JPH0193695A - Fluid transmission mechanism of robot - Google Patents

Abstract

PURPOSE: To prevent interference in a first arm, a second arm, and a basic stage by providing air-pipes within the first arm, the second arm, and the basic stage and connecting the air-pipes at each joint section between the first arm, the second arm, and the basic stage. CONSTITUTION: A fluid junction member 60 is relatively rotatably inserted into a rotation member 50. Circulation grooves 61a to 61c are provided on an inner peripheral surface of the fluid junction member 60. First pipes 63a to 63c respectively connected to first communication holes 62a to 62c, each of which is communicated to the circulation grooves 61a to 62c, and communication holes 64a to 64c which are communicated to the circulation grooves 61a to 61c, are further provided. Second pipes 65a to 65c which are connected to the communication holes 64a to 64c are provided to the second arm 31.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is provided in a joint part of an articulated robot and is rotatable relative to a first member constituting the joint part. The present invention relates to a fluid transmission mechanism for transferring fluid such as compressed air to and from a second member disposed in the second member.

[Prior art]

Conventionally, for example, in a horizontally articulated robot shown in FIG. A 27th arm 4 is disposed at the tip of the first arm 2 so as to be swingable in a horizontal plane, and this second arm 4 is driven to swing by a motor 5. Ru.

A hand 7 having a pair of fingers 6 is provided at the tip of the second arm 4.

The hand 7 is driven to move in the vertical direction by a motor 8, and further rotated in a horizontal plane by a motor 10. Furthermore, the fingers 6 are driven to open and close by an air cylinder 9.

In the figure, reference numeral 11 denotes a flexible air piping water hose for supplying compressed air to the air cylinder 9. The air piping hose 11 is arranged in a space between the air cylinder 9 and a compressed air source (not shown) outside the robot body.

Moreover, 12.13 are wirings for supplying electric power to the motors 5.8, respectively.

[Problem that the invention seeks to solve]

However, in the above robot, the first arm 2. When the second arm 4 is driven to swing, the air piping hose 11 and the first arm 2. The second arm 4 and/or the outer surface of the base 1 interfere with each other, and the first arm 2.
There was a problem in that the swing angle of the second arm 4 was limited.

Further, there was also a problem that the air piping hose 11 was damaged due to the above-mentioned interference.

The present invention was devised in view of the above circumstances, and includes the air piping hose 11 and the first arm 2. Second
7- In order to avoid interference with the outer surface of the arm 4 and/or the base 1, the first arm 2. Air piping is provided inside the second arm 4 and the base 1, and the first arm 2. 2nd arm 4.
The object of the present invention is to provide a fluid transmission mechanism that can be used to connect these pipes at each joint between the bases 1.

[Means for solving problems]

A first fluid transmission mechanism according to the present invention is configured to transfer fluid between a first member and a second member attached to a rotating member having a circular cross section and arranged to be rotatable relative to the first member. In a fluid transmission mechanism of a robot for delivering and receiving, a fluid relay member that is rotatably fitted into the rotary member and supported by the first member; and an inner circumferential surface of the fluid relay member. or a fluid circulation groove formed in an endless shape on the outer peripheral surface of the rotation member in parallel with the rotation direction of the rotation member; and a first fluid circulation groove provided in the fluid relay member and communicating with the circulation groove. a communication hole, a first pipe provided in the first member and connected to the first communication hole of the fluid relay member, and a first pipe provided at a position eccentric from the rotation center of the rotation member, It is characterized by comprising a second communication hole communicating with the groove, and a second pipe provided in the second member and connected to the second communication hole of the rotation member. be.

Further, a second fluid transmission mechanism according to the present invention includes a fluid relay member that is rotatably fitted into the rotary member and supported by the first member, and an inner circumferential surface of the fluid relay member. or a fluid circulation groove formed in an endless shape on the outer peripheral surface of the rotation member in parallel with the rotation direction of the rotation member; and a first fluid circulation groove provided in the fluid relay member and communicating with the circulation groove. a communication hole; a first pipe provided in the first member and connected to the first communication hole of the fluid relay member; and a first pipe provided at the center of rotation of the rotation member. An intermediate shaft for transmitting rotational force between the second members is accommodated in the outer peripheral surface of the second member via a space, and a third communication hole communicates with the circulation groove;
The third piping is provided in the member and connected to the third communication hole of the rotating member.

Furthermore, a third fluid transmission mechanism according to the present invention includes a fluid relay member that is rotatably fitted into the rotating member and supported by the first member, and an inner peripheral surface of the fluid relay member. or a plurality of fluid circulation grooves formed in an endless shape parallel to the rotational direction of the rotation member on the outer circumferential surface of the rotation member, and a plurality of fluid circulation grooves provided in the fluid relay member, respectively. A plurality of first communication holes communicating with each other, a plurality of first pipes provided in the first member and respectively connected to the plurality of first communication holes of the fluid relay member, and a rotation of the rotation member. a second communication hole provided at a position eccentric from the center of rotation and communicating with one of the circulation grooves; and a second communication hole provided in the second member and connected to the second communication hole of the rotation member. The first tube is provided at the center of rotation of the piping and the rotation member. An intermediate shaft for transmitting rotational force between the second members is accommodated in the outer circumferential surface of the second member via a space, and a third member communicates with a different flow groove than the second communication hole. and a third pipe provided in the second member and connected to the third communication hole of the rotating member.

[Effect]

In the first fluid transmission mechanism of the present invention, compressed air in the first pipe provided in the first member passes through the first communication hole, the circulation groove, and the second communication hole to the second member. second provided
is transmitted to the piping.

Further, in the second fluid transmission mechanism of the present invention, the compressed air in the first pipe provided in the first member passes through the first communication hole, the circulation groove, and the third communication hole to the second member. It is transmitted to the third pipe provided in the.

Furthermore, in the third fluid transmission mechanism of the present invention, the compressed air in the plurality of first pipes provided in the first member is transmitted through the plurality of first communication holes, the plurality of circulation grooves, and the second communication holes, respectively. It is transmitted through the hole and the third communication hole to the second pipe and the third pipe provided in the second member.

And the above 1. In the second and third fluid transmission mechanisms, the compressed air passes through a circulation groove formed in an endless shape parallel to the rotational direction of the rotational member from the first member side to the second
Since the compressed air is transmitted to the member side, the transmission of the compressed air is not affected in any way even if the rotary member supporting the second member is driven to rotate relative to the first member.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples embodying the present invention, and are not intended to fix the technical scope of the present invention.

Here, FIGS. 1 and 2 are side sectional views of a joint part of a robot having a fluid transmission mechanism according to an embodiment of the present invention, and FIG. 3 is a side sectional view of a robot equipped with a joint part having the fluid transmission mechanism described above. The configuration diagram of FIG. 4, fat, and (bl) are diagrams equivalent to FIG.

In the joint A of the robot having the fluid transmission mechanism according to this embodiment, as shown in FIGS. 1 and 3, a rotating member 16 having a circular cross section is disposed on a base 15 (first member). , this rotating member 16 has bearings 17m, 171 . It is rotatably supported by. A first arm 18 (second member) is fixed to the upper end of the rotating member 16, and a pulley 19 is fixed to the lower end of the rotating member 16.

The boo 1J19 is connected to a motor (not shown) via a belt 20. Therefore, the pulley 19
The first arm 18 is rotationally driven with respect to the base 15 by being rotationally driven by a motor (not shown).

A shaft 21 (intermediate shaft) is disposed inside the rotating member 16 and coaxially with the center of rotation of the rotating member 16,
This intermediate shaft 21 has a bearing 23. ．． It is rotatably supported by 23 parts. At the upper end of the shaft 21, there is a boo IJ.
A pulley 25 is fixed to the lower end of the shaft 21. The pulley 25 is connected to a motor (not shown) via a belt 26.

A shaft 22 (intermediate shaft) is disposed inside the shaft 21 and coaxially with the rotation center of the shaft 21, and this shaft 22
It is rotatably supported by bearings 27m and 21b.

A boo IJ 28 is fixed to the upper end of the shaft 22, and a pulley 29 is fixed to the lower end of the shaft 22. The pulley 29 is connected to a motor (not shown) via a belt 30.

The shafts 21 and 22 are for transmitting rotational force to a second arm 31 and a hand 32, which will be described later.

In the fluid transmission mechanism according to the present invention provided in the joint A with the above configuration, a fluid relay member 33 is rotatably fitted into the rotation member 16, and this fluid relay member 33 has the following features:
It is fixed to the base 15 via a bracket 34.

On the inner circumferential surface of the fluid relay member 33, there are a plurality of endless circulations 53sa, 35 parallel to the rotating direction of the rotating member 16.
b, 35c are engraved.

The above-mentioned circulation grooves 35m, 35b, 35c are for circulating compressed air.
Each side of 5b + 35c has an O-ring 36
It is sealed by.

In addition, when the pressure of the compressed air is high, it is also possible to provide a backup plate (not shown) on each side of the O-ring 36 in order to reduce the amount of sagging of the O-ring 36. be.

Note that the above-mentioned flow grooves 35m and 35+ in this embodiment.

, 35c are carved on the inner circumferential surface of the fluid relay member 33, and the circulation grooves 35. ．． 3sb,asc
is engraved on the outer peripheral surface of the rotating member 16, or
It is also possible to carve the outer peripheral surface of the fluid relay member 33 and the inner peripheral surface of the fluid relay member 33.

The above-mentioned circulation groove 35 of the above-mentioned fluid relay member 33. ．． 35 &, 3
At the position corresponding to 5c, the flow grooves 35°, 356, 3
5c, the first communication holes 37. ．． 376.
37C is bored, and this first communication hole 37m,
First pipes 38m, 38b, and 38c are connected to the pipes 37t, 37c, respectively. Then, the first pipe 38. ．． 38I, 38c are attached to the base 15.

Said first piping 38. is connected to the solenoid valve 39,
The first pipes 38I, 38c are connected to a solenoid valve 40. The solenoid valves 39, 40 are connected to a common compressed air source 41, and are located eccentrically from the center of rotation of the rotating member 16 in the circulation groove 35. ．． 35
second communication holes 42.c, which communicate with each other. ．． 42c is bored, and this second communication hole 42. ．． In 42c,
Second piping 4 provided in each of the first arms 18
3*, 43e are connected. The second pipes 43* and 43c include pipes 44m and 44m, respectively.
c is connected.

A third communication hole 45 that communicates with the circulation groove 351 is bored at the center of rotation of the rotation member 16.
As described above, the communication hole 45 may be for accommodating the shaft 21 on its outer circumferential surface with a gap 46 (space) therebetween.

The above-mentioned gap 46 is 0 ring 47m, 411. A third pipe 48 is connected to a position corresponding to the gap 46 of the third communication hole 45 . The third pipe 4B is attached to the first arm 18, and the third pipe 48 is connected to a pipe 44b.

Next, the configuration of other joints B of the robot will be explained based on FIGS. 2 and 3.

At the joint B, as shown in the figure, the first arm 1
8 (first member) is provided with a rotating member 50 having a circular cross section, and this rotating member 50 has a bearing 51m and a 5 lb
It is rotatably supported by. A second arm 31 (second member) is fixed to the lower end of the rotating member 50, and a boo 1J54 is fixed to the upper end of the rotating member 50. Since a belt 55 is endlessly passed between the Boo IJ54 and the Boo IJ24 (see FIG. 1), the Boo IJ54 is rotationally driven by the Boo 1J24 via the belt 55. Then, the second arm 31 is rotationally driven.

A shaft 52 (intermediate shaft) is disposed at the center of the rotating member 50 and coaxially with the center of rotation of the rotating member 50, and this shaft 52 is rotatably supported by bearings 53m and 536. has been done. A pulley 56 is provided at the upper end of the shaft 52.
is fixed, and this pulley 56 and the pulley 28 (
(See FIG. 1), a belt 57 is provided in an endless manner.

A pulley 58 is fixed to the lower end of the shaft 52.

As is clear from the figure, the fluid transmission mechanism provided in the joint B configured as described above is
It is composed of common elements with the fluid transmission mechanism provided in the.

That is, the fluid relay member 60 is rotatably fitted into the rotary member 50 and supported by the first arm 18 via the bracket 59, and on the inner peripheral surface of the fluid relay member 60, Flow grooves 61 m, 61 I, + 61 are endlessly carved parallel to the rotating direction of the rotating member 50.
c, and the circulation grooves 61m, 611.c provided in the fluid relay member 60. ．． 61c and first communication holes 621, 62&, which communicate with each other.

62e, and first communication holes 62m, 62i, provided in the first arm 18 and of the fluid relay member 60.

62c respectively connected to the first pipes 63. .

63h and 63c, which are provided at positions eccentric from the center of rotation of the rotating member 50, and are arranged in the communication grooves 611° and 61
second communication holes 64m and 64c communicating with c, and the second
A second communication hole 64 provided in the arm 31 and of the rotating member 50. ．． 64c? - Connected second pipe 65m
, 65c, and a third communication hole provided at the center of rotation of the rotation member 50, accommodating the shaft 52 on its outer peripheral surface through a gap 66 (space), and communicating with the circulation groove 61. 67, and a third pipe 68 provided in the second arm 31 and connected to the third communication hole 67 of the rotating member 50.

And the first piping 63m, 63h,
63c are the pipes 44@, 44b, and 44C (
(see Figure 1).

Further, the third communication hole 67 also includes a through hole for communicating the third communication hole 67 and the third pipe 68.

In addition, in the same figure, 69.70. and 70 points are 0 rings.

In addition, when the pressure of the compressed air is high, it is also possible to provide backup plates (not shown) on the sides of the O-rings 69 in order to reduce the amount of fatigue of the O-rings 69. be.

In this example, the above-mentioned flow grooves e1m, 61h,
61c are carved on the inner circumferential surface of the fluid relay member 6o, and the flow grooves 61. ．． 61i+, 61c
is engraved on the outer peripheral surface of the rotating member 50, or
It is also possible to carve it on the outer peripheral surface of the fluid relay member 60 and the inner peripheral surface of the fluid relay member 60.

Further, in the robot shown in FIG. 3, a hand 32 is provided at the tip of the second arm 31.

The hand 32 is equipped with a pulley (not shown), and this pulley is connected to the pulley 58 (see FIG. 2) via a belt 71.

As the boo IJ58 rotates, the hand 32 is rotationally driven in a horizontal plane.

Furthermore, the hand 32 is provided with a pair of fingers 73m and 73b that are driven to open and close by a single-acting cylinder 72, and the single-acting cylinder 72 is connected to the second finger via a bendable hose 75. It is connected to piping 651.

The fingers 73a, 731. is double acting cylinder 7
4, and this double-acting cylinder 74 is connected to the second pipe 65c and the third pipe 68.

Next, the operation procedure of the robot hand 32 having the fluid transmission mechanism configured as described above will be explained as shown in FIGS. 3 and 4+1111. (This will be explained based on bl.

In the state shown in FIG. 3, the double-acting cylinder 74 is urged upward by the compressed air supplied from the compressed air source 41 and is at its upper limit position, so that the fingers 73m,
73I is positioned and held at a predetermined position on the second arm 31 side.

In this case, the flow path of the compressed air is as shown in FIGS. 1, 2, and 3. First pipe 381
．． First communication hole 37b, circulation groove 35b, third communication hole 4
5. Third piping 48. Piping 44I, first piping 63.
, a first communication hole 62b, a flow rate of 161%, a third communication hole 67, and a third pipe 68.

Next, in the state shown in FIG. 4 fa), the finger 731
．． 73+ is urged in the downward direction by the double-acting cylinder 74 and is at its lower limit position, so that it is positioned and held at the lower end position. In this case, the compressed air source 41
The flow path of compressed air from the double-acting cylinder 74 to the double-acting cylinder 74 is switched by the solenoid valve 40.

At this time, the compressed air circulation path is the first pipe 38.
c, first communication hole 37c, circulation groove 35c, second communication hole 42e, second pipe 43c, pipe 44c, first pipe 6
3c, the first communication hole 62c, the circulation groove 61C1, the second communication hole 64c, and the second pipe 65c.

Further, in FIG. 4 (bl, the fingers 73a and 73b are
is in a closed state driven by the single-acting cylinder 72.

In this case, the compressed air flow path from the compressed air source 41 to the single-acting cylinder 72 includes the solenoid valve 39, the first pipe 381. First communication hole 37. .

Distribution groove 35. , second communication hole 421. Second pipe 431
, piping 441. First piping 631. First communication hole 62□
, the circulation groove 61 □, the second communication hole 641 and the second pipe 6
It is 51.

Even if the first arm 18 is oscillated relative to the base 15 while compressed air is being supplied to each of the cylinders 72 and 74, the second arm 31 is also moved relative to the first arm 18. Even when the rotating member 16.
50, the circulation groove 3 is formed in an endless shape and parallel to the rotation direction of the rotation direction.
5. ．． 35&, 35c, 61m, 6l
b, from the base 15 through 61c to the first arm 18
Furthermore, since the compressed air is transmitted from the 17th arm 18 to the second arm 31, the flow of compressed air to each of the cylinders 72, 74 is not obstructed, and the compressed air is configured as described above. By passing the fluid transmission mechanism through the joints A and B, the air piping for supplying compressed air to the distal end side of the 27th arm 31 is connected to the first arm 18 and the 27th arm 31.
There is no interference with the outer surface of the arm 31, and as a result, it becomes possible to swing the seventeenth arm 18 and the second arm 31 over 360° at the joints A and B.

Although the above embodiment has been described using an example in which compressed air is passed through the fluid transmission mechanism, oil may be passed instead of the compressed air.

Further, in the above embodiment, the base 15 and the 17th frame 1
8, it is also combustible to configure the base 15 as the second member and the first arm 18 as the first member. Furthermore, in the relationship between the first arm 18 and the second arm 31, it is also possible to configure the first arm 18 as the second member and the second arm 31 as the first member.

Further, as explained in the above embodiment, the finger 7
As a drive source for raising and lowering the second arm 31 and 73i, a comparatively light double-acting cylinder 74 is provided in place of the motor 8 in the conventional robot (see FIG. 5). The weight applied to the tip of the second arm 31 can be reduced, and the inertial force when swinging the second arm 31 can be reduced, so the second arm 31 can be swinged at high speed.

〔Effect of the invention〕

As described above, the first invention provides a fluid flow between a first member and a second member attached to a rotatable member having a circular cross section that is rotatably arranged relative to the first member. In a fluid transmission mechanism of a robot for performing delivery, a fluid relay member is rotatably fitted into the rotary member and supported by the first member, and an inner circumferential surface of the fluid relay member or a fluid circulation groove formed on the outer peripheral surface of the rotation member in an endless shape parallel to the rotation direction of the rotation member; and a first communication groove provided in the fluid relay member and communicating with the circulation groove. a hole, a first pipe provided in the first member and connected to the first communication hole of the fluid relay member, and a first pipe provided at a position eccentric from the center of rotation of the rotary member, and the flow groove and a second pipe provided in the second member and connected to the second communication hole of the rotating member. Since it is a transmission mechanism, the first and second parts are mutually rotatable. Fluid can be smoothly transferred between the second members.

Further, in the second invention, fluid is transferred between the first member and the second member attached to a rotating member having a circular cross section that is rotatably arranged relative to the first member. In a fluid transmission mechanism for a robot, a fluid relay member that is rotatably fitted into the rotary member and supported by the first member; and an inner peripheral surface of the fluid relay member or the rotary member. a fluid circulation groove formed in an endless shape parallel to the rotation direction of the rotation member on the outer peripheral surface of the rotation member; a first communication hole provided in the fluid relay member and communicating with the circulation groove; 1st above
a first pipe provided on the member and connected to the first communication hole of the fluid relay member; and a first pipe provided at the center of rotation of the rotating member. An intermediate shaft for transmitting rotational force between the second members is accommodated in the outer circumferential surface of the second member through a space, and a third communication hole is provided in the second member and is provided in the third communication hole communicating with the circulation groove. This fluid transmission mechanism for a robot is characterized in that it comprises a third pipe connected to a third communication hole of the rotating member, and the first pipe is rotatable with respect to the other. Fluid can be transferred smoothly between the second members, and the fluid circulation space can be effectively used as a housing space for the intermediate shaft.

Furthermore, the third invention provides fluid delivery between the first member and a second member attached to a rotatable member having a circular cross section and arranged to be rotatable relative to the first member. In the fluid transmission mechanism of the robot for performing A plurality of fluid circulation grooves are formed on the outer circumferential surface of the rotation member in an endless shape parallel to the rotation direction of the rotation member, and the fluid flow grooves are provided in the fluid relay member and communicate with each of the plurality of circulation grooves. a plurality of first communication holes provided in the first member and respectively connected to the plurality of first communication holes of the fluid relay member; and rotation of the rotation member. a second communication hole provided at a position eccentric from the center and communicating with one of the circulation grooves; and a second pipe provided in the second member and connected to the second communication hole of the rotation member. and a first one provided at the center of rotation of the rotating member. An intermediate shaft for transmitting rotational force between the second members is accommodated in the outer circumferential surface of the second member via a space, and a third member communicates with a flow groove different from the flow groove that communicates with the second communication hole. The fluid transmission mechanism for a robot is characterized by comprising a communication hole and a third pipe provided in the second member and connected to the third communication hole of the rotating member, mutually rotatable first. Fluid can be smoothly transferred between the second members via the plurality of circulation paths.

Furthermore, by passing each of the fluid transmission mechanisms having the above configuration through the joints of the robot to configure an air circulation path for compressed air, for example, the air piping member and the first member, the second member, etc. that are driven to swing can be connected to each other. interference can be avoided.

[Brief explanation of the drawing]

FIGS. 1 and 2 are side sectional views of joints of a robot having a fluid transmission mechanism according to an embodiment of the present invention, and FIGS.
The figure is a configuration diagram of a robot equipped with a joint portion having the above-mentioned fluid transmission mechanism, and FIG. 4+a1. Cb> are for explaining the operation of the robot, and are equivalent to FIG. 3, FIG. 5+a1. (bl indicates the configuration of a conventional robot for explaining the background technology of the present invention,
Figure (71) is a side view, and figure (71) is a plan view. [Explanation of symbols] 15... Base 16.50... Rotating member 1B
...first arm (second member or first member) 21.
22.52... Axis (intermediate shaft) 31... Second arm (second member) 33.60... Fluid relay member 35m, 35k, 35c, 61m. 6111161c... Distribution groove 37m, 37h, 37c, 62m. 62b, 62c...first communication hole 38m,
38b, 38c, 63m +63b, 6
3c"・First piping 42m, 42c, 64m, 64c. ...Second communication hole 43m, 43c, 65m, 65c. ...Second pipe 45.67...Third communication hole 46 .66...Gap (space) 48.68...Third piping.

Claims (1)

[Claims] 1. Fluid is transferred between a first member and a second member attached to a rotating member with a circular cross section that is rotatably arranged relative to the first member. A fluid transmission mechanism for a robot, comprising: a fluid relay member that is rotatably fitted into the rotary member and supported by the first member; and an inner peripheral surface of the fluid relay member or the rotary member. a fluid circulation groove formed in an endless shape parallel to the rotation direction of the rotation member on the outer peripheral surface of the rotation member; a first communication hole provided in the fluid relay member and communicating with the circulation groove; A first pipe provided on the first member and connected to the first communication hole of the fluid relay member, and a first pipe provided at a position eccentric from the rotation center of the rotation member and communicating with the circulation groove. A fluid transmission mechanism for a robot, comprising: a second communication hole; and a second pipe provided in the second member and connected to the second communication hole of the rotating member. 2. Fluid communication in a robot for transferring fluid between a first member and a second member attached to a rotary member having a circular cross section that is rotatably arranged relative to the first member. In the mechanism, a fluid relay member that is rotatably inserted into the rotary member and supported by the first member; a fluid circulation groove formed in an endless shape parallel to the rotation direction of the rotation member; a first communication hole provided in the fluid relay member and communicating with the circulation groove; and a first communication hole provided in the first member. a first pipe connected to the first communication hole of the fluid relay member; and a first pipe provided at the center of rotation of the rotating member for transmitting rotational force between the first and second members. A third communication hole that accommodates the intermediate shaft on its outer circumferential surface with a space therebetween and communicates with the circulation groove; and a third communication hole provided in the second member and connected to the third communication hole of the rotation member. A fluid transmission mechanism for a robot, comprising: a third pipe. 3. Fluid communication in a robot for transferring fluid between a first member and a second member attached to a rotating member with a circular cross section that is rotatably arranged relative to the first member. In the mechanism, a fluid relay member fitted into the rotating member so as to be relatively rotatable and supported by the first member; an inner circumferential surface of the fluid relay member or an outer circumferential surface of the rotating member; a plurality of fluid circulation grooves formed in an endless shape parallel to the rotation direction of the rotation member; and a plurality of first communication holes provided in the fluid relay member and communicating with each of the plurality of circulation grooves. a plurality of first pipes provided in the first member and respectively connected to the plurality of first communication holes of the fluid relay member; and a plurality of first pipes provided at a position eccentric from the rotation center of the rotation member. ,
a second communication hole that communicates with one of the circulation grooves; a second pipe provided in the second member and connected to the second communication hole of the rotation member; and rotation of the rotation member. It is different from the circulation groove that is provided at the center and accommodates an intermediate shaft for transmitting rotational force between the first and second members through a space on its outer circumferential surface, and communicates with the second communication hole. A robot comprising: a third communication hole communicating with the circulation groove; and a third pipe provided in the second member and connected to the third communication hole of the rotating member. fluid transmission mechanism.