Robot, ceiling mounted type robot and robot system

A ceiling mounted type horizontal articulated robot installed on an installation surface, the ceiling mounted type horizontal articulated robot comprising:

• a base section that is installed on the installation surface, the base section being configured with a main body section and a flange section, the flange section extending from the main body section along a direction intersecting a first pivot axis and being fixed to the installation surface;
• a first arm that is connected to the base section so as to be pivotable with respect to the base section about the first pivot axis;
• a second arm that is connected to the first arm so as to be pivotable with respect to the first arm about a second pivot axis parallel to the first pivot axis;
• a shaft that is connected to the second arm so as to be pivotable with respect to the second arm about a third pivot axis parallel to the first pivot axis and so as to be movable along an axial direction of the third pivot axis, and that includes an end section on a first arm side;
• and
• a vibration detection section provided at the base section, wherein
• the vibration detection section is disposed inside of the flange section,
• the flange section includes a recess section that opens to the first arm side, and
• the vibration detection section is installed in the recess section.

A horizontal articulated robot system comprising:

• a horizontal articulated robot installed on an installation surface, the horizontal articulated robot including:
• a base section that is installed on the installation surface, the base section being configured with a main body section and a flange section, the flange section extending from the main body section along a direction intersecting a first pivot axis and being fixed to the installation surface;
• a first arm that is connected to the base section so as to be pivotable with respect to the base section about the first pivot axis;
• a second arm that is connected to the first arm so as to be pivotable with respect to the first arm about a second pivot axis parallel to the first pivot axis;
• a shaft that is connected to the second arm so as to be pivotable with respect to the second arm about a third pivot axis parallel to the first pivot axis and so as to be movable along an axial direction of the third pivot axis, and that includes an end section on a first arm side;
• and
• a vibration detection section that is provided at the base section;
• and
• a control section configured to control driving of at least one of the first arm, the second arm, and the shaft based on a detection value of the vibration detection section, wherein
• a length of the shaft from the second arm to the end section of the shaft is shorter than a distance along the axial direction of the third pivot axis between the second arm and the first arm,
• the vibration detection section is disposed inside of the flange section,
• the flange section includes a recess section that opens to the first arm side, and
• the vibration detection section is installed in the recess section.