Robot

Abstract

An external mounting part (4) on which the rope-shaped member (So) can be mounted is provided. The external attachment section (4) has a base attachment section (40) facing the base section (11), a first attachment section (41) facing the first working arm (21), and a second attachment section (42) facing the second working arm (22), and can attach the rope-shaped member (So) to the base attachment section (40), the first attachment section (41), and the second attachment section (42). The base mounting portion (40) is provided offset from the first rotating shaft (A1), the first mounting portion (41) is provided between the first rotating shaft (A1) and the second rotating shaft (A2), and the second mounting portion (42) is provided between the second rotating shaft (A2) and the shaft support position (Ps).

Description

Technical Field

[0001] This invention relates to a technique for mounting external wiring and piping on a robot with multiple arms. Background Technology

[0002] As shown in Patent Documents 1 to 3, robots are known that use two arms (a first arm and a second arm) mounted rotatably to move an end effector, enabling the end effector to perform tasks at a predetermined position. Furthermore, in Patent Document 1, wiring is provided in an arm with built-in wiring and flexible conduit for additional wiring.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 5187182

[0006] Patent Document 2: Japanese Patent No. 6601187

[0007] Patent Document 3: Japanese Patent No. 6887581 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] However, even with robots equipped with such wiring arms, the number of rope components may be insufficient depending on the user's usage. Therefore, applications have emerged where rope components are added and connected to the end effector, depending on the user's needs. In this case, the rope component is mounted on the wiring arm or arm, which supports it, and then connected to the end effector. However, the wiring arm or arm rotates with the rotation of the first or second axis. Therefore, if the rope component is not properly positioned relative to the wiring arm, it will bend sharply with the robot's movement, resulting in a shortened lifespan. Accurately determining the appropriate mounting position of the rope component may not be easy for the user.

[0010] The present invention was made in view of the above-mentioned problems, and its object is to make it easy for the user to install the rope-like component to a suitable position relative to the robot equipped with the wiring arm or arm, and to prevent the installed rope-like component from bending sharply.

[0011] Technical solutions for solving the problem

[0012] The robot of the present invention comprises: a base portion; a first arm supported on the base portion in a manner rotatable about a first rotation axis; a second arm supported on the first arm in a manner rotatable about a second rotation axis parallel to the first rotation axis; a shaft supported on the second arm at a shaft support position and capable of detachably mounting an end effector; an external mounting portion capable of mounting an external rope-like member, the external rope-like member having a top end connected to the end effector mounted on the shaft, and including wiring or conduit; and a wiring arm disposed opposite to at least one of the first and second arms, and housing the housed rope-like member including wiring or conduit, the portion of the wiring arm opposite to the opposite arm rotating following the rotation of the opposite arm, the external mounting portion comprising: a base mounting portion disposed relative to the base portion offset from the first rotation axis; and a first mounting portion disposed relative to the first arm between the first and second rotation axes. The second mounting portion is disposed relative to the second arm between the second rotating shaft and the shaft support position. The external mounting portion can respectively mount external rope-like members relative to the base mounting portion, the first mounting portion, and the second mounting portion. The position of the base mounting portion relative to the base portion is fixed, the position of the first mounting portion relative to the first arm is fixed, and the first mounting portion rotates with the rotation of the first arm centered on the first rotating shaft. The position of the second mounting portion relative to the second arm is fixed, and the second mounting portion rotates with the rotation of the second arm centered on the second rotating shaft. An external rope-like member extending from the top end is mounted on the second mounting portion. An external rope-like member extending from the second mounting portion to the side opposite to the top end is mounted on the first mounting portion. An external rope-like member extending from the first mounting portion to the side opposite to the second mounting portion is mounted on the base mounting portion. One of the base mounting portion, the first mounting portion, and the second mounting portion is disposed on the wiring arm.

[0013] In this invention (robot) with such a configuration, an external mounting section is provided, which can mount an external rope-like member including a wiring or conduit having a tip connected to an end effector. Specifically, the external mounting section has a base mounting section disposed relative to a base section, a first mounting section disposed relative to a first arm, and a second mounting section disposed relative to a second arm, and the external rope-like member can be mounted relative to the base mounting section, the first mounting section, and the second mounting section, respectively. Furthermore, a wiring arm is provided opposite at least one of the opposing arms, the portion of the wiring arm opposite the opposing arm rotates following the rotation of the opposing arm. Moreover, one of the base mounting section, the first mounting section, and the second mounting section is disposed on the wiring arm. In this case, for example, if the external rope-like member is mounted at a position overlapping with the first or second rotation axis, the external rope-like member may bend sharply at the first or second rotation axis. In this invention, the base mounting portion is offset from the first rotation axis, the first mounting portion is located between the first and second rotation axes, and the second mounting portion is located between the second rotation axis and the shaft support position. That is, the base mounting portion, the first mounting portion, and the second mounting portion are positioned in appropriate locations to suppress abrupt bending of the external rope-like member mounted on each. Therefore, by performing the operation of mounting the external rope-like member on the base mounting portion, the first mounting portion, and the second mounting portion respectively, the user can install the external rope-like member used in the robot in an appropriate position. This facilitates the user's installation of the rope-like member to an appropriate position relative to the robot equipped with the wiring arm and suppresses abrupt bending of the installed rope-like member.

[0014] Alternatively, the robot can be configured such that the wiring arm includes: a base wiring arm fixed to and opposite the base portion; and a first wiring arm supported on the base wiring arm and opposite the first arm, rotatable about a first rotation axis, the first wiring arm rotating in response to the rotation of the first arm about the first rotation axis, and supported on a second arm rotatable about a second rotation axis. A rope-like component is housed within the base wiring arm and the first wiring arm. A base mounting portion is fixed to the base wiring arm, a first mounting portion is fixed to the first wiring arm, and a second mounting portion is fixed to the second arm. In this configuration, it is easy for the user to install the rope-like component at an appropriate position relative to the robot having the base wiring arm and the first wiring arm respectively opposite the base portion and the first arm, and it is able to prevent the installed rope-like component from bending sharply.

[0015] Alternatively, the robot can be configured such that the first wiring arm includes: a one-sided rotating component supported on a base wiring arm, capable of rotating about a first rotation axis; a other rotating component supported on a second arm, capable of rotating about a second rotation axis; and a connecting component disposed between the one-sided and the other rotating components, connecting them. In this structure, the length of the first wiring arm can be varied by changing the length of the connecting component. Therefore, it is easy to handle various robots with different first arm lengths.

[0016] Alternatively, the robot can be configured such that the connecting parts are flexible. In this structure, the first wiring arm can be bent according to the force applied to it, while the external rope-like member is appropriately supported by the first mounting portion fixed to the first wiring arm.

[0017] Alternatively, the robot can be configured such that the wiring arm includes: a base wiring arm fixed to and opposite to the base portion; and a first wiring arm fixed to and opposite to the first arm, the first wiring arm rotating in response to the rotation of the first arm about a first rotation axis, the first wiring arm being supported on the second arm in a manner rotatable about a second rotation axis, and a rope-like component housed within the base wiring arm and the first wiring arm, the base mounting portion being fixed to the base wiring arm, the first mounting portion being fixed to the first wiring arm, and the second mounting portion being fixed to the second arm. In this structure, it is easy for the user to install the rope-like component to a suitable position relative to the robot having the base wiring arm and the first wiring arm respectively opposite to the base portion and the first arm, and it is possible to prevent the installed rope-like component from bending sharply.

[0018] Alternatively, the robot can be configured such that the base mounting section has a base clamping member fixed to the base wiring arm, and an external rope-like member is mounted on the base clamping member; the first mounting section has at least one first clamping member fixed to the first wiring arm, and the external rope-like member is mounted on the at least one first clamping member; and the second mounting section has a second clamping member fixed to the second arm, and the external rope-like member is mounted on the second clamping member. In this configuration, the user can install the external rope-like member used in the robot in the appropriate position by performing operations of installing the external rope-like member on the base clamping member, the at least one first clamping member, and the second clamping member respectively. This facilitates the user's installation of the rope-like member to the appropriate position relative to the robot equipped with the wiring arm and prevents the installed rope-like member from bending sharply.

[0019] Alternatively, the robot can be configured such that a base wiring arm faces the base portion from its upper vertical side, a first wiring arm faces the first arm from its upper vertical side, a base clamping member is fixed to the upper surface of the base wiring arm, at least one first clamping member is arranged along the direction of extension of the first wiring arm and fixed to the upper surface of the first wiring arm, a second clamping member is fixed to the upper surface of the second arm, the second clamping member laterally supports an external rope-like member extending from its top, at least one first clamping member laterally supports an external rope-like member extending laterally from the second clamping member to the side opposite to its top, and the base clamping member laterally supports an external rope-like member extending laterally from at least one first clamping member to the side opposite to the second clamping member. In this structure, the external rope-like member, which is mounted with a convex upward bulge from the base portion to the second arm, can suppress vibration of the external rope-like member, interference with other equipment, or inertia and weight of the external rope-like member.

[0020] Alternatively, the robot can be configured such that the wiring arm has a first wiring arm, which is supported on a base portion and faces the first arm in a manner rotatable about a first rotation axis. The first wiring arm has one wiring portion supported on the base portion and fixed to the first arm in a manner rotatable about the first rotation axis, and another wiring portion fixed to the first arm. The other wiring portion is supported on a second arm in a manner rotatable about a second rotation axis. A rope-like member is housed inside the one wiring portion and the other wiring portion. The one wiring portion faces the first arm from below, and the other wiring portion faces the first arm from above. The base mounting portion has a base clamping member fixed to the base portion, and an external rope-like member is mounted on the base clamping member. The first mounting portion has two first clamping members fixed to the first wiring arm, and an external rope-like member is mounted on each of the two first clamping members. The component includes a second mounting part having a second clamping member fixed to a second arm, on which an external rope-like member is mounted. A base clamping member is fixed to the lower surface of a base part. One of the two first clamping members is fixed to the lower surface of one wiring part, and the other first clamping member is fixed to the upper surface of the other wiring part. The second clamping member is fixed to the upper surface of the second arm. The second clamping member laterally supports the external rope-like member extending from the top end. The other first clamping member laterally supports the external rope-like member extending laterally from the second clamping member to the side opposite to the top end. One first clamping member laterally supports the external rope-like member extending downward from the other first clamping member to the side opposite to the top end. The base clamping member laterally supports the external rope-like member extending laterally from one first clamping member to the side opposite to the other first clamping member. In this structure, the external rope-like component, which is installed with a convex shape from the base to the second arm, can suppress the vibration of the external rope-like component, interference with other equipment, or the inertia and weight of the external rope-like component.

[0021] Alternatively, the robot can be configured such that the wiring arm includes: a base wiring arm fixed to and opposite the base portion; and a second wiring arm supported on the first arm and opposite the second arm, rotatable about a second rotation axis, the second wiring arm rotating in sync with the rotation of the second arm about the second rotation axis; the base wiring arm coaxially connected to the first arm with the first rotation axis; a rope-like component housed inside the base wiring arm and the second wiring arm; a base mounting portion fixed to the base wiring arm; a first mounting portion fixed to the first arm; and a second mounting portion fixed to the second wiring arm or the second arm. In this structure, it is easy for the user to install the rope-like component to a suitable position relative to the robot having the base wiring arm and the second wiring arm respectively opposite to the base portion and the second arm, and it is possible to prevent the installed rope-like component from bending sharply.

[0022] Alternatively, the robot can be configured such that the base mounting section has a base clamping member fixed to the base wiring arm, and an external rope-like member is mounted on the base clamping member; the first mounting section has a first clamping member fixed to the first arm, and the external rope-like member is mounted on the first clamping member; and the second mounting section has a second clamping member fixed to the second arm, and the external rope-like member is mounted on the second clamping member. In this configuration, the user can install the external rope-like member used in the robot in the appropriate position by performing operations to install the external rope-like member onto the base clamping member, the first clamping member, and the second clamping member respectively. This makes it easy for the user to install the rope-like member into the appropriate position relative to the robot equipped with the wiring arm, and it can prevent the installed rope-like member from bending sharply.

[0023] Alternatively, the robot can be configured such that a base wiring arm faces the base portion from its upper vertical side, a second wiring arm faces the second arm from its lower vertical side, a base clamping member is fixed to the upper surface of the base wiring arm, a first clamping member is fixed to the upper surface of the first arm, a second clamping member is fixed to the upper surface of the second arm, the second clamping member supports an external rope-like member extending from its top in the lateral direction, the first clamping member supports the external rope-like member extending laterally from the second clamping member to the side opposite to its top in the lateral direction, and the base clamping member supports the external rope-like member extending laterally from the first clamping member to the side opposite to the second clamping member in the lateral direction. In this structure, the external rope-like member, which is mounted with a convex upward bulge from the base portion to the second arm, can suppress vibration of the external rope-like member, interference with other equipment, or inertia and weight of the external rope-like member.

[0024] Alternatively, the robot can be configured such that the base mounting section, the first mounting section, and the second mounting section support the external rope-like member at the same height. In this structure, the external rope-like member, which is mounted with a convex shape from the base section to the second arm, can be prevented from bulging upwards, thus suppressing the vibration of the external rope-like member, interference with other equipment, or the inertia and weight of the external rope-like member.

[0025] Alternatively, the robot can be configured such that the base mounting section has a base clamping member fixed to the base wiring arm, supporting an external rope-like component; the first mounting section has two first clamping members fixed to the first arm, supporting the external rope-like component; and the second mounting section has a second clamping member fixed to the second wiring arm, supporting the external rope-like component. In this configuration, the user can install the external rope-like component used in the robot in the appropriate position by performing operations on the base clamping member, the two first clamping members, and the second clamping member. This facilitates the user's installation of the rope-like component to the appropriate position relative to the robot equipped with the wiring arm and prevents the installed rope-like component from bending sharply.

[0026] Alternatively, the robot can be configured such that the base wiring arm is positioned opposite the base portion from the upper side in the vertical direction, the second wiring arm is positioned opposite the second arm from the lower side in the vertical direction, the base clamping member is fixed to the upper surface of the base wiring arm, one of the two first clamping members is fixed to the upper surface of the first arm, the other first clamping member is fixed to the lower surface of the first arm, the second clamping member is fixed to the lower surface of the second wiring arm, the second clamping member supports an external rope-like member extending from the top in the lateral direction, the other first clamping member supports an external rope-like member extending laterally from the second clamping member to the side opposite to the top in the lateral direction, one first clamping member supports an external rope-like member extending upward from the other first clamping member to the side opposite to the top in the lateral direction, and the base clamping member supports an external rope-like member extending laterally from one first clamping member to the side opposite to the other first clamping member in the lateral direction. In this structure, the external rope-like component, which is installed with a convex shape from the base to the second arm, can suppress the vibration of the external rope-like component, interference with other equipment, or the inertia and weight of the external rope-like component.

[0027] Alternatively, the robot can be configured such that the wiring arm has: a first wiring arm supported on a base portion and fixed to and opposite to the first arm, capable of rotating about a first rotation axis; and a second wiring arm supported on the first arm and fixed to and opposite to the second arm, capable of rotating about a second rotation axis. The first wiring arm rotates in accordance with the rotation of the first arm about the first rotation axis, and the second wiring arm rotates in accordance with the rotation of the second arm about the second rotation axis. A rope-like component is housed inside the first and second wiring arms. A base mounting portion is fixed to the base portion, a first mounting portion is fixed to the first wiring arm, and a second mounting portion is fixed to the second wiring arm. In this structure, it is easy for the user to install the rope-like component to an appropriate position relative to the robot having the first and second wiring arms respectively opposite to the first and second arms, and it is possible to prevent the installed rope-like component from bending sharply.

[0028] Alternatively, the robot can be configured such that the base mounting section has a base clamping member fixed to the base section, supporting an external rope-like component; the first mounting section has two first clamping members fixed to the first wiring arm, supporting the external rope-like component; and the second mounting section has a second clamping member fixed to the second wiring arm, supporting the external rope-like component. In this configuration, the user can install the external rope-like component used in the robot in the appropriate position by performing operations on the base clamping member, the two first clamping members, and the second clamping member. This facilitates the user's installation of the rope-like component to the appropriate position relative to the robot equipped with wiring arms and prevents the installed rope-like component from bending sharply.

[0029] Alternatively, the robot can be configured such that a first wiring arm is positioned opposite a first arm from the lower side in the vertical direction, a second wiring arm is positioned opposite a second arm from the lower side in the vertical direction, a base clamping member is fixed to the lower surface of the base portion, two first clamping members are fixed to the lower surface of the first wiring arm, one of the two first clamping members is located lower than the other first clamping member, a second clamping member is fixed to the lower surface of the second wiring arm, the second clamping member supports an external rope-like member extending from the top in the lateral direction, another first clamping member supports an external rope-like member extending laterally from the second clamping member to the side opposite to the top in the lateral direction, one first clamping member supports an external rope-like member extending downward from the other first clamping member to the side opposite to the second clamping member in the lateral direction, and the base clamping member supports an external rope-like member extending laterally from one first clamping member to the side opposite to the other first clamping member in the lateral direction. In this structure, the external rope-like component, which is installed with a convex shape from the base to the second arm, can suppress the vibration of the external rope-like component, interference with other equipment, or the inertia and weight of the external rope-like component.

[0030] Alternatively, the robot can be configured to further include: a shaft clamping member opposing the upper end of the shaft from above; and an intermediate clamping member disposed on the upper surface of the second arm between the shaft support position and the second mounting portion. An external rope-like member passes through the interior of the shaft from the upper end of the shaft and is connected to the end effector. The shaft clamping member supports the external rope-like member extending from the upper end of the shaft through the interior of the shaft from the end effector. The intermediate clamping member supports the external rope-like member extending from the shaft clamping member to the side opposite to the upper end of the shaft. In this configuration, the user can install the external rope-like member used in the robot in an appropriate position by performing operations to further install the external rope-like member on the intermediate clamping member and the shaft clamping member, respectively.

[0031] Alternatively, the robot can be configured to include a bearing positioned relative to an axis that can rotate about the axis's rotation axis, with the bearing supporting the axis clamping member in a manner that allows rotation relative to the axis. In this structure, it is possible to prevent the external rope-like member from twisting in response to the rotation of the axis.

[0032] Alternatively, the robot can be configured to also include a shaft spring, which is a helical spring disposed between the intermediate clamping member and the shaft clamping member, with an external rope-like member disposed inside the shaft spring. In this structure, the external rope-like member can be supported by the shaft spring.

[0033] Alternatively, the robot can be configured to include a first spring, which is a helical spring disposed between the base mounting portion and the first mounting portion, with an external rope-like member disposed inside the first spring. In this structure, the external rope-like member can be supported by the first spring.

[0034] Alternatively, the robot can be configured to include a second spring, which is a helical spring disposed between the first mounting portion and the second mounting portion, with an external rope-like member disposed inside the second spring. In this structure, the external rope-like member can be supported by the second spring.

[0035] Alternatively, the robot can be configured to include a first tubular member, which is a flexible tubular member disposed between the base mounting portion and the first mounting portion, with an external rope-like member disposed inside the first tubular member. In this structure, the external rope-like member can be supported by the first tubular member.

[0036] Alternatively, the robot can be configured to include a second tubular member, which is a flexible tubular member disposed between the first mounting portion and the second mounting portion, with an external rope-like member disposed inside the second tubular member. In this structure, the external rope-like member can be supported by the second tubular member.

[0037] Alternatively, the robot can be configured to further include: a connector mounted on the upper surface of the second arm, with an external rope-like member extending from the second mounting portion through the interior of the second arm to the connector; and a receiving tube disposed between the upper end of the shaft and the connector, housing the external rope-like member extending from the connector to the upper end of the shaft, the external rope-like member passing through the interior of the shaft from the upper end of the shaft and connecting to an end effector. In this configuration, the receiving tube can support the external rope-like member.

[0038] Alternatively, the robot can be configured such that the base mounting section, the first mounting section, and the second mounting section each support an external rope-like component via clamping members. A mounting plate with a smooth surface is provided at the mounting portion of the base section, the first arm, the second arm, and the wiring arm where the clamping members are mounted. The upper surface of the mounting plate is smooth, and the clamping members are mounted on this smooth surface. Specifically, the robot can be configured such that threaded holes are provided on the smooth surface of the mounting plate, and the clamping members are mounted on the smooth surface by screws screwed into the threaded holes. In this structure, the clamping members of the base mounting section, the first mounting section, and the second mounting section can be mounted by a simple operation such as screwing the screws into the threaded holes. Alternatively, the robot can be configured such that the clamping members are mounted on the smooth surface of the mounting plate by adhesive bonding. In this structure, the clamping members of the base mounting section, the first mounting section, and the second mounting section can be mounted by a simple operation such as adhesive bonding.

[0039] Invention Effects

[0040] According to the present invention, it is possible to facilitate the installation of the rope-like component by the user into the appropriate position relative to the robot equipped with the wiring arm, and it is possible to prevent the installed rope-like component from bending sharply. Attached Figure Description

[0041] Figure 1A This is a schematic side view of the multi-joint robot of the first embodiment.

[0042] Figure 1B It is a schematic representation Figure 1A A top view of a multi-jointed robot.

[0043] Figure 1C It is a schematic representation Figure 1A A top view of a multi-jointed robot.

[0044] Figure 1D It is a schematic representation Figure 1A Rear view of the multi-jointed robot.

[0045] Figure 2A This is a schematic diagram illustrating the basic structure of the clamping element used in the first embodiment.

[0046] Figure 2B This is a schematic diagram illustrating the basic structure of the clamping element used in the first embodiment.

[0047] Figure 3A This is a diagram that schematically illustrates a variation of the basic structure of a clamping component.

[0048] Figure 3B This is a schematic diagram illustrating an example of a threaded connector plate.

[0049] Figure 3C This is a schematic diagram illustrating an example of a threaded connector plate.

[0050] Figure 4 This is a schematic diagram illustrating the structure of a clamping device secured using an L-shaped support bar.

[0051] Figure 5 This is a schematic side view of the multi-joint robot of the second embodiment.

[0052] Figure 6 This is a top view schematically illustrating a variation of the multi-joint robot of the second embodiment.

[0053] Figure 7A This is a schematic diagram illustrating a first modified example of the joint unit.

[0054] Figure 7B This is a diagram schematically illustrating a second variation of the joint unit.

[0055] Figure 7C This is a schematic diagram illustrating a third variation of the joint unit.

[0056] Figure 7D It is a schematic representation in Figure 7C A diagram of the collar used in the connector unit.

[0057] Figure 7E This is a schematic diagram illustrating the fourth variation of the joint unit.

[0058] Figure 7F It is a schematic representation in Figure 7E A diagram of the collar used in the connector unit.

[0059] Figure 8 This is a schematic side view of the multi-joint robot of the third embodiment.

[0060] Figure 9 This is a schematic side view of the multi-joint robot of the fourth embodiment.

[0061] Figure 10 This is a schematic side view of the multi-joint robot of the fifth embodiment.

[0062] Figure 11 This is a schematic side view of the multi-joint robot according to the sixth embodiment.

[0063] Figure 12 This is a schematic side view of the multi-joint robot of the seventh embodiment.

[0064] Figure 13 This is a schematic side view of the multi-joint robot of the eighth embodiment.

[0065] Figure 14 This is a schematic side view of the multi-joint robot of the ninth embodiment.

[0066] Figure 15 This is a schematic side view of the multi-joint robot according to the tenth embodiment.

[0067] Figure 16 This is a schematic side view of the multi-joint robot of the eleventh embodiment.

[0068] Figure 17 This is a schematic side view of the multi-joint robot of the twelfth embodiment.

[0069] Figure 18 This is a schematic side view of the multi-joint robot of the thirteenth embodiment. Detailed Implementation

[0070] Figure 1A This is a schematic side view of the multi-joint robot according to the first embodiment. Figure 1B and Figure 1C It is a schematic representation Figure 1A A top view of a multi-joint robot. Figure 1D It is a schematic representation Figure 1A Rear view of the multi-jointed robot. Figure 1A as well as Figure 1B The image shows the working arm 2 of the multi-joint robot 1 extending parallel to the X direction. Figure 1C The diagram shows the bent state of the working arm 2 of the multi-joint robot 1. In this specification, the X direction (horizontal), the Y direction (perpendicular to the X direction), and the Z direction (vertical) are appropriately shown. Additionally, the side of the multi-joint robot facing the end effector (in...) Figure 1A as well as Figure 1B The side with the arrow pointing in the X direction is called the apical side, and the side opposite to the apical side is called the base side.

[0071] Figure 1A The multi-joint robot 1 shown is a so-called SCARA (Selective Compliance Assembly Robot Arm) robot, set on a horizontal mounting surface G. The multi-joint robot 1 has a base 11, a working arm 2 supported on the base 11, and a splined shaft 13 supported on the working arm 2. An end effector 15 is detachably mounted on the lower end of the splined shaft 13.

[0072] The base portion 11 has a base housing 111, which is placed on and fixed to the mounting surface G. Inside the base housing 111, there is a storage space 112 for accommodating rope-like components such as wiring or conduits.

[0073] The working arm 2 has a first working arm 21 supported on the base portion 11 in a manner that allows it to rotate about a first rotation axis A1 parallel to the Z direction. This first working arm 21 has a horizontally extending working arm housing 211. The base end portion of the working arm housing 211 faces the base housing 111 from above and is capable of rotating relative to the base housing 111 about the first rotation axis A1. That is, the multi-joint robot 1 includes a first motor M1 and a first reducer D1 connected to the output shaft of the first motor M1. The first motor M1 is housed in a storage space 112 inside the base housing 111, and the first reducer D1 protrudes upward from the upper surface of the base housing 111 and is connected to the base end portion of the working arm housing 211. Furthermore, when the first motor M1 rotates the output shaft, the rotation of the output shaft is transmitted to the working arm housing 211 via the first reducer D1. Through this rotational action transmitted to the working arm housing 211, the working arm housing 211 rotates about the first rotation axis A1.

[0074] The working arm 2 has a second working arm 22 supported on the first working arm 21, capable of rotating around a second rotation axis A2 parallel to the Z direction. The second working arm 22 has a horizontally extending working arm housing 221. The base portion of the working arm housing 221 faces the top portion of the working arm housing 211 from above and is capable of rotating relative to the working arm housing 211 around the second rotation axis A2. That is, the multi-joint robot 1 includes a second motor M2 and a second reducer D2 connected to the output shaft of the second motor M2. The second motor M2 is housed in a storage space 222 inside the working arm housing 221, and the second reducer D2 protrudes downward from the lower surface of the working arm housing 221 and connects to the top portion of the working arm housing 211. Furthermore, when the second motor M2 rotates the output shaft, the rotation of the output shaft is transmitted to the working arm housing 221 via the second reducer D2. Through the reaction force of this rotation transmitted to the working arm housing 211, the working arm housing 221 rotates around the second rotation axis A2.

[0075] The spline shaft 13 is supported by the working arm housing 221 at a shaft support position Ps located at the top end of the working arm housing 221. The spline shaft 13 is supported so that it can rotate relative to the working arm housing 221 about an axis of rotation As parallel to the Z direction. That is, the multi-joint robot 1 has an axis rotary motor Ms, an axis rotary reducer Ds mounted on the output shaft of the axis rotary motor Ms, and an axis rotation mechanism 17 connected to the axis rotary reducer Ds. The axis rotary reducer Ds has a pulley and a belt wound around the pulley, which transmits the rotation of the output shaft of the axis rotary motor Ms to the axis rotation mechanism 17. The axis rotation mechanism 17 has a spline nut and a support bearing, which causes the spline shaft 13 to rotate about the axis of rotation As by the rotational force transmitted by the axis rotary reducer Ds. These axis rotary motors Ms and the axis rotary reducers Ds are housed in a storage space 222 inside the working arm housing 221.

[0076] Furthermore, the splined shaft 13 is supported so as to be able to move up and down relative to the working arm housing 221 in the Z direction. That is, the multi-joint robot 1 has an axis lifting motor M1, an axis lifting reducer D1 mounted on the output shaft of the axis lifting motor M1, and an axis lifting mechanism 19 connected to the axis lifting reducer D1. The axis lifting reducer D1 has a pulley and a belt wound around the pulley, which transmits the rotation of the output shaft of the axis lifting motor M1 to the axis lifting mechanism 19. The axis lifting mechanism 19 has a ball screw nut and a support bearing, which causes the splined shaft 13 to move up and down parallel to the Z direction by the rotational force transmitted by the axis lifting reducer D1. These axis lifting motors M1 and axis lifting reducers D1 are housed in a storage space 222 inside the working arm housing 221.

[0077] The lower end of the spline shaft 13 protrudes downward from the working arm housing 221 of the second working arm 22, and an end effector 15 is installed at the lower end of the spline shaft 13. The multi-joint robot 1 moves the end effector 15 in the X and Y directions through the first motor M1, the second motor M2 and the axis rotation motor Ms, and moves the end effector 15 in the Z direction through the axis lifting motor M1.

[0078] Furthermore, the multi-joint robot 1 includes a wiring arm 3 arranged parallel to the base portion 11 and the working arm 2. In the first embodiment, the wiring arm 3 includes a base wiring arm 30 facing the base portion 11 from the upper side in the Z direction and a first wiring arm 31 facing the first working arm 21 from the upper side in the Z direction.

[0079] The base wiring arm 30 has a wiring arm housing 301, and a storage space 302 communicating with the storage space 112 of the base housing 111 is provided inside the wiring arm housing 301. The wiring arm housing 301 has a vertical frame 303 and a horizontal frame 304. The vertical frame 303 is a columnar frame that extends upward from the base portion 11 parallel to the Z direction and is located at a position closer to the base end than the first rotation axis A1. The horizontal frame 304 is a beam-shaped frame that extends upward from the vertical frame 303 parallel to the X direction and is located opposite the base portion 11 from the upper side in the Z direction.

[0080] The first wiring arm 31 has a wiring arm housing 311, and a storage space 312 communicating with the storage space 302 of the wiring arm housing 301 is provided inside the wiring arm housing 311. The wiring arm housing 311 is configured to rotate relative to the wiring arm housing 301 about a first rotation axis A1. That is, the wiring arm housing 311 of the first wiring arm 31 has a horizontally extending beam-shaped frame, namely a horizontal frame 313, the base end of which is opposed from above to the top end of the wiring arm housing 301 of the base wiring arm 30. In addition, a cylindrical protrusion 314 protruding downward from the horizontal frame 313 is provided at the base end of the wiring arm housing 311. In contrast, a bearing hole 305 is provided at the top end of the wiring arm housing 301, and the protrusion 314 is located inside the bearing hole 305. Furthermore, a ball bearing B1 is disposed between the protrusion 314 and the bearing hole 305. The inner ring of the ball bearing B1 is fixed to the protrusion 314, and the outer ring of the ball bearing B1 is fixed to the bearing hole 305. Therefore, the wiring arm housing 311 of the first wiring arm 31 can rotate relative to the wiring arm housing 301 of the base wiring arm 30 about the first rotation axis A1. Therefore, following the rotation of the first working arm 21 centered on the first rotation axis A1, the first wiring arm 31 rotates about the first rotation axis A1.

[0081] Furthermore, the wiring arm housing 311 of the first wiring arm 31 is configured to rotate relative to the working arm housing 221 of the second working arm 22 about the second rotation axis A2. That is, the top end of the horizontal frame 313 of the wiring arm housing 311 faces the base end of the working arm housing 221 of the second working arm 22 from above. In addition, a cylindrical protrusion 315 protruding downward from the horizontal frame 313 is provided at the top end of the wiring arm housing 311. In contrast, a bearing hole 223 is provided separately at the base end of the working arm housing 221, and the protrusion 315 is located inside the bearing hole 223. Furthermore, a ball bearing B2 is disposed between the protrusion 315 and the bearing hole 223, with the inner ring of the ball bearing B2 fixed to the protrusion 315 and the outer ring of the ball bearing B2 fixed to the bearing hole 223. Therefore, the wiring arm housing 311 of the first wiring arm 31 can rotate relative to the working arm housing 221 of the second working arm 22 with the second rotation axis A2 as the center.

[0082] Furthermore, the multi-joint robot 1 has internal wiring Wi that supplies power and control signals to the first motor M1, the second motor M2, the axis rotary motor Ms, and the axis lifting motor M1, respectively. Specifically, a robot cable Ti is fixed to the back of the base housing 111 of the base portion 11. This internal wiring Wi includes a cable Wi1 extending from the robot cable Ti to the first motor M1 within the storage space 112 of the base housing 111. Additionally, the internal wiring Wi includes a cable Wi2 extending from the robot cable Ti sequentially through the storage spaces 112, 302, and 312 to the storage space 222. Furthermore, the internal wiring Wi includes four cables Wi3 to Wi6, housed in the storage space 222 and branching from the top of cable Wi2. Cable Wi3 extends from the top of cable Wi2 to the second motor M2. Cable Wi4 connects from the top of cable Wi2 to the axis rotary motor Ms. Cable Wi5 connects from the top of cable Wi2 to the axis lifting motor M1. Wiring Wi6 connects from the top of wiring Wi2 to the end effector input / output terminal To. This end effector input / output terminal To is fixed to the upper surface of the arm housing 221 of the second working arm 22.

[0083] In addition to the internal wiring Wi, the multi-joint robot 1 also has an external mounting part 4 for supporting rope-like components So such as wiring or conduits. The external mounting part 4 supports the rope-like components So at positions offset from the first rotation axis A1 and the second rotation axis A2, respectively, and does not support the rope-like components So at positions overlapping with the first rotation axis A1 or the second rotation axis A2 (in other words, the rope-like components So are released).

[0084] The external mounting part 4 has a base mounting part 40 facing the base part 11 in the Z direction, a first mounting part 41 facing the first working arm 21 in the Z direction, and a second mounting part 42 facing the second working arm 22 in the Z direction. In the first embodiment, the base mounting part 40 faces the base part 11 from above, the first mounting part 41 faces the first working arm 21 from above, and the second mounting part 42 faces the second working arm 22 from above.

[0085] The base mounting portion 40 has a clamping member 401 fixed to the horizontal upper surface of the wiring arm housing 301, particularly the upper surface of the vertical frame 303. This clamping member 401 is disposed offset from the first rotation axis A1 towards the base end (in other words, the opposite side of the second rotation axis A2). The first mounting portion 41 has two clamping members 411 and 412 fixed to the horizontal upper surface of the wiring arm housing 311. The two clamping members 411 and 412 are arranged in the direction in which the wiring arm housing 311 extends (in other words, the direction of the horizontal straight line connecting the first rotation axis A1 and the second rotation axis A2), and are disposed between the first rotation axis A1 and the second rotation axis A2. The second mounting portion 42 has a clamping member 421 fixed to the horizontal upper surface of the working arm housing 221.

[0086] Additionally, the external mounting portion 4 has a top mounting portion 43 located on the top side (in other words, the opposite side of the second rotating shaft A2) relative to the second mounting portion 42. The top mounting portion 43 has a clamping member 431 provided relative to the working arm housing 221 and a clamping member 432 provided relative to the spline shaft 13. That is, the top mounting portion 43 has an L-shaped support bar 433 mounted on the upper surface of the working arm housing 221. The L-shaped support bar 433 has a base plate fixed to the horizontal upper surface of the working arm housing 221 and an upright plate extending upward from the base plate parallel to the Z direction, with the clamping member 431 fixed to the side of the upright plate. Thus, the clamping member 431 is positioned between the clamping member 421 and the shaft support position Ps. In addition, the top mounting portion 43 has a ball bearing Bs, an annular support bar 434, and an L-shaped support bar 435 for supporting the clamping member 432 relative to the spline shaft 13. The splined shaft 13 is inserted into the central hole of the annular support bar 434, and a ball bearing Bs is disposed between the splined shaft 13 and the annular support bar 434. The inner ring of the ball bearing Bs is fixed to the outer wall of the splined shaft 13, and the outer ring of the ball bearing Bs is fixed to the inner wall of the annular support bar 434. In addition, the L-shaped support bar 435 has a base plate fixed to the horizontal upper surface of the annular support bar 434 and an upright plate extending upward from the base plate parallel to the Z direction. A clamping member 432 is fixed to the side of the upright plate. The splined shaft 13 has a through hole 131 extending along the Z direction, and the clamping member 432 is positioned opposite the through hole 131 of the splined shaft 13 from the upper side in the Z direction. As described above, due to the provision of the ball bearing Bs, the splined shaft 13 can rotate relative to the annular support bar 434, the L-shaped support bar 435, and the clamping member 432 about the shaft rotation axis As.

[0087] Additionally, the external mounting part 4 has a base mounting part 45 located on the back of the base wiring arm 30. The base mounting part 45 has two clamping members 451 and 452 fixed to the vertical back of the vertical frame 303.

[0088] That is, the external mounting part 4 has a plurality of clamping members 432, 431, 421, 412, 411, 401, 452, and 451 arranged sequentially along the path along which the rope-like member So is disposed. The user can detachably mount the rope-like member So relative to the clamping members 432, 431, 421, 412, 411, 401, 452, and 451 respectively, and the clamping members 432, 431, 421, 412, 411, 401, 452, and 451 support the rope-like member So respectively mounted thereon.

[0089] The top end of the rope-like member So is inserted into the through hole 131 of the spline shaft 13 from the top and connected to the end effector 15 at the lower end of the spline shaft 13. In other words, the rope-like member So, having a top end connected to the end effector 15, extends upward from the end effector 15 along the through hole 131 and protrudes from the upper end of the through hole 131. The clamping member 432 is positioned opposite the upper end of the through hole 131 from the top and supports the rope-like member So extending from the upper end of the through hole 131 in the longitudinal direction. The rope-like member So, extending upward from the clamping member 432, is bent into an inverted U-shape towards the base end and faces downward. Thus, the downward-facing rope-like member So is supported longitudinally by the clamping member 431.

[0090] The rope-like member So, extending downward from clamping member 431, bends laterally toward its base end and is supported laterally by clamping member 421. The rope-like member So, extending laterally toward its base end from clamping member 421, is supported laterally by clamping member 412. The rope-like member So, extending laterally toward its base end from clamping member 412, is supported laterally by clamping member 411. The rope-like member So, extending laterally toward its base end from clamping member 411, is supported laterally by clamping member 401. Furthermore, the horizontal upper surfaces of the vertical frame 303 of the wiring arm housing 301, the wiring arm housing 311, and the working arm housing 221 are at the same height, and clamping members 421, 412, 411, and 401 support the rope-like member So at the same height.

[0091] The rope-like member So, which extends laterally from the clamping member 401 toward the base end, bends downward and is supported longitudinally by the clamping member 452. The rope-like member So, which extends downward from the clamping member 452, is supported longitudinally by the clamping member 451. Thus, the rope-like member So, which extends from the end effector 15 toward the base end of the multi-joint robot 1, is supported by the external mounting portion 4.

[0092] Additionally, an external wiring Wo is connected to the end effector input / output terminal To, which is short-circuited to the internal wiring Wi. The top end of this external wiring Wo is inserted from above into the insertion hole 131 of the splined shaft 13, and connected to the end effector 15 at the lower end of the splined shaft 13. In other words, the external wiring Wo, with its top end connected to the end effector 15, extends upward from the end effector 15 along the insertion hole 131 and protrudes from the upper end of the insertion hole 131. A clamping member 432 is positioned above the upper end of the insertion hole 131, and longitudinally supports the external wiring Wo extending from the upper end of the insertion hole 131. The external wiring Wo, extending upward from the clamping member 432, bends into an inverted U-shape towards its base end and faces downward. Thus, the downward-facing external wiring Wo is longitudinally supported by the clamping member 431. Furthermore, the external wiring Wo, protruding downward from the clamping member 431, is connected to the end effector input / output terminal To.

[0093] In the first embodiment shown above, an external mounting portion 4 is provided, capable of mounting a rope-like member So (external rope-like member) having a top end connected to the end effector 15. Specifically, the external mounting portion 4 has a base mounting portion 40 provided relative to the base portion 11, a first mounting portion 41 provided relative to the first working arm 21 (first arm), and a second mounting portion 42 provided relative to the second working arm 22 (second arm), and the rope-like member So can be mounted relative to the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42, respectively. In addition, a first wiring arm 31 (wiring arm) is provided opposite to the first working arm 21 (opposing arm), and the first wiring arm 31 rotates following the rotation of the first working arm 21. Moreover, the first mounting portion 41 is provided on the first wiring arm 31. At this time, for example, if the rope-like member So is mounted at a position overlapping with the first rotation axis A1 or the second rotation axis A2, the rope-like member So may bend sharply at the first rotation axis A1 or the second rotation axis A2. In this first embodiment, the base mounting portion 40 is disposed offset from the first rotation axis A1, the first mounting portion 41 is disposed between the first rotation axis A1 and the second rotation axis A2, and the second mounting portion 42 is disposed between the second rotation axis A2 and the shaft support position Ps. That is, the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42 are disposed in appropriate positions that can suppress the abrupt bending of the rope-like member So on each of them. Therefore, by performing the operation of installing the rope-like member So on the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42, the user can install the rope-like member So used by the multi-joint robot 1 (robot) in an appropriate position. In this way, it is easy for the user to install the rope-like member So to an appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and the abrupt bending of the installed rope-like member So can be suppressed.

[0094] Additionally, the wiring arm 3 includes: a base wiring arm 30 fixed to and opposite the base portion 11; and a first wiring arm 31 supported on the base wiring arm 30 and opposite the first working arm 21, rotatable about a first rotation axis A1. The first wiring arm 31 rotates in response to the rotation of the first working arm 21 about the first rotation axis A1. Furthermore, the first wiring arm 31 is supported on the second working arm 22, rotatable about a second rotation axis A2, and internal wiring Wi (a rope-like member) is housed inside the base wiring arm 30 and the first wiring arm 31. Moreover, the base mounting portion 40 is fixed to the base wiring arm 30, the first mounting portion 41 is fixed to the first wiring arm 31, and the second mounting portion 42 is fixed to the second working arm 22. In this structure, it is easy for the user to install the rope-like component So to the appropriate position relative to the multi-joint robot 1, and it is possible to suppress the abrupt bending of the installed rope-like component So. The multi-joint robot 1 has a base wiring arm 30 and a first working arm 21 respectively opposite to the base part 11 and the first working arm 21.

[0095] Additionally, the base mounting section 40 has a clamping member 401 (base clamping member) fixed to the base wiring arm 30, and a rope-like member So is mounted on the clamping member 401. The first mounting section 41 has two clamping members 411 and 412 (first clamping members) fixed to the first wiring arm 31, and rope-like members So are mounted on the two clamping members 411 and 412 respectively. The second mounting section 42 has a clamping member 421 (second clamping member) fixed to the second working arm 22, and rope-like members So are mounted on the clamping member 421. In this structure, the user can install the rope-like member So used by the multi-joint robot 1 in the appropriate position by performing the operation of installing the rope-like member So on the clamping members 401, 411, 412, and 421 respectively. In this way, it is easy for the user to install the rope-like member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to prevent the installed rope-like member So from bending sharply.

[0096] Furthermore, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, clamping member 401 is positioned closer to the base end than the first rotation axis A1, and clamping member 411 is positioned closer to the top end than the first rotation axis A1. Thus, the two clamping members 401 and 411 are positioned offset to both sides from the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Additionally, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, clamping member 412 is positioned closer to the base end than the second rotation axis A2, and clamping member 421 is positioned closer to the top end than the second rotation axis A2. Thus, the two clamping members 412 and 421 are positioned offset to both sides from the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2. Furthermore, two adjacent clamping elements represent two clamping elements in which there are no other clamping elements between them.

[0097] Furthermore, the base wiring arm 30 is positioned opposite the base portion 11 from the upper side in the Z direction (vertical direction), and the first wiring arm 31 is positioned opposite the first working arm 21 from the upper side in the Z direction. Additionally, a clamping member 401 (base clamping member) is fixed to the upper surface of the base wiring arm 30, two clamping members 411 and 412 (first clamping members) are arranged in the direction in which the first wiring arm 31 extends and are fixed to the upper surface of the first wiring arm 31, and a clamping member 421 (second clamping member) is fixed to the upper surface of the second working arm 22. Moreover, the clamping member 421 supports a rope-like member So extending from its top end in the lateral direction, the two clamping members 412 and 411 support a rope-like member So extending laterally from the clamping member 421 towards the side opposite to its top end, and the clamping member 401 supports a rope-like member So extending laterally from the two clamping members 412 and 411 towards the side opposite to the clamping member 421. In this structure that extends laterally and supports the rope-like member So, it is possible to suppress the situation where the rope-like member So is installed with a convex shape protruding upward from the base part 11 to the second working arm 22, and to suppress the vibration of the rope-like member So, interference with other equipment, or the inertia and weight of the rope-like member So.

[0098] Furthermore, the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42 support the rope member So at the same height. In this structure, the rope member So, which is mounted to bulge upwards from the base mounting portion 40 to the second working arm 22, can suppress the vibration of the rope member So, its interference with other equipment, or suppress the inertia and weight of the rope member So.

[0099] Additionally, the device includes a clamping member 432 (shaft clamping member) facing the upper end of the spline shaft 13 (shaft) from above, and a clamping member 431 (intermediate clamping member) disposed on the upper surface of the second working arm 22 (second arm) between the shaft support position Ps and the second mounting portion 42. A rope-like member So passes through the interior (through hole 131) of the spline shaft 13 from its upper end and connects to the end effector 15. The clamping member 432 supports the rope-like member So, which extends from the end effector 15 through the through hole 131 of the spline shaft 13 and from its upper end. The clamping member 431 supports the rope-like member So, which extends from the clamping member 432 to the opposite side of the upper end of the spline shaft 13. In this structure, the user can install the rope-like component So used in the multi-joint robot 1 in the appropriate position by performing the operation of further installing the rope-like component So on the clamping member 431 and clamping member 432 respectively.

[0100] Additionally, a ball bearing Bs (bearing) is provided relative to the splined shaft 13, which is capable of rotating about the shaft rotation axis As. The ball bearing Bs supports the clamping member 432 so that it can rotate relative to the splined shaft 13. In this structure, the torsion of the rope-like member So following the rotation of the splined shaft 13 can be prevented.

[0101] Furthermore, the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42 support the rope member So at the same height. In this structure, the rope member So, which is mounted to bulge upwards from the base portion 11 to the second working arm 22, can suppress the vibration of the rope member So, interference with other equipment, or the inertia and weight of the rope member So.

[0102] As described above, the external mounting part 4 uses a clamping member to support the rope-like component So. Here, a clamping member is used... Figure 2A and Figure 2B The structure of the clamping component will be explained here. Figure 2A and Figure 2B These are schematic diagrams illustrating the basic structure of the clamping member used in the first embodiment. Furthermore, while these diagrams illustrate clamping members (clamping member 411, etc.) that support the rope-like member So in the lateral direction, clamping members (clamping member 432, etc.) that support the rope-like member So in the longitudinal direction also share a common basic structure.

[0103] The clamping member 51 has a pair of clamping units 511 arranged adjacent to each other in the X direction. Each clamping unit 511 has a spacer 512, a plate 513, an annular clamping member 514, and a screw 515. The plate 513 and the annular clamping member 514 are integrally formed. The spacer 512 is placed on a smooth surface F that fixes the clamping member 51, and the plate 513 is fixed to the upper surface of the spacer 512. This surface F is a smooth plane. The plate 513 has a protrusion protruding from the spacer 512 in the Y direction, and the annular clamping member 514 is fixed to this protrusion. The clamping unit 511 is fixed to the surface F by screwing the screw 515, which is inserted from above into the longitudinal holes respectively provided in the spacer 512 and the plate 513, into a threaded hole provided on the surface F. The annular clamping member 514 has an insertion hole arranged laterally, which supports (clamps) a rope-like member So inserted into the insertion hole.

[0104] However, the basic structure of the clamping element is not limited to Figure 2A and Figure 2B The example shown can also be used Figure 3A The clamping element shown. Figure 3A This is a diagram that schematically illustrates a variation of the basic structure of a clamping component. Figure 3A The clamping member 52 shown has a pair of clamping units 521 arranged adjacent to each other in the X direction. Each clamping unit 521 has an INSULOK base 522. The INSULOK base 522 has an insertion hole 523 extending in the Y direction and a bridge portion 524 spanning the insertion hole 523, and is mounted on the surface F that fixes the clamping member 51. Additionally, the clamping unit 521 has an INSULOK 525. The INSULOK 525 is inserted into the insertion hole 523, and the bridge portion 524 is located inside the INSULOK 525. Furthermore, the clamping unit 521 has a screw 526, which is screwed into a threaded hole 591 provided on the surface F by inserting the screw 526, which is inserted from above into the longitudinal hole of the INSULOK base 522, into the threaded hole 591 provided on the surface F, thereby fixing the clamping unit 521 to the surface F. Furthermore, the rope-like member So, inserted into the inside of the wire harness cable tie 525, is fastened to the bridge portion 524 by the wire harness cable tie 525, thereby the rope-like member So is supported by the wire harness cable tie 525.

[0105] Furthermore, the location of the threaded hole 591 is not limited to surface F. Therefore, it is also possible to use... Figure 3B and Figure 3C The threaded tap plate shown. Figure 3B and Figure 3CThis is a schematic diagram illustrating an example of a threaded connector plate. The threaded connector plate 59 has a flat body plate 592 with a smooth surface 593. The body plate 592 protrudes from and is integrally formed with the flat surface F. Furthermore, a plurality of threaded holes 591 are opened in the smooth surface 593 of the body plate 592. A wire harness cable tie holder 522 of the clamping unit 521 is mounted on the smooth surface 593 of the body plate 592. The wire harness cable tie holder 522 is secured to the surface F by screwing screws 526 into the threaded holes 591. Thus, the clamping unit 521 can be installed with the simple operation of screwing screws 526 into the threaded holes 591.

[0106] Alternatively, the clamping unit 521 can be fixed to the smooth surface 593 of the threaded connector plate 59 without using the threaded hole 591 and screw 526. For example, the bottom surface of the wire harness cable tie holder 522 of the clamping unit 521 can be formed by an adhesive surface with adhesive properties, and the bottom surface can be bonded to the smooth surface 593 by adhesive force, thereby fixing the clamping unit 521 to the smooth surface 593. Alternatively, the bottom surface of the wire harness cable tie holder 522 can be bonded to the smooth surface 593 by adhesive tape with adhesive properties on both sides, i.e., double-sided tape. Thus, the clamping unit 521 can be installed by such a simple operation as bonding.

[0107] In addition, the basic structure of the clamping element can also have other variations. For example, the robot cable retainer shown in Japanese Patent Application Publication No. 2023-016720 can be used as a clamping element, or a nylon or metal cable clamp can be used as a clamping element.

[0108] Alternatively, the specific structure of each clamping component can be appropriately modified, for example, Figure 4 As shown, the clamping element can also be fixed via L-shaped support bars. Figure 4 This is a schematic diagram illustrating the structure of a clamping device secured using L-shaped struts. Figure 4 In this example, the L-shaped clamping member 461 has an upright plate 462 erected along the Z direction and a top plate 463 extending from the upper end of the upright plate 462 toward the top end along the X direction. The upright plate 462 is fixed to the back of the vertical frame 303 by screws 464, and the upper end of the upright plate 462 protrudes upward beyond the vertical frame 303. The top plate 463 is spaced apart from the upper surface of the vertical frame 303 from the upper side, and the clamping member 401 is fixed to the upper surface of the top plate 463.

[0109] Figure 5This is a schematic side view of the multi-joint robot according to the second embodiment. The difference between the second embodiment and the first embodiment is that a first wiring arm 32 is provided instead of a first wiring arm 31. The first wiring arm 32 has a rotating housing 33 that can rotate about a first rotation axis A1, a rotating housing 34 that can rotate about a second rotation axis A2, and a connector unit 35 that connects the rotating housing 33 and the rotating housing 34.

[0110] The base end of the rotating housing 33 faces the top end of the wiring arm housing 301 of the base wiring arm 30 from above. Furthermore, a cylindrical protrusion 331 protruding downwards is provided at the base end of the rotating housing 33. Conversely, a bearing hole 305 is provided at the top end of the wiring arm housing 301, and the protrusion 331 is located inside the bearing hole 305. A ball bearing B1 is disposed between the protrusion 331 and the bearing hole 305, with the inner ring of the ball bearing B1 fixed to the protrusion 331 and the outer ring of the ball bearing B1 fixed to the bearing hole 305. Therefore, the rotating housing 33 can rotate relative to the wiring arm housing 301 of the base wiring arm 30 about the first rotation axis A1.

[0111] The top portion of the rotating housing 34 faces the base portion of the working arm housing 221 of the second working arm 22 from above. Furthermore, a cylindrical protrusion 341 protruding downwards is provided at the top portion of the rotating housing 34. Conversely, a bearing hole 223 is provided at the base end of the working arm housing 221, with the protrusion 341 located inside the bearing hole 223. A ball bearing B2 is disposed between the protrusion 341 and the bearing hole 223, with the inner ring of the ball bearing B2 fixed to the protrusion 341 and the outer ring fixed to the bearing hole 223. Therefore, the rotating housing 34 can rotate relative to the working arm housing 221 of the second working arm 22 about the second rotating axis A2.

[0112] A hollow portion 332 is provided inside the rotating housing 33, and the hollow portion 332 communicates with the storage space 302 of the base wiring arm 30. Additionally, the hollow portion 332 has an end opening on its top side. A hollow portion 342 is provided inside the rotating housing 34, and the hollow portion 342 communicates with the storage space 222 of the second working arm 22. Additionally, the hollow portion 342 has an end opening on its base side.

[0113] The connector unit 35 has a flexible hose 351. The hose 351 is configured to connect the top end of the rotating housing 33 to the base end of the rotating housing 34, and the hollow portion 352 of the hose 351 communicates with the hollow portions 332 and 342 of the rotating housing 33 and 342, respectively. Furthermore, the connector unit 35 has a pair of hose clamps 353 for securing the hose 351 to the rotating housing 33 and 34. The top end of the rotating housing 33 is embedded in the hollow portion 352 of the base end of the hose 351; in other words, the base end of the hose 351 surrounds the top end of the rotating housing 33 from the outside. Conversely, the base end hose clamp 353 of the pair of hose clamps surrounds the base end of the hose 351 from the outside and is fastened to the top end of the rotating housing 33. The base end of the rotating housing 34 is embedded in the hollow portion 352 of the tip end of the hose 351. In other words, the tip end of the hose 351 surrounds the base end of the rotating housing 34 from the outside. In contrast, the tip end of one of the pair of hose clamps 353 surrounds the tip end of the hose 351 from the outside and is fastened to the base end of the rotating housing 34.

[0114] In this structure, following the rotation of the first working arm 21 centered on the first rotation axis A1, the first wiring arm 32 rotates about the first rotation axis A1. Additionally, the working arm housing 221 of the second working arm 22 rotates relative to the first wiring arm 32 about the second rotation axis A2. Clamping member 411 is fixed to the horizontal upper surface of the rotating housing 33, and clamping member 412 is fixed to the horizontal upper surface of the rotating housing 34. The upper surfaces of the rotating housing 33 and the rotating housing 34 are at the same height as the upper surface of the vertical frame 303 and the upper surface of the working arm housing 221, and clamping members 401, 411, 412, and 421 support the rope-like member So at the same height.

[0115] In addition, Figure 5 In this example, the length of the hose 351 is adjusted according to the distance between the rotating housing 33 and the rotating housing 34. The rotating housing 33, hose 351, and rotating housing 34 are arranged in a straight line to form the first wiring arm 32. However, the hose 351 can also be lengthened relative to the distance between the rotating housing 33 and the rotating housing 34, causing the first wiring arm 32 to flex. Figure 6 ). Figure 6 This is a top view schematically illustrating a variation of the multi-joint robot of the second embodiment. Figure 6 In the example shown, because the hose 351 is adjusted to be longer, the hose 351 flexes laterally, and the first wiring arm 32 has a curved shape.

[0116] In this second embodiment, the clamping member 401 of the base mounting portion 40 is also disposed offset from the first rotation axis A1. The clamping members 411 and 412 of the first mounting portion 41 are disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the rapid bending of the installed rope member So.

[0117] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 412 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0118] It should be noted that the configuration of the connector unit can be modified appropriately. Figure 7A This is a schematic diagram illustrating a first modified example of the joint unit. Figure 7A Examples and Figure 6 The only difference between the examples is the configuration of the connector unit; the other configurations are common. Figure 7A The connector unit 36 ​​has a flexible conduit 361 and a pair of connectors 362 and 363 disposed at both ends of the flexible conduit 361. The top-side connector 362 of the pair of connectors 362 and 363 connects the top-side end of the flexible conduit 361 to the base-side end of the rotating housing 34.

[0119] Furthermore, the connector unit 36 ​​includes: a bolt fitting 364 with a threaded groove on its outer side; a pair of locking nuts 365 and 366 inserted into the bolt fitting 364 from the outside; and a pair of nuts 367 and 368 inserted into the bolt fitting 364 from the outside. These are positioned further from the base end than the base end of the connector 363 in the pair of connectors 362 and 363. Locking nut 365 is positioned on the top end side, and locking nut 366 is positioned on the base end side. Additionally, nut 367 is positioned on the top end side, and nut 368 is positioned on the base end side.

[0120] Connector 363 connects the base end of flexible conduit 361 to nut 367. Nut 367 engages with the top end of bolt conduit 364 at a point closer to the top than locking nut 365. Nut 368 is fixed to the top end of rotating housing 33 and engages with the base end of bolt conduit 364 at a point closer to the base than locking nut 366. The thread direction of the top end of bolt conduit 364 is opposite to the thread direction of the base end. Correspondingly, the thread direction of nut 367 is opposite to the thread direction of nut 368. Therefore, when bolt conduit 364 is rotated to one side, nuts 367 and 368 move closer together, and when bolt conduit 364 is rotated to the other side, nuts 367 and 368 separate. This allows adjustment of the length of connector unit 36. In addition, a transverse through hole is provided in the center of the connectors 362, 363 and nuts 367, 368, and a storage space is formed inside the connector unit 36 ​​that allows the rope-like component So to pass through transversely.

[0121] Figure 7B This is a diagram schematically illustrating a second variation of the joint unit. Figure 7B Examples and Figure 6 The only difference between the examples is the configuration of the connector unit; the other configurations are common. Figure 7B The connector unit 37 has a nut pipe 371 with a threaded groove on its inner side, and a pair of locking nuts 372 and 373 disposed on both sides of the nut pipe 371. A bolt 343 is formed at the base end of the rotating housing 34, and the locking nuts 372 and nut pipe 371 are screwed into the bolt 343 from the outside. In addition, a bolt 333 is formed at the top end of the rotating housing 33, and the locking nuts 373 and nut pipe 371 are screwed into the bolt 333 from the outside.

[0122] The direction of the thread on the top end of the nut pipe 371 is opposite to the direction of the thread on the base end. Correspondingly, the direction of the thread on the bolt 343 of the rotating housing 34 is opposite to the direction of the thread on the bolt 333 of the rotating housing 33. Therefore, when the nut pipe 371 is rotated to one side, the rotating housing 34 and the rotating housing 33 move closer together; when the nut pipe 371 is rotated to the other side, the rotating housing 34 and the rotating housing 33 separate. In this way, the length of the connector unit 37 can be adjusted.

[0123] Figure 7C This is a schematic diagram illustrating a third variation of the joint unit. Figure 7D It is a schematic representation Figure 7C A diagram of the collar used in the connector unit. Figure 7C Examples and Figure 6 The only difference between the examples is the configuration of the connector unit; the other configurations are common. Figure 7CThe connector unit 38 has a non-flexible tube 381. The tube 381 is configured to connect the top end of the rotating housing 33 to the base end of the rotating housing 34, and the hollow portion 382 of the tube 381 is in communication with the hollow portion 332 of the rotating housing 33 and the hollow portion 342 of the rotating housing 34.

[0124] The top end of the rotating housing 33 is embedded within the hollow portion 382 of the base end of the tube 381; in other words, the base end of the tube 381 surrounds the top end of the rotating housing 33 from the outside. Similarly, the base end of the rotating housing 34 is embedded within the hollow portion 382 of the top end of the tube 381; in other words, the top end of the tube 381 surrounds the top end of the rotating housing 34 from the outside. Two D-shaped cutouts 334 are provided at 90-degree intervals at the top end of the rotating housing 33. Likewise, two D-shaped cutouts 344 are provided at 90-degree intervals at the base end of the rotating housing 34.

[0125] In contrast, the tube 381 has threaded holes that open opposite to the D-shaped cutouts 334 and 344, and the connector unit 37 has bolts 383 that engage with each threaded hole. Thus, by making the front end of the bolt 383 screwed into the tube 381 abut against the D-shaped cutouts 334 and 344, the tube 381 is securely fixed to the rotating housing 33 and the rotating housing 34.

[0126] Figure 7E This is a schematic diagram illustrating the fourth variation of the joint unit. Figure 7F It is a schematic representation in Figure 7E A diagram of the collar used in the connector unit. Figure 7E Examples and Figure 6 The only difference between the examples is the configuration of the connector unit; the other configurations are common. Figure 7E The connector unit 39 has a non-flexible tube 391. The tube 391 is configured to connect the top end of the rotating housing 33 to the base end of the rotating housing 34, and the hollow portion 392 of the tube 391 is in communication with the hollow portion 332 of the rotating housing 33 and the hollow portion 342 of the rotating housing 34.

[0127] The top end of the rotating housing 33 is embedded in the hollow portion 392382 of the base end of the tube 391. In other words, the base end of the tube 391 surrounds the top end of the rotating housing 33 from the outside. Similarly, the base end of the rotating housing 34 is embedded in the hollow portion 392 of the top end of the tube 391. In other words, the top end of the tube 391 surrounds the top end of the rotating housing 34 from the outside.

[0128] Furthermore, a slit 393 is provided in the tube 391. The tube 391 also has an insertion hole 394 and a threaded hole 395, which are opposite each other across the slit 393. Correspondingly, the connector unit 39 has a bolt 396, which, by screwing the bolt 396, inserted into the insertion hole 394, into the threaded hole 395, secures the tube 391 to the rotating housing 33 and 34. That is, the tube 391 functions like a slit-type positioning ring, fixing it to the rotating housings 33 and 34.

[0129] Figure 8 This is a schematic side view of the multi-joint robot according to the third embodiment. The third embodiment differs from the second embodiment in the structure of the base wiring arm 30, the first motor M1, and the first reducer D1, but is the same in other structures.

[0130] That is, the wiring arm housing 301 of the base wiring arm 30 has a vertical frame 306 at the top side of the vertical frame 303. The vertical frame 306 is parallel to the Z direction and overlaps with the first rotation axis A1, extending downward from the lower surface of the end of the top side of the horizontal frame 304. In contrast, at the base end of the working arm housing 211 of the first working arm 21, a bearing hole 212 is provided, overlapping with the first rotation axis A1, and the lower end of the vertical frame 306 is located inside the bearing hole 212. Furthermore, a ball bearing B3 is disposed between the lower end of the vertical frame 306 and the bearing hole 212, with the inner ring of the ball bearing B3 fixed to the vertical frame 306 and the outer ring of the ball bearing B3 fixed to the bearing hole 212. Therefore, the vertical frame 306 of the base wiring arm 30 is coaxially connected to the first rotation axis A1 relative to the working arm housing 211 of the first working arm 21.

[0131] In contrast, the first motor M1 and the first rotating shaft A1 are housed overlapping within the vertical frame 306 and the boom housing 211. The first reducer D1, connected to the first motor M1, protrudes downwards from the lower surface of the boom housing 211 and connects to the top portion of the base housing 111. Furthermore, when the first motor M1 rotates the output shaft, this rotation is transmitted to the base housing 111 via the first reducer D1. Through the reaction force of this rotation transmitted to the base housing 111, the boom housing 211 rotates about the first rotating shaft A1.

[0132] Figure 9 This is a schematic side view of the multi-joint robot according to the fourth embodiment. The fourth embodiment differs from the third embodiment in the configuration of the connector unit of the first wiring arm 32, but is common in other configurations. Figure 9 The connector unit 36 ​​has Figure 7A The flexible piping 361, connector 362 and connector 363 in the connector unit 36, and have the general configuration that excludes other components.

[0133] Right now, Figure 9 The connector unit 36 ​​includes a flexible conduit 361 and a pair of connectors 362 and 363 disposed at both ends of the flexible conduit 361. The top-side connector 362 of the pair of connectors 362 and 363 connects the top end of the flexible conduit 361 to the base end of the rotating housing 34. Additionally, the base-side connector 363 of the pair of connectors 362 and 363 connects the base end of the flexible conduit 361 to the top end of the rotating housing 33. Similarly, a transversely penetrating hole is provided in the center of the connectors 362 and 363, and a storage space is formed inside the connector unit 36 ​​for the rope-like member So to pass through transversely.

[0134] Figure 10 This is a schematic side view of a multi-joint robot according to the fifth embodiment. The fifth embodiment differs from the fourth embodiment in the configuration of clamping members 411 and 412, but is the same in other structures. That is, in the fourth embodiment ( Figure 9 In the fifth embodiment, clamping member 411 is fixed to the upper surface of rotating housing 33, and clamping member 412 is fixed to the upper surface of rotating housing 34. In contrast, in the fifth embodiment... Figure 10 In the case, clamping member 411 is fixed to the upper surface of the end of the flexible pipe 361 on the base side, and clamping member 412 is fixed to the upper surface of the end of the flexible pipe 361 on the top side.

[0135] In this fifth embodiment, the clamping member 401 of the base mounting portion 40 is also disposed offset from the first rotation axis A1. The clamping members 411 and 412 of the first mounting portion 41 are disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the rapid bending of the installed rope member So.

[0136] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 412 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0137] In addition, in the above Figures 5 to 10 In the example shown, the first wiring arm 31 includes: a rotating housing 33 (one rotating component) supported on the base wiring arm 30 so as to be rotatable about a first rotation axis A1; a rotating housing 34 (the other rotating component) supported on the second working arm 22 so as to be rotatable about a second rotation axis A2; and a connector unit 36 ​​(connecting component) disposed between the rotating housing 33 and the rotating housing 34 to connect the rotating housing 33 and the rotating housing 34. In this configuration, the length of the first wiring arm 31 can be changed by changing the length of the connector unit 36. Therefore, various articulated robots 1 with different lengths of the first working arm 21 can be easily accommodated.

[0138] Furthermore, as mentioned above Figures 5 to 10 As shown in the example, in the configuration where the rotating housing 33 and the rotating housing 34 are connected by the connector unit 36, the rotating housing 33 and the rotating housing 34 can also be made into common components with the same configuration.

[0139] In addition, Figure 5 and Figure 6 In examples such as these, the connector unit 36 ​​is flexible. In this structure, the first wiring arm 31 can be bent according to the force applied to it, while the rope-like member So is properly supported by the first mounting portion 41 fixed to the first wiring arm 31.

[0140] Figure 11 This is a schematic side view of a multi-joint robot according to a sixth embodiment. The sixth embodiment differs from the first embodiment in the structure supporting the first wiring arm 31, but shares common structural features. That is, in the sixth embodiment ( Figure 11 In this configuration, without ball bearings B1 and B2, with protrusion 314 embedded in bearing hole 305 and protrusion 315 embedded in bearing hole 223, the first wiring arm 31 is supported on the base wiring arm 30 and the second working arm 22. Additionally, a support column 316 is provided to connect the lower surface of the wiring arm housing 311 of the first wiring arm 31 to the upper surface of the working arm housing 211 of the first working arm 21. In this structure, the wiring arm housing 311 of the first wiring arm 31 follows the working arm housing 211 of the first working arm 21 and rotates about the first rotation axis A1. Furthermore, the working arm housing 221 of the second working arm 22 can rotate relative to the working arm housing 211 of the first working arm 21 about the second rotation axis A2, and the wiring arm housing 311 of the first wiring arm 31 is supported so that it can rotate about the second rotation axis A2.

[0141] Alternatively, a seal such as a labyrinth seal or an oil seal can be provided between the protrusion 314 and the bearing bore 305, and between the protrusion 315 and the bearing bore 223. This allows the protrusion 314 and the bearing bore 305 to be sealed together, or the protrusion 315 and the bearing bore 223 to be sealed together. However, providing such a seal is not mandatory.

[0142] Figure 12 This is a schematic side view of the multi-joint robot according to the seventh embodiment. The seventh embodiment differs from the first embodiment in the structure of the base wiring arm 30 and the first wiring arm 31 and the path of the internal wiring Wi, but is common to the first embodiment in other structures.

[0143] The top end of the horizontal frame 304 of the wiring arm housing 301 of the base wiring arm 30 faces the base end of the working arm housing 211 of the first working arm 21 from above. A downward-protruding protrusion 307 is provided at the top end of the horizontal frame 304, and correspondingly, an upward-opening bearing hole 213 is provided at the base end of the working arm housing 211. The protrusion 307 is located inside the bearing hole 213. A ball bearing B1 is disposed between the protrusion 307 and the bearing hole 213, with the inner ring of the ball bearing B1 fixed to the protrusion 307 and the outer ring fixed to the bearing hole 213. Therefore, the wiring arm housing 301 of the base wiring arm 30 is coaxially connected to the working arm housing 211 of the first working arm 21 with the first rotating shaft A1.

[0144] Furthermore, the wiring arm housing 311 of the first wiring arm 31 has a support column 316 extending parallel to the Z direction. The support column 316 extends downward from the lower surface of the end of the horizontal frame 313 on the base side, and the interiors of the horizontal frame 313 and the support column 316 are connected to form a storage space 312. The support column 316 connects the lower surface of the end of the horizontal frame 313 on the base side to the upper surface of the working arm housing 211 of the first working arm 21. That is, the support column 316 is fixed to the working arm housing 211. Therefore, the wiring arm housing 311 of the first wiring arm 31 follows the working arm housing 211 of the first working arm 21 and rotates about the first rotation axis A1. In addition, the internal wiring Wi extends from the storage space 302 of the base wiring arm 30 through the storage space 214 inside the working arm housing 211 of the first working arm 21 to the storage space 312 of the first wiring arm 31.

[0145] In this seventh embodiment, the clamping member 401 of the base mounting portion 40 is also disposed offset from the first rotation axis A1, the clamping members 411 and 412 of the first mounting portion 41 are also disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is also disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the rapid bending of the installed rope member So.

[0146] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 412 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0147] In the seventh embodiment, the wiring arm 3 includes: a base wiring arm 30 supported on and opposite to the base portion 11; and a first wiring arm 31 fixed to and opposite to the first working arm 21 (first arm). The first wiring arm 31 rotates in response to the rotation of the first working arm 21 centered on the first rotation axis A1, and the second working arm 22 supports the first wiring arm 31 in a manner that allows it to rotate around the second rotation axis A2. Furthermore, the internal wiring Wi (a rope-like member that is housed) is housed inside the base wiring arm 30 and the first wiring arm 31. The base mounting portion 40 (clamping member 401) is fixed to the base wiring arm 30, the first mounting portion 41 (clamping members 411, 412) is fixed to the first wiring arm 31, and the second mounting portion 42 (clamping member 421) is fixed to the second working arm 22. In this structure, it is easy for the user to install the rope-like member So to a suitable position relative to the "multi-joint robot 1 which has a base wiring arm 30 and a first wiring arm 31 respectively opposite to the base part 11 and the first working arm 21", and it is possible to suppress the rapid bending of the installed rope-like member So.

[0148] Furthermore, the base mounting section 40 has a clamping member 401 (base clamping member) fixed to the base wiring arm 30, and a rope-like member So is mounted on the clamping member 401. The first mounting section 41 has two clamping members 411 and 412 (first clamping members) fixed to the first wiring arm 31, and rope-like members So are mounted on the two clamping members 411 and 412 respectively. The second mounting section 42 has a clamping member 421 (second clamping member) fixed to the second working arm 22, and rope-like members So are mounted on the clamping member 421. In this structure, the user can install the rope-like member So used by the multi-joint robot 1 in the appropriate position by performing the operation of installing the rope-like member So in the clamping members 401, 411, 412, and 421 respectively. In this way, it is easy for the user to install the rope-like member So in the appropriate position relative to the multi-joint robot 1 equipped with the wiring arm 3, and it is possible to prevent the installed rope-like member So from bending sharply.

[0149] Figure 13 This is a schematic side view of the multi-joint robot according to the eighth embodiment. The eighth embodiment differs from the seventh embodiment in that the wiring arm 3 does not have a first wiring arm 31 but has a second wiring arm 61 and in the path of the internal wiring Wi, but is otherwise common to the seventh embodiment.

[0150] The second wiring arm 61 is positioned below the second working arm 22 of the working arm 2 in the Z direction. The second wiring arm 61 has a wiring arm housing 611, with a storage space 612 inside. This storage space 612 communicates with the storage space 214 inside the working arm housing 211 of the first working arm 21 and the storage space 222 inside the working arm housing 221 of the second working arm 22. The wiring arm housing 611 is supported on the working arm housing 211 in a manner that allows it to rotate about the second rotation axis A2. Specifically, the wiring arm housing 611 of the second wiring arm 61 has a horizontally extending beam-shaped frame, i.e., a horizontal frame 613, with its base portion facing the top portion of the working arm housing 211 of the first working arm 21 from below. Furthermore, a cylindrical protrusion 614 protruding upward from the horizontal frame 613 is provided at the base portion of the wiring arm housing 611. In contrast, a bearing hole 215 is provided on the lower side of the top portion of the working arm housing 211, and a protrusion 614 is located inside the bearing hole 215. Furthermore, a ball bearing B2 is disposed between the protrusion 614 and the bearing hole 215, with the inner ring of the ball bearing B2 fixed to the protrusion 614 and the outer ring of the ball bearing B2 fixed to the bearing hole 215. Therefore, the wiring arm housing 611 of the second wiring arm 61 is supported on the working arm housing 211 of the first working arm 21 in a manner that allows it to rotate around the second rotation axis A2.

[0151] Furthermore, the wiring arm housing 611 of the second wiring arm 61 has a support column 615 extending parallel to the Z direction. The support column 615 extends upward from the upper surface of the end of the top side of the horizontal frame 613, and the interiors of the horizontal frame 613 and the support column 615 are connected to form a storage space 612. The support column 615 connects the upper surface of the end of the top side of the horizontal frame 613 to the lower surface of the working arm housing 221 of the second working arm 22. That is, the support column 615 is fixed to the working arm housing 221. Therefore, the wiring arm housing 611 of the second wiring arm 61 follows the working arm housing 221 of the second working arm 22 and rotates about the second rotation axis A2. In addition, the internal wiring Wi extends from the storage space 214 of the first working arm 21 through the storage space 612 inside the wiring arm housing 611 of the second wiring arm 61 to the storage space 222 of the second working arm 22.

[0152] The base mounting portion 40 has a clamping member 401 fixed to the horizontal upper surface of the wiring arm housing 301, particularly the upper surface of the vertical frame 303. This clamping member 401 is disposed offset from the first rotation axis A1 towards the base end (in other words, the side opposite to the second rotation axis A2). The first mounting portion 41 has a clamping member 411 fixed to the horizontal upper surface of the working arm housing 211. This clamping member 411 is fixed to the upper end of a support bar 413 extending upward from the upper surface of the working arm housing 211. Furthermore, the first mounting portion 41 has a clamping member 412 fixed to the horizontal lower surface of the working arm housing 211. This clamping member 412 is fixed to the upper end of a support bar 414 extending downward from the lower surface of the working arm housing 211. Two clamping members 411 and 412 are arranged between the first rotating shaft A1 and the second rotating shaft A2 in the direction in which the working arm housing 211 extends (in other words, in the direction of the horizontal straight line connecting the first rotating shaft A1 and the second rotating shaft A2). In addition, the second mounting part 42 has a clamping member 421 fixed to the horizontal lower surface of the wiring arm housing 611.

[0153] Furthermore, the second mounting part 42 has a clamping member 422 fixed to the side of the top end of the wiring arm housing 611 and a clamping member 423 fixed to the upper surface of the working arm housing 221.

[0154] That is, the external mounting part 4 has a plurality of clamping members 432, 431, 423, 422, 421, 412, 411, 401, and 451 arranged sequentially along the path along which the rope-like member So is disposed. In contrast, the user can install the rope-like member So in a detachable manner relative to the clamping members 432, 431, 423, 422, 421, 412, 411, 401, and 451 respectively, and the clamping members 432, 431, 423, 422, 421, 412, 411, 401, and 451 support the rope-like member So installed thereon.

[0155] A rope-like member So, extending downward from clamping member 431, bends laterally toward the base end and is supported laterally by clamping member 423. A rope-like member So, protruding from clamping member 423 toward the base end, extends downward to clamping member 422 and is supported longitudinally by clamping member 422. A rope-like member So, extending downward from clamping member 422 to clamping member 421, is supported laterally by clamping member 421 toward the base end. A rope-like member So, extending laterally from clamping member 421 toward the base end, is supported laterally by clamping member 412. A rope-like member So, protruding from clamping member 412 toward the base end, extends upward to clamping member 411 and is supported laterally by clamping member 411. A rope-like member So, extending laterally from clamping member 411 toward the base end, is supported laterally by clamping member 401. In addition, clamping member 421 and clamping member 412 support the rope member So at the same height, and clamping member 411 and clamping member 401 support the rope member So at the same height.

[0156] The rope-like member So, which extends laterally from the clamping member 401 toward the base end, bends downward and is supported longitudinally by the clamping member 451. In this way, the rope-like member So, which extends from the end effector 15 toward the base end of the multi-joint robot 1, is supported by the external mounting part 4.

[0157] In this eighth embodiment, the clamping member 401 of the base mounting portion 40 is also disposed offset from the first rotation axis A1. The clamping members 411 and 412 of the first mounting portion 41 are disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the rapid bending of the installed rope member So.

[0158] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 412 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0159] In the eighth embodiment, the wiring arm 3 includes: a base wiring arm 30 fixed to and opposite the base portion 11; and a second wiring arm 61 supported on the first working arm 21 (first arm) and opposite the second working arm 22 (second arm) so as to be rotatable about the second rotation axis A2. The second wiring arm 61 rotates in response to the rotation of the second working arm 22 about the second rotation axis A2, and the base wiring arm 30 is coaxially connected to the first working arm 21 with the first rotation axis A1. Furthermore, the internal wiring Wi (a rope-like member that is housed) is housed inside the base wiring arm 30 and the second wiring arm 61. The base mounting portion 40 (clamping member 401) is fixed to the base wiring arm 30, the first mounting portion 41 (clamping members 411, 412) is fixed to the first working arm 21, and the second mounting portion 42 (clamping member 421) is fixed to the second wiring arm 61. In this structure, it is easy for the user to install the rope member So to a suitable position relative to the "multi-joint robot 1 which has a base wiring arm 30 and a second wiring arm 61 respectively opposite to the base part 11 and the second working arm 22", and it is possible to suppress the rapid bending of the installed rope member So.

[0160] Furthermore, the base mounting portion 40 has a clamping member 401 (base clamping member) fixed to the base wiring arm 30, which supports the rope-like member So. The first mounting portion 41 has two clamping members 411 and 412 (first clamping members) fixed to the first working arm 21, which also support the rope-like member So. The second mounting portion 42 has a clamping member 421 (second clamping member) fixed to the second wiring arm 61, which supports the rope-like member So. In this structure, the user can install the rope-like member So used in the multi-joint robot 1 in the appropriate position by performing the operation of installing the rope-like member So onto the clamping members 401, 411, 412, and 421 respectively. This makes it easy for the user to install the rope-like member So to the appropriate position relative to the multi-joint robot 1 equipped with the wiring arm 3, and it can prevent the installed rope-like member So from bending sharply.

[0161] Furthermore, the base wiring arm 30 is positioned opposite the base portion 11 from the upper side in the Z direction, and the second wiring arm 61 is positioned opposite the second working arm 22 (second arm) from the lower side in the Z direction. Moreover, the clamping member 401 (base clamping member) is fixed to the upper surface of the base wiring arm 30, one of the two clamping members 411 and 412 (first clamping members) is fixed to the upper surface of the first working arm 21, the other clamping member 412 is fixed to the lower surface of the first working arm 21, and the clamping member 421 (second clamping member) is fixed to the lower surface of the second wiring arm 61. Furthermore, clamping member 421 supports the rope-like member So extending laterally from the top end of the end effector 15; clamping member 412 supports the rope-like member So extending laterally from clamping member 421 to the side opposite to the top end; clamping member 411 supports the rope-like member So extending upwardly from clamping member 412 to the side opposite to the top end; and clamping member 401 supports the rope-like member So extending laterally from clamping member 411 to the side opposite to clamping member 412. In this structure, the rope-like member So, which is mounted to bulge upwards from the base portion 11 to the second working arm 22, can suppress vibration of the rope-like member So, interference with other equipment, or inertia and weight of the rope-like member So.

[0162] Figure 14 This is a schematic side view of the multi-joint robot according to the ninth embodiment. The ninth embodiment differs from the eighth embodiment in the structure of the first mounting part 41 and the second mounting part 42, but is common in other structures.

[0163] That is, the first mounting part 41 has only one clamping member 411 mounted on the upper surface of the working arm housing 211 via the support bar 413, and does not have a clamping member 412. In addition, the second mounting part 42 has a clamping member 421 fixed to the upper surface of the working arm housing 221.

[0164] That is, the external mounting part 4 has a plurality of clamping members 432, 431, 421, 411, 401, and 451 arranged sequentially along the path along which the rope-like member So is disposed. In contrast, the user can detachably mount the rope-like member So onto each of the clamping members 432, 431, 421, 411, 401, and 451, and the clamping members 432, 431, 421, 411, 401, and 451 support the rope-like member So mounted thereon.

[0165] Clamping member 421 supports the rope-like member So towards the base end side in the lateral direction. The rope-like member So, which extends laterally from clamping member 421 towards the base end side, is supported laterally by clamping member 411. The rope-like member So, which extends laterally from clamping member 411 towards the base end side, is supported laterally by clamping member 401. Furthermore, clamping member 421, clamping member 411, and clamping member 401 support the rope-like member So at the same height.

[0166] In this ninth embodiment, the clamping member 401 of the base mounting portion 40 is disposed offset from the first rotation axis A1, the clamping member 411 of the first mounting portion 41 is disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the abrupt bending of the installed rope member So.

[0167] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 411 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 411 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0168] In the ninth embodiment, the wiring arm 3 includes: a base wiring arm 30 fixed to and opposite the base portion 11; and a second wiring arm 61 supported on the first working arm 21 (first arm) and opposite the second working arm 22 (second arm) so as to be rotatable about the second rotation axis A2. The second wiring arm 61 rotates in response to the rotation of the second working arm 22 about the second rotation axis A2, and the base wiring arm 30 is coaxially connected to the first working arm 21 with the first rotation axis A1. Furthermore, the internal wiring Wi (a rope-like member that is housed) is housed inside the base wiring arm 30 and the second wiring arm 61. The base mounting portion 40 (clamping member 401) is fixed to the base wiring arm 30, the first mounting portion 41 (clamping member 411) is fixed to the first working arm 21, and the second mounting portion 42 (clamping member 421) is fixed to the second working arm 22. In this structure, it is easy for the user to install the rope member So to a suitable position relative to the "multi-joint robot 1 which has a base wiring arm 30 and a second wiring arm 61 respectively opposite to the base part 11 and the second working arm 22", and it is possible to suppress the rapid bending of the installed rope member So.

[0169] Furthermore, the base mounting portion 40 has a clamping member 401 (base clamping member) fixed to the base wiring arm 30, and a rope-like member So is mounted on the clamping member 401. The first mounting portion 41 has a clamping member 411 (first clamping member) fixed to the first working arm 21 (first arm), and a rope-like member So is mounted on the first mounting portion 41. The second mounting portion 42 has a clamping member 421 (second clamping member) fixed to the second working arm 22 (second arm), and a rope-like member So is mounted on the clamping member 421. In this structure, the user can install the rope-like member So used in the multi-joint robot 1 in the appropriate position by performing the operation of installing the rope-like member So on the clamping members 401, 411, and 421 respectively. In this way, it is easy for the user to install the rope-like member So to the appropriate position relative to the multi-joint robot 1 equipped with the wiring arm 3, and it is possible to prevent the installed rope-like member So from bending sharply.

[0170] Furthermore, the base wiring arm 30 is positioned opposite the base portion 11 from the upper side in the Z direction, and the second wiring arm 61 is positioned opposite the second working arm 22 (second arm) from the lower side in the Z direction. Additionally, the clamping member 401 (base clamping member) is fixed to the upper surface of the base wiring arm 30, the clamping member 411 (first clamping member) is fixed to the upper surface of the first working arm 21 (first arm), and the clamping member 421 (second clamping member) is fixed to the upper surface of the second working arm 22 (second arm). Moreover, the clamping member 421 laterally supports a rope-like member So extending from its top end connected to the end effector 15, the clamping member 411 laterally supports a rope-like member So extending laterally from the clamping member 421 to the side opposite to the top end, and the clamping member 401 laterally supports a rope-like member So extending laterally from the clamping member 411 to the side opposite to the clamping member 421. In this structure, the rope-like member So, which is installed to suppress the upward convexity of the rope-like member So from the base 11 to the second working arm 22, can suppress the vibration of the rope-like member So, its interference with other equipment, or suppress the inertia and weight of the rope-like member So.

[0171] Figure 15 This is a schematic side view of the multi-joint robot according to the tenth embodiment. The tenth embodiment differs from the seventh embodiment in that it does not have the base wiring arm 30, and in the structure of the base portion 11 and the first wiring arm 31, but they are common in other structures.

[0172] In the tenth embodiment of the multi-joint robot 1, the base end side of the base housing 111 of the base portion 11 is fixed to a vertical mounting surface G. Additionally, the robot cable Ti is fixed to the lower surface of the base housing 111.

[0173] The wiring arm housing 311 of the first wiring arm 31 has a horizontally extending horizontal frame 317. This horizontal frame 317 is positioned below the working arm housing 211 of the first working arm 21. Furthermore, the wiring arm housing 311 of the first wiring arm 31 has a support column 318 extending parallel to the Z-direction. The support column 318 extends upward from the upper surface of the top end of the horizontal frame 317, connecting the upper surface of the top end of the horizontal frame 317 to the lower surface of the working arm housing 211 of the first working arm 21. Additionally, the support columns 318 and 316 are arranged in a straight line along the Z-direction, and the interiors of the horizontal frame 317, support columns 318 and 316, and the horizontal frame 313 are interconnected, forming a storage space 312.

[0174] Additionally, a cylindrical protrusion 319 protruding upward from the horizontal frame 313 is provided at the base end of the horizontal frame 317. Conversely, a bearing hole 113 is provided on the lower side of the top end of the base housing 111, and the protrusion 319 is located inside the bearing hole 113. A ball bearing B1 is disposed between the protrusion 319 and the bearing hole 113, with the inner ring of the ball bearing B1 fixed to the protrusion 319 and the outer ring fixed to the bearing hole 113. Therefore, the wiring arm housing 311 of the first wiring arm 31 can rotate relative to the base housing 111 of the base portion 11 about the first rotation axis A1. Thus, following the rotation of the first working arm 21 centered on the first rotation axis A1, the first wiring arm 31 rotates about the first rotation axis A1. Furthermore, the wiring Wi2 extends from the storage space 112 of the base housing 111 through the inside of the horizontal frame 317 and the support column 318 to the storage space 312.

[0175] The base mounting portion 40 has a clamping member 401 fixed to the horizontal lower surface of the base housing 111. The clamping member 401 is disposed offset from the first rotation axis A1 toward the base end side (in other words, the opposite side of the second rotation axis A2) and fixed to the lower end of the support bar 402 that extends downward from the lower surface of the base housing 111.

[0176] The first mounting portion 41 has a clamping member 411 fixed to the horizontal lower surface of the horizontal frame 317 of the first wiring arm 31. Furthermore, the first mounting portion 41 has a clamping member 412 fixed to the horizontal upper surface of the horizontal frame 313 of the first wiring arm 31. The two clamping members 411 and 412 are arranged between the first rotating shaft A1 and the second rotating shaft A2 in the direction in which the working arm housing 211 extends. Moreover, the first mounting portion 41 has a clamping member 415 fixed to the horizontal upper surface of the horizontal frame 313 at a position closer to the base end than the clamping member 412.

[0177] That is, the external mounting part 4 has a plurality of clamping members 432, 431, 421, 412, 415, 411, and 401 arranged sequentially along the path along which the rope-like member So is disposed. In contrast, the user can install the rope-like member So in a detachable manner relative to each of the clamping members 432, 431, 421, 412, 415, 411, and 401, and the clamping members 432, 431, 421, 412, 415, 411, and 401 support the rope-like member So installed thereon.

[0178] A rope-like member So, extending laterally from clamping member 431 toward the base end, is laterally supported by clamping member 421. The rope-like member So, extending laterally from clamping member 421 toward the base end, is supported by clamping member 412. A rope-like member So, extending laterally from clamping member 412 toward the base end, is laterally supported by clamping member 415. A rope-like member So, protruding from clamping member 415 toward the base end, extends downward to clamping member 411 and is laterally supported by clamping member 411 toward the base end. A rope-like member So, extending laterally from clamping member 411 toward the base end, is laterally supported by clamping member 401.

[0179] In this tenth embodiment, the clamping member 401 of the base mounting portion 40 is also disposed offset from the first rotation axis A1. The clamping members 411 and 412 of the first mounting portion 41 are disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the rapid bending of the installed rope member So.

[0180] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 412 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0181] Alternatively, the robot can be configured such that the base mounting section has a base clamping member fixed to the base wiring arm, and an external rope-like member is mounted on the base clamping member; the first mounting section has two first clamping members fixed to the first wiring arm, and an external rope-like member is mounted on each of the two first clamping members; and the second mounting section has a second clamping member fixed to the second arm, and an external rope-like member is mounted on the second clamping member. In this structure, the user can install the external rope-like member used in the robot in the appropriate position by performing the operation of installing the external rope-like member on the base clamping member, the two first clamping members, and the second clamping member. This makes it easy for the user to install the rope-like member to the appropriate position relative to the robot equipped with the wiring arm, and it can prevent the installed rope-like member from bending sharply.

[0182] In the tenth embodiment, the wiring arm 3 has a first wiring arm 31, which is supported on the base portion 11 and is rotatable about a first rotation axis A1, and is opposite to the first working arm 21 (first arm). The first wiring arm 31 has: a horizontal frame 317 (one wiring portion), which is supported on the base portion 11 and fixed to the first working arm 21 and is rotatable about a first rotation axis A1; and a horizontal frame 313 (the other wiring portion), which is fixed to the first working arm 21. The second working arm 22 (second arm) supports the horizontal frame 313 so that it is rotatable about a second rotation axis A2, and houses the internal wiring Wi inside the horizontal frames 317 and 313. The horizontal frame 317 is opposite to the first working arm 21 from below, and the horizontal frame 313 is opposite to the first working arm 21 from above. Additionally, the base mounting portion 40 has a clamping member 401 (base clamping member) fixed to the base portion 11, and a rope-like member So (external rope-like member) is mounted on the clamping member 401. The first mounting portion 41 has two clamping members 411 and 412 (first clamping members) fixed to the first working arm 21, and rope-like members So are mounted on the two clamping members 411 and 412 respectively. The second mounting portion 42 has a clamping member 421 (second clamping member) fixed to the second working arm 22, and rope-like members So are mounted on the clamping member 421. The clamping member 401 is fixed to the lower surface of the base portion 11, the clamping member 411 is fixed to the lower surface of the horizontal frame 317, the clamping member 412 is fixed to the upper surface of the horizontal frame 313, and the clamping member 421 is fixed to the upper surface of the second working arm 22. Furthermore, clamping member 421 supports the rope-like member So extending laterally from the top end connected to the end effector 15; clamping member 412 supports the rope-like member So extending laterally from clamping member 421 to the side opposite to the top end; clamping member 411 supports the rope-like member So extending laterally downward from clamping member 412 to the side opposite to the top end; and clamping member 401 supports the rope-like member So extending laterally from clamping member 411 to the side opposite to clamping member 412. In this structure, the rope-like member So, which is mounted to bulge upward from the base portion 11 to the second working arm 22, can suppress vibration of the rope-like member So, interference with other equipment, or inertia and weight of the rope-like member So.

[0183] Figure 16 This is a schematic side view of the multi-joint robot according to the eleventh embodiment. The eleventh embodiment differs from the tenth embodiment in the structure of the first wiring arm 31 and the presence of the second wiring arm 61, but is otherwise similar in structure.

[0184] That is, in the eleventh embodiment, the first wiring arm 31 does not have a horizontal frame 313 and a support post 316. In addition, the first wiring arm 31 has a protrusion 310 that protrudes from the support post 318 toward the top side at a position higher than the horizontal frame 317.

[0185] Additionally, the wiring arm 3 has a second wiring arm 61. The second wiring arm 61 is positioned opposite the second working arm 22 of the working arm 2 from below in the Z direction. The second wiring arm 61 has a wiring arm housing 611, and a storage space 612 is provided inside the wiring arm housing 611. The storage space 612 communicates with the storage space 214 inside the working arm housing 211 of the first working arm 21 and the storage space 222 of the working arm housing 221 of the second working arm 22. The wiring arm housing 611 is configured to be rotatable relative to the working arm housing 211 about the second rotation axis A2. That is, the wiring arm housing 611 of the second wiring arm 61 has a horizontally extending beam-shaped frame, namely a horizontal frame 613, the base portion of which is positioned opposite the top portion of the working arm housing 211 of the first working arm 21 from below. Furthermore, a cylindrical protrusion 614 protruding upward from the horizontal frame 613 is provided at the base end of the wiring arm housing 611. Conversely, a bearing hole 215 is provided on the lower side of the top end of the working arm housing 211, with the protrusion 614 located inside the bearing hole 215. A ball bearing B2 is disposed between the protrusion 614 and the bearing hole 215, with the inner ring of the ball bearing B2 fixed to the protrusion 614 and the outer ring fixed to the bearing hole 215. Therefore, the wiring arm housing 611 of the second wiring arm 61 can rotate relative to the working arm housing 211 of the first working arm 21 about the second rotation axis A2.

[0186] Furthermore, the wiring arm housing 611 of the second wiring arm 61 has a support column 615 extending parallel to the Z direction. The support column 615 extends upward from the upper surface of the end of the top side of the horizontal frame 613, and the interiors of the horizontal frame 613 and the support column 615 are connected to form a storage space 612. The support column 615 connects the upper surface of the end of the top side of the horizontal frame 613 to the lower surface of the working arm housing 221 of the second working arm 22. That is, the support column 615 is fixed to the working arm housing 221. Therefore, the wiring arm housing 611 of the second wiring arm 61 follows the working arm housing 221 of the second working arm 22 and rotates about the second rotation axis A2. In addition, the internal wiring Wi extends from the storage space 214 of the first working arm 21 through the storage space 612 inside the wiring arm housing 611 of the second wiring arm 61 to the storage space 222 of the second working arm 22.

[0187] The base mounting portion 40 has a clamping member 401 fixed to the horizontal lower surface of the base housing 111. The clamping member 401 is disposed offset from the first rotation axis A1 toward the base end side (in other words, the opposite side of the second rotation axis A2) and fixed to the lower end of the support bar 402 that extends downward from the lower surface of the base housing 111.

[0188] The first mounting portion 41 has a clamping member 411 fixed to the horizontal lower surface of the horizontal frame 317 of the first wiring arm 31. Furthermore, the first mounting portion 41 has a clamping member 412 fixed to the horizontal lower surface of the protrusion 310. The two clamping members 411 and 412 are arranged between the first rotating shaft A1 and the second rotating shaft A2 in the direction in which the working arm housing 211 extends.

[0189] Furthermore, the second mounting part 42 includes: a clamping member 421, which is fixed to the bottom surface of the wiring arm housing 611 at a position closer to the top end than the second rotating shaft A2; a clamping member 422, which is fixed to the side surface of the top end of the wiring arm housing 611; and a clamping member 423, which is fixed to the upper surface of the working arm housing 221.

[0190] That is, the external mounting part 4 has a plurality of clamping members 432, 431, 423, 422, 421, 412, 411, 411, and 401 arranged sequentially along the path along which the rope-like member So is disposed. In contrast, the user can install the rope-like member So in a detachable manner relative to each of the clamping members 432, 431, 423, 422, 421, 412, 411, 411, and 401, and the clamping members 432, 431, 423, 422, 421, 412, 411, 411, and 401 support the rope-like member So installed thereon.

[0191] A rope-like member So, extending downward from clamping member 431, bends laterally toward the base end and is supported laterally by clamping member 423. A rope-like member So, protruding from clamping member 423 toward the base end, extends downward to clamping member 422 and is supported longitudinally by clamping member 422. A rope-like member So, extending downward from clamping member 422 to clamping member 421, is supported laterally toward the base end by clamping member 421. A rope-like member So, extending laterally from clamping member 421 toward the base end, is supported laterally by clamping member 412. A rope-like member So, protruding from clamping member 412 toward the base end, extends downward to clamping member 411 and is supported laterally by clamping member 411. A rope-like member So, extending laterally from clamping member 411 toward the base end, is supported laterally by clamping member 401. In addition, clamping member 421 and clamping member 412 support the rope member So at the same height, and clamping member 411 and clamping member 401 support the rope member So at the same height.

[0192] In this eleventh embodiment, the clamping member 401 of the base mounting portion 40 is also disposed offset from the first rotation axis A1, the clamping members 411 and 412 of the first mounting portion 41 are also disposed between the first rotation axis A1 and the second rotation axis A2, and the clamping member 421 of the second mounting portion 42 is also disposed between the second rotation axis A2 and the shaft support position Ps. As a result, it is easy for the user to install the rope member So to the appropriate position relative to the multi-joint robot 1 equipped with the first wiring arm 31, and it is possible to suppress the rapid bending of the installed rope member So.

[0193] In other words, of the two clamping members 401 and 411 arranged adjacent to each other along the path of the rope-like member So, one clamping member 401 is positioned closer to the base end than the first rotation axis A1, and the other clamping member 411 is positioned closer to the top end than the first rotation axis A1. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the first rotation axis A1. Furthermore, of the two clamping members 412 and 421 arranged adjacent to each other along the path of the rope-like member So, one clamping member 412 is positioned closer to the base end than the second rotation axis A2, and the clamping member 421 is positioned closer to the top end than the second rotation axis A2. As a result, the rope-like member So is prevented from bending sharply with rotation centered on the second rotation axis A2.

[0194] Furthermore, in the eleventh embodiment, the wiring arm 3 includes: a first wiring arm 31, supported on the base portion 11 so as to be rotatable about a first rotation axis A1, and fixed to and opposite to the first working arm 21; and a second wiring arm 61, supported on the first working arm 21 so as to be rotatable about a second rotation axis A2, and fixed to and opposite to the second working arm 22. The first wiring arm 31 rotates in accordance with the rotation of the first working arm 21 centered on the first rotation axis A1, and the second wiring arm 61 rotates in accordance with the rotation of the second working arm 22 centered on the second rotation axis A2. Moreover, the internal wiring Wi (a rope-like member that is housed) is housed inside the first wiring arm 31 and the second wiring arm 61. The base mounting part 40 (clamping member 401) is fixed to the base part 11, the first mounting part 41 (clamping members 411, 412) is fixed to the first wiring arm 31, and the second mounting part 42 (clamping member 421) is fixed to the second wiring arm 61. In this structure, it is easy for the user to install the rope member So to the appropriate position relative to the "multi-joint robot 1 having the first wiring arm 31 and the second wiring arm 61 respectively opposite to the first working arm 21 and the second working arm 22", and it is able to prevent the installed rope member So from bending sharply.

[0195] Furthermore, the base mounting portion 40 has a clamping member 401 (base clamping member) fixed to the base portion 11, which supports the rope-like member So. The first mounting portion 41 has two clamping members 411 and 412 (first clamping members) fixed to the first wiring arm 31, which also support the rope-like member So. The second mounting portion 42 has a clamping member 421 (second clamping member) fixed to the second wiring arm 61, which supports the rope-like member So. In this structure, the user can install the rope-like member So used in the multi-joint robot 1 in the appropriate position by performing the operation of installing the rope-like member So relative to the base clamping members 401, 411, 412, and 421. This makes it easy for the user to install the rope-like member So in the appropriate position relative to the multi-joint robot 1 equipped with the wiring arm 3, and it can prevent the installed rope-like member So from bending sharply.

[0196] Additionally, the first wiring arm 31 is positioned opposite the first working arm 21 (first arm) from the lower side in the Z direction, and the second wiring arm 61 is positioned opposite the second working arm 22 (second arm) from the lower side in the Z direction. A clamping member 401 (base clamping member) is fixed to the lower surface of the base portion 11, and two clamping members 411 and 412 (first clamping members) are fixed to the lower surface of the first wiring arm 31. Clamping member 411 is located lower than clamping member 412, and clamping member 421 is fixed to the lower surface of the second wiring arm 61. Furthermore, clamping member 421 laterally supports a rope-like member So extending from the top end connected to the end effector 15; clamping member 412 laterally supports a rope-like member So extending laterally from clamping member 421 towards the side opposite to the top end; clamping member 411 laterally supports a rope-like member So extending downward towards the side opposite to clamping member 412; and clamping member 401 laterally supports a rope-like member So extending laterally from clamping member 411 towards the side opposite to clamping member 412. In this structure, the rope-like member So, mounted to bulge upwards from the base portion 11 to the second working arm 22, can suppress vibration of the rope-like member So, interference with other equipment, or inertia and weight of the rope-like member So.

[0197] Figure 17 This is a schematic side view of a multi-joint robot according to the twelfth embodiment. The twelfth embodiment differs from the first embodiment in that it is provided with a support spring 7 that supports the rope-like member So, but is otherwise the same in structure.

[0198] That is, the support spring 7 has a spring 71, which is a helical spring arranged between the clamping member 432 and the clamping member 431 along the rope-like member So and the external wiring Wo. The top end of the spring 71 is connected to the clamping member 432, and the base end of the spring 71 is connected to the clamping member 431. Furthermore, the rope-like member So and the external wiring Wo between the clamping member 432 and the clamping member 431 are inserted into the inside of the spring 71 (in other words, the spring 71 is externally embedded in the rope-like member So and the external wiring Wo). In this way, the rope-like member So between the clamping member 432 and the clamping member 431 is supported by the spring 71.

[0199] The support spring 7 includes a spring 72, which is a helical spring arranged between clamping members 421 and 412 along a rope-like member So and an external wiring Wo. The top end of the spring 72 is connected to the clamping member 421, and the base end of the spring 72 is connected to the clamping member 412. Furthermore, the rope-like member So and the external wiring Wo between clamping members 421 and 412 are inserted into the inside of the spring 72 (in other words, the spring 72 is externally embedded in the rope-like member So and the external wiring Wo). Thus, the rope-like member So between clamping members 421 and 412 is supported by the spring 72.

[0200] The support spring 7 includes a spring 73, which is a helical spring arranged between the clamping members 412 and 411 along the rope-like member So and the external wiring Wo. The top end of the spring 73 is connected to the clamping member 412, and the base end of the spring 73 is connected to the clamping member 411. Furthermore, the rope-like member So and the external wiring Wo between the clamping members 412 and 411 are inserted into the inside of the spring 73 (in other words, the spring 73 is externally embedded in the rope-like member So and the external wiring Wo). Thus, the rope-like member So between the clamping members 412 and 411 is supported by the spring 73.

[0201] The support spring 7 includes a spring 74, which is a helical spring arranged between the clamping members 411 and 401 along the rope-like member So and the external wiring Wo. The top end of the spring 74 is connected to the clamping member 411, and the base end of the spring 74 is connected to the clamping member 401. Furthermore, the rope-like member So and the external wiring Wo between the clamping members 411 and 401 are inserted into the inside of the spring 74 (in other words, the spring 74 is externally embedded in the rope-like member So and the external wiring Wo). Thus, the rope-like member So between the clamping members 411 and 401 is supported by the spring 74.

[0202] Thus, in the twelfth embodiment, a helical spring, i.e., a spring 71 (shaft spring), is provided between the clamping member 431 (intermediate clamping member) and the clamping member 432 (shaft clamping member). Furthermore, a rope-like member So (external rope-like member) between the clamping members 431 and 432 is provided inside the spring 71. In this structure, the rope-like member So can be supported by the spring 71.

[0203] Additionally, a helical spring, i.e., a spring 74 (first spring), is provided between the base mounting portion 40 and the first mounting portion 41. Furthermore, a rope-like member So between the base mounting portion 40 and the first mounting portion 41 is provided inside the spring 74. In this structure, the rope-like member So can be supported by the spring 74.

[0204] Additionally, a helical spring, i.e., a spring 72 (second spring), is provided between the first mounting portion 41 and the second mounting portion 42. Furthermore, a rope-like member So is provided inside the spring 72 between the first mounting portion 41 and the second mounting portion 42. In this structure, the rope-like member So can be supported by the spring 72.

[0205] Figure 18 This is a schematic side view of the multi-joint robot according to the thirteenth embodiment. The thirteenth embodiment differs from the first embodiment in that it is provided with a flexible tube 8 that supports the rope-like member So, that the first mounting part 41 is provided with only one clamping member 411, and that the connector J is fixed to the upper surface of the working arm housing 221 of the second working arm 22 instead of the end effector input / output terminal To, but they are otherwise similar in structure.

[0206] That is, the rope-like member So is housed within the flexible tube 8. Furthermore, the first mounting portion 41 has a clamping member 411 fixed to the upper surface of the wiring arm housing 311 between the first rotating shaft A1 and the second rotating shaft A2. The clamping member 411 supports the rope-like member So. Additionally, the rope-like member So extending from the upper end of the spline shaft 13 and the external wiring Wo are connected to the connector J, and respectively connected to the connector Cs and connector Cw within the housing space 222. The connector Cw is connected to the wiring Wi6. On the other hand, the connector Cs is connected to the rope-like member So supported by the clamping member 421. The rope-like member So supported by the clamping member 421 extends laterally towards the base end of the clamping member 411. The rope-like member So supported by the clamping member 411 extends laterally towards the base end of the clamping member 401. A rope-like member So, which protrudes laterally from the clamping member 401 toward the base end, extends downward to the clamping member 451 and is supported by the clamping member 451.

[0207] For this purpose, the flexible conduit 8 has a support tube 81, which is a flexible tube arranged between the annular support bar 434 and the connector J along the rope-like member So and the external wiring Wo. The top end of the support tube 81 is connected to the annular support bar 434 via the connector J, and the base end of the support tube 81 is connected to the connector J. Furthermore, the rope-like member So and the external wiring Wo between the annular support bar 434 and the connector J are inserted into the inside of the support tube 81 (in other words, the support tube 81 is externally embedded in the rope-like member So and the external wiring Wo). In this way, the rope-like member So between the annular support bar 434 and the connector J is supported by the support tube 81.

[0208] The flexible tube 8 has a support tube 82, which is a flexible tube arranged between the clamping member 421 and the clamping member 411 along the rope-like member So and the external wiring Wo. The top end of the support tube 82 is connected to the clamping member 421 via a connector J, and the base end of the support tube 82 is connected to the clamping member 411 via a connector J. Moreover, the rope-like member So and the external wiring Wo between the clamping member 421 and the clamping member 411 are inserted into the inside of the support tube 82 (in other words, the support tube 82 is externally embedded in the rope-like member So and the external wiring Wo). In this way, the rope-like member So between the clamping member 421 and the clamping member 411 is supported by the support tube 82.

[0209] The flexible tube 8 has a support tube 84, which is a flexible tube arranged between the clamping members 411 and 401 along the rope-like member So and the external wiring Wo. The top end of the support tube 84 is connected to the clamping member 411 via a connector J, and the base end of the support tube 84 is connected to the clamping member 401 via a connector J. Moreover, the rope-like member So and the external wiring Wo between the clamping members 411 and 401 are inserted into the inside of the support tube 84 (in other words, the support tube 84 is externally embedded in the rope-like member So and the external wiring Wo). In this way, the rope-like member So between the clamping members 411 and 401 is supported by the support tube 84.

[0210] The flexible tube 8 has a support tube 85, which is a flexible tube arranged between the clamping members 401 and 451 along the rope-like member So and the external wiring Wo. The top end of the support tube 85 is connected to the clamping member 401 via a connector J, and the base end of the support tube 85 is also connected to the clamping member 451 via a connector J. Furthermore, the rope-like member So and the external wiring Wo between the clamping members 401 and 451 are inserted into the inside of the support tube 85 (in other words, the support tube 85 is externally embedded in the rope-like member So and the external wiring Wo). Thus, the rope-like member So between the clamping members 401 and 451 is supported by the support tube 84.

[0211] Thus, in the thirteenth embodiment, a flexible tubular member, namely a support tube 84 (first tubular member), is provided between the base mounting portion 40 and the first mounting portion 41, and a rope-like member So is provided inside the support tube 84 between the base mounting portion 40 and the first mounting portion 41. In this structure, the rope-like member So can be supported by the support tube 84.

[0212] Additionally, a flexible tubular member, namely a support tube 82 (second tubular member), is provided between the first mounting portion 41 and the second mounting portion 42, and a rope-like member So is provided inside the support tube 82 between the first mounting portion 41 and the second mounting portion 42. In this structure, the rope-like member So can be supported by the support tube 82.

[0213] Thus, in the above embodiments, the multi-joint robot 1 corresponds to an example of the "robot" of the present invention, the base portion 11 corresponds to an example of the "base portion" of the present invention, the spline shaft 13 corresponds to an example of the "shaft" of the present invention, and the end effector 15 corresponds to an example of the "end effector" of the present invention. The first working arm 21 corresponds to an example of the "first arm" of the present invention, the second working arm 22 corresponds to an example of the "second arm" of the present invention, the wiring arm 3 corresponds to an example of the "wiring arm" of the present invention, the external mounting portion 4 corresponds to an example of the "external mounting portion" of the present invention, the base mounting portion 40 corresponds to an example of the "base mounting portion" of the present invention, the first mounting portion 41 corresponds to an example of the "first mounting portion" of the present invention, the second mounting portion 42 corresponds to an example of the "second mounting portion" of the present invention, the first rotating shaft A1 corresponds to an example of the "first rotating shaft" of the present invention, the second rotating shaft A2 corresponds to an example of the "second rotating shaft" of the present invention, the shaft support position Ps corresponds to an example of the "shaft support position" of the present invention, and the rope-like member So corresponds to an example of the "external rope-like member" of the present invention.

[0214] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be made to the above content without departing from its spirit. For example, the specific structure of each clamping member, such as clamping members 401, 411, 412, and 421, can be appropriately modified. That is, clamping members can also be made of cable ties or various cable clips. In addition, the material of the clamping members can also be various materials such as metal or resin. Alternatively, the cable bracket for a robotic arm described in Japanese Patent Application Publication No. 2023-016720 can be used as a clamping member. Furthermore, the fixing of these clamping members is not limited to screw-based fastening, but can also be based on adhesives or bonding agents. In addition, the number of clamping members can be appropriately changed.

[0215] Furthermore, the path of the internal wiring Wi can be appropriately changed, or the number of degrees of freedom of the articulated robot 1 can be appropriately changed, or the clamping member 432 can be set on the spline shaft 13 without the ball bearing Bs.

[0216] Explanation of reference numerals in the attached figures

[0217] 1… multi-joint robot; 11…base section; 13… splined axis; 15…End effector; 21…First working arm; 22…Second working arm; 3… Wiring arm; 4…External mounting unit; 40…base mounting section; 41…First Installation Department; 42…Second Installation Section; A1…First axis of rotation; A2…Second axis of rotation; Ps…shaft support position; So… a rope-like component.

Claims

1. A robot, possessing: Base section; The first arm is supported on the base portion in a manner that allows it to rotate about a first axis of rotation. The second arm is supported on the first arm in such a way that it can rotate about a second rotation axis parallel to the first rotation axis; The shaft is supported on the second arm at the shaft support position and the end effector is assembled in a detachable manner; An external mounting section is available for mounting an external rope-like component, which has a top end connected to the end effector mounted on the shaft, and includes wiring or piping. as well as A wiring arm is arranged opposite to at least one of the first and second arms, and houses a cable-like component including wiring or conduit. The portion of the wiring arm opposite to the opposing arm rotates in accordance with the rotation of the opposing arm. The external mounting portion includes: a base mounting portion disposed relative to the base portion, offset from the first rotation axis; a first mounting portion disposed relative to the first arm between the first rotation axis and the second rotation axis; and a second mounting portion disposed relative to the second arm between the second rotation axis and the shaft support position. The external mounting portion is capable of mounting the external rope-like member relative to the base mounting portion, the first mounting portion, and the second mounting portion, respectively. The position of the base mounting part relative to the base part is fixed. The position of the first mounting part relative to the first arm is fixed, and the first mounting part rotates along with the rotation of the first arm centered on the first rotation axis. The position of the second mounting part relative to the second arm is fixed, and the second mounting part rotates along with the rotation of the second arm centered on the second rotation axis. The external rope-like component extending from the top end is installed in the second mounting portion. An external rope-like member is installed at the first mounting portion, extending from the second mounting portion to a side opposite to the top. An external rope-like member extending from the first mounting portion to the side opposite to the second mounting portion is installed on the base mounting portion. One of the base mounting part, the first mounting part, and the second mounting part is disposed on the wiring arm.

2. The robot according to claim 1, wherein, The wiring arm includes: a base wiring arm, fixed to the base portion and facing the base portion; and a first wiring arm, supported on the base wiring arm and facing the first arm, rotatable about the first rotation axis. The first wiring arm rotates in accordance with the rotation of the first arm centered on the first rotation axis. The first wiring arm is supported on the second arm in a manner that allows it to rotate about the second rotation axis. The cable-like component is housed inside the base wiring arm and the first wiring arm. The base mounting part is fixed to the base wiring arm. The first mounting part is fixed to the first wiring arm. The second mounting part is fixed to the second arm.

3. The robot according to claim 2, wherein, The first wiring arm has: a one-sided rotating component supported on the base wiring arm in a manner rotatable about a first rotation axis; a other-sided rotating component supported on the second arm in a manner rotatable about a second rotation axis; and a connecting component disposed between the one-sided rotating component and the other-sided rotating component to connect the one-sided rotating component and the other-sided rotating component.

4. The robot according to claim 3, wherein, The connecting component is flexible.

5. The robot according to claim 1, wherein, The wiring arm includes: a base wiring arm, fixed to the base portion and facing the base portion; and a first wiring arm, fixed to the first arm and facing the first arm. The first wiring arm rotates in accordance with the rotation of the first arm centered on the first rotation axis. The first wiring arm is supported on the second arm in a manner that allows it to rotate about the second rotation axis. The cable-like component is housed inside the base wiring arm and the first wiring arm. The base mounting part is fixed to the base wiring arm. The first mounting part is fixed to the first wiring arm. The second mounting part is fixed to the second arm.

6. The robot according to any one of claims 2 to 5, wherein, The base mounting portion has a base clamping member fixed to the base wiring arm, and the external rope-like component is mounted on the base clamping member. The first mounting portion has at least one first clamping member fixed to the first wiring arm, and the external rope-like member is mounted on the at least one first clamping member. The second mounting part has a second clamping member fixed to the second arm, and the external rope-like member is mounted on the second clamping member.

7. The robot according to claim 6, wherein, The base wiring arm is positioned opposite the base portion from the upper side in the vertical direction. The first wiring arm is positioned opposite the first arm from the upper side in the vertical direction. The base clamping member is fixed to the upper surface of the base wiring arm. The at least one first clamping member is arranged along the direction in which the first wiring arm extends and is fixed to the upper surface of the first wiring arm. The second clamping member is fixed to the upper surface of the second arm. The second clamping member laterally supports the external rope-like member extending from the top end. The at least one first clamping member laterally supports the external rope-like member extending laterally from the second clamping member toward a side opposite to the top. The base clamping member laterally supports the external rope-like member, which extends laterally from the at least one first clamping member toward the side opposite to the second clamping member.

8. The robot according to claim 1, wherein, The wiring arm has a first wiring arm, which is supported on the base portion in a manner that allows it to rotate about the first rotation axis, and is positioned opposite to the first arm. The first wiring arm has a wiring portion supported on the base and fixed to the first arm in a manner that allows it to rotate around the first rotation axis, and another wiring portion fixed to the first arm. The other wiring section is supported on the second arm in a manner that allows it to rotate about the second rotation axis. The stored rope-like component is housed inside both the one wiring section and the other wiring section. The wiring section is positioned opposite the first arm from below. The other wiring section is positioned opposite the first arm from above. The base mounting portion has a base clamping member fixed to the base portion, and the external rope-like component is mounted on the base clamping member. The first mounting part has two first clamping members fixed to the first wiring arm, and the external rope-like component is respectively mounted on the two first clamping members. The second mounting part has a second clamping member fixed to the second arm, and the external rope-like member is mounted on the second clamping member. The base clamping member is fixed to the lower surface of the base portion. One of the two first clamping members is fixed to the lower surface of one wiring section, and the other first clamping member is fixed to the upper surface of the other wiring section. The second clamping member is fixed to the upper surface of the second arm. The second clamping member laterally supports the external rope-like member extending from the top end. The other first clamping member laterally supports the external rope-like member, which extends laterally from the second clamping member toward a side opposite to the top. The first clamping member laterally supports the external rope-like member extending downward from the other first clamping member toward a side opposite to the top. The base clamping member laterally supports the external rope-like member that extends laterally from one of the first clamping members toward the side opposite to the other first clamping member.

9. The robot according to claim 1, wherein, The wiring arm includes: a base wiring arm, fixed to and opposite to the base portion; and a second wiring arm, supported on the first arm and opposite to the second arm, rotatable about the second rotation axis. The second wiring arm rotates in accordance with the rotation of the second arm centered on the second rotation axis. The base wiring arm is coaxially connected to the first arm with respect to the first rotating shaft. The cable-like component is housed inside the base wiring arm and the second wiring arm. The base mounting part is fixed to the base wiring arm. The first mounting part is fixed to the first arm. The second mounting part is fixed to the second wiring arm or the second arm.

10. The robot according to claim 9, wherein, The base mounting portion has a base clamping member fixed to the base wiring arm, and the external rope-like component is mounted on the base clamping member. The first mounting part has a first clamping member fixed to the first arm, and the external rope-like component is mounted on the first clamping member. The second mounting part has a second clamping member fixed to the second arm, and the external rope-like member is mounted on the second clamping member.

11. The robot according to claim 10, wherein, The base wiring arm is positioned opposite the base portion from the upper side in the vertical direction. The second wiring arm is positioned opposite the second arm from the lower side in the vertical direction. The base clamping member is fixed to the upper surface of the base wiring arm. The first clamping member is fixed to the upper surface of the first arm. The second clamping member is fixed to the upper surface of the second arm. The second clamping member laterally supports the external rope-like member extending from the top end. The first clamping member laterally supports the external rope-like member extending laterally from the second clamping member toward a side opposite to the top end. The base clamping member laterally supports the external rope-like member, which extends laterally from the first clamping member to the side opposite to the second clamping member.

12. The robot according to any one of claims 1 to 11, wherein, The base mounting portion, the first mounting portion, and the second mounting portion support the external rope-like component at the same height.

13. The robot according to claim 9, wherein, The base mounting portion has a base clamping member fixed to the base wiring arm, and the external rope-like component is supported by the base clamping member. The first mounting part has two first clamping members fixed to the first arm, and the external rope-like component is supported by the two first clamping members. The second mounting part has a second clamping member fixed to the second wiring arm, and the external rope-like component is supported by the second clamping member.

14. The robot according to claim 13, wherein, The base wiring arm is positioned opposite the base portion from the upper side in the vertical direction. The second wiring arm is positioned opposite the second arm from the lower side in the vertical direction. The base clamping member is fixed to the upper surface of the base wiring arm. One of the two first clamping members is fixed to the upper surface of the first arm, and the other first clamping member is fixed to the lower surface of the first arm. The second clamping member is fixed to the lower surface of the second wiring arm. The second clamping member laterally supports the external rope-like member extending from the top end. The other first clamping member laterally supports the external rope-like member, which extends laterally from the second clamping member toward a side opposite to the top. The first clamping member laterally supports the external rope-like member extending upward from the other first clamping member toward a side opposite to the top. The base clamping member laterally supports the external rope-like member that extends laterally from one of the first clamping members toward the side opposite to the other first clamping member.

15. The robot according to claim 1, wherein, The wiring arm has: a first wiring arm, which is supported on the base portion in a manner that allows it to rotate about the first rotation axis, and is fixed to the first arm and opposite to the first arm; And a second wiring arm, supported on the first arm in a manner that allows it to rotate about the second rotation axis, and fixed to the second arm and opposite to the second arm. The first wiring arm rotates in accordance with the rotation of the first arm centered on the first rotation axis. The second wiring arm rotates in accordance with the rotation of the second arm centered on the second rotation axis. The stored rope-like component is housed inside the first wiring arm and the second wiring arm. The base mounting part is fixed to the base part. The first mounting part is fixed to the first wiring arm. The second mounting part is fixed to the second wiring arm.

16. The robot according to claim 15, wherein, The base mounting portion has a base clamping member fixed to the base portion, and the external rope-like component is supported by the base clamping member. The first mounting part has two first clamping members fixed to the first wiring arm, and the external rope-like component is supported by the two first clamping members. The second mounting part has a second clamping member fixed to the second wiring arm, and the external rope-like component is supported by the second clamping member.

17. The robot according to claim 16, wherein, The first wiring arm is positioned opposite the first arm from the lower side in the vertical direction. The second wiring arm is positioned opposite the second arm from the lower side in the vertical direction. The base clamping member is fixed to the lower surface of the base portion. The two first clamping members are fixed to the lower surface of the first wiring arm. One of the two first clamping members is located lower than the other first clamping member. The second clamping member is fixed to the lower surface of the second wiring arm. The second clamping member laterally supports the external rope-like member extending from the top end. The other first clamping member laterally supports the external rope-like member, which extends laterally from the second clamping member toward a side opposite to the top. The first clamping member laterally supports the external rope-like member extending downward from the other first clamping member on the side opposite to the second clamping member. The base clamping member laterally supports the external rope-like member that extends laterally from one of the first clamping members toward the side opposite to the other first clamping member.

18. The robot according to any one of claims 1 to 17, wherein, The robot also has the following features: A shaft clamping member, positioned above the upper end of the shaft; and An intermediate clamping member is disposed on the upper surface of the second arm between the shaft support position and the second mounting portion. The external rope-like member passes through the interior of the shaft from the upper end of the shaft and connects to the end effector. The shaft clamping member supports the external rope-like member that passes through the interior of the shaft from the end effector and extends from the upper end of the shaft. The intermediate clamping member supports the external rope-like member that extends from the shaft clamping member to the side opposite to the upper end of the shaft.

19. The robot according to claim 18, wherein, The robot also has bearings positioned relative to the axis. The shaft is capable of rotating about the shaft rotation axis. The bearing supports the shaft clamp in a manner that allows it to rotate relative to the shaft.

20. The robot according to claim 18 or 19, wherein, The robot also includes a shaft spring, which is a helical spring disposed between the intermediate clamping member and the shaft clamping member. The external rope-like component between the intermediate clamping member and the shaft clamping member is disposed inside the shaft spring.

21. The robot according to any one of claims 1 to 20, wherein, The robot also includes a first spring, which is a helical spring disposed between the base mounting portion and the first mounting portion. The external rope-like component between the base mounting portion and the first mounting portion is disposed inside the first spring.

22. The robot according to any one of claims 1 to 21, wherein, The robot also includes a second spring, which is a helical spring disposed between the first mounting portion and the second mounting portion. The external rope-like member between the first mounting part and the second mounting part is disposed inside the second spring.

23. The robot according to any one of claims 1 to 19, wherein, The robot also includes a first tubular component, which is a flexible tubular component disposed between the base mounting portion and the first mounting portion. The external rope-like component between the base mounting portion and the first mounting portion is disposed inside the first tubular component.

24. The robot according to any one of claims 1 to 19, wherein, The robot also includes a second tubular component, which is a flexible tubular component disposed between the first mounting portion and the second mounting portion. The external rope-like member between the first mounting part and the second mounting part is disposed inside the second tubular member.

25. The robot according to any one of claims 1 to 24, wherein, The robot also has the following features: A connector, mounted on the upper surface of the second arm, reaches the connector via an external rope-like member disposed from the second mounting portion through the interior of the second arm; and A receiving tube, disposed between the upper end of the shaft and the connector, is used to receive the external rope-like component extending from the connector to the upper end of the shaft. The external rope-like member passes through the interior of the shaft from the upper end of the shaft and is connected to the end effector.

26. The robot according to any one of claims 1 to 25, wherein, The base mounting portion, the first mounting portion, and the second mounting portion each support the external rope-like component via clamping members. A mounting plate with a smooth surface is provided in the portion of the base, the first arm, the second arm, and the wiring arm where the clamping member is mounted. The upper surface of the mounting plate is a smooth surface, and the clamping member is mounted on the smooth surface.

27. The robot according to claim 26, wherein, The mounting plate has a threaded hole on its smooth surface, and the clamping member is mounted on the smooth surface by screws screwed into the threaded hole.

28. The robot according to claim 26, wherein, The clamping element is attached to the smooth surface of the mounting plate by adhesive bonding.

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