Horizontal multi-joint robot and production method for horizontal multi-joint robot

Abstract

A horizontal articulated robot in which an arm moves in the horizontal direction for use with objects to be transferred may include a hand on which the objects are to be mounted. The arm may have at least two arm portions including a hand-side arm portion to which the hand is rotatably joined to the front end thereof; and a second hand-side arm portion to which the base end of the hand-side arm portion is rotatably joined to the front end thereof; and a main body portion to which the base end of the arm is rotatably joined. A level which may be attached to the hand, the arm or the main body portion after an inclination of a center axis of rotation of the hand-side arm portion with respect to the second hand-side arm portion is adjusted relative to the vertical direction.

1 .- 5 . (canceled) 
     
     
         6 . A horizontal articulated robot with an arm which moves in the horizontal direction for use with objects to be transferred, comprising:
 a hand on which objects-to-be-transferred are to be mounted;   said arm having at least two arm portions, comprising:   a supporting-arm portion to which said hand is rotatably joined to the front end thereof and a supported-arm portion to which the base end of said hand-side arm portion is rotatably joined to the front end thereof;   a main body portion to which the base end of said arm is rotatably joined; and   a rotation mechanism for structured to rotate said supported-arm portion with respect to said supporting-arm portion;   wherein said rotation mechanism comprises:   a motor which is arranged inside said supporting-arm portion or said supported-arm portion such that an axial direction of an output shaft of the motor coincides with a horizontal direction,   a Harmonic Drive (registered trade mark) which configures a joining portion as a joint section between said supporting-arm portion and said supported-arm portion and which is structured to reduce the power of said motor and transmits the result to said supporting-arm portion or said supported-arm portion, a first bevel gear which is coupled to said output shaft of said motor and a second bevel gear which is coupled with a wave generator of said Harmonic Drive (registered trade mark) and which meshes with said first bevel gear.   
     
     
         7 . The horizontal articulated robot as set forth in  claim 6  wherein
 said arm comprises a first arm portion, of which the base end is rotatably joined to said main body portion, a second arm portion as a supporting-arm portion, of which the base end is rotatably joined to the front end of said first arm portion, and a third arm portion as said supported-arm portion, of which the base end is rotatably joined to the front end of said second arm portion; and 
 said hand is rotatably joined to the front end of said third arm portion. 
 
     
     
         8 . The horizontal articulated robot as set forth in  claim 7 , further comprising:
 a first hand and a second hand which are said hand and arranged to overlap in an up-down direction;   a first hand-rotating mechanism for rotating said first hand with respect to said third arm portion; and   a second hand-rotating mechanism for rotating said second hand with respect to said third arm portion;   wherein said first hand comprises a joining portion which is connected to said third arm portion and a flat mounting portion on which said objects-to-be-transferred are to be mounted, and is positioned below said second hand;   said mounting portion is formed extending from the top end of said joining portion in the horizontal direction;   a protrusion portion is formed to said third arm portion, protruding upwardly;   said protrusion portion is formed at the position which is shifted from said joining portion in the longitudinal direction of said third arm portion when said third arm portion and said first hand are not overlapped in the up-down direction, and also protrudes upwardly to the height at which it does not touch said mounting portion;   said motor for the first hand and said motor for the second hand are arranged inside said third arm portion such that their output shafts face downwardly and a portion of them are placed in said protrusion portion.   
     
     
         9 . The horizontal articulated robot as set forth in  claim 6  wherein said rotation mechanism comprises a magnetic fluid seal arranged around the outer circumference of said Harmonic Drive (registered trade mark).