KR20210002020A - Industrial robot - Google Patents

Abstract

The present invention relates to an industrial robot, improving cooling efficiency of a motor and easily preventing enlargement and an increase in costs. According to the present invention, the industrial robot comprises: a base as a base member; a cylinder body installed in the base; and a hand unit connected to the cylinder body to be movable with respect to the cylinder body. A motor is installed in the base member and herein, a fan for forming air current flowing the motor is installed in a position adjacent to the motor of the base member. A radiator is installed near the motor.

Description

Industrial robot {INDUSTRIAL ROBOT}

The present invention relates to an industrial robot.

Robots are currently used in many industrial fields to increase production efficiency, reduce labor costs, and increase work safety.

For example, in a production line of a liquid crystal panel, a robot is often used to carry the liquid crystal panel and so on.

Robots used in the production line of liquid crystal panels are generally: base; A cylinder body having a hollow shape and installed on the base; And a hand part connected to the cylinder body in a manner movable with respect to the cylinder body.

In addition, in a robot used in a production line of a liquid crystal panel, a motor as a driving source is generally installed in at least one of the base, the cylinder body, and the hand part in order to make the hand part move with respect to the base and respond to different work demands.

However, in recent years, the size of the liquid crystal panel has gradually increased, and the weight of the liquid crystal panel is constantly increasing. In order to smoothly perform tasks such as transportation of the liquid crystal panel, the robot used in the production line of the liquid crystal panel is increasing in size. In addition, among them, the used motor is also becoming larger, and on the other hand, as the motor becomes larger, the amount of heat generated also increases. Therefore, effectively controlling the temperature increase of the motor becomes an urgent problem.

Japanese Patent Publication No. Hei 10-337685 (published on December 22, 1998)

The present invention has been completed in order to solve the above-described problem, and its object is to provide an industrial robot that can improve the cooling efficiency of a motor and easily prevents an increase in size and cost.

In order to realize the above object, the present invention includes a base as a basic member, a cylinder body installed on the base, and a hand part connected to the cylinder body in a manner movable with respect to the cylinder body, and a motor is installed on the base member. Here, there is provided an industrial robot in which a fan for forming an airflow flowing through the motor is installed at a position of the basic member close to the motor, and a radiator is installed around the motor.

According to the industrial robot of the present invention, a fan for forming an airflow flowing through the motor is installed at a position close to the motor in the basic member, so that it is possible to effectively cool the motor using the airflow formed by the fan; In addition, since the radiator is installed around the motor, it is therefore possible to easily prevent an increase in size, compared to the case of simply using a large fan, and prevent an increase in cost caused by an increase in electricity consumption of the large fan, and the like; In addition, by improving the cooling efficiency of the motor, in the case of the same amount of operation, a small motor having a larger calorific value than a large motor can be used, which can also prevent an increase in size and cost.

Further, in the industrial robot of the present invention, preferably, the motor is installed inside the base member, the fan is installed outside the base member, and pumps air in the base member to the outside.

According to the industrial robot of the present invention, since the motor is installed inside the basic member, it is therefore easy to prevent the motor from being damaged while colliding with an external object; In addition, the fan is installed outside the base member and pumps air in the base member to the outside, so dust generated inside the base member accumulates in the interior of the base member to prevent functional members such as drive mechanisms in the base member. It is easily prevented from affecting the operation (for example, dust generated inside the basic member is adsorbed by the motor, preventing malfunctions such as abnormal temperature rise in the motor).

Further, in the industrial robot of the present invention, a filter net is preferably installed at the exhaust port portion of the fan.

According to the industrial robot of the present invention, a filter net is installed at the exhaust port of the fan to prevent dust generated inside the basic member from being discharged to the outside and affecting the robot installation environment (eg, clean room). I can.

Further, in the industrial robot of the present invention, preferably the exhaust port of the fan is directed downward.

According to the industrial robot of the present invention, the exhaust port of the fan is directed downward, so that foreign substances fall to the exhaust port of the fan and a malfunction in the fan can be prevented.

Further, in the industrial robot of the present invention, an air duct is preferably installed in the base member, and the air duct extends from the motor to the fan.

According to the industrial robot of the present invention, an air duct extending from the motor toward the fan is installed on the basic member, so that the air flowing through the motor can flow smoothly to the fan, thereby reducing the ventilation resistance, thereby reducing the cooling efficiency of the motor. It can be further improved.

Further, in the industrial robot of the present invention, preferably, an encoder for detecting the rotational speed of the motor is installed in the motor, and the encoder is covered by a metal cover.

According to the industrial robot of the present invention, by covering the encoder with a metal cover, it is possible to block the influence of external electromagnetic interference on the encoder, so that the rotation speed of the motor can be accurately detected using the encoder easily.

Further, in the industrial robot of the present invention, a temperature sensor is preferably installed in the vicinity of the motor and/or the encoder, and the temperature sensor controls the supply of electricity to the motor through an I/O signal.

According to the industrial robot of the present invention, a temperature sensor for controlling the electric supply to the motor is installed near the motor and/or the encoder, and when the temperature of the motor and/or encoder rises abnormally, the temperature sensor is The /O signal can be transmitted, and the control stage of the industrial robot identifies the corresponding signal and then cuts off the electricity supply to the motor to prevent fire due to an abnormal increase in the temperature of the motor and/or encoder.

In addition, in the industrial robot of the present invention, preferably, the cylinder body includes at least one cylinder portion, and the cylinder portion has a square tube shape extending in the vertical direction, the motor is installed in the cylinder portion, and the outside of the cylinder portion The fan is installed on the surface.

In addition, in the industrial robot of the present invention, preferably, the cylinder body includes at least one cylinder part, and the cylinder body of the cylinder part has a square tube shape extending in the vertical direction, and at least one of the four side walls of the cylinder body A plurality of through holes arranged in the vertical direction are formed, the through holes communicate the inside and the outside of the cylinder body, a cylinder cover is installed detachably to the cylinder body, and the cylinder cover covers the through holes. The motor is installed in the cylinder part at a position close to the upper end of the cylinder part, and an encoder for detecting the rotational speed of the motor is installed in the motor, and the encoder is covered by a metal cover, and the motor A fin-shaped aluminum plate constituting the radiator is fixed on the outer circumferential surface of the fan, and the fan is installed at a position close to the upper end of the cylinder part on the outer surface of the cylinder part, and the metal cover collects air flowing through the motor and the encoder. And the exhaust port of the fan is directed downward, a filter net is installed, and an exhaust fan for pumping air in the cylinder unit to the outside is installed near the bottom of the cylinder unit.

According to the industrial robot of the present invention, a cylinder body is provided with a through hole to allow the inside and the outside to communicate with each other, so that the functional member installed in the cylinder body through the through hole is easily maintained; In addition, a metal cover is used to cover the encoder, and the influence of external electromagnetic interference on the encoder can be prevented, so that the rotation speed of the motor can be accurately detected using the encoder; In addition, a metal cover is used to guide the air flowing through the motor and encoder to the fan, so that the air flowing through the motor and encoder can flow smoothly to the fan, thereby reducing ventilation resistance, and thus further improving the cooling efficiency of the motor. Can be improved; In addition, by making the exhaust port of the fan face downward, it is possible to prevent foreign matter from falling into the exhaust port of the fan and causing a failure in the fan; In addition, a filter net is installed at the exhaust port portion of the fan, so that dust generated in the cylinder unit is discharged to the outside to prevent the robot from affecting the installation environment (eg, clean room); Further, an exhaust fan for pumping air in the cylinder portion to the outside is provided near the bottom portion of the cylinder portion, so that the inside of the cylinder portion can be cooled more effectively.

In addition, in the industrial robot of the present invention, preferably the base includes: a guide rail extending in a horizontal direction; A base table installed on the guide rail to be movable along the guide rail; And a rotation table supported by the base table so as to be rotatable about an axis extending in a vertical direction, wherein the cylinder body comprises: a first cylinder portion fixed to the rotation table; And a second cylinder part installed on the first cylinder part to be movable in an up-down direction, wherein the hand part: an arm connected to the second cylinder part so as to be rotatable about an axis whose base end extends in an up-down direction; And a fork connected to the front end of the arm so as to be rotatable about an axis extending in the vertical direction.

According to the present invention, since a fan for forming an airflow flowing through the motor is provided at a position close to the motor of the basic member, thus, it is possible to effectively cool the motor by using the airflow formed by the fan; In addition, since the radiator is installed around the motor, it is therefore possible to easily prevent an increase in size, compared to the case of simply using a large fan, and prevent an increase in cost caused by an increase in electricity consumption of the large fan, and the like; In addition, by improving the cooling efficiency of the motor, in the case of the same amount of operation, a small motor having a larger calorific value than a large motor can be used, which can also prevent an increase in size and cost.

1 is a front view exemplarily showing the overall structure of an industrial robot according to an embodiment of the present invention.
Fig. 2 is a side view exemplarily showing the overall structure of the industrial robot according to the embodiment of the present invention.
3 is a plan view exemplarily showing the overall structure of the industrial robot according to the embodiment of the present invention.
4 is an enlarged view exemplarily showing the local structure of the industrial robot of the present invention embodiment, which is a view observed from the side, and shows some internal members of the industrial robot.
5 is an enlarged view exemplarily showing the local structure of the industrial robot according to the embodiment of the present invention, which is a view observed from the top, and shows some internal members of the industrial robot.

Hereinafter, an industrial robot according to an embodiment of the present invention will be described in conjunction with FIGS. 1 to 4, wherein FIG. 1 is a front view exemplarily showing the overall structure of the industrial robot according to the embodiment of the present invention, and FIG. It is a side view exemplarily showing the overall structure of the industrial robot according to the present invention embodiment, Fig. 3 is a plan view exemplarily showing the overall structure of the industrial robot according to the present invention embodiment, and Fig. 4 is It is an enlarged view exemplarily showing the local structure of the robot, which is a view observed from the side, showing some internal members of the industrial robot, and FIG. 5 exemplarily shows the local structure of the industrial robot of the embodiment of the present invention It is an enlarged view, which is a view observed from the top, and shows some internal members of the industrial robot.

Here, for convenience of explanation, three directions orthogonal to each other are set as the X direction, the Y direction, and the Z direction, wherein the Z direction corresponds to the vertical direction, and the direction perpendicular to the Z direction corresponds to the horizontal direction. In addition, here, one side of the X direction is set to X1, the other side of the X direction is set to X2, one side of the Y direction is set to Y1, the other side of the Y direction is set to Y2, and one side of the Z direction is set to Z1. (Corresponds to the upper side), and the other side in the Z direction is set to Z2 (corresponds to the lower side).

(Overall structure of industrial robot)

The industrial robot 1 of this embodiment is a horizontal articulated robot for conveying the glass substrate W of the liquid crystal display device as a conveyance object, and is used, for example, in a production line assembled on a glass substrate.

1 to 3, the industrial robot 1 includes: a base 10; A cylinder body 20 installed on the base 10; And a hand portion 30 connected to the cylinder body 20 in a manner that can be moved relative to the cylinder body 20.

Here, the base 10 includes: a guide rail 11 extending in the horizontal direction; A base table 12 installed on the guide rail 11 so as to be movable along the guide rail 11; And a rotation table 13 supported by the base table 12 so as to be rotatable about an axis extending in the Z direction. Further, the cylinder body 20 includes: a first cylinder portion 21 having a hollow shape, extending in the Z direction, and fixed to the rotary table 13; And a second cylinder part 22 that has a hollow shape, extends in a Z direction, and is installed on the first cylinder part 21 to be movable in the Z direction. In addition, a pair of hand parts 30 are installed in a manner that is stacked in the Z direction, and the hand part 30 is a first position P1 shown by a solid line in FIG. 1 and a second location shown by a dotted line in FIG. It can move in the Z direction between (P2), and the hand part 30 can expand and contract in a horizontal direction perpendicular to the Z direction (in the example of the drawing, each hand part 30 expands and contracts independently of each other in the horizontal direction. Can). In addition, each hand part 30 includes: an arm 31 connected to the second cylinder part 22 so as to be rotatable about an axis whose base end extends in the Z direction; And a fork 32 connected to the front end of the arm 31 so as to be rotatable about an axis extending in the Z direction. Specifically, the hand part 30 is connected to the second cylinder part 22 through a support member 33 installed on the second cylinder part 22 so as to be movable in the Z direction, and the first cylinder part 21 , The second cylinder part 22 and the support member 33 are arranged in the Y direction, and the arm 31 includes a first arm 311 and a second arm 312, wherein the first arm ( The base end of 311) is rotatably connected with the support member 33 around an axis extending in the Z direction, and the base end of the second arm 312 is rotatable around an axis extending in the Z direction. It is connected to the front end of 311, and the fork 32 is connected to the front end of the second arm 312 so as to be rotatable about an axis extending in the Z direction.

Further, as shown in FIG. 4, a drive mechanism is provided in the base member, and the drive mechanism includes a motor 40.

Here, a motor 40 and an encoder 50 for detecting the rotational speed of the motor 40 are installed in the first cylinder 21, where the motor 40 is, for example, a second The cylinder part 22 moves in the Z direction with respect to the first cylinder part 21, and the reduction mechanism is installed at the end of the output side of the motor 40 (the Z1 direction side in the drawing), and the encoder 50 is a motor It is installed at the end of the output side opposite to the output of 40 (Z2 direction side in the drawing).

In addition, although not shown in the drawings, for example, a motor may be installed on the base table 12 and/or the rotary table 13.

(Structure of the first cylinder part)

As shown in Figs. 4 and 5, the first cylinder part 21 includes a cylinder body 211 having a rectangular tube shape extending in the Z direction (representing a generally quadrangle when observed in the Z direction), Further, a plurality of through holes 2111 arranged in the Z direction in at least one of the four side walls of the cylinder body 211 (in the example of the drawing, the through holes 2111 are circular, but are not limited thereto, The shape may be appropriately changed according to demand) is formed, and the through hole 2111 communicates the inside and the outside of the cylinder body 211 of the first cylinder part 21.

In addition, although not shown in the drawings, the first cylinder part 21 further includes a cylinder cover, and the cylinder cover is detachably installed on the cylinder body 211 and covers the through hole 2111.

In addition, as shown in Fig. 4, the motor 40 is installed in the first cylinder part 21, and the airflow flowing through the motor 40 at a position close to the motor 40 of the first cylinder part 21 A fan 60 for forming a is installed, and a radiator 70 is installed around the motor 40. Specifically, the motor 40 and the motor 40 are located in a position close to the upper end (an end of the Z1 direction side) of the first cylinder part 21 in the first cylinder part 21 (the cylinder body 211). ), an encoder 50 for detecting the rotational speed of the motor 40 is installed, and a fin-shaped aluminum plate constituting the radiator 70 on the outer circumferential surface of the motor 40 (in the example of the drawing, two side surfaces of the motor 40 in the Y direction and An abutting aluminum plate) is fixed; In addition, a fan 60 is installed at a position close to the upper end (end in the Z1 direction) of the first cylinder part 21 on the outer surface of the first cylinder part 21, and the fan 60 is the first The air in the cylinder part 21 is pumped to the outside, and the exhaust port is directed downward, and a filter net (not shown) is installed.

In addition, as shown in FIGS. 4 and 5, an air duct 80 is installed in the first cylinder part 21, and the air duct 80 extends from the motor 40 toward the fan 60. Air flowing through the motor 40 is guided to the fan 60. Specifically, an encoder 50 for detecting the rotational speed of the motor 40 is installed in the motor 40, and the encoder 50 is made of a metal cover 90 (for example, made of aluminum). Covered, the air guide cover 100 is installed in a position closer to the Z1 direction side than the fan 60 on the outer surface of the first cylinder part 21 in a frontal generally ladder-like shape, and the motor 40 and The air after flowing through the encoder 50 is guided to the air duct 80 by the metal cover 90, and is guided to the fan 60 by the air guide cover 100 again.

In addition, although not shown in the drawing, a temperature sensor may be installed in the vicinity of the motor 40 and/or the encoder 50, and electricity supply to the motor 40 by an I/O signal using the temperature sensor is Control (for example, when the temperature near the motor 40 and/or encoder 50 is too high, the temperature sensor transmits the corresponding I/O signal, and the control stage of the industrial robot identifies the corresponding signal. After that, it is possible to cut off the electricity supply to the motor 40).

(Structure of the second cylinder part)

As shown in FIGS. 1 to 3, the second cylinder part 22 includes a cylinder body 211 having a square tube shape (which generally represents a square when viewed in the Z direction) extending in the Z direction. And, the cylinder body 211 is similar to the cylinder body 211 of the first cylinder part 21, and has four side walls.

In addition, although not shown in the drawing, there are a plurality of through holes in at least one side wall of the four side walls of the cylinder body 211, and these through holes are arranged spaced apart in the Z direction, and penetrate the side walls in the thickness direction of the side wall. Thus, the inside and outside of the cylinder body 211 are communicated.

In addition, the second cylinder portion 22 further includes a cylinder cover, and the cylinder cover is detachably installed on the cylinder body 211 and covers the through hole.

In addition, functional members such as a drive mechanism are provided inside the second cylinder 22.

(Main effect of this embodiment)

According to the industrial robot 1 of the present embodiment, a fan 60 for forming an airflow flowing through the motor 40 is installed at a position of the first cylinder part 21 close to the motor 40, thus, It is possible to effectively cool the motor 40 by using the airflow formed by the fan 60; In addition, since the radiator 70 is installed around the motor 40, therefore, compared with the case of simply using a large fan, it is easy to prevent the increase in size and increase the cost caused by the increase in the amount of electricity consumption of the large fan. Can be prevented; In addition, by improving the cooling efficiency of the motor 40, in the case of the same operation amount, a small motor having a larger heat generation value than a large motor may be used, which can also prevent an increase in size and cost.

Further, according to the industrial robot 1 of the present embodiment, the encoder 50 is covered with a metal cover 90 to block the influence of external electromagnetic interference on the encoder 50, so that the encoder 50 can be easily operated. To accurately detect the rotational speed of the motor 40.

Further, according to the industrial robot 1 of the present embodiment, the air flowing through the motor 40 and the encoder 50 is guided to the fan 60 using the metal cover 90, so that the motor 40 and the encoder ( By allowing the air flowing through 50 to flow smoothly to the fan 60, the ventilation resistance is reduced, so that the cooling efficiency of the motor 40 and the encoder 50 can be further improved.

In addition, according to the industrial robot 1 of the present embodiment, the exhaust port of the fan 60 is directed downward, so that foreign substances fall to the exhaust port of the fan 60 and a failure in the fan 60 can be prevented. have.

In addition, according to the industrial robot 1 of the present embodiment, a filter net is installed at the exhaust port of the fan 60, and dust generated inside the basic member is discharged to the outside, so that the robot installation environment (for example, clean Room) can be prevented from affecting.

The present invention has been exemplarily described above with reference to the drawings, but specific embodiments of the present invention are not limited by the above embodiments.

For example, in the above embodiment, for the industrial robot 1, a case of a horizontal articulated robot that transports a glass substrate has been described, but the present invention is not limited thereto, and the industrial robot 1 may be used for other purposes.

In addition, in the above embodiment, a situation in which the motor 40 and the fan 60 are installed in the first cylinder part 21 has been described, but the present invention is not limited thereto, and the installation position of the motor and fan may be appropriately changed according to demand. Or, for example, a motor and a fan may be installed in the second cylinder unit, and the motor and fan may be installed inside the basic member (base, cylinder unit, hand unit), or the outside of the basic member It can also be installed on.

In addition, in the above embodiment, the fan 60 blows the air in the first cylinder part 21 to the outside, but is not limited thereto, and the fan 60 may be installed to blow air toward the motor 40. .

Further, in the above embodiment, an exhaust fan for discharging the air in the first cylinder portion 21 to the outside may be installed near the bottom portion of the first cylinder portion 21.

In addition, in the above embodiment, the fin-shaped aluminum plate constituting the radiator 70 is fixed to the outer peripheral surface of the motor 40, but the specific structure and material of the radiator 70 are not limited thereto, and may be appropriately changed according to demand. .

In addition, in the above embodiment, a plurality of penetrations arranged in the Z direction on at least one of the four sidewalls of the cylinder body 211 of the first cylinder part 21 and the cylinder body 211 of the second cylinder part 22 A hole is formed, and the through hole communicates the inside and the outside of the first cylinder part 21 and the second cylinder part 22, but is not limited thereto, and in some cases, the through hole may not be provided.

Further, in the above embodiment, the air duct 80 and the metal cover 90 are installed in the first cylinder portion 21, and the air guide cover 100 is installed on the outer surface of the first cylinder portion 21, , The present invention is not limited thereto, and in some cases, one or more of the air duct 80, the metal cover 90, and the air guide cover 100 may be omitted.

Further, in the above embodiment, the base 10 includes: a guide rail 11 extending in the horizontal direction; A base table 12 installed on the guide rail 11 so as to be movable along the guide rail 11; And a rotation table 13 supported by the base table 12 so as to be rotatable about an axis extending in the Z direction, but is not limited thereto, and the specific structure of the base 10 may be appropriately changed according to demand. The guide rail 11 and the rotary table 13 may be omitted, for example.

Further, in the above embodiment, the cylinder body 20 includes: a first cylinder portion 21 fixed to the rotary table 13; And a second cylinder 22 installed on the first cylinder part 21 to be movable in the Z direction, but is not limited thereto, and the specific structure of the cylinder body 20 may be appropriately changed according to demand, For example, the cylinder body 20 may include only one cylinder portion, or may include three or more cylinder portions.

In addition, in the above embodiment, the first cylinder portion 21 has a rectangular tube shape extending in the Z direction, but is not limited thereto, and the shape of the first cylinder portion 21 may be appropriately changed according to demand, Likewise, the second cylinder part 22 may be installed in a rectangular tube shape extending in the Z direction, as well as other shapes.

In addition, in the above embodiment, the hand part 30 includes: an arm 31 connected to the second cylinder part 22 so as to be rotatable about an axis whose base end extends in the Z direction; And a fork 32 connected to the front end of the arm 31 so as to be rotatable about an axis extending in the Z direction, but is not limited thereto, and the specific structure of the hand part 30 may be appropriately changed according to demand. Also, for example, the hand part 30 may not include an arm.

In addition, in the above embodiment, a pair of hand portions 30 are installed in a manner that is stacked in the Z direction, but the present invention is not limited thereto, and only one hand portion 30 may be installed.

It should be noted that, within the scope of the present invention, embodiments may be freely combined, or embodiments may be appropriately modified or omitted.

1: industrial robot
10: base
11: guide rail
12: base table
13: turn table
20: cylinder body
21: first cylinder part
211: cylinder body
2111: through hole
22: second cylinder part
221: cylinder body
30: hand part
31: cancer
311: first arm
312: second arm
32: fork
33: support member
40: motor
50: encoder
60: fan
70: radiator
80: air duct
90: metal cover
100: air guide cover
W: glass substrate
P1: first position
P2: second position

Claims (10)

An industrial robot having a base as a basic member, a cylinder body installed on the base, and a hand part movably connected to the cylinder body, and in which a motor is installed on the basic member,
An industrial robot, characterized in that a fan for forming an airflow flowing through the motor is installed at a position of the base member adjacent to the motor, and a radiator is installed around the motor. The method of claim 1,
The motor is installed inside the base member,
The fan is installed outside the base member and pumps air in the base member to the outside. The method of claim 2,
Industrial robot, characterized in that the filter net is installed in the exhaust port of the fan. The method of claim 2,
Industrial robot, characterized in that the exhaust port of the fan is directed downward. The method of claim 1,
An air duct is installed in the base member,
The air duct is an industrial robot, characterized in that extending from the motor to the fan. The method of claim 1,
An encoder for detecting the rotational speed of the motor is installed in the motor,
Industrial robot, characterized in that the encoder is covered by a metal cover. The method of claim 6,
A temperature sensor is installed near the motor and/or the encoder,
The temperature sensor is an industrial robot, characterized in that for controlling the supply of electricity to the motor through an I/O signal. The method of claim 1,
The cylinder body includes at least one cylinder part,
The cylinder part is a square tube type extending in the vertical direction,
The motor is installed in the cylinder part,
Industrial robot, characterized in that the fan is installed on the outer surface of the cylinder part. The method of claim 1,
The cylinder body includes at least one cylinder part,
The cylinder body of the cylinder part is a square tube type extending in the vertical direction,
A plurality of through holes arranged in the vertical direction are formed in at least one of the four sidewalls of the cylinder body, the through holes communicating the inside and the outside of the cylinder body,
A cylinder cover is detachably installed in the cylinder body, and the cylinder cover covers the through hole,
The motor is installed in the cylinder portion at a position close to the upper end of the cylinder portion,
An encoder for detecting the rotational speed of the motor is installed in the motor, and the encoder is covered by a metal cover,
A fin-shaped aluminum plate constituting the radiator is fixed to the outer circumferential surface of the motor,
The fan is installed at a position close to the upper end of the cylinder part on the outer surface of the cylinder part,
The metal cover guides the air flowing through the motor and the encoder to the fan,
The exhaust port of the fan faces downward, and a filter net is installed,
An industrial robot, characterized in that an exhaust fan for pumping the air in the cylinder part to the outside is installed near the bottom part of the cylinder part. The method of claim 1,
The base,
A guide rail extending in a horizontal direction;
A base table installed on the guide rail to be movable along the guide rail; And
It includes a rotary table supported by the base table so as to be rotatable about an axis extending in the vertical direction,
The cylinder body,
A first cylinder part fixed to the rotary table; And
It includes a second cylinder portion installed in the first cylinder portion to be movable in the vertical direction,
The hand part,
An arm connected to the second cylinder so that the base end is rotatable about an axis extending in the vertical direction; And
Industrial robot, characterized in that it comprises a fork connected to the front end of the arm so as to be rotatable about an axis extending in the vertical direction.

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