Painting robot and painting system

Abstract

This invention discloses a painting robot and painting system that improves accessibility to a workpiece. The painting robot includes a base, a rotating base, a lower arm, an upper arm, and a wrist. The upper arm includes a first upper arm on a base side and a second upper arm on a top side. The base side of the second upper arm is supported on the top side of the first upper arm on its inner side, which is a side supported by the lower arm. The second upper arm rotates about a fourth axis parallel to a third axis. The first upper arm has a pump for an end effector on its inner side.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a painting robot and a painting system. Background Technology

[0002] Previously, a robot was known that drives multiple joints to perform actions. An end effector, designed for applications such as welding and gripping, was mounted at the top of the robot to perform various tasks such as workpiece processing and movement.

[0003] In addition, a painting system is proposed that configures a painting robot equipped with an end effector for painting in a painting chamber to paint the outer body panels of a car body, which are equivalent to workpieces (for example, see Patent Document 1).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2013-006235 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] However, when painting the inner body panels rather than the outer body panels, interference between the robot and the workpiece is particularly prone to become a problem. Furthermore, when ensuring a safe distance between the workpiece and the robot to prevent interference, the painting booth tends to become larger.

[0009] One embodiment aims to provide a painting robot and painting system that improves accessibility to a workpiece by expanding the effective range of motion.

[0010] Technical solution

[0011] One embodiment of the painting robot includes a base, a rotating base, a lower arm, an upper arm, and a wrist. The base is fixed to a mounting surface. The base end of the rotating base is supported on the upper surface of the base, and the rotating base rotates about a first axis in the vertical direction. The base end of the lower arm is supported on the rotating base, and the lower arm rotates about a second axis perpendicular to the first axis. The base end of the upper arm is supported on the tip of the lower arm, and the upper arm rotates about a third axis parallel to the second axis. The wrist is a three-axis structure with its base end supported on the tip of the upper arm and capable of mounting an end effector at the tip. The upper arm includes a first upper arm on the base end and a second upper arm on the tip. The base end of the second upper arm is supported on the tip of the first upper arm on its inner side, which is a side supported by the lower arm, and the second upper arm rotates about a fourth axis parallel to the third axis. The first upper arm has a pump for the end effector on its inner side.

[0012] One embodiment of the coating system includes a coating chamber and the coating robots. At least one pair of the coating robots are arranged in the coating chamber, spaced apart from the workpiece, in the workpiece transport direction. In the pair of coating robots, their axis structures are symmetrical about each other with respect to a transport center plane along the transport direction, and their first axes are equidistant from the transport center plane.

[0013] Beneficial effects

[0014] According to one embodiment, a painting robot and painting system that improves accessibility to workpieces can be provided. Attached Figure Description

[0015] Figure 1 This is a side view of the painting robot according to the implementation method.

[0016] Figure 2A This is a diagram illustrating a landing setup example.

[0017] Figure 2B This is a diagram showing an example of a wall-mounted installation.

[0018] Figure 3A This is a side view showing the location of the support section when viewed from the positive Y-axis.

[0019] Figure 3B From Figure 3A The side view when viewed in the negative X-axis direction.

[0020] Figure 3C It is a three-dimensional view showing the location of the support.

[0021] Figure 3D This is a side view showing the location of the pump and electro-pneumatic equipment.

[0022] Figure 4 This is a top view schematic diagram of the coating system according to the implementation method.

[0023] Figure 5 This is a side view schematic diagram of the coating system according to the implementation method.

[0024] Figure 6A This is a model diagram representing the axial structure of a two-degree-of-freedom hollow wrist.

[0025] Figure 6B This is a model diagram representing the axial structure of a vertical multi-joint wrist.

[0026] Figure 6C This is a model diagram representing the axial structure of a straight wrist.

[0027] Figure 6DThis is a model diagram representing the axial structure of a three-degree-of-freedom hollow wrist.

[0028] Figure 7 It is a block diagram representing the structure of the coating system.

[0029] Figure 8 This is a flowchart illustrating the action process of a painting robot. Detailed Implementation

[0030] Hereinafter, with reference to the accompanying drawings, embodiments of the painting robot and painting system disclosed in this application will be described in detail. It should be noted that the present invention is not limited to the embodiments shown below. Furthermore, the following description uses vehicles such as automobiles as the object to be painted, but the object to be painted is not limited to vehicles. Furthermore, the object to be painted will be referred to as a "workpiece" below.

[0031] Furthermore, in the embodiments shown below, expressions such as "perpendicular," "orthogonal," "vertical," "identical," or "symmetrical" will be used, but these states need not be strictly satisfied. That is, it is assumed that the above expressions allow for deviations in manufacturing accuracy, setting accuracy, processing accuracy, detection accuracy, etc.

[0032] First, use Figure 1 The painting robot 10 of the embodiment will be described. Figure 1 This is a side view of the painting robot 10 according to the embodiment. Figure 1 For ease of understanding, a three-dimensional orthogonal coordinate system is shown, with the Z-axis (vertically upward) as the positive direction, the X-axis (the workpiece conveying direction, described later) as the positive direction, and the Y-axis (orthogonal to the X and Z axes). This orthogonal coordinate system is sometimes also shown in other figures used in the following description. It should be noted that "orthogonal" means "perpendicular" and "intersecting" each other.

[0033] like Figure 1 As shown, the painting robot 10 includes a base 10b, a rotating base 11, a lower arm 12, an upper arm UA, and a wrist WU. The base 10b is fixed to the mounting surface IS. The base end of the rotating base 11 is supported on the upper surface of the base 10b, and the rotating base 11 rotates about a first axis A1 along the vertical direction (Z-axis).

[0034] Here, "rotation" refers to the action of changing the angle between adjacent arms. Furthermore, "rotation" refers to the action of rotating relative to each other without changing the angle between adjacent arms. It should be noted that "rotation" can also be described as the action of swinging the arm around a rotation axis, while "rotation" refers to the action of rotating the arm around a rotation axis along the extension direction of the arm.

[0035] The lower arm 12 is supported at its base on a slewing base 11 and rotates about a second axis A2 perpendicular to the first axis A1. The upper arm UA is supported at its base on the top end of the lower arm 12 and rotates about a third axis A3 parallel to the second axis A2.

[0036] The wrist unit WU is a three-axis structure that is supported at its base on the tip of the upper arm UA and can be fitted with an end effector EE at the tip. Specifically, the wrist unit WU has a fifth arm 15, a sixth arm 16, and a seventh arm 17. The fifth arm 15 is supported at its base on the tip of the upper arm UA and rotates about a fifth axis A5 that is orthogonal to the fourth axis A4. The sixth arm 16 is supported at its base on the tip of the fifth arm 15 and rotates about a sixth axis A6 that intersects the fifth axis A5.

[0037] The tilt angle between the fifth axis A5 and the sixth axis A6 can be set to any angle with the acute side greater than 0 degrees and less than 90 degrees. The base end of the seventh arm 17 is supported on the top end of the sixth arm 16, and the seventh arm 17 rotates about the seventh axis A7, which intersects the sixth axis A6. Furthermore, an end effector EE for painting can be mounted on the top end of the seventh arm 17 (see reference). Figure 1 (The dotted line). It should be noted that, Figure 1 The wrist unit (WU) shown is a so-called "2-DOF hollow wrist" for painting. By making the wrist unit (WU) hollow, flexible hoses, pipes, cables, etc., can be installed in the hollow section. Therefore, even for workpieces with complex shapes, there is no need to worry about interference from flexible hoses, pipes, cables, etc., allowing for easy painting operations.

[0038] Here, the upper arm UA has a first upper arm 13 at its base and a second upper arm 14 at its tip. The base side of the first upper arm 13 is supported on the tip side of the lower arm 12, and the first upper arm 13 rotates about the aforementioned third axis A3. The base side of the second upper arm 14 is supported on the tip side of the first upper arm 13, and the second upper arm 14 rotates about a fourth axis A4 parallel to the third axis A3. That is, the upper arm UA is a dual-arm structure with a fourth axis A4 that is equivalent to a so-called "redundant axis," and the arm can perform flexion and extension movements by rotating about the fourth axis A4.

[0039] In this embodiment, the distance between the third axis A3 and the fourth axis A4 is defined as the arm length of the first upper arm 13, and the distance between point P, which is the intersection of the fifth axis A5 and the sixth axis A6, and the fourth axis A4 is defined as the arm length of the second upper arm 14. Here, the arm length of the second upper arm 14 is longer than the arm length of the first upper arm 13, and shorter than twice the arm length of the first upper arm 13.

[0040] That is, when the arm length of the first upper arm 13 is set to "L1" and the arm length of the second upper arm 14 is set to "L2", there is a relationship of "L1 < L2 < L1×2". By setting it in this way, it is possible to achieve a balance between preventing interference with the workpiece and approaching the workpiece. It should be noted that when it is set to about "L2 = 1.2×L1", it is more preferable from the viewpoint of achieving a balance between preventing interference and approachability.

[0041] In this way, when the upper arm UA has a redundant axis, the upper arm UA can perform flexion and extension movements, so it is possible to avoid interference with the workpiece and make the installation position of the painting robot 10 closer to the workpiece. In addition, by making the second upper arm 14 longer than the first upper arm 13, the movement range where interference with the workpiece can be avoided, that is, the "effective movement range", can be expanded, and the approachability to the workpiece can be further improved.

[0042] In addition, as Figure 1 shown, the proximal end side of the second upper arm 14 is supported on the side surface of the first upper arm 13 supported by the lower arm 12, that is, the "inner side surface". In addition, the first upper arm 13 has a pump PU for the end effector EE on the inner side surface side.

[0043] In this way, by arranging the second upper arm 14 on the side surface where the first upper arm 13 is supported by the lower arm 12, that is, the inner side surface of the first upper arm 13, a space that is not easily interfered with by obstacles and is sandwiched between the tip side of the lower arm 12 and the proximal end side of the second upper arm 14 will be generated on the inner side surface side of the first upper arm 13.

[0044] And, by arranging the pump PU for the end effector EE in this space, the effective movement range where interference with the workpiece can be avoided can be expanded, and the approachability to the workpiece can be improved. In addition, compared with the case where the pump PU is arranged on each arm closer to the base end side of the painting robot 10 than the first upper arm 13 and the case where the pump PU is arranged outside the painting robot 10, the distance between the pump PU and the end effector EE can be shortened. Therefore, it is possible to reduce paint loss and improve painting quality.

[0045] Here, in Figure 1 the pump PU is shown by a rectangular symbol, but the outer shape of the pump PU is not limited. That is, the outer shape of the pump PU can be set to any shape. It should be noted that from the viewpoint of explosion protection, the actuator for driving the pump PU is arranged inside the first upper arm 13, and this will be described later using Figure 3D in the following text.

[0046] In addition, it is also possible to set the axis structure of the painting robot 10 shown in Figure 1 to a structure that is mirror-symmetrical with respect to a symmetry plane parallel to the vertical axis (Z axis), and this will be described later using Figure 4 etc. in the following text. Moreover, it is also possible to Figure 1The wrist WU shown is a wrist WU with a different axis structure, which will be discussed using Figures 6A to 6D This will be described later.

[0047] Next, use Figure 2A and Figure 2B right Figure 1 The example shown illustrates the setup of the painting robot 10 in the painting chamber 200. Figure 2A This is a diagram illustrating an example of a landing setup. Figure 2B This is a diagram illustrating an example of a wall-mounted installation. For example... Figure 2A and Figure 2B As shown, the coating chamber 200 is a semi-enclosed space surrounded by a floor 201, a pair of walls 202 (one of which is omitted from the diagram), and a top surface 203, and is open on the upstream side (negative X-axis direction side) and downstream side (positive X-axis direction side) of the workpiece conveying direction.

[0048] It should be noted that, in Figure 2A and Figure 2B The image shows a case where the painting robot 10 is positioned near the left side (positive Y-axis direction side) of the painting chamber 200, relative to the workpiece transport direction (positive X-axis direction). Furthermore, Figure 2A and Figure 2B Direction and perspective Figure 1 The directional perspective is the same.

[0049] like Figure 2A As shown, when the painting robot 10 is set to be grounded, the bottom surface of the base 10b is fixed to the floor 201 of the painting chamber 200. Here, the first axis A1 of the painting robot 10 is parallel to the vertical axis (Z-axis). It should be noted that in Figure 2A The diagram shows the case where the base 10b is directly fixed to the ground 201, but it can also be configured to fix the base 10b to a platform fixed to the ground 201.

[0050] like Figure 2B As shown, when the painting robot 10 is wall-mounted, it is wall-mounted to the wall 202 of the painting chamber 200 via an auxiliary member 10c provided on the lower surface of the base 10b. Here, the first axis A1 of the painting robot 10 is... Figure 2A The situation shown is similarly parallel to the vertical axis (Z-axis). It should be noted that... Figure 2B The diagram shows the base 10b with its side surface connected to the wall 202, but it is also possible to configure the base 10b with its side surface away from the wall 202. Alternatively, the auxiliary member 10c can be omitted, and the side surface of the base 10b can be fixed to the wall 202.

[0051] It should be noted that, in Figure 2A and Figure 2B The image shows a painting robot 10 configured with its first axis A1 parallel to the vertical axis (Z-axis), but it can also be configured with the first axis A1 tilted relative to the vertical axis (Z-axis).

[0052] For example, the first axis A1 can also be used with Figure 2A and Figure 2B The painting robot 10 is configured such that the YZ plane is parallel to it and within a range of 45 to 90 degrees relative to the Y-axis. Here, 90 degrees corresponds to... Figure 2A and Figure 2B The posture shown. Thus, when the painting robot 10 is configured at an angle, the ground 201 and the wall 202 can be tilted, as can the base 10b or the auxiliary component 10c.

[0053] Next, use Figure 3A , Figure 3B as well as Figure 3C The plurality of support portions 19 will be described, wherein the plurality of support portions 19 support the painting robot 10 at the point where the painting robot 10 is attached to the support portion 19. Figure 1 The end effector EE shown is supported by the line body 18. Figure 3A This is a side view showing the installation position of the support part 19 when viewed from the positive Y-axis direction. Figure 3B From Figure 3A The side view when viewed along the negative X-axis. Furthermore, Figure 3C This is a perspective view showing the location of the support portion 19. It should be noted that the line body 18 is designed to have flexibility that allows it to bend when subjected to external force.

[0054] also, Figure 3A Equivalent to from Figure 2A The image shows a side view of the painting robot 10 when viewed from wall surface 202. It should be noted that... Figure 3A The posture of the painting robot 10 shown is similar to Figure 1 The postures shown are different. Hereinafter, it will be assumed that, in the case of distinguishing multiple support parts 19, the reference numerals will be marked with lowercase English letters such as "a" and "b".

[0055] Here, line body 18 includes: hoses and pipes for supplying paint and gas to the end effector EE; cables for transmitting electrical signals, etc. It should be noted that multiple hoses, pipes, and cables can be bundled together with cable ties, etc., or the multiple hoses, pipes, and cables can be arranged uniformly in a large pipe.

[0056] Figure 3A The image shows an extension that extends vertically upwards. Figure 1The painting robot 10 is shown in the posture of the lower arm 12, the first upper arm 13, and the second upper arm 14. That is, the extension directions of the lower arm 12, the first upper arm 13, and the second upper arm 14 are parallel to the Z-axis.

[0057] Here, in Figure 3A In this posture, the "front" of each arm is defined as the side facing the negative Y-axis, and the "back" is defined as the side facing the positive Y-axis. That is to say, in... Figure 3A In this posture, away from the first axis A1 (refer to...) Figure 1 The side view of each arm is the "front" side, and the side view closer to the first axis A1 is the "back" side. It should be noted that... Figure 3A The description of the top side of the second upper arm 14 is omitted.

[0058] In addition, Figure 3A In this orientation, the "inner surface" of each arm is defined as the side facing the positive X-axis, and the "outer surface" is defined as the side facing the negative X-axis. That is, the outer surface of each arm can be described as the opposite side of its inner surface. For example, the inner surface of the first upper arm 13 is supported by the outer surface of the lower arm 12, and the outer surface of the second upper arm 14 is supported by the inner surface of the first upper arm 13. It should be noted that the pump PU is located on the inner surface of the first upper arm 13.

[0059] In other words, the second upper arm 14 of the painting robot 10 is supported by the first upper arm 13 on the side where the first upper arm 13 is supported by the lower arm 12. That is, the second upper arm 14 and the lower arm 12 are respectively connected to the same side (inner side) of the first upper arm 13.

[0060] Linear bodies 18 are derived from the setting surface IS and laid out on the outside of the painting robot 10, extending from the outside of the second upper arm 14 towards the wrist WU (see reference). Figure 1 The hollow part of the line body 18 is introduced. Furthermore, one end of the line body 18 is connected to the end effector EE (see reference). Figure 1 It should be noted that the 18-line body is supplied with a through-painting chamber 200 (refer to...). Figure 2A The part can be any of the outer walls (including the bottom wall and the top wall) surrounding the outer perimeter of the painting chamber 200.

[0061] like Figure 3AAs shown, line body 18 passes through the inner side of base 10b, rotating base 11, and lower arm 12, traverses the back side of lower arm 12 and bends, and is arranged on the outer side of first upper arm 13. It should be noted that this arrangement path is an example, and other paths may also be used. Furthermore, line body 18 branches into a pair of branch line bodies 18a at branch 18d, and these two branch line bodies 18a are respectively connected to the pump PU located on the inner side of the first upper arm 13. It should be noted that one of the two branch line bodies 18a is connected to the input side of the pump PU, and the other is connected to the output side. It should also be noted that the number of input-side and output-side line bodies included in each pair of branch line bodies 18a may be different.

[0062] That is, the line body 18 includes a pair of branch line bodies 18a branching from the outer side of the first upper arm 13. The pair of branch line bodies 18a are connected to the pump PU along the connecting outer and inner sides of the first upper arm 13, respectively. Thus, by arranging the pair of branch line bodies 18a branching from the line body 18 from the outer side to the inner side in a manner that traverses the exterior of the first upper arm 13 rather than its interior, miniaturization of the first upper arm 13 can be achieved. It should be noted that... Figure 3A and Figure 3B The diagram shows an example where a pair of branch line bodies 18a are connected to the pump PU along the positive Y-axis side, but they can also be configured so that both are connected along the negative Y-axis side. Alternatively, one of the branch line bodies 18a can be configured along the positive Y-axis side, and the other along the negative Y-axis side.

[0063] Next, the line body 18 is laid out along the extension direction of the first upper arm 13 toward the outer side of the second upper arm 14, and is connected to the end effector EE (see reference) along the extension direction of the second upper arm 14. Figure 1 ).

[0064] exist Figure 3A In the example of the layout path shown, multiple support portions 19 are respectively provided on the inner side of the base 10b, the rotating base 11, and the lower arm 12. Furthermore, support portions 19 are respectively provided on the base end side, the outer side, and the side connecting the inner and outer sides of the first upper arm 13. It should be noted that when the line body 18 is arranged on the outer side of the base 10b, the rotating base 11, and the lower arm 12, the corresponding support portions 19 are provided on the outer side.

[0065] At least one of the plurality of support portions 19 is provided on the outer side of the first upper arm 13, supporting the line body 18 along the extending direction of the first upper arm 13. Thus, since the support portion 19 supporting the line body 18 is provided on the outer side of the first upper arm 13, and the line body 18 is supported along the extending direction of the first upper arm 13, the line body 18 can be supported and accommodated within the side profile of the first upper arm 13. Therefore, the risk of interference between the line body 18 and obstacles can be reduced.

[0066] Furthermore, two of the plurality of support portions 19 are respectively provided at the top and bottom ends of the portion from which a pair of branch lines 18a branch off (branch 18d). Thus, by providing support portions 19 at the top and bottom ends of the branch 18d respectively, it is possible to prevent the line lines 18 from moving away from the surface of the painting robot 10. It should be noted that in Figure 3A In this diagram, the support portion 19 located at the top end of the branch portion 18d is shown as support portion 19b, and the support portion 19 located at the base end of the branch portion 18d is shown as support portion 19a.

[0067] Furthermore, the pair of branch line bodies 18a are uniformly supported by a support portion 19c provided on the side of the first upper arm 13 that connects the outer and inner sides. Thus, by providing the support portion 19c that supports the pair of branch line bodies 18a, the branch line bodies 18a are prevented from moving away from the surface of the painting robot 10. It should be noted that it is also possible to provide a separate support portion 19 for each of the pair of branch line bodies 18a.

[0068] Furthermore, a protruding support portion 19d is provided on the second upper arm 14 side of the joint portion connecting the first upper arm 13 and the second upper arm 14, along the fourth axis A4 (refer to...). Figure 1 The protruding support portion 19d supports the line body 18 at a position protruding towards the first upper arm 13. Furthermore, the protruding support portion 19d supports the line body 18 at a position away from the fourth axis A4 in the radial direction to prevent interference between the first upper arm 13 and the line body 18 within at least the movable range of the second upper arm 14. Thus, by supporting the line body 18 with the protruding support portion 19d, friction between the line body 18 and the first upper arm 13 can be prevented even if the relative angle between the first upper arm 13 and the second upper arm 14 changes. It should be noted that even if the shape of the outer surface of the second upper arm 14 is such that the tip of the second upper arm 14 is offset towards the positive X-axis direction compared to the portion supported on the first upper arm 13, it is sufficient that the protruding support portion 19d is provided in a manner that satisfies the aforementioned support position conditions.

[0069] Furthermore, the support portion 19e is located on the outer side of the second upper arm 14, and is supported by the protruding support portion 19d and extends to the end effector EE (see reference). Figure 1The line body 18 is supported along the extension direction of the second upper arm 14.

[0070] Next, use Figure 3B Please provide an explanation. Figure 3B This is equivalent to observing from the negative X-axis side. Figure 3A The image shows a side view of the painting robot 10 in the indicated pose. It should be noted that... Figure 3B In the middle, solid lines are used to show the relationship with... Figure 3A The same postures are shown by dashed lines: posture 14b after rotating the second upper arm 14 clockwise and posture 14a after rotating the second upper arm 14 counterclockwise.

[0071] like Figure 3B As shown in the solid lines, the line body 18 is supported along the extension direction of the first upper arm 13 by providing support portions 19a and 19b along the center line of the extension direction of the first upper arm 13. Furthermore, the line body 18 is supported along the extension direction of the second upper arm 14 by providing protruding support portions 19d and 19e along the center line of the extension direction of the second upper arm 14.

[0072] Therefore, as Figure 3B As shown by the solid line, the line body 18 can be supported as a side profile accommodated in the first upper arm 13, and the line body 18 can be supported as a side profile accommodated in the second upper arm 14.

[0073] Here, the line body 18 is flexible, so even when the second upper arm 14 is rotated relative to the first upper arm 13, the line body 18 will smoothly flex between the support portion 19b of the first upper arm 13 and the protruding support portion 19d of the second upper arm 14. Therefore, even when the second upper arm 14 is rotated relative to the first upper arm 13, the line body 18 can be accommodated within the side profiles of the first upper arm 13 and the second upper arm 14. Therefore, the risk of interference between the line body 18 and obstacles can be reduced (see reference). Figure 3B (dashed line).

[0074] Next, use Figure 3C The main focus is on the protruding support portion 19d. Figure 3C This is equivalent to a three-dimensional view of the upper arm UA when viewed from a slightly above and diagonally above the first upper arm 13. For example... Figure 3C As shown, each support portion 19 has a shape including a semi-circular member through which the line body 18 passes, and each support portion 19 is respectively mounted on the surface of the upper arm UA. It should be noted that, in Figure 3C In this context, the semi-circular component is described as larger than the line body 18, but it is preferable to set the semi-circular component to the degree of circumference with the line body 18.

[0075] The protruding support portion 19d provided on the second upper arm 14 has a member that protrudes from the second upper arm 14 toward the first upper arm 13 along the fourth axis A4, and the aforementioned semi-circular member is disposed on the top end side of the member. Thus, the protruding support portion 19d supports the line body 18 at a position closer to the outer surface of the first upper arm 13 than the outer surface of the second upper arm 14.

[0076] Therefore, even when the second upper arm 14 rotates, the line body 18 is less likely to rub against the first upper arm 13, thus improving the durability of the line body 18. It should be noted that... Figure 3C In the diagram, the protruding support portion 19d is shown as a member protruding from the second upper arm 14 in a flat plate shape, but it can also be shown as a member in a curved shape along the top end of the first upper arm 13.

[0077] Next, use Figure 3D The installation locations of the pump PU and the electro-pneumatic equipment EL are explained. Figure 3D This is a side view showing the installation positions of the pump PU and the electro-pneumatic equipment EL. It should be noted that... Figure 3D Equivalent to viewing from the positive X-axis direction. Figure 3C The side view of the first upper arm 13 shown. Furthermore, in Figure 3D In the middle, the following was omitted. Figure 3C The line font 18 shown is recorded.

[0078] like Figure 3D As shown, the first upper arm 13 has a pump PU and an electro-pneumatic device EL on its inner side. Here, the electro-pneumatic device EL is a device such as a solenoid valve or an electro-pneumatic regulator, used to adjust the flow rate and timing of liquids and gases. It should be noted that... Figure 3D The diagram shows the pump PU and electro-pneumatic equipment EL housed in a cover CV that can be detached from the first upper arm 13. This facilitates maintenance of the pump PU and electro-pneumatic equipment EL by using the cover CV. It should be noted that, to ensure the airtightness of the interior of the first upper arm 13, the cover CV is equipped with sealing components.

[0079] Here, pump PU refers to the pump mechanism located outside the first upper arm 13, but it can also be defined as the rotary actuator CA located inside the first upper arm 13 and driving the pump mechanism, together with the pump mechanism, as pump PU.

[0080] Pump PU in Figure 3A The support portion 19c shown also has a pair of connecting portions Pa. Figure 3C The pair of branch lines 18a shown are respectively connected to a pair of connecting parts Pa. It should be noted that one of the connecting parts Pa is the input side and the other is the output side. Here, the rotation axis of the rotary actuator CA that drives the pump mechanism is referred to as the pump shaft AP.

[0081] Pump shaft AP and Figure 3C The fourth axis A4 shown is parallel. That is, the pump shaft AP protrudes from the rotary actuator CA into the pump mechanism, and drives gears, etc., located inside the pump mechanism to the end effector EE (see reference). Figure 1 ) Discharge the paint.

[0082] Thus, by placing the rotary actuator CA inside the first upper arm 13 and configuring the pump mechanism on the inner side of the first upper arm 13, it is easy to cope with explosion-proof environments and to achieve miniaturization of the first upper arm 13.

[0083] Furthermore, by setting the direction of the pump shaft AP to the normal direction of the inner side surface of the first upper arm 13, even when the first upper arm 13 and the second upper arm 14 (refer to...) Figure 3C Even when rotation occurs, the pump PU is less likely to interfere with obstacles or the painting robot 10. Therefore, it helps to expand the effective range of motion of the painting robot 10.

[0084] The electro-pneumatic equipment EL is arranged side-by-side with the pump PU on the inner side of the first upper arm 13. It should be noted that while the electro-pneumatic equipment EL is located inside the first upper arm 13, a portion of it may be exposed externally via a cover CV, or this portion may not be exposed but connected to externally exposed connectors, pipes, etc. Furthermore, Figure 3D The circle symbol shown represents the input / output connection of the electro-pneumatic device EL. Here, in Figure 3D The diagram shows eight connecting parts, but the number of connecting parts is not limited. That is to say, the number of connecting parts can be set to any number.

[0085] In addition, Figure 3D The diagram shows the electro-pneumatic device EL positioned on the positive Y-axis side of the pump PU, but it can also be positioned on the negative Y-axis side. Furthermore, the electro-pneumatic device EL can also be positioned on the positive Z-axis side or the negative Z-axis side of the pump PU.

[0086] like Figure 3D As shown, the first upper arm 13 is provided with an end effector EE on its inner side, arranged parallel to the pump PU (see reference). Figure 1 The electro-pneumatic device EL is used. In this way, by placing the electro-pneumatic device EL near the pump PU, the distance between the electro-pneumatic device EL and the end effector EE can be shortened, and the responsiveness of the end effector EE can be improved.

[0087] Next, use Figure 4 and Figure 5 For those with Figure 1 The painting system 1 of the painting robot 10 shown in the figure will be described. Figure 4This is a top view schematic diagram of the coating system 1 according to the embodiment. Figure 5 This is a side view of the coating system 1 according to the embodiment. It should be noted that... Figure 4 and Figure 5 The image shows the case where workpiece 500 is a vehicle. Furthermore, in... Figure 4 and Figure 5 The diagram shows a pair of painting robots 10, but it is also possible to include two or more pairs of painting robots 10 in the painting system 1. Furthermore, in Figure 4 and Figure 5 The diagram shows a pair of painting robots 10 positioned directly opposite each other relative to the transport center plane P1. However, the pair of painting robots 10 can also be positioned so that they are offset from each other in the transport direction. Furthermore, when two or more pairs of painting robots 10 are included in the painting system 1, the painting robots 10 can also be arranged in an alternating manner in the transport direction.

[0088] Furthermore, in the following description, the conveying direction (positive X-axis direction) of the conveying device 210 located in the painting chamber 200 will be referred to as "downstream side", the opposite direction as "upstream side", the direction to the right of the conveying direction as "right side", and the direction to the left of the conveying direction as "left side". In addition, the surface passing through the center of the conveying device 210 in the conveying direction in a top view will be designated as the conveying center surface P1.

[0089] It should be noted that, for painting robots 10 that are installed in multiple units within the painting chamber 200, a distinguishing character is added to the end of the reference numerals. For example, “R” is added to the painting robot 10 installed on the right side of the conveyor 210, and “L” is added to the painting robot 10 installed on the left side of the conveyor 210.

[0090] Here, workpiece 500 is, for example, symmetrical about the transport center plane P1. However, workpiece 500 does not need to be strictly symmetrical; it only needs to be symmetrical to the extent that the painting robot 10L on the left and the painting robot 10R on the right of workpiece 500 will perform the same actions. It should be noted that the painting robot 10L performs the painting operation on the left side of workpiece 500, and the painting robot 10R performs the painting operation on the right side of workpiece 500.

[0091] like Figure 4 As shown, the workpiece 500 has a symmetrical shape about the conveying center plane P1. Therefore, the robots facing each other across the conveying device 210 perform symmetrical movements and paint the workpiece 500.

[0092] The following describes the various devices installed in the painting chamber 200. A conveyor 210 and a painting robot 10 are installed in the painting chamber 200. As described above, the painting chamber 200 is a room for painting that has a space isolated from the outside.

[0093] Conveying devices 210, such as conveyors, are installed on the floor 201 of the painting room 200 (see reference). Figure 2A Furthermore, the conveying device 210 moves at a predetermined speed in a predetermined conveying direction. Figure 4 The workpiece 500 is conveyed in the positive X-axis direction. It should be noted that the workpiece 500 is conveyed in a state where it is fixed to the movable part of the conveying device 210 by a clamp or the like (not shown).

[0094] The painting robot 10 is a robot that paints workpiece 500, and its structure has been developed using [technology / method / technology]. Figure 1 The description has already been provided, so it will be omitted here. It should be noted that the painting robot 10 can suppress the inflow of gases from the outside by introducing non-flammable gases or the like into its interior and increasing the internal pressure.

[0095] Painting robots 10R and 10L are positioned symmetrically about the transport center plane P1. That is to say, Figure 1 The distances between the first axis A1 and the transport center plane P1 shown are equal. Furthermore, the respective "arm structures" of the pair of painting robots 10R and 10L are symmetrical about the transport center plane P1. Here, "arm structure" refers to the configuration of the axes that enable each arm to rotate or swivel. The configuration of each axis includes the angle between adjacent axes and the inter-axis distance between adjacent axes.

[0096] In other words, when the arm structure is symmetrical, differences in the shape or form of the arms are disregarded. That is, even if the arms have different shapes or forms, as long as the configuration of each axis is symmetrical, the arm structure is considered symmetrical. Similarly, even if the arms have different shapes or forms, as long as the configuration of each axis is the same, the arm structure is considered identical.

[0097] Thus, by using a robot with a symmetrical arm structure, the teaching data can be flipped and reused, thereby reducing the cost of generating the teaching data and the manufacturing cost of the robot.

[0098] Figure 4 The image shows the workpiece 500 with the side door 510 and the rear tailgate 520 open. The painting robot 10 performs painting operations on the inside of the door 510 and inside the vehicle while avoiding interference with the workpiece 500. Thus, by arranging the axially symmetrical painting robot 10 at equal distances from the workpiece 500 relative to the transport center plane P1, teaching data can be reused, thereby improving the efficiency of the teaching operation.

[0099] Here, as Figure 4 As shown, a pair of painting robots 10 (painting robot 10R and painting robot 10L) are respectively configured such that the first upper arm 13 is located upstream of the lower arm 12 (on the negative X-axis side) in the conveying direction. By configuring each painting robot 10 in this way, interference between the first upper arm 13 and the door 510 can be easily avoided, and painting operations can be performed quickly.

[0100] Figure 5 This is equivalent to observing from the upstream side of the conveying direction of workpiece 500. Figure 4 A side view of the painting system 1 shown. Figure 5 As shown, each painting robot 10 can perform painting operations on the workpiece 500 in a folded upper arm UA posture. Furthermore, for example, by adopting a posture of raising and extending the upper arm UA, the conveyed workpiece 500 can be avoided.

[0101] It should be noted that, in Figure 5 The image shows a pair of painting robots 10 with their first axis A1 (see reference). Figure 1 The painting robots 10 can be configured in a posture along the vertical direction (Z-axis), but they can also be configured with their first axis A1 tilted relative to the vertical axis (Z-axis). Specifically, they can also be configured with their respective first axes A1 on the base 10b (see reference). Figure 1 A pair of painting robots 10 are respectively arranged above the workpiece 500 and in an intersecting posture in the transport center plane P1. In this way, by tilting each painting robot 10 in a posture that is forward-leaning relative to the workpiece 500, interference with the workpiece 500 can be avoided, and painting operations on workpieces 500 of various shapes can be flexibly performed.

[0102] Next, use Figures 6A to 6D right Figure 1 The deformation of the wrist WU shown is explained. Figure 6A This is a model diagram representing the axial structure of a two-degree-of-freedom hollow wrist. Figure 6B This is a model diagram representing the axial structure of a vertical multi-joint wrist. Furthermore, Figure 6C This is a model diagram representing the axial structure of a straight wrist. Figure 6D This is a model diagram representing the axial structure of a three-degree-of-freedom hollow wrist.

[0103] Here, Figure 6A Corresponding to Figure 1 The wrist shown is WU. Figure 6B , Figure 6C as well as Figure 6D Equivalent to Figure 1 The wrist WU shown is a deformation. It should be noted that... Figures 6A to 6DAlthough the wrist WUs shown are different in their axial structures, they all share the fact that they are triaxial structures.

[0104] In addition, Figures 6A to 6D In this diagram, the joints of the wrist (WU) are symbolized. Specifically, a rectangle symbol represents a "rotational joint," and a circle symbol represents a "full-rotational joint." Here, the straight line connecting the opposite corner of the rectangle symbol corresponds to the plane of rotation of the joint, indicating that the joint rotates about the axis of rotation connecting the other opposite corner.

[0105] Furthermore, the dot marked with a circle symbol indicates the axis of rotation around which the joint rotates. It should be noted that... Figures 6A to 6D In the middle, Figure 1 The second upper arm 14 shown is symbolically represented as a straight line pointing in the direction of its extension. However, Figures 6A to 6D Only the shaft structure is shown; the difference between hollow and solid structures is not illustrated. It should be noted that in painting robots, generally speaking, regardless of the specific configuration, hollow structures that allow for the placement of flexible hoses, tubes, cables, etc., inside the wrist are more commonly used.

[0106] If already used Figure 1 As explained, Figure 6A The wrist WU shown is a so-called "two-degree-of-freedom hollow wrist". For example... Figure 6A As shown, the wrist WU rotates about a fifth axis A5 that overlaps with the symbolic second upper arm 14, and about a sixth axis A6 that obliquely intersects the fifth axis A5. Furthermore, the wrist WU rotates about a seventh axis A7. It should be noted that... Figure 1 Point P, as explained, is the intersection of the fifth axis A5 and the sixth axis A6.

[0107] Figure 6B The wrist WU shown is a so-called "vertical multi-joint wrist". For example... Figure 6B As shown, the wrist WU rotates about a fifth axis A5 perpendicular to the extension direction of the second upper arm 14, and rotates about a sixth axis A6 orthogonal to the fifth axis A5. Furthermore, the wrist WU rotates about a seventh axis A7 orthogonal to the sixth axis A6. It should be noted that point P is the intersection of the fifth axis A5 and the symbolized second upper arm 14.

[0108] Figure 6C The wrist position shown (WU) is what is known as a "straight wrist". For example... Figure 6C As shown, the wrist WU rotates about a fifth axis A5 that overlaps with the symbolic second upper arm 14, and also rotates about a sixth axis A6 that is orthogonal to the fifth axis A5. Furthermore, the wrist WU rotates about a seventh axis A7 that is orthogonal to the sixth axis A6. It should be noted that point P is the intersection of the fifth axis A5 and the sixth axis A6.

[0109] Figure 6D The wrist WU shown is a so-called "three-degree-of-freedom hollow wrist". For example... Figure 6D As shown, the wrist WU rotates about a fifth axis A5 that overlaps with the symbolic second upper arm 14, and about a sixth axis A6 that obliquely intersects the fifth axis A5. Furthermore, the wrist WU rotates about a seventh axis A7 that obliquely intersects both the fifth and sixth axes A6. That is, the extensions of the fifth, sixth, and seventh axes A7 form a triangle. It should be noted that point P is the intersection of the fifth and sixth axes A5.

[0110] Therefore, it can also be set to use. Figure 6B , Figure 6C as well as Figure 6D The wrist shown is replaced by WU. Figure 1 The wrist WU shown. Additionally, it can be set as a three-axis structure to include... Figures 6A to 6D The mechanism other than the shaft structure shown is used as the wrist WU.

[0111] Next, use Figure 7 The structure of coating system 1 will be described. Figure 7 This is a block diagram representing the structure of coating system 1. For example... Figure 7 As shown, the painting system 1 includes a conveyor 210 and a painting robot 10 within the painting chamber 200. Furthermore, the painting system 1 includes a controller 100. It should be noted that the conveyor 210 and the painting robot 10 are connected to the controller 100.

[0112] First, the painting robot 10 has been used... Figure 1 The explanation has already been provided, so it is omitted here. If already used... Figure 4 As explained above, the conveying device 210 conveys the workpiece 500 in a predetermined conveying direction (see reference). Figure 4 The conveyor device 210 includes a sensor (not shown) to detect the position of the workpiece 500, and notifies the controller 100 of the timing of the workpiece 500's passage. Furthermore, the conveyor device 210 is configured to transport the workpiece 500 at a certain speed.

[0113] The controller 100 includes a control unit 110 and a storage unit 120. The control unit 110 includes a timing acquisition unit 111 and an action control unit 112. The storage unit 120 stores teaching information 121. It should be noted that... Figure 7For the sake of simplicity, only one controller 100 is shown in the illustration, but it is also possible to connect the conveyor 210 and each painting robot 10 to a different controller 100. Thus, in the case of using multiple controllers 100, it is also possible to set up a higher-level controller 100 to manage each controller 100.

[0114] Here, the controller 100 may include, for example, a computer with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), input / output ports, and various circuits.

[0115] The computer's CPU functions as the timing acquisition unit 111 and the motion control unit 112 of the control unit 110, for example, by reading and executing programs stored in ROM.

[0116] Alternatively, at least one or all of the timing acquisition unit 111 and the motion control unit 112 can be constructed using hardware such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

[0117] Furthermore, the storage unit 120 corresponds to, for example, RAM or HDD. RAM and HDD can store teaching information 121. It should be noted that the controller 100 can also be configured to acquire the aforementioned programs and various information via other computers or portable recording media connected through a wired network or wireless network. Moreover, the controller 100 can be configured as multiple devices capable of communicating with each other, or as a hierarchical device capable of communicating with higher or lower level devices.

[0118] The control unit 110 obtains the workpiece 500 (refer to) from the conveying device 210. Figure 4 The control unit 110 receives position information (pulse signals) of the fixtures such as the base fixed to the movable part of the conveying device 210, interlock signals for exclusive operation of each device, and performs motion control of each painting robot 10. It should be noted that when multiple controllers 100 are configured, the control unit 110 performs the process of obtaining synchronization between the controllers 100.

[0119] The timing acquisition unit 111 acquires the aforementioned position information and interlock signals from the conveying device 210. Then, the timing acquisition unit 111 determines the motion timing of each robot based on the acquired position information and interlock signals, and notifies the motion control unit 112 of the determined motion timing. For example, the timing acquisition unit 111 acquires workpiece 500 (see reference...) Figure 4 The timing of reaching the designated position within the painting chamber 200 is used to instruct the motion control unit 112 to move each painting robot 10.

[0120] The motion control unit 112 causes each painting robot 10 to move based on the instructions and teaching information 121 from the timing acquisition unit 111. The motion control unit 112 improves the motion accuracy of each painting robot 10 by using the encoded values ​​in the actuators (not shown) that serve as the power source of each painting robot 10 and by performing feedback control, etc.

[0121] Teaching information 121 is created during the teaching phase of teaching the motions to each painting robot 10 and includes information on the "job" that specifies the motion path for each painting robot 10. It should be noted that in the painting system 1, as described above, robots with symmetrical arm structures or those connected via a conveyor device 210 (see reference 121) are used. Figure 4 Each robot is positioned symmetrically. Therefore, it is easy to generate teaching data for another painting robot 10 based on the teaching data of one painting robot 10.

[0122] For example, in Figure 4 The teaching data of the painting robot 10R, which operates on the right side of workpiece 500, can be converted to the teaching data of the painting robot 10L, which operates on the left side of workpiece 500, through partial changes or coordinate transformations of the teaching positions included in the teaching data. Therefore, according to the painting system 1, the generation time and cost of the teaching information 121 including this teaching data can be reduced.

[0123] Next, use Figure 8 The motion process of the painting robot 10 in the painting system 1 is described. Figure 8 This is a flowchart illustrating the motion process of the painting robot 10. (For example...) Figure 8 As shown, when workpiece 500 (refer to...) Figure 4 When approaching from the upstream side, the painting robot 10 (refer to...) Figure 1 Approach the workpiece 500 with the upper arm UA extended (step S101). Here, approach means moving the upper arm UA toward the workpiece 500 side to a degree that does not interfere with the workpiece 500.

[0124] Next, if the workpiece 500 moves closer, the painting robot 10 changes its posture to the folded upper arm UA posture (step S102). Here, the folded upper arm UA posture refers to the posture in which the second upper arm 14 is bent relative to the first upper arm 13 to a degree that does not interfere with the door 510 of the workpiece 500. For example, by rotating the second upper arm 14 downward with the tip of the first upper arm 13 above the door 510, the wrist WU can be positioned inside the door 510.

[0125] Then, the coating system 1 determines whether it is the coating start timing (step S103). If it is determined that it is the coating start timing (step S103, yes), the rotation around the fourth axis A4 is fixed and the coating operation is performed (step S104).

[0126] Thus, by fixing the fourth axis A4 in the folded upper arm UA posture, the accessibility to the workpiece 500 can be improved, and accidental interference with the workpiece 500 can be avoided. It should be noted that if it is determined in step S103 that it is not the timing for the start of coating (step S103, No), the process of step S103 is repeated.

[0127] Next, the coating system 1 determines whether the coating operation is finished (step S105). If the coating operation is finished (step S105, Yes), the fourth axis A4 is released from its fixation (step S106), and the coating robot 10 is moved away from the workpiece 500 (step S107), thus ending the process. It should be noted that if the process is not finished in step S105 (step S105, No), step S105 is repeated.

[0128] It should be noted that, in Figure 8 The diagram shows the case where the fourth axis A4 is always fixed during the painting operation, but it can also be configured to intentionally move the fourth axis A4 even during the painting operation. For example, if the fourth axis A4 is fixed in a folded upper arm UA posture and the painting operation begins, it would be difficult to access distant locations if the original posture is maintained during the painting operation. In this case, the fourth axis A4 can be released from its fixed position and moved in the direction of extending the upper arm UA. Furthermore, if it is difficult to reach nearby locations, the fourth axis A4 can be moved in the direction of further folding the upper arm UA. That is to say, it can also be configured to make the painting robot 10 operate as a seven-axis robot with redundant axes even during the painting operation.

[0129] As described above, one embodiment of the painting robot 10 includes a base 10b, a rotating base 11, a lower arm 12, an upper arm UA, and a wrist WA. The base 10b is fixed to a mounting surface IS. The base end of the rotating base 11 is supported on the upper surface of the base 10b, and the rotating base 11 rotates about a first axis A1 in the vertical direction. The base end of the lower arm 12 is supported on the rotating base 11, and the lower arm 12 rotates about a second axis A2 perpendicular to the first axis A1. The base end of the upper arm UA is supported on the tip of the lower arm 12, and the upper arm UA rotates about a third axis A3 parallel to the second axis A2.

[0130] The wrist WU is a three-axis structure with its base side supported on the top side of the upper arm UA and capable of mounting an end effector EE on the top side. The upper arm UA has a first upper arm 13 on the base side and a second upper arm 14 on the top side. The base side of the second upper arm 14 is supported on the top side of the first upper arm 13 on its inner side, which is a side supported by the lower arm 12. The second upper arm 14 rotates about a fourth axis A4 parallel to the third axis A3. The first upper arm 13 has a pump PU for the end effector EE on its inner side.

[0131] Thus, by arranging the upper arm UA as a dual-arm structure and providing a fourth axis A4 as a redundant axis in the upper arm UA, the painting robot 10 can perform flexion and extension movements of the upper arm UA. Furthermore, a pump PU for the end effector EE is provided in the space generated on the inner side of the first upper arm 13, which is supported by the lower arm 12 on the side of the first upper arm 13. Therefore, the effective range of motion that avoids interference with the workpiece can be expanded, and the accessibility to the workpiece can be improved. In addition, the distance between the pump PU and the end effector EE can be shortened, thereby reducing paint loss and improving coating quality.

[0132] Furthermore, in one embodiment, the coating system 1 includes a coating chamber 200 and coating robots 10. At least one pair of coating robots 10 are arranged in the coating chamber 200, spaced apart from the workpiece 500, in the conveying direction of the workpiece 500. In the pair of coating robots 10, their axis structures are symmetrical about each other with respect to the conveying center plane P1 along the conveying direction, and their first axis A1 is equidistant from the conveying center plane P1.

[0133] Thus, by arranging the axially symmetrical painting robot 10 at equal distances from the workpiece 500 relative to the transport center plane P1, the teaching data can be reused, thereby improving the efficiency of the teaching operation. Furthermore, the painting robot 10 can be positioned near the workpiece 500, which contributes to the miniaturization of the painting chamber.

[0134] It should be noted that, in the above embodiments, the example shown is a seven-axis robot with one redundant axis, but it can also be configured as an eight-axis or more robot with multiple redundant axes.

[0135] Those skilled in the art can readily deduce further effects and variations. Therefore, the broader scope of the invention is not limited to the specific details and representative embodiments shown and described above. Thus, various modifications can be made without departing from the spirit or scope of the overall invention as defined by the appended claims and their equivalents.

[0136] Explanation of reference numerals in the attached figures

[0137] 1: Painting system;

[0138] 10: Painting robot;

[0139] 10b: Abutment;

[0140] 10c: Auxiliary component;

[0141] 11: Rotating base;

[0142] 12: Lower arm;

[0143] 13: First upper arm;

[0144] 14: Second upper arm;

[0145] 15: The fifth arm;

[0146] 16: The sixth arm;

[0147] 17: The seventh arm;

[0148] 18: Linear font;

[0149] 18a: Branching line font;

[0150] 18d: Branch;

[0151] 19: Support section;

[0152] 100: Controller;

[0153] 110: Control Department;

[0154] 111: Timed Acquisition Department;

[0155] 112: Motion control unit;

[0156] 120: Storage Department;

[0157] 121: Teaching information;

[0158] 200: Painting Room;

[0159] 201: Ground;

[0160] 202: wall;

[0161] 203: Top surface;

[0162] 210: Conveying device;

[0163] 500: Workpiece;

[0164] 510: Door;

[0165] 520: Tailgate;

[0166] A1: First axis;

[0167] A2: Second axis;

[0168] A3: Third axis;

[0169] A4: Fourth axis;

[0170] A5: Fifth axis;

[0171] A6: Sixth axis;

[0172] A7: Seventh axis;

[0173] AP: Pump shaft;

[0174] CA: Rotary actuator;

[0175] CV: Shield;

[0176] EE: End effector;

[0177] EL: Electro-pneumatic equipment;

[0178] IS: Set face;

[0179] P: Point P;

[0180] PU: Pump;

[0181] UA: Upper arm;

[0182] WU: Wrist;

[0183] P1: Conveying center plane.

Claims

1. A painting robot, characterized in that, have: The base is fixed to the mounting surface; A rotating base, the base end of which is supported on the upper surface of the base platform, the rotating base rotating about a first axis in the vertical direction; The lower arm is supported at its base on the rotary base, and the lower arm rotates about a second axis perpendicular to the first axis. An upper arm, its base end supported on the tip end of the lower arm, the upper arm rotating about a third axis parallel to the second axis; and The wrist has a three-axis structure, with its base end supported on the tip end of the upper arm. An end effector can be mounted on the tip end of the wrist. The upper arm has a first upper arm on the base side and a second upper arm on the tip side. In the side of the first upper arm, when the side supported by the lower arm is taken as the inner side, the base end of the second upper arm is supported on the top end of the inner side of the first upper arm, and the second upper arm rotates about a fourth axis parallel to the third axis. The first upper arm has a pump for the end effector on its inner side. The pump has a pump mechanism and a rotary actuator that drives the pump mechanism. At least a portion of the pump is disposed inside the first upper arm. The rotary actuator is connected to the pump mechanism with its rotation axis along the direction of the third axis and the direction of the fourth axis.

2. The painting robot according to claim 1, characterized in that, The pump comprises: a pump mechanism disposed outside the first upper arm; and a rotary actuator disposed inside the first upper arm to drive the pump mechanism. The direction of the pump shaft, which is equivalent to the drive shaft of the rotary actuator, is along the direction of the fourth axis.

3. The painting robot according to claim 2, characterized in that, The first upper arm has the electro-pneumatic device for the end effector on its inner side, in a manner parallel to the pump.

4. The painting robot according to claim 1, characterized in that, It also has: Multiple support components support the linear bodies that are laid out from the outside of the robot toward the end effector. At least one of the plurality of support portions is provided on the outer side of the first upper arm, which is the side opposite to the inner side, to support the linear body along the extension direction of the first upper arm.

5. The painting robot according to claim 4, characterized in that, The line body has a pair of branch line bodies that branch out from the outer side of the first upper arm. The pair of branch lines connect to the pump along the sides of the outer and inner sides of the first upper arm, respectively.

6. The painting robot according to claim 5, characterized in that, Two of the plurality of support portions are respectively provided on the top end side and the base end side of the portion from which the pair of branch lines branch from the line body.

7. The painting robot according to claim 4, characterized in that, One of the plurality of support portions includes a protruding support portion disposed on the second upper arm side of the joint portion connecting the first upper arm and the second upper arm, supporting the linear body at a position protruding from the first upper arm side along the fourth axis.

8. The painting robot according to claim 7, characterized in that, At least one of the plurality of support portions is provided on the outer side of the second upper arm, and the linear body supported by the protruding support portion and moving toward the end effector is supported along the extension direction of the second upper arm.

9. A coating system, characterized in that, have: Painting room; as well as The painting robot according to any one of claims 1 to 8, At least one pair of the painting robots are arranged in the painting chamber in the direction of workpiece transport, with the workpieces between them. In a pair of painting robots, their axis structures are symmetrical with respect to the transport center plane along the transport direction, and the distances between their first axes and the transport center plane are equal.

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