Robot

Abstract

There is provided a robot 100 including: a first arm 30 supported so as to be rotatable about a first axis J2; and a second arm (40) supported so as to be rotatable about a second axis (J3) parallel to the first axis (J2) with respect to the first arm (30), the first arm (30) or the second arm (40) between the first axis (J2) and the tip of the second arm (40) being provided with a device setting unit (41a) on which the relay device (60) can be set, the device setting unit (41a) being capable of setting the relay device (60) at a position in which the relay device (60) can be set, and the second arm (40) being supported so as to be rotatable about a second axis (J3) parallel to the first axis (J2). Even if the midway position in the longitudinal direction of either a first linear body (62) extending along the first arm (30) and connected to the relay device (60) or a second linear body (62) extending from the relay device (60) to the tip side of the second arm (40) is disposed on a path intersecting the second axis (J3).

Description

Technical Field

[0001] This disclosure relates to a robot. Background Technology

[0002] A robot with a wire feeding device is known, which is disposed on the outer surface of the robotic arm for feeding wire drawn from an external wire spool to a welding torch mounted at the front end of the robotic arm (e.g., see Patent Document 1).

[0003] A conduit is connected to the rear end of the welding wire feeding device for inserting the welding wire drawn from the welding wire spool.

[0004] Existing technical documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2009-006454 Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] In such robots, to improve wire feeding performance, the bending radius of the conduit's bend needs to be maximized. Additionally, as the robot moves, the conduit may swing significantly, potentially causing interference with surrounding components.

[0008] Therefore, it is desirable to ensure that the line body connected to the relay device such as the welding wire feed device mounted on the robot has a large bending radius while preventing the line body from swinging violently when the robot moves.

[0009] Technical means to solve technical problems

[0010] One embodiment of this disclosure is a robot comprising: a first arm supported for rotation about a first axis; a second arm supported for rotation relative to the first arm about a second axis parallel to the first axis; and a wrist unit disposed at the front end of the second arm and supported for rotation about a third axis extending along a plane offset by a predetermined amount relative to a plane including the second axis. A device mounting portion for mounting a relay device is provided on either the first or second arm between the first axis and the front end of the second arm. This device mounting portion allows the relay device to be positioned as follows: a first linear body extending along the first arm and connected to the relay device, and a second linear body extending from the relay device to the front end of the second arm, both extending along a plane orthogonal to the second axis and including the third axis. The midpoint of the length direction of either the first or second linear body is positioned on a path intersecting the second axis. Attached Figure Description

[0011] Figure 1 This is a side view of the robot according to the first embodiment of this disclosure.

[0012] Figure 2 It means Figure 1 A cross-sectional view of the structure of the robot's second arm.

[0013] Figure 3 yes Figure 1 A schematic diagram of the welding wire feeding device for the robot.

[0014] Figure 4 It means Figure 1 A side view of the first variant of the robot.

[0015] Figure 5 It means Figure 1 A schematic diagram of a modified example of the robot's second arm.

[0016] Figure 6 It means Figure 1 A side view of the second variant of the robot.

[0017] Figure 7 It means Figure 1 A side view of the third variant of the robot.

[0018] Figure 8 It means Figure 7 A schematic diagram of the structure of the robot's second arm.

[0019] Figure 9 It means Figure 7 A schematic diagram of the structure of a modified example of the robot's second arm.

[0020] Figure 10 It means Figure 7 A schematic diagram of the structure of other variations of the robot's second arm. Detailed Implementation

[0021] The robot 100 according to one embodiment of the present disclosure will be described below with reference to the accompanying drawings.

[0022] The robot 100 involved in this embodiment is, for example, Figure 1 The image shows a vertical six-axis articulated robot used as a welding robot.

[0023] Robot 100 includes: a base 10 disposed on a surface such as a horizontal ground; and a rotating body 20 supported for rotation relative to the base 10 about a vertical first axis (basic axis) J1. Robot 100 includes a first arm 30 supported for rotation relative to the rotating body 20 about a horizontal second axis (first axis) J2. Furthermore, robot 100 includes a second arm 40 rotatable relative to the first arm 30 about a third axis (second axis) J3 parallel to the second axis J2. Additionally, robot 100 includes a three-axis wrist unit 50 mounted at the front end of the second arm 40.

[0024] The wrist unit 50 includes a first wrist element 51 supported for rotation relative to the second arm 40 about a fourth axis (third axis) J4 extending along a plane orthogonal to the third axis J3. Furthermore, the wrist unit 50 includes a second wrist element 52 supported for rotation relative to the first wrist element 51 about a fifth axis J5 orthogonal to the fourth axis J4. Further, the wrist unit 50 includes a third wrist element 53 supported for rotation relative to the second wrist element 52 about a sixth axis J6 orthogonal to the fifth axis J5 and passing through the intersection of the fourth and fifth axes J4. A welding torch (tool) 70 is mounted at the front end of the third wrist element 53.

[0025] The first arm 30 is a long, cylindrical shape with a hollow interior, such as... Figure 1 As shown, its base end is supported so that it can rotate about the second axis J2 relative to the upper part of the rotating body 20. Additionally, when the robot 100 is in... Figure 1 In the basic posture shown, the first arm 30 bends so that its central portion protrudes backward in the longitudinal direction.

[0026] Here, the basic posture refers to the posture of the robot 100 configured at the origin position, namely, a straight line orthogonal to the second axis J2 and the third axis J3 extends vertically and the fourth axis J4 extends horizontally. Furthermore, the front end of the second arm 40 in this basic posture is defined as the front.

[0027] like Figure 1 and Figure 2 As shown, the second arm 40 includes: a beam-shaped first portion 41 extending in a direction orthogonal to the third axis J3; and a second portion 42 integrally disposed on the front end side of the first portion 41.

[0028] In this embodiment, when the robot 100 is in a basic posture, the fourth axis J4 of the second arm 40 is positioned at an upward offset relative to the horizontal plane containing the third axis J3.

[0029] The base end of the first part 41 is connected in a manner that allows it to rotate about the third axis J3 relative to the front end of the first arm 30. In addition, at the base end of the first part 41, a through hole 41h is provided along a plane including the first axis J1 and the fourth axis J4, extending in a direction intersecting the third axis J3.

[0030] When the robot 100 is in its basic posture, the through hole 41h tilts downward and extends in a rearward direction.

[0031] In addition, the first part 41 is provided with a device mounting part 41a at the middle position in the length direction. The device mounting part 41a has a device mounting surface 41a' with multiple threaded holes (not shown) for fixing the welding wire feeding device (relay device) 60 described later.

[0032] like Figure 1 As shown, when the robot 100 is in its basic posture, the device mounting surface 41a' is positioned upwards and tilted with the front end positioned above the base end.

[0033] In other words, when the robot 100 is in its basic posture, the wire feed device 60 is configured to tilt in the front-back direction relative to the fourth axis J4 by being mounted on the device mounting surface 41a'.

[0034] Additionally, a motor (actuator) 43 for driving the first wrist element 51 of the wrist unit 50 is mounted on the side of the second arm 40 on the back side, which serves as the device mounting surface 41a'. Further, as... Figure 2 As shown, the second arm 40 has a pair of wall portions 41c that extend from the side of the device mounting surface 41a' to the positions of the two clamping motors 43 in the direction of the third axis J3.

[0035] like Figure 2 As shown, the second part 42 has a gear reducer (actuator) 44 in its hollow interior, which reduces the rotational speed of the shaft 43a of the motor 43 fixed to the first part 41. Furthermore, the second part 42 has a through hole 42h centered on the fourth axis J4. In other words, the through hole 42h opens on the side of the base end of the second part 42 at a position extending upwards from the device mounting surface 41a' away from the fourth axis J4.

[0036] like Figure 2As shown, the first wrist element 51 is supported by a bearing 45 at the front end of the second portion 42 of the second arm 40, allowing it to rotate about a fourth axis J4. The first wrist element 51 includes a cylindrical portion 51c, which has a through hole 51h coaxially arranged with the through hole 42h of the second arm 40. Furthermore, through holes 53h extending along a sixth axis J6 are provided on the second wrist element 52 and the third wrist element 53, respectively.

[0037] The function of the robot 100 configured as described in this embodiment will be explained below.

[0038] When performing arc welding using robot 100, firstly, a welding wire feed device 60 is mounted on the device mounting surface 41a' of the second arm 40, and a welding torch 70 is mounted along the sixth axis J6 at the front end of the third wrist element 53.

[0039] Next, the welding wire spool (not shown) disposed outside the robot 100 is connected to the rear end face (side face) 60b of the welding wire feed device 60 via the conduit (first line body) 62. In addition, the front end face (side face) 60a of the welding wire feed device 60 is connected to the welding torch 70 via the conduit (second line body) 63.

[0040] In this case, the wire feeding device 60 is a device for extracting the wire W from the wire spool and feeding it to the welding torch 70.

[0041] The wire feeding device 60 is fixed to the device mounting surface 41a' by bolts (not shown) fastened to multiple threaded holes provided on the device mounting surface 41a' of the second arm 40. Thus, the wire feeding device 60 is mounted on the device mounting part 41a with its rear end face 60b facing the third axis J3 side and its front end face 60a facing the fourth axis J4 side.

[0042] Near the center of the rear end face 60b of the wire feed device 60, the front end of the guide tube 62 is orthogonally connected to the rear end face 60b. For example, Figure 1 As shown, the base end of the conduit 62 is positioned near the external welding wire spool, and the front end passes through the interior of the base 10 and is pulled upward through the through hole 20h on the upper surface of the rotating body 20. The conduit 62, pulled upward from the rotating body 20, stands upright along the side of the first arm 30 and connects to the rear end face 60b of the welding wire feed device 60 after passing through the through hole 41h provided in the first part 41 of the second arm 40.

[0043] Additionally, the conduit 62 passes through a through hole (not shown) in a guide member 65 mounted on the side of the first arm 30 at its midpoint along its length, thereby being guided along the curved shape of the first arm 30.

[0044] Therefore, when the robot 100 is in its basic posture, the conduit 62 extends upward along a path that causes the first arm 30 to be curved and faces diagonally forward, intersecting the third axis J3 from below the second arm 40. Furthermore, since the third axis J3 traverses the through hole 41h, the conduit 62 passing through the through hole 41h maintains its intersection with the third axis J3.

[0045] Furthermore, the first arm 30 has a rearward-curving shape, thus easily guiding the conduit 62, which is wired along the curved shape and passes through the through hole 41h of the second arm 40, to the welding wire feed device 60 at the front. Additionally, by bending the first arm 30 rearward at its midpoint along its length, the so-called "interior" of the robot 100 can be constructed more deeply, thereby reducing interference between external components and the first arm 30 during operations performed at the front.

[0046] On the other hand, near the center of the front end face 60a of the wire feed device 60, the guide tube 63 is orthogonally connected to the front end face 60a. The base end of the guide tube 63 is connected to the front end face 60a of the wire feed device 60, and the front end passes through the through hole 42h of the second part 42 of the second arm 40 and the through hole 51h of the first wrist element 51. Then, the guide tube 63 bends downward near the fifth axis J5 and passes through the through hole 53h to connect with the welding torch 70. The through hole 53h extends along the sixth axis J6 provided on the second wrist element 52 and the third wrist element 53.

[0047] In this configuration, when the welding wire feed device 60 is mounted on the device mounting surface 41a', due to the inclination of the device mounting surface 41a', the connection position between the rear end face 60b and the guide tube 62 is positioned in the direction toward the third axis J3. On the other hand, the connection position between the front end face 60a and the guide tube 63 is positioned in the direction toward the opening of the through hole 42h in the second part 42.

[0048] In other words, the wire feeding device 60 on the device mounting surface 41a' is inclined in a direction in which the connection position of the front end surface 60a to the guide tube 63 is close to the fourth axis J4, and the connection position of the rear end surface 60b to the guide tube 62 is close to the third axis J3.

[0049] Therefore, the conduit 62, which is connected to the rear end face 60b of the wire feed device 60, is positioned on a path that intersects the third axis J3 without significant bending. Additionally, the conduit 63, which is connected to the front end face 60a of the wire feed device 60, is inserted into the through hole 42h and positioned on a path extending along the fourth axis J4 without significant bending.

[0050] In addition, such as Figure 3As shown, inside the wire feeding device 60, there are two pairs of rollers 61 that hold the welding wire W, and a motor (not shown) that drives the two pairs of rollers 61. By rotating the two pairs of rollers 61, the welding wire W is drawn out from the wire spool and guided into the wire feeding device 60 through the guide tube 62. Then, the welding wire W guided into the wire feeding device 60 is transported to the welding torch 70 through the guide tube 63.

[0051] Next, when the robot 100 in this state performs arc welding, each joint of the robot 100 rotates around the corresponding axes J1 to J6, and the welding torch 70 is positioned and in the desired orientation.

[0052] In this case, when the second arm 40 rotates relative to the first arm 30 about the third axis J3, the wire feed device 60 also rotates relative to the first arm 30 about the third axis J3. Moreover, along with this, a bending force also acts on the conduit 62 connected to the wire feed device 60, but since the conduit 62 passes through the third axis J3, which is the center of rotation, the bending force can be reduced to a smaller extent.

[0053] In other words, with the robot 100 in its basic posture, the guide tube 62 extends almost in a straight line. Therefore, even if the second arm 40 rotates in any direction from the basic posture, the bending radius of the guide tube 62 can be prevented from becoming too small. As a result, it has the following advantages: the welding wire W passing through the guide tube 62 can maintain a large bending radius without reducing the wire feeding performance of the welding wire W.

[0054] Furthermore, since the conduit 62 is arranged through the third axis J3, which serves as the rotation center of the second arm 40, it can suppress the swaying amplitude generated when the second arm 40 rotates. Thus, even if the second arm 40 rotates significantly around the third axis J3, uncontrolled swaying of the conduit 62 can be prevented, thereby avoiding interference with other components arranged around the robot 100.

[0055] Furthermore, the connection position of the front end face 60a of the welding wire feed device 60 to the guide tube 63 is configured to face the through hole 42h of the second arm 40, so the guide tube 63 can be inserted into the through hole 42h without significant bending. This also provides the advantage that the welding wire W passing through the guide tube 63 can have a large bending radius.

[0056] In addition, Figure 1 In the example shown, the mounting surface 41a' of the second arm 40 is tilted in a forward-facing direction, thus ensuring ample space in the lower part of the front end side of the first portion 41. Therefore, the motor 43 and gear reducer 44 for driving the first wrist element 51 can be configured in this space, and the robot 100 can be prevented from protruding in the left-right direction.

[0057] In addition, by providing a wall portion 41c at the lower part of the first portion 41 of the second arm 40, the motor 43 can be clamped from both sides in the direction of the third axis J3 to protect the motor from external influence, while also improving the mechanical strength of the first portion 41.

[0058] It should be noted that in this embodiment, the wall portion 41c is positioned on both sides of the third axis J3 direction surrounding the motor 43. However, the wall portion 41c may also be positioned to cover at least a portion of the motor 43.

[0059] In addition, in this embodiment, the fourth axis J4 is positioned at an upward offset relative to the third axis J3, but instead, the third axis J3 and the fourth axis J4 can also be positioned on the same plane.

[0060] For example, such as Figure 4 As shown, when the robot 100 is in its basic posture, the device mounting surface 41a' of the second arm 40 can also be positioned below the third axis J3, causing the first part 41 to be recessed.

[0061] This reduces the upward protrusion of the wire feed device 60 mounted on the device mounting surface 41a', thereby reducing the required space when the robot 100 is running.

[0062] Furthermore, in this embodiment, the second arm 40 is designed such that the device mounting surface 41a' faces upward when the robot 100 is in its basic posture. In other words, the device mounting surface 41a' is fixed to the lower surface of the welding wire feed device 60.

[0063] Instead, the second arm 40 can also be constructed as follows: Figure 5 As shown, with the robot 100 in its basic posture, the device mounting surface 41a' is arranged along a surface orthogonal to the third axis J3. In this case, one side of the wire feed device 60 in the width direction, rather than the lower surface, is fixed to the device mounting surface 41a'.

[0064] Next, the robot 200 according to the second embodiment of this disclosure will be described with reference to the accompanying drawings.

[0065] In the following description, parts that have the same structure as the robot 100 described above will be labeled with the same reference numerals and repeated descriptions will be omitted.

[0066] like Figure 6 As shown, the robot 200 according to this embodiment has a device mounting section 41a on its first arm 30 for mounting a welding wire feeding device 60.

[0067] The wire feeding device 60 is fixed in a position on the side of the first arm 30 at the center of its length direction, with its rear end face 60b facing the second axis J2 and its front end face 60a facing the third axis J3. In other words, the device mounting part 41a has a device mounting surface 41a' for fixing the wire feeding device 60 on the side of the first arm 30 at the center of its length direction.

[0068] In this case, the conduit 62, for example, has its base end positioned near the external wire spool, and its front end extended upward through the through hole 20h on the upper surface of the rotating body 20 via the interior of the base 10. The conduit 62 then extends upward along a shape closer to the base end than the center of the first arm 30 in its length direction, and its front end connects to the rear end face 60b of the wire feed device 60.

[0069] On the other hand, the base end of the conduit 63 is connected to the front end face 60a of the welding wire feed device 60, and the front end passes through the through hole 41h of the second arm 40 and is introduced into the through hole 42h of the second arm 40. Afterwards, the front end of the conduit 63 is connected to the welding torch 70 at the front end in the same wiring manner as in the robot 100 described above.

[0070] Therefore, when the robot 200 is in its basic posture, the conduit 63 can bend from below the rear side of the third axis J3 toward the front side to easily pass through the third axis J3 for wiring. Thus, in this case, it is possible to ensure that the conduit 63 has a large bending radius while suppressing the swaying of the conduit 63 caused by the movement of the second arm 40.

[0071] Furthermore, since the wire feed device 60, which is positioned at the center of the length direction of the first arm 30, is connected to the guide tubes 62 and 63, the guide tubes 62 and 63 can be easily laid along the curved shape of the first arm 30. Therefore, there is no need to provide an additional guide member 65 to guide the guide tube 62 along the side of the first arm 30.

[0072] Furthermore, in this case, there is no need to install the device mounting section 41a on the second arm 40, thus allowing for a further reduction in the size of the first part 41. As a result, the front end of the robot 200 can be made more slender, which is particularly advantageous when using the robot 200 in environments with limited working space.

[0073] Next, the robot 300 according to the third embodiment of this disclosure will be described with reference to the accompanying drawings.

[0074] In the following description, parts that are structurally identical to those of robots 100 and 200 described above will be labeled with the same numbers and repeated descriptions will be omitted.

[0075] In the robot 300 involved in this embodiment, such as Figure 7As shown, the first arm 30 is a beam-shaped component that extends in a straight line along the first axis J1 when the robot 300 is in its basic posture.

[0076] In addition, such as Figure 7 and Figure 8 As shown, the second arm 40 in this embodiment is composed of two parts: the main body 46 and the reinforcing member 47.

[0077] The body portion 46 includes: a beam-shaped first portion 41 extending in a direction orthogonal to the third axis J3; and a second portion 42 integrally disposed on the front end side of the first portion 41. In other words, the body portion 46 is a component equivalent to the second arm 40 of the robot 100 described above.

[0078] The reinforcing member 47 is, for example, a flat plate made of the same material as the main body 46, bent into an arch shape on one side in the thickness direction. One end of the arched reinforcing member 47 is detachably fixed to the front end of the main body 46, i.e., the upper end of the second part 42, using bolts or the like. Similarly, the other end of the reinforcing member 47 is fixed to the base end of the main body 46, i.e., the base end of the first part 41. That is, as... Figure 7 As shown, the reinforcing member 47 extends horizontally from above across the welding wire feed device 60, which is mounted on the device mounting surface 41a', to connect the front end and the base end of the main body 46.

[0079] Therefore, the second part 42 of the body part 46 is supported not only by the first part 41, but also by the reinforcing member 47, thus improving the rigidity of the body part 46 and effectively suppressing the deformation of the body part 46.

[0080] For example, when the second arm 40 is rotated relative to the first arm 30 about the third axis J3, an inertial force acts on the second arm 40 in the opposite direction of rotation. In particular, since the weight of the welding wire feed device 60 acts on the body part 46, an even greater inertial force acts on the body part 46. However, since the body part 46 is reinforced, it is possible to prevent the body part 46 from twisting or wobbling due to the acting inertial force.

[0081] Therefore, it can not only maintain the position of the welding wire feed device 60 more stably, but also move the welding torch 70 to the desired position with high precision, thereby improving the accuracy of welding operations.

[0082] Furthermore, by removing the bolts from both ends of the fixed body 46 and both ends of the reinforcing member 47, and removing the reinforcing member 47 from the body 46, a larger open space can be created above the wire feed device 60 and the device mounting surface 41a'. This allows for easier access to the wire feed device 60, enabling smooth maintenance and related operations without compromising maintainability or operational efficiency.

[0083] In addition, in this embodiment, such as Figure 8 As shown, it can also be configured such that the two sides of the welding wire feed device 60 located between the main body 46 and the reinforcing member 47 along the direction of the third axis J3 can be covered by the cover member.

[0084] In this case, the cover component may be, for example, a flat plate component made of resin material, the shape of which is capable of covering and shielding the entire gap formed between the upper surface of the first part 41 and the lower surface of the reinforcing member 47 from the outside in the direction along the third axis J3.

[0085] Two such cover components are prepared and detachably mounted on the main body 46 or the reinforcing component 47, thereby covering the entire welding wire feed device 60 and protecting it from external influences. Therefore, the housing or other protective components provided within the welding wire feed device 60 itself can be omitted or simplified, enabling miniaturization and weight reduction of the welding wire feed device 60.

[0086] Alternatively, in this case, the two cover components can be installed in a detachable manner relative to the main body 46 or the reinforcing member 47, but the two cover components and the reinforcing member 47 can also be formed integrally. Thus, the reinforcing member 47 and the two cover components can be assembled and disassembled as a whole relative to the main body 46, facilitating assembly and disassembly operations.

[0087] Alternatively, in this embodiment, the second arm 40 can also be configured as follows: Figure 5 As shown in the embodiment, when the robot 300 is in its basic posture, the device mounting surface 41a' is positioned in a direction orthogonal to the third axis J3. In this case, for example, as... Figure 9 As shown, the reinforcing member 47 is arranged parallel to the welding wire feeding device 60 on the side opposite to the device mounting surface 41a'.

[0088] In addition, in this embodiment, such as Figure 10 As shown, it may also have two reinforcing members 47, which are installed along the left and right ends of the upper surface of the first part 41 respectively.

[0089] In this case, since the two ends of the body part 46 in the longitudinal direction are connected by two reinforcing members 47, the rigidity of the body part 46 can be further improved.

[0090] In addition, since the two reinforcing members 47 act as cover members, they can also protect the two sides of the wire feed device 60 in the width direction from external influences.

[0091] In addition, in this embodiment, the device mounting part 41a that carries the welding wire feeding device 60 is mounted on the second arm 40, but instead, it can also be mounted on the first arm 30 in the same way as the robot 200 described above.

[0092] In this case, the first arm 30 consists of two parts: the main body 46 and the reinforcing member 47.

[0093] In addition, in this embodiment, the reinforcing member 47 is shown to be made of the same material as the main body 46. However, as long as the reinforcing member 47 has sufficient strength to strengthen the main body 46, it can also be made of any material.

[0094] Furthermore, in the above embodiments, robots used as welding robots are illustrated, but robots 100 to 300 are not limited to this.

[0095] Robots ranging from 100 to 300 can be robots that, like laser processing robots, sealing robots, or painting robots, have a relay device that uses lines to relay tools and external devices mounted on fingertips.

[0096] For example, when robots 100 to 300 are used as robots for laser processing, a laser processing head is installed to replace the welding torch 70, and a laser oscillator is installed to replace the welding wire feed device 60. In this case, the conduit 62 is replaced by a light guide path connecting an external control device and a laser oscillator, and the conduit 63 is replaced by a light guide path connecting a laser oscillator and a laser processing head. Thus, the same effect as described above can be obtained.

[0097] The embodiments of this disclosure have been described in detail above, but this disclosure is not limited to the embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit and essence of the invention, or without departing from the spirit and essence of this disclosure derived from the content of the claims and their equivalents. For example, in the above embodiments, the order of each action or the order of each process is shown as an example and is not limited thereto.

[0098] Regarding the above-described embodiments and variations, the following notes are also disclosed:

[0099] (Note 1)

[0100] A robot includes: a first arm supported for rotation about a first axis; a second arm supported for rotation relative to the first arm about a second axis parallel to the first axis; and a wrist unit disposed at the front end of the second arm and supported for rotation about a third axis extending along a plane offset by a predetermined amount relative to a plane including the second axis. A device mounting portion for mounting a relay device is provided on either the first or second arm between the first axis and the front end of the second arm. This device mounting portion can position the relay device in the following ways: a first linear body extending along the first arm and connected to the relay device, and a second linear body extending from the relay device to the front end of the second arm, both extending along a plane orthogonal to the second axis and including the third axis, with the midpoint of the length direction of either the first or second linear body positioned on a path intersecting the second axis.

[0101] (Note 2)

[0102] According to Appendix 1, the robot is wherein the first line body and the second line body are respectively connected to a pair of side surfaces disposed on opposite sides of the relay device.

[0103] (Note 3)

[0104] According to Appendix 1 or 2, the device mounting part is disposed on the second arm, and the midpoint of the length direction of the first linear body is arranged on a path intersecting the second axis.

[0105] (Note 4)

[0106] According to the robot described in Appendix 3, the device setting unit can tilt the relay device in a direction in which the connection position of the first line body to the relay device is close to the second axis and the connection position of the second line body to the relay device is close to the third axis.

[0107] (Note 5)

[0108] According to Appendix 4, the robot includes a device mounting surface for mounting the relay device, and in the second arm, an actuator for driving the wrist unit is disposed on the back side of the device mounting surface.

[0109] (Note 6)

[0110] According to Appendix 5, the robot is wherein the mounting surface of the device is a plane parallel to the second axis.

[0111] (Note 7)

[0112] According to Appendix 6, the robot has a wall portion disposed on at least one side of the actuator along the second axis direction.

[0113] (Note 8)

[0114] According to Appendix 5, the robot is wherein the mounting surface of the device is a plane intersecting the second axis.

[0115] (Note 9)

[0116] According to Appendix 1 or 2, the device mounting part is disposed on the first arm, and the second linear body is positioned at the midpoint of its length direction on a path intersecting the second axis.

[0117] (Postscript 10)

[0118] The robot according to any one of Appendices 1 to 9, wherein the origin of the second arm is arranged in a direction orthogonal to a straight line orthogonal to the first axis and the second axis, the front end side of the second arm is set as the front, and the first arm has a shape that bends backward.

[0119] (Postscript 11)

[0120] The robot according to Appendix 10 further includes: a guide component for guiding the first linear body along the curved shape of the first arm.

[0121] (Postscript 12)

[0122] According to any one of Appendices 1 to 11, the robot, wherein the first arm or the second arm has: a body portion having the device mounting portion; and a reinforcing member mounted between a front end and a base end disposed across the device mounting portion of the body portion to connect the front end and the base end.

[0123] (Postscript 13)

[0124] According to Appendix 12, the robot is wherein the reinforcing component is detachably mounted on the body.

[0125] (Postscript 14)

[0126] According to Appendix 12 or 13, the robot is wherein the reinforcing member is disposed on the side opposite to the device mounting portion, with respect to the relay device.

[0127] (Postscript 15)

[0128] The robot according to any one of Appendices 12 to 14 further includes: a cover component mounted on at least one of the body portion and the reinforcing component, and covering at least a portion of the relay device.

[0129] (Postscript 16)

[0130] The robot according to any one of Appendices 1 to 15 further includes: a base fixed to the mounting surface; and a rotating body supported to be rotatable relative to the base about a basic axis extending in a direction orthogonal to the mounting surface, wherein the first arm is supported to be rotatable relative to the rotating body about the first axis.

[0131] Explanation of reference numerals in the attached figures

[0132] 10: Base

[0133] 20: Rotational body

[0134] 30: First Arm

[0135] 40: Second Arm

[0136] 41c: Wall

[0137] 43: Motor (Actuator)

[0138] 44: Gear reducer (actuator)

[0139] 50: Wrist Unit

[0140] 41a: Device Installation Section

[0141] 41a': Device mounting surface

[0142] 46: Ontology Department

[0143] 47: Reinforced components

[0144] 60: Welding wire feeding device (relay device)

[0145] 60a: Front end face (side face)

[0146] 60b: Rear end face (side view)

[0147] 62: Conduit (First Linear Body)

[0148] 63: Conduit (Second Line Body)

[0149] 65: Guide components

[0150] 100: Robot

[0151] 200: Robot

[0152] 300: Robot

[0153] J1: First axis (basic axis)

[0154] J2: Second axis (first axis)

[0155] J3: Third axis (Second axis)

[0156] J4: Fourth axis (Third axis)

Claims

1. A robot comprising: a first arm supported so as to be rotatable about a first axis; a second arm supported so as to be rotatable about a second axis parallel to the first axis with respect to the first arm; and a wrist unit provided at a front end of the second arm, supported so as to be rotatable about a third axis extending along a plane offset by a prescribed amount with respect to a plane containing the second axis, wherein on the first arm or the second arm between the first axis and the front end of the second arm, a device placement portion capable of placing a relay device is provided, the device placement portion enabling the relay device to be placed at a position where a first linear body extending along the first arm and connected to the relay device, and a second linear body extending from the relay device to the front end side of the second arm, both extend along a plane orthogonal to the second axis and containing the third axis, and a position halfway along the length of either the first linear body or the second linear body is disposed on a path intersecting the second axis. the first linear body and the second linear body are connected to a pair of side surfaces disposed on opposite sides of the relay device, respectively.

2. The robot of claim 1, wherein, the device placement portion is provided on the second arm, 3. The robot of claim 1 or 2, wherein, a position halfway along the length of the first linear body is disposed on a path intersecting the second axis. the device placement portion is capable of tilting the relay device in a direction such that a connection position of the first linear body to the relay device is close to the second axis, and a connection position of the second linear body to the relay device is close to the third axis.

4. The robot of claim 3, wherein, the device placement portion has a device mounting surface for mounting the relay device, 5. The robot of claim 4, wherein, in the second arm, a back surface side of the device mounting surface is disposed with an actuator for driving the wrist unit. the device mounting surface is a plane parallel to the second axis.

6. The robot of claim 5, wherein, the second arm has a wall portion disposed on at least one side of the actuator in the direction of the second axis.

7. The robot of claim 6, wherein, the device mounting surface is a plane intersecting the second axis.

8. The robot of claim 5, wherein, the device placement portion is provided on the first arm, 9. The robot of claim 1 or 2, wherein, a position halfway along the length of the second linear body is disposed on a path intersecting the second axis. with respect to a straight line orthogonal to the first axis and the second axis, an origin position of the second arm is disposed in a direction orthogonal to the straight line, with the front end side of the second arm being forward, 10. The robot of any one of claims 1 to 9, wherein, the first arm has a shape curved toward the rear. a guide member for guiding the first linear body along the curved shape of the first arm.

11. The robot of claim 10, further comprising: the first arm or the second arm includes a body portion having the device placement portion, and a reinforcing member spanning between a front end and a base end disposed on opposite sides of the device placement portion of the body portion, to connect the front end and the base end.

12. The robot of any one of claims 1 to 11, wherein, the reinforcing member is detachably attached to the body portion.

13. The robot of claim 12, wherein, the reinforcing member is disposed on a side opposite the device placement portion, with the relay device interposed therebetween.

14. The robot of claim 12 or 13, wherein, ​ 15. The robot of any one of claims 12-14, further comprising: A cover member is mounted on at least one of the body portion and the reinforcing member, and covers at least a part of the relay device.

16. The robot of any one of claims 1 to 15, further comprising: a base fixed to a surface to be installed; and a rotary body supported so as to be able to rotate relative to the base about a basic axis extending in a direction orthogonal to the surface to be installed, wherein the first arm is supported so as to be able to rotate relative to the rotary body about the first axis.

Images