Horizontal multi-joint robot

Abstract

The present invention provides a horizontal multi-articulated robot, which comprises a base (100), a first arm (10), a second arm (20), and a cable unit (50) connected to the base (100) and the second arm (20), wherein the cable unit (50) comprises: an arm conduit (51), one end of which is connected to the second arm (20), and the other end of which is provided with a first plate-shaped component (61) fixed to the upper surface of the base (100); a plurality of cables (CA) inserted into the arm conduit (51); and a second plate-shaped component (62) which closes a back opening (101) of the base (100), wherein the first plate-shaped component (61) closes an upper surface opening (102) arranged on the upper surface of the base (100), and the upper surface opening (102) is connected to the back opening (101).

Description

Technical Field

[0001] The invention relates to a horizontal multi-joint robot. Background Art

[0002] As a horizontal articulated robot, a robot is known that includes: a base; a first arm supported on the base so as to be rotatable around a first axis; and a second arm supported on the first arm so as to be rotatable around a second axis (for example, see Patent Document 1).

[0003] In addition, a vertical multi-articulated robot is known, which has an arm formed by connecting a plurality of arm components in series, and in order to configure a plurality of cables in the arm, the back side of each component is opened and closed using a cover component, and the plurality of cables are used to send power, signals, etc. to motors that respectively drive the plurality of arm components (for example, refer to patent document 2).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2014-4638

[0007] Patent Document 2: Japanese Patent No. 3340456 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] The horizontal articulated robot has a flexible conduit connected to the second arm at one end and to the base at the other end, and multiple cables for sending power, signals, etc. to the second arm are connected to the base and the second arm via the conduit instead of the first arm.

[0010] In addition, the multiple cables drawn from the other end of the conduit are connected to the control device, power supply device, etc. for controlling the horizontal articulated robot. Some of these multiple cables need to be connected to the motor, etc. in the base, but there are multiple cables on the other end of the conduit, so it is difficult to perform the following operations: the operation of finding the cable connected in the base, the operation of arranging the configuration of the cable and the configuration of other cables. Here, since the space in the base is often small, the above connection operation is time-consuming and laborious.

[0011] In addition to the small space in the base, when there is no surplus length of the cable, the above-mentioned connection operation is performed in the base with the bundle of cables close to the base or arranged in the base, so the connection operation is more time-consuming and laborious. In order to improve this situation, there is surplus length of the cable, but the number of cables is not small, so space for accommodating the surplus cables should be ensured in the base.

[0012] The present invention has been made in view of the above-mentioned circumstances. One object of the present invention is to provide a horizontal articulated robot that can easily perform the laying work of cables for supplying power, signals, etc. to devices in the robot.

[0013] Solutions for solving problems

[0014] In order to solve the above problems, the present invention adopts the following solutions.

[0015] The horizontal multi-articulated robot of one embodiment of the present invention comprises: a base; a first arm, which is supported on the base in a manner that allows it to rotate around a first axis; a second arm, which is supported on the first arm in a manner that allows it to rotate around a second axis; and a cable unit, which is connected to the base and the second arm, the cable unit having: a flexible arm conduit, one end of which is connected to the second arm, and a first plate-shaped member fixed to the upper surface of the base by a fastening member is installed at the other end; a plurality of cables, which are inserted through the arm conduit and one end of which is introduced into the second arm; and a second plate-shaped member, which constitutes at least a portion of the back side of the base and is fixed to the base by a fastening member, thereby closing a back side opening provided on the back side of the base, the first plate-shaped member closing an upper surface opening provided on the upper surface of the base, and the upper surface opening is connected to the back side opening.

[0016] In the above scheme, the back opening of the base is connected to the top opening. Therefore, when performing the connection operation of connecting the cable to the motor arranged in the base, it is easy for the operator to put his hand in, and the visibility in the base is also good. In addition, after the connection operation between the motor in the base and the cable, the plurality of cables led out from the other end of the arm catheter can be arranged in the base through the opening formed by the back opening and the top opening.

[0017] After that, the first plate-shaped member is fixed to the upper surface of the base, and the second plate-shaped member is fixed to the base, thereby completing the connection work in the base, the arrangement work of the cables in the base, and the installation work of the arm conduit to the base. Therefore, the laying work of the cables is easy.

[0018] In addition, the first plate-shaped member and the second plate-shaped member are not formed integrally, but are fixed to the base by fastening members, respectively, so that the first plate-shaped member and the second plate-shaped member can be closely attached to the base, which is helpful to prevent dust, water, etc. from invading the base.

[0019] In the above aspect, preferably, the cable unit further includes a flexible base conduit extending from the second plate-shaped member to the outside of the base, and at least a portion of the cable led out from the other end of the arm conduit is introduced into the base conduit.

[0020] The multiple cables drawn out from the other end of the arm conduit are introduced into the base conduit, thereby the multiple cables drawn out from the other end of the arm conduit are gathered together. Since there are many cables, this scheme is conducive to easy laying operation.

[0021] In the above scheme, preferably, the first plate-shaped member is provided with a base-end cable support portion for supporting the cable and / or a connector provided midway along the cable, and the base-end cable support portion is arranged in the base when the first plate-shaped member is fixed to the base.

[0022] In this scheme, the base end side cable support portion can be used to support at least a portion of the multiple cables led out from the other end of the arm catheter. Therefore, the multiple cables led out from the other end of the arm catheter can be effectively organized. Since the number of cables led out from the other end of the arm catheter is not small, the above scheme is conducive to easy cable laying.

[0023] In addition, the first arm and the second arm rotate around the first axis and the second axis, and there are cases where these rotations are performed at high speed, and there are cases where movements that are approximately reciprocating are performed. Therefore, the arm catheter swings in the horizontal direction, or the arm catheter is repeatedly deformed by bending and twisting. At this time, the cable led out from the other end of the arm catheter also swings in the horizontal direction, etc. In the above scheme, the cable or connector led out from the other end of the arm catheter is supported on the base end side cable support part, which is conducive to preventing adverse conditions caused by collision between the cable or connector and the inner wall of the base.

[0024] In the above scheme, preferably, a cover member for closing the upper surface opening of the second arm is installed on the one end of the arm conduit, and the upper surface opening of the second arm allows an operator to insert a hand into the second arm.

[0025] In this aspect, the cover member is fixed to the second arm in order to close the upper surface opening of the second arm, whereby one end of the arm conduit is attached to the second arm. This aspect is advantageous in facilitating the cable laying operation.

[0026] In the above scheme, preferably, the cover part is provided with a front end cable support portion for supporting the cable and / or a connector arranged midway on the cable, and the front end cable support portion of the cover part is arranged in the second arm when the cover part is fixed to the second arm.

[0027] In this scheme, the cable support portion at the front end of the cover member can be used to support at least a portion of the plurality of cables led out from one end of the arm conduit. Therefore, the plurality of cables led out from one end of the arm conduit can be effectively organized. Since the number of cables led out from one end of the arm conduit is not small, the above scheme facilitates the cable laying operation.

[0028] In addition, the first arm and the second arm rotate around the first axis and the second axis, and these rotations may be performed at high speed, and there may be cases where the movements are approximately reciprocating. Therefore, the arm catheter swings in the horizontal direction, or the arm catheter is repeatedly deformed by bending and twisting. At this time, the cable led out from one end of the arm catheter also swings in the horizontal direction, etc. In the above scheme, the cable or connector led out from one end of the arm catheter is supported by the front end side cable support part, which is conducive to preventing adverse conditions caused by collision between the cable or connector and the inner wall of the base.

[0029] Effects of the Invention

[0030] According to the present invention, it is possible to easily perform the work of laying cables for supplying power, signals, etc. to devices in the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a perspective view of a state in which a cable unit of the horizontal articulated robot according to an embodiment of the present invention is removed.

[0032] Figure 2 It is a front view of the horizontal articulated robot according to this embodiment.

[0033] Figure 3 This is a block diagram of a control device for the horizontal articulated robot according to the present embodiment.

[0034] Description of reference numerals:

[0035] 1: Robot

[0036] 10: First Arm

[0037] 11: First axis motor

[0038] 20: Second Arm

[0039] 21: Upper surface opening

[0040] 22: Second axis motor

[0041] 23: Third axis motor

[0042] 24: Fourth axis motor

[0043] 30: Third Arm

[0044] 31: Tools

[0045] 31a: Drive device

[0046] 40: Control device

[0047] 50: Cable unit

[0048] 51: Arm catheter

[0049] 61: First plate-shaped member

[0050] 62: Second plate-shaped member

[0051] 62a: Base conduit

[0052] 63: Base end side cable support part

[0053] 63a: Protrusion

[0054] 63b: Catheter side connector

[0055] 63c: Connector

[0056] 70: Cover parts

[0057] 71a: protrusion

[0058] 71b: Catheter side connector

[0059] 71c: Connector DETAILED DESCRIPTION

[0060] Hereinafter, a horizontal articulated robot 1 according to an embodiment of the present invention will be described with reference to the drawings.

[0061] like Figure 1 As shown, the horizontal multi-joint robot 1 of this embodiment includes: a base 100; a first arm 10 supported on the base 100 so as to be rotatable around a first axis AX1 extending in the vertical direction; a second arm 20 supported on the first arm 10 so as to be rotatable around a second axis AX2 extending in the vertical direction; and a third arm 30 supported on the second arm 20. The robot 1 is controlled by a control device 40.

[0062] like Figure 1 as well as Figure 2As shown, the base end side of the first arm 10 is supported on the base 100 in a manner that allows rotation around the first axis AX1, and the base end side of the second arm 20 is supported on the front end side of the first arm 10 in a manner that allows rotation around the second axis AX2. In addition, the third arm 30 is an axial member extending in the up-down direction, and is supported on the front end side of the second arm 20 in a manner that allows movement in the up-down direction and rotation around the axis AX extending in the up-down direction. The base 100 may also have a hollow portion and be open downward.

[0063] like Figure 2 As shown, a first axis motor 11 such as a servo motor is installed in the base 100. The first axis motor 11 is used to rotate the first arm 10. If the first axis motor 11 is driven, the first arm 10 rotates around the first axis AX1. A second axis motor 22 such as a servo motor is installed in the second arm 20. The second axis motor 22 is used to rotate the second arm 20. In addition, a third axis motor 23 such as a servo motor for moving the third arm 30 in the up-down direction is installed in the second arm 20, or a fourth axis motor 24 for rotating the third arm 30 around the axis AX is installed.

[0064] The third arm 30 is supported on the front end side of the second arm 20 by a ball screw nut and a ball spline nut not shown in the figure. This structure is well known as disclosed in, for example, Japanese Patent Application Laid-Open No. 2014-4638, and is not described in detail, but the ball screw nut is supported on the front end side of the second arm 20 in a manner that allows it to rotate around the axis AX, and the ball spline nut is also supported on the front end side of the second arm 20 in a manner that allows it to rotate around the axis AX, and the ball spline nut and the ball screw nut are arranged in the up and down direction. In addition, the rotational force of the third-axis motor 23 is transmitted to the ball screw nut via a belt not shown in the figure, thereby rotating the ball screw nut. On the other hand, the rotational force of the fourth-axis motor 24 is transmitted to the ball spline nut via a belt not shown in the figure, thereby rotating the ball spline nut.

[0065] The third arm 30 is a ball screw spline shaft, and a spiral ball screw groove (not shown) engaged with a metal ball of a ball screw nut and a spline groove (not shown) engaged with a metal ball of a ball spline nut are provided on the outer peripheral surface of the third arm 30 .

[0066] Therefore, when the ball screw nut is rotated by the third shaft motor 23 , the third arm 30 moves in the up-down direction, and when the ball spline nut is rotated by the fourth shaft motor 24 , the third arm 30 rotates around the axis AX.

[0067] like Figure 3As shown, the control device 40 comprises: a control unit 41, which has a processor, etc.; a display device 42; a storage unit 43, which has a non-volatile memory, ROM, RAM, etc.; an input device 44 such as a keyboard, a touch panel, and an operating panel; a transceiver unit 45, which sends and receives signals; and a servo controller 46, which is respectively connected to each motor 11, 22, 23, and 24.

[0068] The storage unit 43 stores a system program 43a, which performs basic functions of the control device 40. In addition, the storage unit 43 stores an action program 43b. Based on the action program 43b, the control unit 41 sends a control command for controlling each servomotor 11, 22, 23, 24 to the servo controller 46, and sends a control command to the drive device 31a (eg, the hand) of the tool 31 provided at the lower end of the third arm 30. Figure 3 ) sends control instructions, whereby robot 1 performs the operation.

[0069] The robot 1 and the control device 40 are connected by a plurality of cables CA, and the plurality of cables CA are internally provided with signal lines, power lines, etc. In the present embodiment, a power supply device for supplying power to each motor 11, 22, 23, 24 is provided in the control device 40, but the power supply device (not shown) may also be provided separately from the control device 40.

[0070] In order to perform such connection, in the present embodiment, the robot 1 includes a cable unit 50 . The cable unit 50 includes a flexible arm pipe 51 whose one end is connected to the upper surface of the base end side of the second arm 20 .

[0071] The arm conduit 51 is a tubular member, and is made of a material having rubber-like elasticity such as polyurethane. A shielding layer formed of a metal wire material may also be formed on the inner surface or inside of the arm conduit 51. A first plate-shaped member 61 is mounted on the other end of the arm conduit 51, and the first plate-shaped member 61 has a plate-shaped portion extending in a direction intersecting the central axis of the other end of the arm conduit 51. The first plate-shaped member 61 is fixed to the upper surface of the base 100 by a fastening member such as a bolt.

[0072] The plurality of cables CA are inserted through the arm conduit 51 from one end thereof to the other end, and the cables CA drawn out from one end of the arm conduit 51 are introduced into the second arm 20. A portion of the cables CA introduced into the second arm 20 is connected to the motors 22, 23, 24, etc. in the second arm 20, and another portion of the cables CA introduced into the second arm 20 is pulled out from the second arm 20 to be connected to the tool 31, etc.

[0073] The cable CA drawn out from the other end of the arm conduit 51 is introduced into the base 100 . That is, the portion of the cable CA drawn out from the other end of the arm conduit 51 is arranged in the base 100 .

[0074] In addition, the cable unit 50 of the present embodiment has a second plate-shaped member 62 constituting at least a portion of the back side of the base 100. The second plate-shaped member 62 closes a back side opening 101 provided on the back side of the base 100, and is fixed to the back side of the base 100 by a fastening member such as a bolt. Preferably, the back side opening 101 is provided on most of the back side of the base 100. When viewed from the back side, the back side opening 101 occupies a range of 50% or more, preferably a range of 80% or more, of the back side of the base 100. In the present embodiment, an auxiliary battery 64 for devices such as an encoder of the robot 1 is mounted on the second plate-shaped member 62.

[0075] A flexible base conduit 62a extending toward the rear of the base 100 is mounted on the second plate-shaped member 62. The base conduit 62a is a tubular member formed of a flexible material such as polyurethane or PVC. One end of the base conduit 62a is fixed to the second plate-shaped member 62. The portion of the cable CA drawn out from the other end of the arm conduit 51 is inserted into the base conduit 62a, and the control device 40 is connected to a power supply device, etc. In addition, a portion of the cable CA drawn out from one end of the base conduit 62a is connected to the first axis motor 11 in the base 100.

[0076] The first plate member 61 closes an upper surface opening 102 provided on the upper surface of the base 100, and the upper surface opening 102 is connected to the rear surface opening 101. That is, the base 100 has openings (rear surface opening 101 and upper surface opening 102) connected from the rear surface to the upper surface thereof.

[0077] The cable unit 50 of this embodiment has a cover member 70 attached to one end of the cable unit 50. The cover member 70 is formed of a plate-like member, and is used to close the upper surface opening 21 of the second arm 20. When the motors 22, 23, 24, etc. in the second arm 20 are connected to the cables CA, the upper surface opening 21 is used for an operator to insert both hands into the second arm 20, for example. The cover member 70 is fixed to the second arm 20 by a fastening member such as a bolt.

[0078] The first plate-shaped member 61 at the other end of the arm conduit 51 is provided with a base-end cable support portion 63 for supporting the cable CA and / or connectors 63b and 63c provided in the middle of the cable CA. The base-end cable support portion 63 of the present embodiment has a plurality of plate-shaped protrusions 63a extending from the first plate-shaped member 61 in the plate thickness direction thereof. If the first plate-shaped member 61 is fixed to the upper surface of the base 100, the protrusions 63a are arranged in the base 100.

[0079] A plurality of conduit-side connectors 63b are mounted on one side of the protruding portion 63a in the thickness direction. In addition, a plurality of cables CA drawn from the other end of the arm conduit 51 are connected to each conduit-side connector 63b. Connectors 63c are connected to each conduit-side connector 63b from the other side of the protruding portion 63a in the thickness direction, and a plurality of cables CA are connected to each connector 63c. The plurality of cables CA from each connector 63c are inserted through the base conduit 62a to be connected to the control device 40, the power supply device, and the like.

[0080] That is, the plurality of cables CA drawn out from the other end of the arm catheter 51 are connected to the control device 40 , the power supply device, and the like via the catheter-side connector 63 b and the connector 63 c .

[0081] In addition, the catheter side connector 63b and the connector 63c may not be supported by the protruding portion 63a, but the cable CA may be supported by the protruding portion 63a. In addition, the protruding portion 63a may not have a plate shape but may have another shape, and the surface of the first plate-shaped member 61 that constitutes the inner wall surface of the base 100 may function as the base end side cable support portion 63.

[0082] The cover member 70 mounted on one end of the arm conduit 51 is provided with a front end cable support portion for supporting the cable CA and / or connectors 71b and 71c provided in the middle of the cable CA. The front end cable support portion of this embodiment has a plate-shaped protrusion 71a extending from the cover member 70 in the plate thickness direction thereof. If the cover member 70 is fixed to the second arm 20, the protrusion 71a is arranged in the second arm 20.

[0083] A plurality of conduit-side connectors 71b are mounted on one side of the protruding portion 71a in the thickness direction. In addition, a plurality of cables CA drawn from one end of the arm conduit 51 are connected to each conduit-side connector 63b. Connectors 71c are connected to each conduit-side connector 71b from the other side of the protruding portion 71a in the thickness direction, and a plurality of cables CA are connected to each connector 71c. The plurality of cables CA from each connector 71c are connected to the motors 22, 23, 24, etc.

[0084] That is, the plurality of cables CA drawn out from one end of the arm conduit 51 are connected to the motors 22 , 23 , 24 and the like via the conduit-side connector 71 b and the connector 71 c .

[0085] In addition, the conduit side connector 71b and the connector 71c may not be supported by the protruding portion 71a, but the cable CA may be supported by the protruding portion 71a. In addition, the protruding portion 71a may not have a plate shape but may have another shape, and the surface constituting the inner wall surface of the second arm 20 in the cover member 70 may function as a front end side cable support portion.

[0086] In addition, as described above, when the plurality of cables CA led out from the other end of the arm catheter 51 are connected to the control device 40, the power supply device, etc. via the catheter-side connector 63b and the connector 63c, an integrated component including the arm catheter 51, the plurality of cables CA in the arm catheter 51, and the catheter-side connector 63b can be used. The integrated component can also include the first plate-shaped member 61 and the proximal-end-side cable support portion 63.

[0087] Thus, in the present embodiment, the rear opening 101 and the upper surface opening 102 of the base 100 are connected. Therefore, when performing the connection operation of connecting the cable CA to the first axis motor 11 disposed in the base 100, it is easy for the operator to put his hand in, and the visibility in the base 100 is also good. In addition, after the connection operation of the first axis motor 11 and the cable CA in the base 100, the plurality of cables CA led out from the other end of the arm guide tube 51 can be disposed in the base 100 through the opening formed by the rear opening 101 and the upper surface opening 102.

[0088] After that, the first plate-shaped member 61 is fixed to the upper surface of the base 100, and the second plate-shaped member 62 is fixed to the base 100, thereby completing the connection work in the base 100, the arrangement work of the cable CA in the base 100, and the installation work of the arm guide tube 51 to the base 100. Therefore, the laying work of the cable CA is easy.

[0089] In addition, the first plate-shaped member 61 and the second plate-shaped member 62 are not formed in one piece, but are fixed to the base 100 by fastening members, respectively, so that the first plate-shaped member 61 and the second plate-shaped member 62 can be closely attached to the base 100. This is conducive to preventing dust, water, etc. from intruding into the base 100. In addition, the first plate-shaped member 61 and the second plate-shaped member 62 can also be formed in one piece if the problem of dust, water, etc. intruding into the base 100 can be solved.

[0090] In the present embodiment, the cable unit 50 further includes a flexible base conduit 62 a extending from the second plate member 62 to the outside of the base 100 , and at least a portion of the cable CA drawn out from the other end of the arm conduit 51 is introduced into the base conduit 62 a .

[0091] The plurality of cables CA led out from the other end of the arm conduit 51 are introduced into the base conduit 62a, thereby gathering the plurality of cables CA led out from the other end of the arm conduit 51. This structure facilitates the laying work because there are many cables CA.

[0092] In addition, in the present embodiment, the first plate-shaped member 61 is provided with a base-end cable support portion 63 for supporting the cable CA and / or the connectors 63 b and 63 c . The base-end cable support portion 63 is arranged in the base 100 when the first plate-shaped member 61 is fixed to the base 100 .

[0093] In this structure, at least a part of the plurality of cables CA led out from the other end of the arm catheter 51 can be supported by the base end side cable support portion 63. Therefore, the plurality of cables CA led out from the other end of the arm catheter 51 can be effectively organized. Since the number of cables CA led out from the other end of the arm catheter 51 is not small, this structure is advantageous in facilitating the laying of the cables CA.

[0094] In addition, the first arm 10 and the second arm 20 rotate around the first axis AX1 and the second axis AX2, and there are cases where these rotations are performed at high speed, and there are cases where movements that are approximately reciprocating are performed. Therefore, the arm catheter 51 swings in the horizontal direction, or the arm catheter 51 is repeatedly deformed by bending and twisting. At this time, the cable CA led out from the other end of the arm catheter 51 also swings in the horizontal direction, etc. In this embodiment, the cable CA or the connectors 63b, 63c led out from the other end of the arm catheter 51 are supported on the base end side cable support part 63, which is conducive to preventing adverse conditions caused by collision between the cable CA or the connectors 63b, 63c and the inner wall of the base 100.

[0095] In this embodiment, a cover member 70 for closing the upper surface opening 21 of the second arm 20 is attached to one end of the arm guide tube 51 . The upper surface opening 21 of the second arm 20 allows an operator to insert his hand into the second arm 20 .

[0096] In this structure, the cover member 70 is fixed to the second arm 20 to close the upper surface opening 21 of the second arm 20 , whereby one end of the arm conduit 51 is attached to the second arm 20 . This structure is advantageous in facilitating the laying of the cable CA.

[0097] In addition, the cover member 70 of the present embodiment is provided with a front end cable support portion for supporting the cable CA and / or the connectors 71 b and 71 c , and the front end cable support portion of the cover member 70 is arranged in the second arm 20 when the cover member 70 is fixed to the second arm 20 .

[0098] In this structure, at least a part of the plurality of cables CA led out from one end of the arm conduit 51 can be supported by the cable support portion on the front end of the cover member 70. Therefore, the plurality of cables CA led out from one end of the arm conduit 51 can be effectively organized. Since a large number of cables CA are led out from one end of the arm conduit 51, this structure facilitates the laying of the cables CA.

[0099] In addition, the arm conduit 51 swings in the horizontal direction, and the arm conduit 51 is repeatedly deformed by bending and twisting. At this time, the cable CA led out from one end of the arm conduit 51 also swings in the horizontal direction. In the above scheme, the cable CA or the connectors 71b and 71c led out from one end of the arm conduit 51 are supported by the front end cable support part, which is conducive to preventing the cable CA or the connectors 71b and 71c from colliding with the inner wall of the base 100.

[0100] Furthermore, the connectors 63b, 63c, 71b, 71c provided on the cable CA and / or in the middle of the cable CA may be supported on the base end side cable support portion 63 by a binding band or the like.

Claims

1. A horizontal multi-joint robot, characterized in that: have: Pedestal; A first arm supported on the base in a manner capable of rotating about a first axis; a second arm supported on the first arm in a manner capable of rotating about a second axis; as well as a cable unit connected to the base and the second arm, The cable unit comprises: a flexible arm conduit, one end of which is connected to the second arm and the other end of which is provided with a first plate-shaped member fixed to the upper surface of the base by a fastening member; a plurality of cables, which are inserted through the arm conduit and have one end introduced into the second arm; as well as a second plate-shaped member constituting at least a portion of the back surface of the base and being fixed to the base by a fastening member, thereby closing a back surface opening provided on the back surface of the base, The first plate-shaped member closes the upper surface opening provided on the upper surface of the base, and the first plate-shaped member attached to the other end of the arm catheter becomes separate from the second plate-shaped member when removed from the base. The upper surface opening is connected to the back surface opening, The first plate-shaped member is provided with a base end side cable support portion for supporting the cable and / or a connector provided in the middle of the cable. The base-side cable support portion is arranged in the base when the first plate-shaped member is fixed to the base.

2. The horizontal multi-joint robot according to claim 1, characterized in that: The cable unit further includes a flexible base guide extending from the second plate-shaped member toward the outside of the base. At least a portion of the cable led out from the other end of the arm pipe is introduced into the base pipe.

3. The horizontal multi-joint robot according to claim 1 or 2, characterized in that: a cover member for closing the upper surface opening of the second arm, mounted on the one end of the arm conduit, The upper surface of the second arm is opened for a worker to insert his hand into the second arm.

4. The horizontal multi-joint robot according to claim 3, characterized in that: The cover member is provided with a front end cable support portion for supporting the cable and / or a connector provided in the middle of the cable. The front end side cable supporting portion of the cover member is arranged in the second arm when the cover member is fixed to the second arm.

Images