Robot arm and robot
A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover.
1. A robot arm comprising:
a plurality of arms that are turnably connected, wherein
the plurality of arms include a plurality of links and an actuator that turns the plurality of links,
the actuator includes:
an outer cover provided on an outer surface of the actuator;
a motor that turns the plurality of links;
a motor frame that supports the motor;
a reduction gear that decelerates rotation from the motor and outputs a torque;
a collar fixed to the reduction gear; and
a wiring member including at least one of a wire and a pipe,
at least a part of wiring member is housed between a surface including a first body section formed by the motor frame and the collar and a surface including a second body section of the outer cover, and
the first body section and the second body section are hourglass-shaped.
2. The robot arm according to claim 1 , wherein
at least a part of the wiring member is wound around a longitudinal axis of one of the plurality of arms.
3. The robot arm according to claim 1 , wherein
the wiring member is curved in a U shape.
4. The robot arm according to claim 1 , wherein
the outer cover is configured by two members in a longitudinal axis direction of one of the plurality of arms, and
the two members are turnable around the longitudinal axis of the one of the plurality of arms.
5. A robot comprising the robot arm according to claim 1 .