication space in which a lubricant for the actuator is enclosed to connect with an outer space is provided in at least one of the first member and the second member, and more than three of the through-holes are provided at an interval in a circumferential direction centering around the horizontal rotation axis line.

A sensor relating to the present invention includes: a first electrode; a second electrode; a first attracting portion positioned between the first electrode and the second electrode and configured to receive conductive abrasion powder contained in a detection region and attracted onto the first attracting portion; a sensing unit for sensing a change in electrical resistance between the first electrode and the second electrode caused by the conductive abrasion powder; and at least one second attracting portion positioned within the detection region and configured to attract the conductive abrasion powder contained in the detection region.