Multi-joint robot

Abstract

The present application provides a robot capable of suppressing the occurrence of engagement or bending of wiring or piping at the time of assembly of a front arm. Among a plurality of arms provided in a multi-joint robot, there are a bottomed cylindrical sixth arm (17) in which a hand (18) is installed, and a fifth arm (16) adjacent to the sixth arm (17). The sixth arm (17) has a cylindrical body (21) connected to the fifth arm (16), and a cover portion (22) provided and installed with the hand (18) in a state of plugging the front end opening of the cylindrical body (21). A wiring connector (31) and a piping connector (32) are provided on the cylindrical body (21). The wiring (51) and the piping (53) extending from the hand (18) can be connected to each of the connectors (31, 32), and an internal wiring portion (55) and an internal piping portion (56) extending from the inside of the fifth arm (16) to the inside of the sixth arm (17) are connected, respectively. In addition, the cylindrical body (21) and the cover portion (22) are formed separately from each other and are fixed to each other using a bolt.

Description

Technical Field

[0001] This invention relates to a multi-joint robot, and more particularly to a multi-joint robot with an end effector mounted at the end of an arm. Background Technology

[0002] In recent years, various robots have been used in factories and other environments. Among these diverse robots are multi-jointed robots with manipulators, which are longitudinally connected to multiple arms (also called chains) via one or more joints (also called axes).

[0003] In the case of this type of articulated robot, most of its multiple arms (manipulators) have an end effector such as a gripping part (hand) mounted on the forearm located at the front end (see, for example, Patent Document 1). The forearm shown in Patent Document 1 has a generally cylindrical (container-like) body with a bottom. This body has a bottom that forms the front end side of the arm, and the end effector is mounted on the bottom. In addition, the forearm is integrally formed, for example, from a metal material.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2005-131761 Summary of the Invention

[0007] The technical problem that the invention aims to solve

[0008] Such articulated robots incorporate connectors for connecting wiring or conduits extending from the end effector (hereinafter referred to as end effector wiring / conduits). These end effector wiring / conduits are typically located externally to the robot, for example, on the outside of a climbing robot arm. Therefore, in the case of collaborative robots that work in tandem with humans, long wiring / conduits can potentially interfere with operators or equipment during operation and cause wire breakage. Thus, it is desirable for end effector wiring / conduits to be as short as possible. However, shortening the wiring / conduits presents the problem of requiring a certain amount of excess length due to the immobility of the follower arm.

[0009] Therefore, by placing the aforementioned connector on the fore-end effector mounted on the front arm, the physical distance between the connector and the end effector is shortened. This allows for the reduction of the wiring / conduit used for the end effector that is wrapped around the outside of the robot arm. Furthermore, it is also possible to shorten the excess length of the wiring / conduit used to follow the robot arm's movements by placing the connector further forward than the robot's movable axis.

[0010] In this configuration, internal wiring and / or conduits extending into the forearm are pre-installed, running through the interior of each arm of the robot. These internal wiring and / or conduits are then pre-connected to a connector from inside the forearm. With this connection structure, the internal wiring is connected to the wiring for the end effector via the connector, and the internal conduits are connected to the conduits for the end effector.

[0011] In this connection, the front arm needs to be assembled to the adjacent arm (i.e., the second arm separated by a joint when viewed from the front side). During this assembly, the internal wiring / conduit is first connected to the connector on the front arm, and then the front arm is assembled to its nearest adjacent arm. However, this assembly method has other problems. Specifically, when assembling the front arm to its adjacent arm, it is difficult to visually confirm the condition of the internal wiring and / or conduit. Therefore, it is possible for the internal wiring and / or conduit to become engaged between the front arm and its adjacent arm or to bend.

[0012] Additionally, when connecting the internal wiring / conduit to the connector on the front arm, the front arm needs to be positioned a certain distance away from its adjacent arm beforehand. Therefore, the length of the internal wiring and / or conduit needs to be set to a relatively long value beforehand. However, when the internal wiring and / or conduit is long, it is prone to significant bending when assembling the front arm to the adjacent arm, which can easily lead to meshing.

[0013] The present invention was made in view of the above-mentioned problems, and its main objective is to provide a robot having a structure that can prevent or suppress the biting or bending of wiring and / or piping during the assembly of its fore-end arm in the manufacture of a multi-joint robot.

[0014] Technical means for solving technical problems

[0015] To solve the aforementioned technical problems, the first invention is a multi-joint robot having multiple interconnected arms, including a bottomed cylindrical front arm with an end effector mounted thereon and adjacent arms adjacent to the front arm. The front arm is provided with a connecting portion, and a linear component is connected to the connecting portion. The linear component is a wiring portion and / or a piping portion. The connecting portion can connect at least the linear component extending from the end effector side, and is connected to the linear component extending from the interior of the adjacent arm into the interior of the front arm as an internal linear component. The front arm has: a cylindrical body connected to the adjacent arm and provided with the connecting portion; and a cover portion blocking the front opening of the cylindrical body and mounting the end effector. The cylindrical body and the cover portion are separately formed and fixed to each other using fasteners.

[0016] According to the first exemplary embodiment, the front arm has: a cylindrical body connected to an adjacent arm adjacent to the front arm; and a cover portion blocking the front opening of the cylindrical body. An end effector is mounted on the cover portion, and the cylindrical body has at least one connecting portion capable of connecting a linear component (at least a wiring portion and / or piping portion for the end effector) extending from the end effector side (i.e., the front end side). Additionally, an internal linear component extending from the interior of the adjacent arm toward the interior of the front arm is connected to the connecting portion. Furthermore, the "linear component extending from the front end side (end effector) side" may include, in addition to the linear component extending from the end effector, a linear component extending from a device attached to the end effector.

[0017] The cylindrical body and the cover are formed separately and are fixed together by fasteners. In this structure, during the assembly of the front arm, the cylindrical body can be connected to the adjacent arm first, and then the internal linear components can be connected to the connecting part provided in the cylindrical body. In this case, the connection work can be performed while visually confirming the arrangement of the internal linear components through the front opening of the cylindrical body. Therefore, bending of the internal linear components can be prevented or suppressed.

[0018] Next, the cover is secured to the cylindrical body using fasteners. In this case, the cover can be secured while checking the arrangement of the internal linear components. Therefore, it is possible to prevent or suppress the internal linear components from engaging between the cover and the cylindrical body. Thus, as described above, it is possible to suppress the engagement or bending of internal linear components (wiring or piping) during the assembly of the front arm.

[0019] In a second exemplary embodiment, the cylindrical body has a first cylindrical portion and a second cylindrical portion that are divided and joined together in its axial direction, wherein the connecting portion is provided only on the first cylindrical portion.

[0020] When an operator moves the forearm arm to teach the robot, the operator moves the forearm arm while holding it. However, since a connecting portion is provided on the forearm arm, it is considered difficult to hold the forearm arm around the connecting portion. Therefore, in the second invention, considering this, the cylindrical body of the forearm arm is configured with a first cylindrical portion and a second cylindrical portion divided in the axial direction. Furthermore, the connecting portion is provided only in the first cylindrical portion, and not in the second cylindrical portion. In this case, the second cylindrical portion can be appropriately used as a holding portion for the operator to hold.

[0021] Furthermore, it can be assumed that the easiest gripping (or easiest operating) position when the operator holds the forearm varies depending on the operator. In the above structure, since each cylindrical portion is divided, the gripping part can be positioned on the cover side or the opposite side of the cover by placing the second cylindrical portion relative to the first cylindrical portion on the cover side or the opposite side of the cover. Therefore, the gripping part position can be set according to what is easier for the operator.

[0022] According to the second exemplary embodiment, the cylindrical body of the forearm has a first cylindrical portion and a second cylindrical portion divided in the axial direction. Only the first cylindrical portion has a connecting portion, while the second cylindrical portion does not. In this case, when an operator moves the forearm to teach a multi-joint robot, the second cylindrical portion can be used as a gripping portion for the operator. Furthermore, the position of the gripping portion can be changed by placing the second cylindrical portion on the cover side or the opposite side of the cover. Therefore, the position of the gripping portion can be set appropriately according to the operator's needs.

[0023] In the third exemplary embodiment, an anti-slip structure is provided on the outer peripheral surface of the second cylindrical portion.

[0024] According to the third exemplary embodiment, since an anti-slip structure is provided on the outer peripheral surface of the second cylindrical portion, hand slippage can be prevented when holding the second cylindrical portion and moving the front arm.

[0025] In the fourth exemplary embodiment, the cylindrical body is provided with a plurality of wiring connection portions as connection portions, and an internal wiring portion serving as an internal linear component is connected to the plurality of wiring connection portions. A substrate is provided in the inner space of the cylindrical body in such a way that the inner space is divided in the axial direction of the cylindrical body (that is, in a way that intersects the axial direction). The internal wiring portion has: a first wiring portion that enters the inner space from the inside of the adjacent arm and is connected to the substrate; and a plurality of second wiring portions that are provided for each of the wiring connection portions and are respectively connected to the substrate and the wiring connection portion. The plurality of wiring connection portions are arranged in the axial direction at a position closer to the cover portion than the substrate.

[0026] According to the fourth exemplary embodiment, a plurality of wiring connection portions for wiring connections are provided on the cylindrical body, and internal wiring portions extending from the interior of adjacent arms to the interior of the front arm are connected to the plurality of wiring connection portions. Furthermore, a substrate is provided in the inner space of the cylindrical body. Each wiring connection portion has: a first wiring extending from the interior of adjacent arms and connected to the substrate; and a plurality of second wirings, respectively connected to the substrate and the wiring connection portion. In this case, power is distributed and supplied from the first wirings through the substrate and each of the second wirings to each wiring connection portion. In this structure, power can be supplied to multiple wiring connection portions, and the number of wirings arranged in arms (e.g., adjacent arms) closer to the base end of the front arm can be reduced. Therefore, space for wiring within the arms can be appropriately ensured, resulting in a reduction in the risk of wiring breakage, etc.

[0027] Furthermore, multiple wiring connection portions are positioned closer to the cover portion than the substrate. In this configuration, with the substrate housed inside the cylindrical body, the connection status of the second wiring relative to the wiring connection portions can be easily visually confirmed through the front opening of the cylindrical body. Therefore, poor connection between the wiring connection portion and the second wiring can be appropriately suppressed. This effect is particularly significant in structures with multiple wiring connection portions.

[0028] In the fifth exemplary embodiment, a through portion through which the first wiring is inserted is formed on the substrate, the first wiring being guided through the through portion to a position closer to the cover portion than the substrate and connected to the substrate from the cover portion side.

[0029] According to the fifth exemplary embodiment, a first wiring extending from the interior of an adjacent arm passes through an insertion portion formed on the substrate and is guided to a position closer to the cover portion than the substrate, and is connected to the substrate from the cover portion side. In this case, the connection status between the substrate and the first wiring can be easily visually confirmed from the front opening of the cylindrical body. Therefore, poor connection at the connection portion between the substrate and the first wiring can be appropriately suppressed.

[0030] In the sixth exemplary embodiment, the cover is detachably fixed to the cylindrical body.

[0031] There are situations where the end effector needs to be replaced, such as when the end effector is replaced. In the sixth invention, since the end effector's cover is detachably fixed to the cylindrical body, this can be easily addressed by replacing only the cover. Furthermore, even if the cover is damaged, only the cover can be replaced. Attached Figure Description

[0032] In the diagram, Figure 1This is a side view of an industrial vertical joint robot, exemplified as a jointed robot.

[0033] Figure 2 This is a perspective view showing the appearance of the sixth arm, which serves as the fore-end arm.

[0034] Figure 3 Shown with the cover removed. Figure 2 The diagram shows a three-dimensional representation of the sixth arm.

[0035] Figure 4 It is shown in Figure 2 The side view shown shows the sixth arm with the hand attached.

[0036] Explanation of reference numerals in the attached figures

[0037] 10: Robot

[0038] 16: Fifth arm (adjacent arm)

[0039] 17: Sixth arm (forearm)

[0040] 18: Hand (End effector)

[0041] 21: Cylindrical body

[0042] 21a: Front opening

[0043] 22: cover

[0044] 25: First cylindrical part

[0045] 26: Second cylindrical part

[0046] 28: Inner space

[0047] 31: Wiring connector (connection part, wiring connection part)

[0048] 32: Piping connector (connection part)

[0049] 34: Knurling process (anti-slip structure)

[0050] 36: Bolts (fasteners)

[0051] 55: Internal wiring section (internal wire-like components)

[0052] 58: First wiring

[0053] 59: Second wiring

[0054] 61: Substrate

[0055] 62: Through hole (insertion part) Detailed Implementation

[0056] Hereinafter, embodiments of the articulated robot will be described with reference to the accompanying drawings. In particular, one embodiment of the articulated robot as a collaborative robot that performs actions in coordination with a human will be described.

[0057] like Figure 1 As shown, the vertical joint robot 10 is an industrial robot (a so-called 6-axis robot) equipped with multiple arms (also referred to as manipulators), which are longitudinally connected to each other in a manner that allows relative rotation via axes (joints) not shown. In this embodiment, the vertical joint robot 10 (hereinafter referred to as the robot) is manufactured in a small and lightweight manner, for example, to the extent that it can be handled by a single operator.

[0058] The robot 10 includes: a base 11, which is mounted on a predetermined surface (e.g., a ground or tabletop); and multiple (specifically six) arms 12-17, which are supported by the base 11 and constitute a single manipulator. Arms 12-17 are rotatable relative to each other, and when extended straight, they are connected to form a row as a single unit. In other words, arms 12-17 form a single manipulator supported by the base 11. The base 11 may or may not be fixed to the surface.

[0059] The multiple arms (also referred to as chains) 12-17 include a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17. The first arm 12 is rotatably connected to the base 11 via an axis (joint) not shown. The second arm 13 is rotatably connected to the first arm 12 via an axis (joint) not shown. The third arm 14 is rotatably connected to the second arm 13 via an axis (joint) not shown. In addition, the fourth arm 15 is rotatably connected to the third arm 14 via an axis (joint) not shown. The fifth arm 16 is rotatably connected to the fourth arm 15 via an axis (joint) not shown. Furthermore, the sixth arm 17 is rotatably connected to the fifth arm 16 via an axis (joint) not shown.

[0060] The robot 10 is equipped with motors (not shown) that form joints for each arm 12 to 17. Driven by these motors, each arm 12 to 17 rotates relative to its supporting arm. Furthermore, the drive of each motor (not shown) is controlled by a control device (not shown) built into the robot 10.

[0061] Among the aforementioned arms 12 to 17, the sixth arm 17 is the furthest when viewed from the base 11, and is therefore also referred to as the front arm. An end effector is mounted on the front end of this front arm (i.e., the sixth arm) 17.

[0062] In this embodiment, a hand 18 (gripping part) capable of gripping an object is installed as an end effector. The sixth arm 17 is not limited to the hand 18; other types of end effectors can also be installed. Therefore, the end effector can be changed in this robot 10 depending on the task at hand, etc. Furthermore, the sixth arm 17 is also referred to as a flange.

[0063] In addition, the robot 10 can be taught through direct teaching. During teaching, for example, an operator holds the sixth arm 17 to move the robot 10 and teaches the desired action.

[0064] Next, refer to Figures 2 to 4 The structure of the sixth arm 17 will be explained.

[0065] like Figures 2 to 4 As shown, the sixth arm 17 is formed into a generally cylindrical shape with a bottom. Therefore, the sixth arm (front arm) 17 has a generally cylindrical body 21 and a disc-shaped cover 22. The cylindrical body 21 and the cover 22 are formed separately and are both made of metal. The cylindrical body 21 is configured to be rotatably connected to the fifth arm 16 adjacent to the sixth arm 17, and its inner space 28 (in other words, the interior of the sixth arm 17) communicates with the interior space of the fifth arm 16. Furthermore, the cover 22 is disposed on the opposite side of the fifth arm 16, across the cylindrical body 21. The cover 22 blocks the front opening 21a of the cylindrical body 21 and is fixed to the cylindrical body 21. Moreover, the fifth arm 16 corresponds to the adjacent arm adjacent to the sixth arm 17 (front arm).

[0066] Furthermore, in this embodiment, such as Figure 2 As shown, the direction along the extended central axis (the same as the axis of rotation of the shaft) of the generally cylindrical body 21 is defined as the axial direction (axial direction) AX. Based on this axial direction AX and the cylindrical shape, the radial direction RA and the circumferential direction CR are defined as shown in the figure. This direction will be used in the description as needed.

[0067] The cylindrical body 21 has a first cylindrical portion 25 and a second cylindrical portion 26 divided into a front end side and a root side (base side) along its axial direction AX. Each cylindrical portion 25 and 26 is formed into a cylindrical shape with the same outer diameter. The cylindrical portions 25 and 26 are joined (fixed) to each other longitudinally along the axial direction AX using fasteners such as bolts (not shown). The first cylindrical portion 25 is located on the cover side of the cover portion 22, and the second cylindrical portion 26 is located on the fifth arm 16 side.

[0068] A plurality of connectors 31 and 32 (equivalent to connecting parts) are provided on the first cylindrical portion 25. Each connector 31 and 32 includes a plurality of wiring connectors 31 (equivalent to wiring connecting parts) for wiring connection and a plurality of pipe connectors 32 (equivalent to pipe connecting parts) for pipe connection.

[0069] These connectors 31 and 32 are disposed on the peripheral wall portion 25a of the first cylindrical portion 25 and positioned at predetermined intervals on the circumferential CR of the first cylindrical portion 25. Furthermore, as an example, two piping connectors 32 are disposed adjacent to each other on the circumferential direction CR.

[0070] Furthermore, each connector 31 and 32 has an external connecting portion 31a and 32a that is installed through the peripheral wall portion 25a and protrudes outward from the first cylindrical portion 25, and an internal connecting portion 31b and 32b that protrudes inward from the first cylindrical portion 25. Moreover, connectors 31 and 32 are only provided on the first cylindrical portion 25 and not on the second cylindrical portion 26.

[0071] A knurled section 34 (equivalent to an anti-slip structure) is provided on the outer peripheral surface of the second cylindrical portion 26. The knurled section 34 is the portion of the outer peripheral surface of the second cylindrical portion 26 that has been knurled. In the knurled section 34, the outer peripheral surface of the second cylindrical portion 26 is irregularly shaped. Furthermore, the knurled section 34 is provided over the entire area of ​​the outer peripheral surface of the second cylindrical portion 26. In addition, in this robot 10, when the sixth arm 17 is moved for direct teaching, the outer peripheral surface of the second cylindrical portion 26 (that is, the knurled section 34) is held.

[0072] The cover 22 is secured to the first cylindrical portion 25 using bolts 36 (equivalent to fasteners). Multiple bolts 36 are arranged on the outer periphery of the cover 22. Each bolt 36 passes through a hole 37 formed in the cover 22 and is screwed into a hole 38 formed in the first cylindrical portion 25. Thus, the cover 22 is detachably secured to the first cylindrical portion 25.

[0073] A hand 18 is mounted on the cover 22. The hand 18 is positioned on the opposite side of the cylindrical body 21, across the cover 22. A circular protrusion 42 protruding toward the hand 18 is formed on the cover 22. This protrusion 42 is formed at a position closer to the inner circumference than each hole 37. The hand 18 is secured to the cover 22 with the protrusion 42 inserted into a recess 43 formed at its bottom using bolts (not shown). Furthermore, a plurality of screw holes 45 are formed on the protrusion 42, into which the bolts are tightened. Additionally, a pin hole 46 is formed on the protrusion 42, into which a positioning pin (not shown) for positioning the hand 18 is inserted.

[0074] Next, the wiring and piping connected to the connectors 31 and 32 provided on the cylindrical body 21 (first cylindrical part 25) will be described.

[0075] Wiring or conduit extending from the end effector mounted on the sixth arm 17 or equipment attached to the end effector can be connected to each connector 31, 32. Alternatively, wiring and conduit extending only from the end effector attached to the sixth arm 17 can be connected to the corresponding connectors 31 and 32.

[0076] In this embodiment, the wiring 51 (equivalent to a "wire-like component extending from the end effector side") of the hand 18 is connected to wiring connector 31A, and the wiring 52 (equivalent to a "wire-like component extending from the end effector side") of the camera 23 (equivalent to a "device attached to the end effector") held by the hand 18 is connected to wiring connector 31B. These wirings 51 and 52 are connected to the external connection portion 31a of wiring connectors 31A and 31B. In addition, an air supply pipe 53 (equivalent to a "wire-like component extending from the end effector side (front end side)") for supplying air to the hand 18 is connected to pipe connector 32. One end of pipe 53 is connected to the hand 18, and the other end of pipe 53 is connected to the external connection portion 32a of pipe connector 32.

[0077] Each wiring connector 31 has an internal wiring section 55 (equivalent to an internal wire-like component) extending from the inside of the fifth arm 16 to the inside of the sixth arm 17 connected to its internal connection portion 31b. Similarly, the conduit connector 32 has an internal conduit section (equivalent to an internal wire-like component) extending from the inside of the fifth arm 16 to the inside of the sixth arm 17 connected to its internal connection portion 32b. These internal wiring sections 55 and internal conduit sections 56 will now be described in sequence.

[0078] The internal wiring section 55 includes: a first wiring 58 extending from the interior of the fifth arm 16 to the interior of the sixth arm 17 (in other words, the inner space 28 of the cylindrical body 21); and a plurality of second wirings 59 connected to the first wiring 58 via a substrate 61. The first wiring 58 enters the interior of the first arm 12 from within the base 11, and then extends through each of the arms 12 to 17 to the interior of the sixth arm 17. Furthermore, the plurality of second wirings 59 are respectively connected to the internal connection portion 31b of each wiring connector 31.

[0079] The substrate 61 is disposed inside the sixth arm 17 (cylindrical body 21), with its thickness direction aligned with the axial direction AX of the cylindrical body 21. Therefore, the substrate 61 is arranged in the inner space 28 of the cylindrical body 21 in a manner intersecting the aforementioned axial direction AX (i.e., in a manner that divides the inner space 28). Furthermore, the substrate 61 is formed in a disk shape, with its central axis aligned with the central axis of the cylindrical body 21. In this configuration, the outer periphery of the substrate 61 is close to the inner peripheral surface of the cylindrical body 21.

[0080] The substrate 61 is disposed near the boundary of each cylindrical portion 25, 26 of the cylindrical body 21. Therefore, the substrate 61 is positioned on the opposite side of the cover portion 22 of each connector 31, 32 disposed on the cylindrical body 21 (first cylindrical portion 25) in the axial direction. In other words, in this case, each connector 31, 32 is positioned on the side closer to the cover portion 22 of the substrate 61 in the aforementioned axial direction AX. Furthermore, the substrate 61 is mounted on a substrate mounting portion (not shown) disposed on the second cylindrical portion 26 at its outer periphery. However, the substrate mounting portion may also be disposed on the first cylindrical portion 25.

[0081] A through hole 62 extending through the thickness direction is formed in the center of the substrate 61. This through hole 62, when viewed along the axial direction AX of the cylindrical body 21, is located in the center of the cylindrical body 21 (that is, the center of the plane orthogonal to the axial direction AX) and is circular. A first wiring 58 is inserted into the through hole 62 (equivalent to a through-hole). The first wiring 58 extends through the through hole 62 towards a position closer to the cover portion 22 than the substrate 61, and its end extending to its destination connects to the substrate 61 from the cover portion 22 side. Specifically, a connecting portion 65a is mounted on the substrate surface 61a of the substrate 61 opposite to the cover portion 22, and a connector 65b is connected to this connecting portion 65a. The connector 65b is mounted on the aforementioned end of the first wiring 58. Thus, the first wiring 58 is connected to the substrate 61 via the connectors 65a and 65b.

[0082] The second wiring 59 is provided for each wiring connector 31 and is connected to the substrate 61 and the wiring connector 31 (internal connection portion 31b), respectively. Specifically, connector portions 66a and 67a are respectively mounted on both ends of the second wiring 59, with connector portion 66a connected to connector portion 66b mounted on the substrate 61. Therefore, the second wiring 59 and the substrate 61 are connected via connector portions 66a and 66b. Furthermore, connector portion 67a is connected to the internal connection portion 31b of the wiring connector 31.

[0083] from Figure 3 as well as Figure 4It can be seen that the connector portions 66b and 65a, which are three connector portions, are mounted at appropriate positions in the radial direction RA on the substrate surface 61a of the substrate 61 and are spaced apart from each other in the circumferential direction CR.

[0084] According to the above structure, power is supplied to the first wiring 58 by a power supply unit (not shown), and this power is distributed to each wiring connector 31 via the first wiring 58, the substrate 61, and each of the second wirings 59. Then, power is supplied to the hand 18 via wiring 51 through wiring connector 31A, and power is supplied to the camera 23 via wiring connector 31B through wiring 52.

[0085] Next, the internal piping section 56 will be described. The internal piping section 56 serves as an air supply conduit (hereinafter referred to as piping 56), entering the first arm 12 from within the base 11, extending through each of the arms 12-17 to the interior of the sixth arm 17. Piping 56 is inserted into the through-hole 62 of the substrate 61 within the sixth arm 17. In this case, piping 56, together with the first wiring 58, is inserted into the through-hole 62. Piping 56 is guided from the substrate 61 through the through-hole 62 to a position closer to the cover portion 22 than the substrate 61, and the end of this guided destination is connected to the internal connection portion 32b of the piping connector 32. In this case, air is supplied to the piping connector 32 via piping 56 through an air supply source (not shown). This air is then supplied to the hand portion 18 via piping 53 through the piping connector 32.

[0086] Next, the steps for assembling the sixth arm 17 into the fifth arm 16 will be explained.

[0087] When assembling the sixth arm 17 to the fifth arm 16, firstly, the second cylindrical portion 26 of the sixth arm 17 is connected to the fifth arm 16, and then the substrate 61 is mounted on the substrate mounting portion (not shown) of the second cylindrical portion 26. When mounting the substrate 61, the first wiring 58 and the conduit 56 are respectively inserted into the through-hole 62 of the substrate 61, and the substrate 61 is mounted in this inserted state. After the substrate 61 is mounted, the first wiring 58 is connected to the substrate 61. Specifically, the connector portion 65b of the first wiring 58 is connected to the connector portion 65a of the substrate 61.

[0088] Next, the first cylindrical portion 25 is assembled to the second cylindrical portion 26 using fasteners (not shown). This forms the cylindrical body 21. In addition, the connectors 31 and 32 are pre-assembled onto the first cylindrical portion 25.

[0089] Next, each of the second wirings 59 is connected to the substrate 61 and the wiring connector 31, respectively. Specifically, the connector portion 66a of the second wiring 59 is connected to the connector portion 66b of the substrate 61, and the connector portion 67a of the second wiring 59 is connected to the internal connection portion 31b of the wiring connector 31. In addition, the conduit 56 is connected to the internal connection portion 32b of the conduit connector 32.

[0090] Here, the connection work of the first wiring 58 and the second wiring 59 and the connection work of the conduit 56 are performed with the cover 22 removed (see reference). Figure 3 (arrow marked YJ). Therefore, the connection work can be performed while visually confirming the connection or installation status of wiring 58, 59 and conduit 56 through the front opening 21a of the cylindrical body 21 (see reference). Figure 3 (The attached figure is labeled EY).

[0091] Next, the cover 22 is secured to the cylindrical body 21 using bolts 36. Thus, the assembly of the sixth arm 17 relative to the fifth arm 16 is completed.

[0092] Based on the structure of this embodiment described in detail above, the following excellent effects can be obtained.

[0093] The sixth arm 17 has a cylindrical body 21 connected to the fifth arm 16 and a cover 22 that blocks the front opening 21a of the cylindrical body 21. Connectors 31 and 32 are provided on the cylindrical body 21, and a hand 18 is mounted on the cover 22. Furthermore, the cylindrical body 21 and the cover 22 are formed separately and are fixed together by bolts 36. In this structure, as described above, during the assembly of the sixth arm 17, the cylindrical body 21 can be connected to the fifth arm 16 first, then the second wiring 59 (and subsequently the internal wiring portion 55) can be connected to the wiring connectors 31 of the cylindrical body 21, and the conduit 56 can be connected to the conduit connector 32.

[0094] In this case, from Figure 3 It can be seen that the connection work can be performed while visually confirming the installation status of each wiring 58, 59 (internal wiring section 55) and conduit 56 through the front opening 21a of the cylindrical body 21. Therefore, bending of wiring 58, 59 and conduit 56 can be prevented or suppressed.

[0095] Next, the cover 22 is fixed to the cylindrical body 21 using bolts 36. In this case, the cover 22 can be fixed while checking the wiring 58, 59 and conduit 56. Therefore, it is possible to prevent the wiring 58, 59 or conduit 56 from engaging between the cover 22 and the cylindrical body 21. Thus, as described above, it is possible to prevent the wiring 58, 59 or conduit 56 from engaging or bending during the assembly of the sixth arm 17.

[0096] The cylindrical body 21 has a first cylindrical portion 25 and a second cylindrical portion 26 divided along the axial direction AX. Connectors 31 and 32 are provided only on the first cylindrical portion 25, and not on the second cylindrical portion 26. In this case, when an operator moves the sixth arm 17 to teach the robot 10, the second cylindrical portion 26 can be appropriately used as a gripping part for the operator. Furthermore, since the cylindrical portions 25 and 26 are divided along the axial direction AX, the gripping part can be positioned either on the side of the cover 22 or opposite to the cover 22 by placing the second cylindrical portion 26 relative to the first cylindrical portion 25. Therefore, the position of the gripping part can be easily set according to the operator's preference.

[0097] Furthermore, connectors 31 and 32 have external connecting portions 31a and 32a protruding outward from the first cylindrical portion 25. Therefore, for example, when the hand 18 is moved towards and used in a narrow section, connectors 31 and 32 of the sixth arm 17 may interfere with the narrow section. According to the above structure, in this situation, by positioning the first cylindrical portion 25 on the opposite side of the cover portion 22, it is possible to prevent connectors 31 and 32 from interfering with the narrow section.

[0098] A knurled section 34 is provided on the outer peripheral surface of the second cylindrical portion 26. This prevents hand slippage when moving the sixth arm 17 while holding the second cylindrical portion 26.

[0099] Multiple wiring connectors 31 for wiring connections are provided on the cylindrical body 21. Internal wiring portions 55 extending from the interior of the fifth arm 16 to the interior of the sixth arm 17 are connected to these wiring connectors 31. Furthermore, a substrate 61 is provided inside the sixth arm 17 (the inner space 28 of the cylindrical body 21). The internal wiring portion 55 has: a first wiring 58 extending from the interior of the sixth arm 17 and connected to the substrate 61; and multiple second wirings 59 respectively connected to the substrate 61 and the wiring connectors 31. In this configuration, power is distributed from the first wiring 58 via the substrate 61 and each of the second wirings 59 to each wiring connector 31. This structure allows power to be supplied to multiple wiring connectors 31 and reduces the number of wirings located in the arms 12-16, which are positioned closer to the base of the sixth arm 17. Therefore, sufficient space for wiring within the arms can be adequately secured, resulting in a reduction in the risk of wiring breakage.

[0100] Furthermore, multiple wiring connectors 31 are all positioned closer to the cover portion 22 than the substrate 61. In this configuration, with the substrate 61 housed inside the cylindrical body 21, the connection status of the second wiring 59 relative to the wiring connectors 31 can be easily visually confirmed through the front opening 21a of the cylindrical body 21. Therefore, poor connection at the connection point between the wiring connectors 31 and the second wiring 59 can be appropriately suppressed. In particular, this effect is of great significance in a configuration with multiple wiring connectors 31.

[0101] The first wiring 58, extending from the interior of the fifth arm 16, is guided through a through-hole 62 formed on the substrate 61 to a position closer to the cover portion 22 than the substrate 61, and connects to the substrate 61 from the cover portion 22 side. In this case, the connection status between the substrate 61 and the first wiring 58 can be easily visually confirmed through the front opening 21a of the cylindrical body 21. Therefore, it is possible to appropriately suppress poor connection at the connection portion between the substrate 61 and the first wiring 58 (specifically, the connection between each connector 65a, 65b).

[0102] The pipe connector 32 is positioned closer to the cover portion 22 of the substrate 61. Furthermore, the pipe 56, extending from the interior of the fifth arm 16 to the interior of the sixth arm 17, is guided through the through-hole 62 of the substrate 61 to a position closer to the cover portion 22 of the substrate 61 and connected to the pipe connector 32. In this configuration, with the substrate 61 housed inside the cylindrical body 21, the connection status of the pipe 56 relative to the pipe connector 32 can be easily visually confirmed through the front opening 21a of the cylindrical body 21. Therefore, poor connection at the connection point between the pipe connector 32 and the pipe 56 can be appropriately suppressed.

[0103] With the replacement of end effectors, there may be situations where the sixth arm 17, on which the end effector is mounted, needs to be replaced. For example, when the end effector is frequently replaced, the bolt holes 45 of the bolts that secure the end effector may become fatigued, or the locating pins may become scratched, requiring the replacement of the sixth arm 17. In this case, in the above embodiment, the cover 22 on which the end effector is mounted is detachably fixed to the cylindrical body 21 using bolts 36. Thus, in cases where the bolt holes 45 become fatigued, the problem can be easily addressed by simply replacing the cover 22.

[0104] Furthermore, cover 22 can be replaced with another cover formed with a different size than cover 22. For example, there are end effectors with dimensions other than the installation dimensions specified by ISO standards. In this case, by preparing a cover capable of mounting the aforementioned end effector and replacing that cover with cover 22, the aforementioned end effector can be mounted.

[0105] Furthermore, a disc-shaped component can be inserted between the cover 22 and the cylindrical body 21. For example, a force sensor that detects external forces acting on the end effector can be inserted as the disc-shaped component.

[0106] The present invention is not limited to the above-described embodiments, and may also be implemented as shown below, for example.

[0107] In the above embodiment, although the cylindrical body 21 is divided into two cylindrical portions 25 and 26 along the axial direction AX, it may also be divided into three or more cylindrical portions along the axial direction AX. In addition, the cylindrical body 21 does not necessarily have to be divided, and may also be formed into a single component.

[0108] Alternatively, a sandblasting section or an etching section can be provided on the outer peripheral surface of the second cylindrical portion 26 instead of the knurled section 34 as an anti-slip structure. The sandblasting section is the portion of the outer peripheral surface of the second cylindrical portion 26 that has been sandblasted, and the etching section is the portion of the outer peripheral surface of the second cylindrical portion 26 that has been etched. Alternatively, the anti-slip structure may not be provided on the outer peripheral surface of the second cylindrical portion 26.

[0109] • The cover portion 22 does not necessarily have to be in the shape of a circular plate. For example, the cover portion 22 may be formed as having a circular plate portion and a cylindrical portion extending from the periphery of the circular plate portion toward the cylindrical body 21. In this case, the cylindrical portion is coaxially arranged with the cylindrical body 21. In this structure, an end effector is mounted on the circular plate portion of the cover portion 22.

[0110] • Bolts 36 are not necessarily required as fasteners to fix the cover 22 to the cylindrical body 21. For example, a retaining pin can also be used as a fastener, thereby fixing the cover 22 to the cylindrical body 21 in a non-detachable manner.

[0111] Alternatively, a notch can be provided on the substrate 61 instead of the through hole 62 as an insertion portion. In this case, a notch is provided on the outer periphery of the substrate 61, and the first wiring 58 and the conduit 56 are inserted into the notch.

[0112] Alternatively, the substrate 61 may not be provided inside the sixth arm 17. In this case, a wiring unit is provided that extends from the inside of the fifth arm 16 to the inside of the sixth arm 17 and connects to the wiring connector 31.

[0113] • In the above embodiments, although wiring connector 31 and piping connector 32 are provided respectively, the present invention can also be applied in a structure that only provides one of these connectors 31 and 32.

[0114] The cylindrical body 21 can also be configured with interchangeable first cylindrical portion 25 and second cylindrical portion 26. Specifically, the cylindrical body 21 can be switched between a first state and a second state. The first state is in which the first cylindrical portion 25 is positioned on the cover 22 side and the second cylindrical portion 26 is positioned on the fifth arm 16 side, with the cylindrical portions 25 and 26 joined together. The second state is in which the second cylindrical portion 26 is positioned on the cover 22 side and the first cylindrical portion 25 is positioned on the fifth arm 16 side, with the cylindrical portions 25 and 26 joined together. In this case, a hole for inserting the bolt 36 that secures the cover 22 also needs to be formed in the second cylindrical portion 26.

[0115] • Robot 10 is not limited to a vertical multi-joint robot, but can also be a horizontal multi-joint robot (scalar robot). Furthermore, robot 10 only needs to have multiple arms (manipulators) arranged longitudinally together by joints, with one arm rotatably connected to the other. It is not limited to a 6-axis robot, but can also be a robot with 5 or fewer axes, or 7 or more axes. Additionally, robot 10 can also be a robot other than a cooperative motion robot.

Claims

1. A multi-joint robot comprising multiple arms connected longitudinally to each other via joints and capable of relative rotation. The plurality of arms includes: A front arm having a bottomed cylindrical body for mounting an end effector; and an adjacent arm adjacent to the front arm. The front arm is provided with a connecting portion for a wire-like component, which can be either a wiring section or a piping section. The connecting portion can at least connect to the linear member extending from the end effector, and is connected to the linear member extending from the interior of the adjacent arm toward the interior of the fore-end arm as an internal linear member. The multi-joint robot is characterized by the following: The front arm has: A cylindrical body, connected to the adjacent arm and provided with the connecting portion; and The cover plugs the front opening of the cylindrical body and mounts the end effector. The cylindrical body and the cover are formed separately and are fixed together by fasteners. The cylindrical body is provided with a plurality of wiring connection parts for wiring connection. The plurality of wiring connection parts are connected to internal wiring parts that serve as internal linear components. A substrate is provided in the inner space of the cylindrical body in such a way that it intersects the axial direction of the cylindrical body and faces the cover portion. The internal wiring portion is connected to the wiring connection portion via the substrate from the axial direction on the side of the substrate closer to the cover portion.

2. The multi-joint robot according to claim 1, wherein, The cylindrical body has a first cylindrical portion and a second cylindrical portion that are divided and joined together in the axial direction of the cylindrical body. The connecting portion is provided only on the first cylindrical portion and the second cylindrical portion.

3. The multi-joint robot according to claim 2, wherein, An anti-slip structure is provided on the outer circumferential surface of the second cylindrical part.

4. The multi-joint robot according to claim 1, wherein, The internal wiring section has: A first wiring enters the inner space from the interior of the adjacent arm and connects to the substrate; as well as Multiple second wirings are provided for each of the wiring connection portions and are respectively connected to the substrate and the wiring connection portion. The plurality of wiring connections are arranged in the axial direction at a position closer to the cover than the substrate.

5. The multi-joint robot according to claim 4, wherein, An insertion portion through which the first wiring is inserted is formed on the substrate. The first wiring is guided through the insertion portion to a position closer to the cover portion than the substrate and is connected to the substrate from the cover portion side.

6. The multi-joint robot according to any one of claims 1 to 5, wherein, The cover is detachably fixed to the cylindrical body.

7. The multi-joint robot according to any one of claims 1 to 5, wherein, The end effector is equipped with an associated device. The connecting portion can be connected to the linear component extending from the end effector and the associated device.

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