Vertical articulated robot

Abstract

The invention provides a vertical articulated robot, which is excellent in weight balance of a second arm in a structure capable of leading out a wire from the second arm, and can effectively restrain reduction of motion performance. The vertical articulated robot includes: a first arm; a second arm connected to the tip of the first arm, rotating about a first rotation axis with respect to the first arm, and extending along the first rotation axis; and a third arm connected to the tip of the second arm and rotating about a second rotation axis with respect to the second arm, the second arm having: a housing connected to the first arm; and a first wiring lead-out portion and a second wiring lead-out portion disposed in the housing, the first wiring lead-out portion leading out a first wiring drawn into the housing from the inside of the first arm to the outside of the housing, and the second wiring lead-out portion leading out a second wiring drawn into the housing from the inside of the first arm to the outside of the housing. The first wiring lead-out portion and the second wiring lead-out portion are disposed so as to face each other via the first rotation shaft.

Description

Technical Field

[0001] This invention relates to vertical multi-joint robots. Background Technology

[0002] The robot described in Patent Document 1 is a six-axis vertical articulated robot, having six arm components connected in a manner capable of rotating relative to each other, and tools mounted at the ends of the arms. It should be noted that, for ease of explanation, the six arm components will be referred to sequentially from the root side as the first arm component, the second arm component, the third arm component, the fourth arm component, the fifth arm component, and the sixth arm component. Furthermore, in the robot of Patent Document 1, wiring extends from the side of the fourth arm component and connects to the tool.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-162700

[0004] However, in this configuration, the wiring and the lead-out portion for leading out the wiring are only located on one side of the fourth arm component. As a result, the left-right balance of the fourth arm component is disrupted, and the center of gravity of the fourth arm component about the rotation axis shifts, which may lead to a decrease in the arm's operational performance. Summary of the Invention

[0005] The vertical multi-joint robot of the present invention has:

[0006] First arm;

[0007] The second arm is connected to the end of the first arm, rotates relative to the first arm about a first rotation axis, and extends along the first rotation axis; and

[0008] The third arm is connected to the end of the second arm and rotates relative to the second arm about a second axis of rotation.

[0009] The second arm has: a housing connected to the first arm; and a first wiring lead-out portion and a second wiring lead-out portion disposed in the housing, wherein the first wiring lead-out portion leads out a first wiring that has been wound from inside the first arm into the housing to the outside of the housing, and the second wiring lead-out portion leads out a second wiring that has been wound from inside the first arm into the housing to the outside of the housing.

[0010] The first wiring lead-out portion and the second wiring lead-out portion are arranged opposite each other via the first rotating shaft. Attached Figure Description

[0011] Figure 1 This is a side view showing a vertical multi-joint robot according to a preferred embodiment.

[0012] Figure 2 yes Figure 1The image shows a cross-sectional view of the arm of a vertical multi-joint robot.

[0013] Figure 3 This is a cross-sectional view showing the configuration of the drive unit.

[0014] Figure 4 This is a top view of the arm used to illustrate the problem points of the existing structure.

[0015] Figure 5 This is a top view of the arm.

[0016] Figure 6 This is a side view showing the arm and hand connected by wiring.

[0017] Figure 7 This is a side view showing the arm and hand connected by wiring.

[0018] Explanation of reference numerals in the attached figures

[0019] 1…Vertical multi-joint robot; 11…Base; 12…Robotic arm; 121…Arm; 122…Arm; 123…Arm; 124…Arm; 125…Arm; 126…Arm; 131…Drive unit; 132…Drive unit; 133…Drive unit; 134…Drive unit; 135…Drive unit; 136…Drive unit; 14…Hand; 15…Control device; 2…Shell; 21…Arm body; 211…Opening; 212…Opening; 22…First cover component; 2 21…First opening; 23…Second cover component; 231…Second opening; 241…First partition wall; 242…Second partition wall; 3…First wiring lead-out portion; 30…Outer edge; 4…Second wiring lead-out portion; 40…Outer edge; 5…First connector support portion; 51…First connector; 511…First connector; 512…First connector; 513…First connector; 6…Second connector support portion; 61…Second connector; 611…Second connector; 612… 2 connectors; 613… second connector; 81… connecting wiring; 82… connecting wiring; 91… first wiring; 911… electrical wiring; 912… compressed air hose; 92… second wiring; 921… electrical wiring; 922… compressed air hose; C… circle; D5… power transmission part; D51… pulley; D52… pulley; D53… belt; D6… power transmission part; D61… pulley; D62… pulley; D63… belt; D64… input side bevel gear; D65… input… Output bevel gear; E5…encoder; E6…encoder; J1…rotary shaft; J2…rotary shaft; J3…rotary shaft; J4…rotary shaft; J5…rotary shaft; J6…rotary shaft; M5…motor; M51…output shaft; M6…motor; M61…output shaft; T4…reducer; T41…rigid gear; T42…flexible gear; T43…wave generator; T5…reducer; T51…rigid gear; T52…flexible gear; T53…wave generator; r…rotation radius. Detailed Implementation

[0020] The vertical multi-joint robot of the present invention will now be described in detail based on the embodiments shown in the accompanying drawings.

[0021] Figure 1 This is a side view showing a vertical multi-joint robot according to a preferred embodiment. Figure 2 yes Figure 1 The image shows a cross-sectional view of the arm of a vertical multi-joint robot. Figure 3 This is a cross-sectional view showing the configuration of the drive unit. Figure 4 This is a top view of the arm used to illustrate the problem points of the existing structure. Figure 5 This is a top view of the arm. Figure 6 and Figure 7 These are side views showing the arm and hand connected by wiring.

[0022] Figure 1 The vertical multi-joint robot 1 shown has a base 11 fixed to the ground or the like, a robotic arm 12 rotatably connected to the base 11, a hand 14 mounted at the end of the robotic arm 12, and a control device 15.

[0023] Furthermore, the robotic arm 12 includes an arm 121 rotatable about a rotation axis J1 connected to the base 11; an arm 122 rotatable about a rotation axis J2 orthogonal to the rotation axis J1 connected to the arm 121; an arm 123 rotatable about a rotation axis J3 parallel to the rotation axis J2 connected to the arm 122 as a first arm; an arm 124 rotatable about a rotation axis J4 orthogonal to the rotation axis J3 as a first rotation axis connected to the arm 123 as a second arm; an arm 125 rotatable about a rotation axis J5 orthogonal to the rotation axis J4 as a second rotation axis connected to the arm 124 as a third arm; and an arm 126 rotatable about a rotation axis J6 orthogonal to the rotation axis J5. A hand 14 is mounted on the arm 126. The hand 14 is freely detachable from the arm 126, and can be selectively fitted with a hand suitable for the tasks performed by the vertical multi-joint robot 1. It should be noted that the rotation axes J1 to J6 are imaginary straight lines.

[0024] Furthermore, the vertical multi-joint robot 1 includes a drive unit 131 for rotating arm 121 relative to base 11 about rotation axis J1, a drive unit 132 for rotating arm 122 relative to arm 121 about rotation axis J2, a drive unit 133 for rotating arm 123 relative to arm 122 about rotation axis J3, a drive unit 134 for rotating arm 124 relative to arm 123 about rotation axis J4, a drive unit 135 for rotating arm 125 relative to arm 124 about rotation axis J5, and a drive unit 136 for rotating arm 126 relative to arm 125 about rotation axis J6. Each drive unit 131 to 136 includes, for example, a motor as a drive source, a speed reducer that reduces the rotational speed of the motor to increase the rotational force (torque) and outputs it, and an encoder that detects the amount of rotation of the motor.

[0025] Furthermore, the control device 15 independently controls the driving of the motors installed in each drive unit 131-136, or controls the driving of the hand 14. The control device 15 is, for example, a computer, and includes a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory) storing programs. The CPU reads and executes the programs stored in the ROM, thus fulfilling the function of the control device 15 as a drive for the vertical multi-joint robot 1.

[0026] The above provides a brief description of the overall structure of the vertical multi-joint robot 1. Next, based on... Figures 2 to 7 The features of the vertical multi-joint robot 1, namely the structure of the arm 124, are described in detail. It should be noted that, for ease of explanation, in... Figures 2 to 7 In the various figures, the three mutually orthogonal axes are represented as the X-axis, Y-axis, and Z-axis. Furthermore, for ease of explanation, the direction parallel to the X-axis will be referred to as the "X-axis direction," the direction parallel to the Y-axis as the "Y-axis direction," and the direction parallel to the Z-axis as the "Z-axis direction." Additionally, the arrow side of each axis will be referred to as the "positive side," and the opposite side as the "negative side."

[0027] like Figure 2 As shown, arm 124 is rotatably connected to the end of arm 123 and extends along the rotation axis J4. In addition, arm 124 has a housing 2, and a first wiring lead-out portion 3 and a second wiring lead-out portion 4 disposed in the housing 2.

[0028] Furthermore, the housing 2 includes an arm body 21 connected to the arm 123 via a reducer T4 of the drive unit 134, and a first cover member 22 and a second cover member 23 fixed to the arm body 21. The first wiring 91 and the second wiring 92 are wound from the arm 123 into the housing 2 through the reducer T4. Specifically, the reducer T4 is, for example, a wave gear device, having a rigid gear T41 fixed to the arm 123, a flexible gear T42 fixed to the arm 124 (arm body 21), and a wave generator T43 connected to a motor (not shown) of the drive unit 134. The wave generator T43 is cylindrical. Therefore, the first and second wirings 91 and 92 are wound from the arm 123 into the housing 2 through the wave generator T43, respectively.

[0029] It should be noted that, although not shown in the figure, the first and second wirings 91 and 92 are wound into the base 11 through arms 122 and 121, and connected to the control device 15 and the like via a connector group formed on the back of the base 11.

[0030] Here, the first and second wirings 91 and 92 are not particularly limited. For example, they can be electrical wiring for transmitting and receiving electrical signals, compressed air conduits for supplying compressed air, liquid conduits for supplying liquid, or wiring or conduits with other functions. Furthermore, the number of the first and second wirings 91 and 92 is not particularly limited; there can be one or more. The number of the first and second wirings 91 and 92 can be the same or different. However, in this embodiment, there are three of each of the first and second wirings 91 and 92, one of which is an electrical wiring 911 or 921, and the other two are compressed air conduits 912 and 922. With this configuration, a balance can be achieved between the first wiring 91 and the second wiring 92, thereby effectively suppressing the shift of the center of gravity of the arm 124, as described later.

[0031] The arm body 21 is a highly rigid component made of metal or other materials, and is cylindrical with openings 211 and 212 on both sides in the Y-axis direction. By making the arm body 21 cylindrical, it is easier to install the drive units 135 and 136 into the arm body 21.

[0032] Furthermore, the first cover component 22 is a lightweight component made of resin or the like, and is fixed to one side (negative side in the Y-axis direction) of the arm body 21 by blocking the opening 211 of the arm body 21. The second cover component 23, like the first cover component 22, is also a lightweight component made of resin or the like, and is fixed to the other side (positive side in the Y-axis direction) of the arm body 21 by blocking the opening 212 of the arm body 21. Thus, by using lightweight resin materials for the first and second cover components 22 and 23, the arm 124 can be made lighter, and the motion performance of the robotic arm 12 can be improved. However, there are no particular limitations on the materials used to construct the first and second cover components 22 and 23; for example, they can be made of lightweight metal materials such as aluminum or stainless steel.

[0033] Additionally, a first opening 221 is formed in the first cover component 22, through which the first wiring 91 is led out to the outside of the housing 2. Similarly, a second opening 231 is formed in the second cover component 23, through which the second wiring 92 is led out to the outside of the housing 2.

[0034] Here, for the time being based on Figure 3 The drive units 135 and 136 configured on the arm 124 will be described.

[0035] The drive unit 135 causes the arm 125 to rotate relative to the arm 124 about the rotation axis J5, and includes a reducer T5 that rotatably connects the arms 124 and 125, a motor M5 that serves as a drive motor for the third arm, an encoder E5 that detects the amount of rotation of the motor M5, and a power transmission unit D5 that transmits the power of the motor M5 to the reducer T5.

[0036] The motor M5 is configured such that its output shaft M51 faces the negative side of the Y-axis and is parallel to the rotation shaft J5. The reducer T5 is a wave gear device, comprising a rigid gear T51 fixed to arm 124, a flexible gear T52 fixed to arm 125, and a wave generator T53 connected to the motor M5 via a power transmission unit D5. The power transmission unit D5 includes a pulley D51 disposed on the output shaft M51, a pulley D52 disposed on the wave generator T53, and a belt D53 wound around the pulleys D51 and D52.

[0037] Therefore, when the drive motor M5 is driven, the rotation of the output shaft M51 is transmitted to the wave generator T53 via pulleys D51, D53, and D52, causing the wave generator T53 to rotate. Moreover, the flexible gear T52 rotates relative to the rotation of the wave generator T53 at a predetermined reduction ratio, resulting in the arm 125 rotating relative to the arm 124 about the rotation axis J5.

[0038] The drive unit 136 rotates the arm 126 about the rotation axis J6 relative to the arm 125, and includes a motor M6, an encoder E6 that detects the amount of rotation of the motor M6, and a power transmission unit D6 that transmits the power of the motor M6 to the arm 126.

[0039] Motor M6 is configured such that its output shaft M61 faces the positive side of the Y-axis and is parallel to the rotation shaft J5. Motors M6 and M5 are also arranged overlapping each other in the Z-axis direction. Furthermore, the power transmission unit D6 includes a pulley D61 disposed on the output shaft M61, a pulley D62 supported on arms 124 and 125 so as to be rotatable about the rotation shaft J5, a belt D63 wound around pulleys D61 and D62, an input-side bevel gear D64 that rotates about the rotation shaft J5 together with pulley D62, and an output-side bevel gear D65 that meshes with the input-side bevel gear D64 and rotates about the rotation shaft J6 together with arm 126.

[0040] Therefore, when the drive motor M6 is driven, the rotation of the output shaft M61 is transmitted to the arm 126 via the power transmission unit D6, resulting in the arm 126 rotating about the rotation shaft J6 relative to the arm 125.

[0041] The drive units 135 and 136 have been described above. However, the configuration of drive unit 135 is not particularly limited as long as it enables arm 125 to rotate relative to arm 124 about rotation axis J5. Similarly, the configuration of drive unit 136 is not particularly limited as long as it enables arm 126 to rotate relative to arm 125 about rotation axis J6.

[0042] Returning to the description of arm 124, as follows... Figure 2 As shown, the first and second openings 221 and 231 formed on the first and second cover components 22 and 23 are located further to the base end side, i.e., the arm 123 side, than the pulleys D51 and D61 of the drive units 135 and 136. Thus, by positioning the first and second openings 221 and 231 further to the base end side than the pulleys D51 and D61, contact between the pulleys D51 and D61 and the first and second wirings 91 and 92 can be effectively suppressed. Therefore, breakage of the first and second wirings 91 and 92 can be effectively suppressed. However, the configuration of the first and second openings 221 and 231 is not particularly limited; for example, they can be arranged in the Y-axis direction with the pulleys D51 and D61, or they can be positioned further to the end side, i.e., the arm 125 side, than the pulleys D51 and D61.

[0043] The housing 2 has been described above. Next, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 disposed on the housing 2 will be described.

[0044] The first wiring lead-out portion 3 is fixed to the first cover member 22 in such a way that it covers the first opening 221 formed in the first cover member 22. The first wiring lead-out portion 3 leads the first wiring 91 out of the housing 2 through the first opening 221. Similarly, the second wiring lead-out portion 4 is fixed to the second cover member 23 in such a way that it covers the second opening 231 formed in the second cover member 23. The second wiring lead-out portion 4 leads the second wiring 92 out of the housing 2 through the second opening 231. Both the first and second wiring lead-out portions 3 and 4 are lightweight components made of resin or similar materials. Therefore, the increase in weight of the arm 124 due to the arrangement of the first and second wiring lead-out portions 3 and 4 can be effectively suppressed. However, the materials used to construct the first and second wiring lead-out portions 3 and 4 are not particularly limited; for example, they can be made of lightweight metal materials such as aluminum or stainless steel.

[0045] Furthermore, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 are arranged opposite each other via the rotation shaft J4. That is, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 are arranged on opposite sides of the rotation shaft J4. With this configuration, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 are well-balancedly arranged on both sides of the arm 124. Therefore, the shift of the center of gravity of the arm 124, that is, the deviation of the center of gravity of the arm 124 from the rotation shaft J4, can be effectively suppressed. As a result, the reduction in the operational performance of the arm 124 can be effectively suppressed.

[0046] Additionally, for example, such as Figure 4 As shown, in a configuration where only one of the first and second wiring leads 3 and 4 (hereinafter referred to as the first wiring lead 3) is present, and the first and second wirings 91 and 92 are led out together from the first wiring lead 3, the first wiring lead 3 becomes larger due to the increased number of wirings within it. Consequently, the radius of rotation r of the arm 124 about the rotation axis J4 increases, leading to an increase in the self-interference region and a narrower range of motion. Furthermore, corresponding to the increase in the radius of rotation r, the offset of the arm 124's center of gravity increases, resulting in reduced operational performance.

[0047] In contrast, in the vertical articulated robot 1, the first and second wiring lead-out portions 3 and 4 are configured to be located on both sides of the arm 124, with the first wiring lead-out portion 3 leading out the first wiring 91 and the second wiring lead-out portion 4 leading out the second wiring 92. Therefore, the first and second wiring lead-out portions 3 and 4 can be miniaturized, such as... Figure 5 As shown, the radius of rotation r of arm 124 about the rotation axis J4 is reduced, which leads to a decrease in the self-interference area and a wider range of operation. Furthermore, corresponding to the reduction in the radius of rotation r, the offset of the center of gravity of arm 124 is reduced, improving operational performance. Further, by dividing the wiring within the housing 2 into a first wiring 91 led out from the first wiring lead-out portion 3 and a second wiring 92 led out from the second wiring lead-out portion 4, the number of wirings passing through the first and second wiring lead-out portions 3 and 4 can be reduced. Therefore, stress is less likely to be applied to the first and second wirings 91 and 92, effectively suppressing excessive bending and breakage of the first and second wirings 91 and 92.

[0048] In particular, in this embodiment, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 have the same shape. Therefore, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 have the same mass, which can more effectively suppress the shift of the center of gravity of the arm 124. Furthermore, component standardization is possible, reducing the manufacturing cost of the vertical multi-joint robot 1. Moreover, compared to the case where the first wiring lead-out portion 3 and the second wiring lead-out portion 4 have different shapes, the rotation radius r of the arm 124 about the rotation axis J4 can be reduced to a smaller value. Corresponding to the smaller rotation radius r, the shift of the center of gravity of the arm 124 is reduced, and the motion performance is improved. However, this is not a limitation; the first wiring lead-out portion 3 and the second wiring lead-out portion 4 may also have different shapes.

[0049] Moreover, such as Figure 5 As shown, in this embodiment, when viewed from above along the rotation axis J4, i.e., from the X-axis, the outer edges 30 and 40 of the first and second wiring leads 3 and 4 are curved into arc shapes along a circle C centered on the rotation axis J4. This shape allows for a smaller radius of rotation r of the arm 124 about the rotation axis J4. Corresponding to the smaller radius of rotation r, the offset of the arm 124's center of gravity decreases, improving its operational performance. However, this is not a limitation; the outer edges 30 and 40 of the first and second wiring leads 3 and 4 may not necessarily follow the circle C.

[0050] In addition, such as Figure 2 As shown, arm 124 has a first partition wall 241 that separates the first wire 91 in the first wire lead-out portion 3 from the pulley D51, and a second partition wall 242 that separates the second wire 92 in the second wire lead-out portion 4 from the pulley D61. The first partition wall 241 is formed by the first cover member 22 and the first wire lead-out portion 3, and is located between the first wire 91 in the first wire lead-out portion 3 and the pulley D51. With this configuration, the first partition wall 241 can effectively suppress contact between the pulley D51 and the first wire 91. Therefore, the breakage of the first wire 91 can be effectively suppressed. Similarly, the second partition wall 242 is formed by the second cover member 23 and the second wire lead-out portion 4, and is located between the second wire 92 in the second wire lead-out portion 4 and the pulley D61. With this configuration, the second partition wall 242 can effectively suppress contact between the pulley D61 and the second wire 92. Therefore, the breakage of the second wire 92 can be effectively suppressed. However, it is not limited to this, and the first and second partition walls 241 and 242 may also be omitted.

[0051] In addition, such as Figure 2 and Figure 5As shown, a first connector support portion 5 is disposed at the end of the first wiring lead-out portion 3 to support a plurality of first connectors 51 connected to the first wiring 91. Furthermore, the first connector support portion 5 is threadedly fixed to the first wiring lead-out portion 3, and when viewed from above along the rotation axis J4, it is shaped not to protrude from the first wiring lead-out portion 3. In this embodiment, since there are three first wirings 91, there are correspondingly three first connectors 51. Specifically, the first connector 51 includes a first connector 511 connected to an electrical wiring 911, a first connector 512 connected to a compressed air hose 912, and a first connector 513 fixed to another compressed air hose 912. And, as... Figure 6 As shown, these first connectors 511, 512, and 513 are connected to the hand 14 via connecting wiring 81. It should be noted that the first connector 511 is not particularly limited, and can be, for example, D-sub, Ether, etc.

[0052] In addition, such as Figure 5 As shown, among the three first connectors 51, the first connector 511 is the largest, while the first connectors 512 and 513 are smaller than the first connector 511. Furthermore, the largest first connector 511 is positioned at the center of the first connector support portion 5, while the other first connectors 512 and 513 are positioned around the first connector 511. Specifically, the first connector 512 is positioned above the first connector 511 (positive side in the Z-axis direction), and the first connector 513 is positioned below the first connector 511 (negative side in the Z-axis direction).

[0053] As mentioned above, with the outer edge 30 of the first wiring lead-out portion 3 curved into an arc shape, the width (length in the Y-axis direction) of the central portion of the first connector support portion 5 is the widest, and the width narrows towards the upper and lower ends. Therefore, by placing the largest first connector 511 in the central portion and placing the other first connectors 512 and 513 above and below it, the first connectors 511, 512, and 513 can be well balanced and arranged in the first connector support portion 5, and the miniaturization of the first connector support portion 5 can be achieved. In addition, by placing the largest first connector 511 in the central portion, the shift of the center of gravity of the arm 124 can also be effectively suppressed.

[0054] In addition, such as Figure 2 and Figure 5As shown, a second connector support 6 is provided at the end of the second wiring lead-out portion 4 to support a plurality of second connectors 61 connected to the second wiring 92. This second connector support 6 has the same configuration as the first connector support 5. The second connector support 6 is threaded to the second wiring lead-out portion 4 and, when viewed from above along the rotation axis J4, is shaped not to protrude from the second wiring lead-out portion 4. Furthermore, in this embodiment, since there are three second wirings 92, there are correspondingly three second connectors 61. Specifically, the second connectors 61 include a second connector 611 connected to an electrical wiring 921, a second connector 612 connected to a compressed air hose 922, and a second connector 613 fixed to another compressed air hose 922. And, as... Figure 7 As shown, these second connectors 611, 612, and 613 are connected to the hand 14 via connecting wiring 82. It should be noted that the second connector 611 is not particularly limited, and can be, for example, D-sub, Ether, etc.

[0055] In addition, such as Figure 5 As shown, among the three second connectors 61, second connector 611 is the largest, while second connectors 612 and 613 are smaller than second connector 611. Furthermore, the largest second connector 611 is located in the center of the second connector support portion 6, while the other two second connectors 612 and 613 are located around the second connector 611. Specifically, second connector 612 is located above second connector 611, and second connector 613 is located below second connector 611.

[0056] As mentioned above, with the outer edge 40 of the second wiring lead-out portion 4 curved into an arc shape, the width (length in the Y-axis direction) of the central portion of the second connector support portion 6 is the widest, and the width narrows towards the upper and lower ends. Therefore, by placing the largest second connector 611 in the central portion and placing the other second connectors 612 and 613 above and below it, the second connectors 611, 612, and 613 can be well balanced and arranged in the second connector support portion 6, and the miniaturization of the second connector support portion 6 can be achieved. In addition, by placing the largest second connector 611 in the central portion, the shift of the center of gravity of the arm 124 can also be effectively suppressed.

[0057] The first and second connector support portions 5 and 6 have been described above. However, as mentioned above, in this embodiment, the number of first connectors 51 and second connectors 61 is the same. By making the number of first connectors 51 and second connectors 61 the same, the connectors can be well-balancedly arranged on the first and second wiring leads 3 and 4, and the size of both the first and second wiring leads 3 and 4 can be reduced. Therefore, the radius of rotation r of the arm 124 about the rotation axis J4 can be reduced.

[0058] In addition, such as Figure 5 As shown, the rotation axis J4 and rotation axis J5 are orthogonal. When viewed from above along the direction of rotation axis J4 (i.e., the X-axis direction), the first wiring lead-out portion 3 and the second wiring lead-out portion 4 overlap with the rotation axis J5. With this configuration, for example, the wiring length L1 of the connecting wires 81 and 82 required when the arm 125 rotates relative to the arm 124 in the positive Z-axis direction is approximately the same as the wiring length L2 required when the arm 125 rotates relative to the arm 124 in the negative Z-axis direction. Therefore, the wiring lengths of the connecting wires 81 and 82 can be easily determined. However, assuming that wiring length L1 > wiring length L2, the wiring lengths of the connecting wires 81 and 82 must be determined based on wiring length L1. Therefore, when the arm 125 rotates relative to the arm 124 in the negative Z-axis direction, excessive deflection of the connecting wires 81 and 82 may occur, thus degrading operability. In contrast, in this embodiment, whether the arm 125 is rotated positively relative to the arm 124 in the Z-axis direction or negatively relative to the arm 124 in the Z-axis direction, excessive deflection of the connecting wires 81 and 82 will not occur, thus ensuring that operability will not deteriorate. However, this is not a limitation. When viewed from above in the X-axis direction, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 may also be configured not to overlap with the rotation axis J5. For example, they may be configured to overlap with an imaginary straight line that is orthogonal to or intersects the rotation axis J5.

[0059] The first and second wiring leads 3 and 4 have been described above. These first and second wiring leads 3 and 4 are fixed in a manner that allows them to be detached from the housing 2, for example, by means of threaded fastening. Therefore, for example, the first and second wiring leads 3 and 4 can be appropriately replaced depending on the quantity and type of the first and second wirings 91 and 92. Furthermore, for example, for users who do not require the first and second wiring leads 3 and 4, a vertical articulated robot 1 can be provided in a state where the first and second wiring leads 3 and 4 can be removed, and the first and second openings 221 and 231 are covered instead with a plate-like cover. Thus, by allowing the first and second wiring leads 3 and 4 to be detached from the housing 2, customization of the vertical articulated robot 1 becomes easier.

[0060] The vertical joint robot 1 has been described above. As mentioned earlier, this vertical joint robot 1 includes: an arm 123 as a first arm; an arm 124 as a second arm, connected to the end portion of the arm 123, rotating relative to the arm 123 about a rotation axis J4 as a first rotation axis, and extending along the rotation axis J4; and an arm 125 as a third arm, connected to the end portion of the arm 124, rotating relative to the arm 124 about a rotation axis J5 as a second rotation axis. Furthermore, the arm 124 includes: a housing 2 connected to the arm 123; and a first wiring lead-out portion 3 and a second wiring lead-out portion 4 disposed in the housing 2. The first wiring lead-out portion 3 leads out a first wiring 91 that has been wound from inside the arm 123 into the housing 2 to the outside of the housing 2, and the second wiring lead-out portion 4 leads out a second wiring 92 that has been wound from inside the arm 123 into the housing 2 to the outside of the housing 2. The first wiring lead-out portion 3 and the second wiring lead-out portion 4 are arranged opposite each other via the rotation axis J4. With this configuration, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 are balanced and well-positioned on both sides of the arm 124. Therefore, the shift of the center of gravity of the arm 124, that is, the deviation of the center of gravity of the arm 124 from the rotation axis J4, can be effectively suppressed. As a result, the reduction in the operational performance of the arm 124 can be effectively suppressed.

[0061] Furthermore, as mentioned above, the rotation axis J4 intersects with the rotation axis J5, and when viewed from above along the direction of the rotation axis J4, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 overlap with the rotation axis J5, respectively. With this configuration, the wiring length L1 of the connecting wiring 81 and 82 required for the arm 125 to rotate positively relative to the arm 124 in the Z-axis direction is approximately the same as the wiring length L2 of the connecting wiring 81 and 82 required for the arm 125 to rotate negatively relative to the arm 124 in the Z-axis direction. Therefore, the wiring lengths of the connecting wiring 81 and 82 can be easily determined.

[0062] Furthermore, as described above, the vertical multi-joint robot 1 includes: a motor M5 serving as a drive motor for the third arm, disposed within the arm 124, causing the arm 125 to rotate relative to the arm 124 about a rotation axis J5; and a power transmission unit D5, having a pulley D51 disposed on the output shaft M51 of the motor M5, transmitting the rotation of the output shaft M51 to the arm 125. Additionally, the arm 124 includes: a first opening 221 communicating between the interior of the housing 2 and the interior of the first wiring lead-out portion 3, with the first wiring 91 inserted through the first opening 221; and a second opening 231 communicating between the interior of the housing 2 and the interior of the second wiring lead-out portion 4, with the second wiring 92 inserted through the second opening 231. Furthermore, the first opening 221 and the second opening 231 are located further from the arm 123 than the pulley D51. With this configuration, contact between the pulley D51 and the first and second wirings 91 and 92 can be effectively suppressed. Therefore, breakage of the first and second wirings 91 and 92 can be effectively suppressed.

[0063] Furthermore, as described above, arm 124 has: a first partition wall 241 that separates the first wire 91 in the first wire lead-out section 3 from the pulley D51; and a second partition wall 242 that separates the second wire 92 in the second wire lead-out section 4 from the pulley D61. With this configuration, contact between the pulleys D51 and D61 and the first and second wires 91 and 92 can be effectively suppressed by the first and second partition walls 241 and 242. Therefore, breakage of the first and second wires 91 and 92 can be effectively suppressed.

[0064] Furthermore, as mentioned above, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 are respectively detachable from the arm 124. With this configuration, the first and second wiring lead-out portions 3 and 4 can be appropriately replaced depending on the quantity and type of the first and second wirings 91 and 92. Additionally, for example, for users who do not require the first and second wiring lead-out portions 3 and 4, a vertical articulated robot 1 without the first and second wiring lead-out portions 3 and 4 can be easily provided. Therefore, customization of the vertical articulated robot 1 becomes easier.

[0065] Furthermore, as mentioned above, the first wiring lead-out portion 3 and the second wiring lead-out portion 4 have the same shape. This configuration allows for more effective suppression of the center of gravity shift of the arm 124. Additionally, it enables component standardization, reducing the manufacturing cost of the vertical multi-joint robot 1.

[0066] Furthermore, as described above, the vertical multi-joint robot 1 includes: a first connector support 5 disposed on the first wiring lead-out portion 3, supporting the first connector 51 connected to the first wiring 91; and a second connector support 6 disposed on the second wiring lead-out portion 4, supporting the second connector 61 connected to the second wiring 92. The number of first connectors 51 and second connectors 61 is the same. With this configuration, the connectors can be balanced and well-arranged on the first and second wiring lead-out portions 3 and 4, and both the first and second wiring lead-out portions 3 and 4 can be made smaller. Therefore, the radius of rotation r of the arm 124 about the rotation axis J4 can be reduced.

[0067] Furthermore, as mentioned above, the first connector support 5 is provided with a plurality of first connectors 51 of different sizes. The largest first connector 51, namely the largest first connector, is located in the center of the first connector support 5, and the other first connectors 512 and 513 are located around the first connector 511. Similarly, the second connector support 6 is provided with a plurality of second connectors 61 of different sizes. The largest second connector 61, namely the largest second connector, is located in the center of the second connector support 6, and the other second connectors 612 and 613 are located around the second connector 611. With this configuration, the first connectors 511, 512, and 513 can be arranged in a balanced manner in the first connector support 5, and the first connector support 5 can be miniaturized. Similarly, the second connectors 611, 612, and 613 can be arranged in a balanced manner in the second connector support 6, and the second connector support 6 can be miniaturized. In addition, the shift of the center of gravity of the arm 124 can also be effectively suppressed.

[0068] The vertical joint robot of the present invention has been described above based on the illustrated embodiments, but the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having the same function. Furthermore, other arbitrary configurations can be added to the present invention. Additionally, the foregoing embodiments can be appropriately combined.

Claims

1. A vertical multi-joint robot, characterized in that, have: First arm; The second arm is connected to the end of the first arm, rotates relative to the first arm about a first rotation axis, and extends along the first rotation axis; as well as The third arm is connected to the end of the second arm and rotates relative to the second arm about a second axis of rotation. The second arm has a housing connected to the first arm; A first wiring lead-out portion and a second wiring lead-out portion are disposed in the housing. The first wiring lead-out portion leads out a first wiring that has been wound from inside the first arm into the housing to the outside of the housing. The second wiring lead-out portion leads out a second wiring that has been wound from inside the first arm into the housing to the outside of the housing. The first wiring lead-out portion and the second wiring lead-out portion are arranged opposite each other via the first rotating shaft.

2. The vertical multi-joint robot according to claim 1, characterized in that, The first rotation axis intersects the second rotation axis. Viewed from above along the first rotation axis, the first wiring lead-out portion and the second wiring lead-out portion overlap with the second rotation axis, respectively.

3. The vertical multi-joint robot according to claim 1, characterized in that, The vertical multi-joint robot has the following characteristics: A third arm drive motor is disposed within the second arm, causing the third arm to rotate relative to the second arm about the second rotation axis; and The power transmission unit includes a pulley mounted on the output shaft of the third arm drive motor, which transmits the rotation of the output shaft to the third arm. The second arm has: a first opening that connects the interior of the housing to the interior of the first wiring lead-out portion, wherein the first wiring is inserted into the first opening; And a second opening, which connects the interior of the housing to the interior of the second wiring lead-out portion, with the second wiring inserted into the second opening. The first opening and the second opening are respectively located closer to the first arm than the pulley.

4. The vertical multi-joint robot according to claim 3, characterized in that, The second arm has: a first partition wall portion that separates the first wire in the first wire lead-out portion from the pulley; and a second partition wall portion that separates the second wire in the second wire lead-out portion from the pulley.

5. The vertical multi-joint robot according to claim 1, characterized in that, The first wiring lead-out portion and the second wiring lead-out portion are respectively detachable from and detachable from the second arm.

6. The vertical multi-joint robot according to claim 1, characterized in that, The first wiring lead and the second wiring lead have the same shape.

7. The vertical multi-joint robot according to claim 1, characterized in that, The vertical multi-joint robot has the following characteristics: A first connector support portion is disposed on the first wiring lead-out portion to support the first connector connected to the first wiring. as well as A second connector support portion is disposed on the second wiring lead-out portion to support the second connector that is connected to the second wiring. The number of the first connector and the number of the second connector are the same.

8. The vertical multi-joint robot according to claim 7, characterized in that, The first connector support portion is provided with a plurality of first connectors of different sizes. The largest first connector, being the largest of the first connectors, is positioned at the center of the first connector support portion, while other first connectors are positioned around the largest first connector. The second connector support portion is provided with a plurality of second connectors of different sizes. The largest second connector, being the largest second connector, is disposed in the central portion of the second connector support, and the other second connectors are disposed around the largest second connector.

9. The vertical multi-joint robot according to claim 1, characterized in that, Viewed from above along the direction of the first axis of rotation, The first rotating shaft intersects the second rotating shaft, and the first wiring lead-out portion and the second wiring lead-out portion respectively overlap with the second rotating shaft. The vertical multi-joint robot has the following characteristics: A third arm drive motor is disposed inside the second arm, causing the third arm to rotate relative to the second arm about the second rotation axis; as well as The power transmission unit includes a pulley mounted on the output shaft of the third arm drive motor, which transmits the rotation of the output shaft to the third arm. The second arm has: a first opening that connects the interior of the housing to the interior of the first wiring lead-out portion, wherein the first wiring is inserted into the first opening; And a second opening, which connects the interior of the housing to the interior of the second wiring lead-out portion, with the second wiring inserted into the second opening. The first opening and the second opening are respectively located closer to the first arm than the pulley. The second arm also has: a first partition wall portion that separates the first wire in the first wire lead-out portion from the pulley; And a second partition wall that separates the second wiring in the second wiring lead-out section from the pulley. The first wiring lead-out portion and the second wiring lead-out portion are respectively detachable from and detachable from the second arm, and have the same shape. Furthermore, the vertical multi-joint robot has: A first connector support portion is disposed on the first wiring lead-out portion and supports a plurality of first connectors connected to the first wiring. as well as The second connector support portion is disposed on the second wiring lead-out portion and supports a plurality of second connectors connected to the second wiring. The number of the first connector and the second connector are the same. The plurality of first connectors are of different sizes, with the largest first connector being disposed in the center of the first connector support portion, and the other first connectors being disposed around the largest first connector. The multiple second connectors are of different sizes, with the largest second connector being disposed in the center of the second connector support, and the other second connectors being disposed around the largest second connector.

Images