Multi-joint robot

Abstract

A multi-joint robot includes a robot arm, an end effector configured at a front end of the robot arm, a head attachment for mounting the end effector to the front end of the robot arm, and electric wires interconnecting the end effector and a control panel configured in a fixed manner on the ground. A connector unit is integrated with the head attachment, and the connector unit is used to interconnect the electric wire leading out from the end effector and the electric wire leading out from the control panel.

Description

Technical Field

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

[0002] For example, as described in Patent Documents 1 and 2, multi-joint robots are frequently used in many industries. These robots have an end effector (e.g., a paint spray gun or a spot welding gun) mounted to their front end. End effector-side wires extending from the end effector are connected to robot-side wires extending from the robot side. These wires are subjected to significant stress (bending, stretching) during robot movement. Therefore, in the multi-joint robot described in Patent Document 1, the end effector-side wires and the robot-side wires are connected via a terminal closer to the end effector side than the wrist (also called the mounting portion).

[0003] List of cited references

[0004] Patent documents

[0005] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2015-58515

[0006] [Patent Document 2] Japanese Unexamined Patent Application Publication No. 2004-1177 Summary of the Invention

[0007] Technical issues

[0008] When the end effector is an inkjet head for painting, the number of wires on both the end effector side and the robot side increases. Therefore, connecting the terminals takes time, making it difficult to ensure the ease of replacing the inkjet head, etc.

[0009] Solution to the problem

[0010] According to one embodiment of the present invention, a multi-joint robot includes: a robotic arm, an end effector, a head attachment, and cables. The end effector is disposed at the front end of the robotic arm. The head attachment is used to mount the end effector to the front end of the robotic arm. Cables connect the end effector and a control panel, the control panel being fixedly disposed on the ground. A connector unit is integrated with the head attachment, the connector unit being used to connect the cables extending from the end effector and the cables extending from the control panel to each other.

[0011] Effects of the present invention

[0012] According to an embodiment of the present disclosure, the ease of replacement can be ensured even for end effectors with many lead wires. Attached Figure Description

[0013] A more complete understanding of the embodiments of the present disclosure and its many incidental advantages and features can be readily obtained and understood from the following detailed description with reference to the accompanying drawings.

[0014] [ Figure 1 ]

[0015] Figure 1 This is a schematic diagram of a multi-joint robot according to a first embodiment of the present invention.

[0016] [ Figure 2 ]

[0017] Figure 2 This is a cross-sectional view of an example inkjet head.

[0018] [ Figure 3A ]

[0019] Figure 3A This is an assembled perspective view of an example junction box and head accessory, with the front wall omitted to show the interior.

[0020] [ Figure 3B ]

[0021] Figure 3B This is a diagram illustrating an example of how to mount the head array unit to the head accessory.

[0022] [ Figure 4A ]

[0023] Figure 4A This is a stereoscopic view of an example of a head array unit.

[0024] [ Figure 4B ]

[0025] Figure 4B This is a stereoscopic view of an example of a head array unit.

[0026] [ Figure 5 ]

[0027] Figure 5 This is a three-dimensional view showing an example of a junction box.

[0028] [ Figure 6 ]

[0029] Figure 6 This is a schematic diagram of a multi-joint robot according to a second embodiment of the present invention.

[0030] [ Figure 7 ]

[0031] Figure 7 This is a schematic diagram of a multi-joint robot according to a third embodiment of the present invention.

[0032] [ Figure 8 ]

[0033] Figure 8 This is a schematic diagram of a multi-joint robot according to a fourth embodiment of the present invention.

[0034] [ Figure 9A ]

[0035] Figure 9A This is a perspective view of an example of forceps mounted on the distal end of the arm of a surgical robot.

[0036] [ Figure 9B ]

[0037] Figure 9B yes Figure 9A An enlarged view of the example pliers shown.

[0038] The accompanying drawings are intended to illustrate embodiments of this disclosure and should not be construed as limiting its scope. Unless explicitly stated otherwise, the drawings should not be considered to be drawn to scale. Furthermore, throughout several views, the same or similar reference numerals denote the same or similar parts. Detailed Implementation

[0039] In describing the embodiments shown in the accompanying drawings, specific terminology has been used for clarity. However, the disclosure of this specification is not intended to be limited to the specific terminology chosen, and it should be understood that each particular component includes all technical equivalents that have similar functionality, operate in a similar manner, and achieve similar results.

[0040] Hereinafter, embodiments of the invention will be described with reference to the accompanying drawings. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0041] Hereinafter, with reference to the accompanying drawings, the multi-joint robot involved in the first embodiment of this disclosure will be described in sequence.

[0042] In the multi-joint robot 1, the terminal block 51 serves as a connector unit for connecting the wires 24a and 24b leading from the inkjet head 20 and the wire 13B leading from the end effector control panel 14. The head attachment 3 is used to mount the inkjet head 20, which serves as the end effector, to the front end of the robot arm. The terminal block 51 and the head attachment 3 are integrated.

[0043] First Embodiment

[0044] Figure 1 This is a schematic diagram of a multi-joint robot according to the first embodiment of the present invention. Figure 1 As shown, the multi-joint robot 1 (six-axis vertical multi-joint robot) has multiple links and multiple rotation axes J1 to J6 that connect the links to each other.

[0045] The multi-joint robot 1 includes a base 10, on which a rotating base (basic first axis) 9 is provided so as to be able to rotate horizontally via a vertical rotation axis J6. On the rotating base (basic first axis) 9, a lower arm (basic second axis) 8 is arranged so as to be able to move back and forth via a horizontal rotation axis J5.

[0046] A rotating part 7 is disposed at the upper end of the lower arm (basic second axis) 8 via a horizontal rotation axis J4. An upper arm (basic third axis) 6 is disposed on the rotating part 7 via a rotation axis J3. The upper arm (basic third axis) 6 can move up and down about the rotation axis J4 and can rotate about the rotation axis J3. Sometimes the upper arm 6 and the lower arm 8 are collectively referred to as a robot arm or arm.

[0047] At the front end of the upper arm (basic third axis) 6, the wrist part (wrist first axis to wrist third axis) 5 is configured via the rotation axis J2. The end effector 2 is mounted on the wrist part 5 via the head attachment 3. The head attachment 3 can rotate about the rotation axis J1.

[0048] Rotating shafts J2, J4, and J5 can perform operations from... Figure 1 Rotation in a clockwise or counterclockwise direction when viewed from the front. Rotation axes J1, J3, and J6 can... Figure 1 It rotates about the axis of rotation in the proximal or distal direction.

[0049] An end effector 2 and a junction box 4 are mounted on the head attachment 3. The junction box 4 is equipped with a component for mounting connectors or terminal blocks for connecting multiple wires leading from the end effector 2 to wires 13 (13A and 13B) disposed on the robot side. This allows the junction box 4 to be connected therein.

[0050] Wire 13 is led out from junction box 4. Wire 13 is fixed at wire lead-out portion 11 of junction box 4. Wire 13 is connected to end effector control panel 14 fixedly disposed on the ground via wire fixing member 12A erected on the upper surface of rotating part 7. Since the movement (oscillation amount) of rotating part 7 is less than the movement (oscillation amount) of upper arm 6 and lower arm 8, the movement (oscillation amount) of wire fixing member 12A is also small.

[0051] Regarding the rotation control of the rotating axes, servo motors are typically mounted on each axis and controlled by a robot control unit, causing the end effector 2 to move. In the case where the end effector 2 is a paint discharge device, painting is performed by moving the end effector 2 along the painting surface of the object being painted.

[0052] The lifespan of wire 13 ends due to breakage caused by bending. The negative impact of this breakage is the high number of bends and small bending radii of wire 13. Conversely, reducing the number of bends and increasing the bending radius can extend the lifespan of wire 13.

[0053] In the multi-joint robot 1 according to this embodiment, the wire 13 is fixed at a position that does not adversely affect the number of bends and the bending radius. Therefore, a reduction in the number of bends and an increase in the bending radius are achieved. Specifically, the wire 13 is not fixed to an arm parallel to the rotation axis (first wrist axis to third wrist axis) 5 of the wrist to which the head attachment 3 is mounted. The wire 13 is not fixed to an arm having a rotation axis (first wrist axis to third wrist axis) colinear with the rotation axis of the wrist 5 and capable of rotating in the opposite direction to the rotation direction of the wrist 5. The wire 13 is not fixed to an arm having a rotation axis (first wrist axis to third wrist axis) colinear with the rotation axis of the wrist 5, and where a phase difference occurs even if the rotation direction of the arm is the same as the rotation direction of the wrist 5.

[0054] If the wire 13 is fixed to the aforementioned arm, the number of bends of the wire 13 increases and the bending radius of the wire 13 decreases, which leads to wire breakage. Therefore, the middle part of the wire 13 is fixed or supported at a position other than the upper arm 6 and lower arm 8 of the multi-joint robot 1 (a position away from the upper arm 6 and lower arm 8) to reduce the number of bends and increase the bending radius, thereby extending the life of the wire 13.

[0055] inkjet head

[0056] In this embodiment, as the end effector 2, for example, Figure 2 The inkjet head 20 is shown. (Refer to...) Figure 2 The following is a general description of an inkjet head 20 using known piezoelectric elements. The inkjet head 20 includes piezoelectric elements 22, each piezoelectric element 22 having a needle 21 which is mounted to the piezoelectric element 22 via a drive mechanism 23.

[0057] The inkjet head 20 is equipped with eight needles 21. Each needle 21 uses a corresponding piezoelectric element 22 as its driving source. The extension and contraction vibration of the piezoelectric element 22 is transmitted via a drive mechanism 23. Figure 2 The left and right movement is transmitted to needle 21.

[0058] Two wires, namely the positive wire 24a and the negative wire 24b, are used to apply voltage and are installed on the piezoelectric element 22. When voltage is applied to the piezoelectric element 22 via wires 24a and 24b, the piezoelectric element 22 compresses or extends. Due to the compression or extension, the installed needle 21 moves in the direction of compression or extension.

[0059] High-pressure coating is supplied from inlet pipe 25a to one end of liquid chamber 26 of receiving needle 21. The coating supplied to liquid chamber 26 is discharged from outlet pipe 25b on the opposite side of liquid chamber 26.

[0060] A nozzle-shaped paint outlet 27 is formed on the surface of the liquid chamber 26 that contacts the tip of the needle 21. Through along... Figure 2 The needle 21 is driven (reciprocated) in the left and right directions, opening or closing the outlet 27. When the outlet 27 is open, the high-pressure coating in the liquid chamber 26 is discharged to the outside through the outlet 27.

[0061] The inkjet head 20 has a wire outlet 28. Wires 24a and 24b are led out of the head from the wire outlet 28.

[0062] The wire outlet 28 is filled with sealing material 29. The sealing material 29 separates the inside and outside of the printhead. Therefore, it ensures the pressure resistance and explosion protection of the printhead 20.

[0063] To meet the pressure resistance and explosion-proof standards, it is sometimes required that the wires 24a and 24b pass through a metal conduit 24d, which serves as a wire protection tube. In this case, one end of the conduit 24d is secured to the wire outlet 28 via a conduit fitting 24c installed at the wire outlet 28 of the inkjet head 20.

[0064] If conduit 24d is used, the weight of the end effector 2 increases, affecting the mobility of the articulated robot 1. Furthermore, conduit 24d reduces the flexibility of the wires 24a and 24b, thus reducing wire connectivity.

[0065] Without the conduit 24d, the wires 24a and 24b need to be protected from external damage by some method other than the conduit 24d. However, the amount of paint discharged from one outlet 27 of the inkjet head 20 at a single opening is only a few nanoliters, which is a trace amount. Therefore, in order to correspond to the required coating area per unit time in, for example, painting automobile bodies, the number of outlets 27 is increased.

[0066] Although detailed specifications are omitted, to meet the coating area requirements per unit time for general painting, at least 6 units are generally needed. Figure 2 The head shown. That is, assuming that 6 inkjet heads 20 are used as end effectors 2, 96 wires (2 wires × 8 elements × 6 units) are led out from the inkjet head 20. This number of wires is much greater than the number of wires (2 to 3 wires) generally known to be led out from a coating gun used for electrostatic coating.

[0067] Because electrostatic coating guns have fewer wires, the ease of changing the gun is not an issue. Even assuming the wire length is around 8 meters, the lightweight nature of the wire itself means that the ease of changing the gun will not be significantly compromised.

[0068] However, the large number of wires leading out from the inkjet head 20 is a major reason why the changeover process is significantly hampered by the large number of wires. This embodiment improves the changeover process for heads with a large number of wires.

[0069] Header accessories and junction boxes

[0070] Figure 3A This is a 3D view of the assembly of head accessory 3 and junction box 4. Figure 3B express Figure 4A The diagram shows how the head array unit is installed in head accessory 3. The term "head array unit" refers to... Figure 4A and picture Figure 4B The image shows an integrated inkjet head 20.

[0071] The head accessory 3 has a box-shaped housing. Figure 3A and Figure 3B The front wall of the housing is omitted to reveal the interior of head accessory 3.

[0072] The head accessory 3 is mounted to the wrist portion 5 at the front end of the upper arm 6 via a cylindrical mounting portion 3a fixed to the side of the housing. The junction box 4 is disposed on the upper surface of the head accessory 3.

[0073] Multiple inkjet heads 20 are mounted within the header attachment 3. Each inkjet head 20 is as follows: Figure 4A and Figure 4B As shown, its nozzle side is integrated with the head array holder 3b to form a head array unit.

[0074] Figure 4A and Figure 4B Each represents an example of a head array unit according to an embodiment. A plurality of inkjet heads 20 (six in the example shown) are integrated into a row (array) on a plate-shaped head array holder 3b.

[0075] The wires leading from each inkjet head 20 are inserted into and supported on the pod 41a that stands upright on the upper surface of the panel 41. The panel 41 is arranged above the inkjet heads 20 and parallel to the head array holder 3b.

[0076] The position adjustment of each inkjet head 20 can be performed during installation relative to the head array holder 3b. After the inkjet heads 20 are mounted in the junction box 4, the head array holder 3b is fixed to the lower opening of the head accessory 3 and thus forms part of the head accessory 3.

[0077] exist Figure 4AIn this configuration, a large panel 41 with six pods 41a is used, but it can also be configured to use six small panels 42 in each head array unit, such as... Figure 4B As shown, it has a pod 42a. When using the small panel 42, multiple small cutouts (openings) of the same size as the small panel 42 can be formed on the base plate 4b of the junction box 4. By forming small cutouts, the pressure resistance and explosion protection of the junction box 4 can be improved.

[0078] The head array holder 3b can, depending on the number of inkjet heads 20, be as follows: Figure 3A That is composed of 1 piece, or like Figure 3B It consists of two or more pieces. The head array holder 3b is fixed to the edge of the lower opening of the head accessory 3 when the head array unit is housed within the head accessory 3 through the lower opening. In this state, the head array holder 3b becomes part of the head accessory 3.

[0079] The cable (collector cable) 13A, obtained by dividing the cable (collector cable) 13 leading from the control panel 14 on the robot side into six parts, is connected to the top plate 4a of the junction box 4. Inside the junction box 4, a DIN rail 50 is provided between the left and right side plates 4c.

[0080] Several known push-button two-stage terminal blocks 51 are mounted on the DIN rail 50. Each wire (collection wire) 13A is connected to the upper end of the terminal block 51 in a detachable manner as multiple individual wires 13B.

[0081] The wires from the end effector control panel 14 are not limited to wires 13 (13A and 13B). Figure 3A and Figure 3B As for the wires from the end effector control panel 14, only wires 13A and 13B are referred to; however, in reality, there are other wires as well.

[0082] On the other hand, the upper ends of the wires 24a and 24b that stand out from the pod 41a are detachably connected to the lower end of the terminal block 51 inside the junction box 4. Through this terminal block 51, a separate wire 13B from the wire 13A of the end effector control panel 14 is connected to the wires 24a and 24b on the head side.

[0083] On the bottom plate 4b of the junction box 4 located below the DIN rail 50 or terminal block 51, a pair of rectangular cutout holes 4d are formed on the left and right sides as openings. The upper ends of the wires 24a and 24b that stand out from the pod 41a are introduced into the junction box 4 through the cutout holes 4d and are detachably connected to the lower end of the terminal block 51.

[0084] Installation of head array unit

[0085] via Figure 3B The entire head array unit is lifted in the direction of the arrow and mounted onto the head accessory 3. Then, the panel 41 is detachably mounted onto the junction box 4 to block the cutout hole 4d of the junction box 4. By integrating the panel 41 with the junction box 4, the pressure resistance and explosion-proof performance of the junction box 4 are improved.

[0086] Next, the head array retainer 3b is detachably installed by blocking the lower opening of the head accessory 3. The installation order of the panel 41 and the head array retainer 3b can also be reversed. Then, the bar terminal (or collar terminal) 43 at the upper end of the wires 24a and 24b installed on the head side is inserted into the terminal block 51.

[0087] Here, junction box 4 and terminal block 51 can be junction boxes and terminal blocks that meet the specified explosion-proof specifications (e.g., explosion-proof structural specifications for electrical machinery based on factory electrical equipment explosion-proof guidelines). If explosion-proof performance is not required for junction box 4 and terminal block 51, panel 41 can be omitted, or terminal block 51 can be replaced with a general industrial connector as an alternative.

[0088] By connecting the wires 24a and 24b of the inkjet head 20 to the terminal block 51 inside the junction box 4, the work of installing the wires 24a and 24b along the arms 6 and 8 of the robot 1 can be omitted. Furthermore, by arranging the connection portion (terminal block 51) of the wires 24a and 24b within the explosion-proof junction box 4, the prescribed explosion-proof specifications can be met. Thus, by having a structure (panel 41, rod terminal 43) in the replacement unit (head array unit) of the end effector 2 that cooperates with a portion of the junction box 4 (cutout hole 4d, terminal block 51) to meet the prescribed explosion-proof specifications, the replaceability of the end effector 2 can be improved.

[0089] Head array unit removal

[0090] To remove the head array unit from Head Attachment 3, firstly, as... Figure 3B As shown, remove the front panel of the housing of head accessory 3. Then, remove all the rod terminals 43 from the terminal block 51. Next, remove the panel 41 from the junction box 4.

[0091] Then, remove the head array holder 3b from the head accessory 3. In this way, the head array unit can be removed from the head accessory 3.

[0092] The fixed state of the panel relative to the junction box

[0093] Reference Figure 5 This describes the fixed state of panel 41 relative to junction box 4. Six inlet holes 41b are formed on panel 41 for introducing wires 24a, 24b from inkjet head 20 into junction box 4.

[0094] Each inlet hole 41b communicates with the hole in the pod 41a protruding from the inner surface of the panel 41 into the junction box 4. The panel 41 is closed. Figure 3B The cutout hole 4d shown can be detachably fixed to the base plate 4b of the junction box 4.

[0095] Figure 5 This is a diagram showing two panels 41, each with six inlet holes 41b, installed onto a junction box 4. Figure 5 This indicates that a panel 41 is configured with 6 inlet holes 41b; however, any number of inlet holes 41b can be provided on a panel 41.

[0096] The shape of panel 41 can be any shape that forms a surface (plate-like), and it does not have to be rectangular. The shape of panel 41 has no impact on the present invention, and it can also be circular, etc.

[0097] exist Figure 4A In the illustrated head array unit, wires 24a and 24b extending from the inkjet head 20 are introduced into a pod 41a formed on the panel 41. The pod 41a is filled with a sealing material to meet explosion-proof specifications. This sealing material isolates the interior of the junction box 4 from the exterior, preventing explosive atmospheres from flowing into the junction box 4 from the outside.

[0098] The rod terminal 43 is installed at the front end (upper end) of the wires 24a and 24b. The rod terminal 43 is connected to the terminal block 51 inside the junction box 4.

[0099] By adopting Figure 4A or Figure 4B The structure of the head array unit shown allows for pre-completion of tasks such as wire drilling, sealing, and installation of conduit 24d and conduit fitting 24c, which would otherwise occur during individual head replacement. This shortens head replacement time and improves workability. If wires 24a and 24b are protected in some way, the installation of conduit 24d and conduit fitting 24c is unnecessary.

[0100] Second Embodiment

[0101] Figure 6 This is a schematic diagram of a multi-joint robot 1 according to a second embodiment of this disclosure. Figure 6 The wire fixing component 12B replaces the wire fixing component 12A, and the telescopic component 15 is added to... Figure 1 In the structure shown.

[0102] The wire fixing component 12B is generally L-shaped and is vertically mounted on the upper surface of the rotating part 7. The upper part of the wire fixing component 12B protrudes horizontally along the extension direction of the upper arm 6.

[0103] The front end of the horizontally protruding upper part is engaged with the upper end of the telescopic member 15, and the lower end of the telescopic member 15 is engaged with the slack part 13a, so that the slack part 13a in the middle of the wire 13 does not come into contact with the object to be coated 16.

[0104] The amount of slack in the slack portion 13a at the middle of the wire 13 depends on the distance between the wire fixing member 12B and the wire lead-out portion 11, which varies according to the movement of the rotating shafts J1, J2, and J3. The length of the telescopic member 15 and the height of the wire fixing member 12B can be set according to the maximum change in the distance.

[0105] When the distance between the wire fixing member 12B and the wire lead-out portion 11 is at its minimum, the slack of the wire 13 is at its maximum. At this time, the length of the telescopic member 15 and the height of the wire fixing member 12B can be set so that the slack portion 13a does not contact the object to be coated 16. Even if the telescopic member 15 extends or retracts, the movement of the end effector 2 will not be hindered by the movement of the rotating shafts J1, J2, and J3.

[0106] Third Embodiment

[0107] Figure 7 This is a schematic diagram of a multi-joint robot 1 according to a third embodiment of this disclosure. Figure 7 In the middle, the wire fixing component 12C is erected on the side of the base 10 of the multi-joint robot 1, and the middle part of the wire 13 is fixed to the upper end of the wire fixing component 12C.

[0108] The wire fixing component 12C is located on the outside of the articulated robot 1. When the articulated robot 1 has weight limitations, the wire fixing component 12C can alleviate the weight limitations on the articulated robot 1.

[0109] Fourth embodiment

[0110] Figure 8 This is a schematic diagram of a multi-joint robot 1 according to a fourth embodiment of the present invention. A wire fixing member 12D is erected on the side of the base 10 of the multi-joint robot 1. When the multi-joint robot 1 has weight limitations, the wire fixing member 12D can alleviate these weight limitations.

[0111] The wire fixing component 12D is generally L-shaped. The upper part of the wire fixing component 12D protrudes horizontally along the extension direction of the upper arm 6. The front end of the horizontally protruding upper part is connected to the upper end of the telescopic component 15.

[0112] The lower end of the telescopic member 15 is connected to the slack portion 13a so that the slack portion 13a in the middle of the wire 13 does not come into contact with the object to be coated 16. That is, Figure 8 The multi-joint robot 1 of the fourth embodiment is equivalent to Figure 6The second embodiment and Figure 7 The combination of the third embodiment.

[0113] Although embodiments of the present disclosure have been specifically described above, the present disclosure is not limited to the embodiments described above. Various modifications or variations can be made within the scope of the technical concept set forth in the claims. For example, the configuration described herein can be applied not only to 6-axis vertical joint robots, but also to joint robots with 5 or fewer axes or 7 or more axes.

[0114] The multi-joint robot according to various embodiments of the present invention can also be applied to surgical robots. In this case, the end effector 2 is, for example, Figure 9A and Figure 9B The pliers 102 shown. Figure 9A This is a perspective view of a pair of forceps 102 connected to the distal end of the arm 101 of a surgical robot. Figure 9B This is an enlarged view of pliers 102.

[0115] Each pair of forceps 102 is connected to the distal end of the arm 101 via a corresponding joint 103. The joint 103 has multiple joints and can bend freely. In addition to the joint 103, an endoscope 104 is also connected to the distal end of the arm 101. The endoscope 104 can be used to monitor the status of each pair of forceps 102.

[0116] like Figure 9B As shown, the joint 103 includes a clamp operating wire 103a and a torque transmission tube 103b. By moving the clamp operating wire 103a in its extending direction (reciprocating movement), the clamps 102 can be opened and closed. By rotating the torque transmission tube 103b, the wrist joint at the front end of the joint 103, which serves as the wrist part, can be rotated.

[0117] The pliers operate the wire 103a and the torque transmission tube 103b from the... Figure 1 , Figures 6-8 Similarly, a wire lead-out section located at the distal end of arm 101 leads out and connects to a pliers controller, which serves as an end effector controller. The middle section of the pliers operating wire 103a and torque transmission tube 103b is supported by a wire fixing component that is separated from arm 101.

[0118] The preferred embodiments of the present invention are described below.

[0119] Aspect 1

[0120] According to aspect 1, a multi-joint robot includes: a robotic arm, an end effector, a head attachment, and cables. The end effector is disposed at the front end of the robotic arm. The head attachment is used to mount the end effector to the front end of the robotic arm. Cables connect the end effector and a control panel, the control panel being fixedly disposed on the ground. A connector unit is integrated with the head attachment, the connector unit being used to connect the cables extending from the end effector and the cables extending from the control panel to each other.

[0121] Aspect 2

[0122] According to aspect 2, in the multi-joint robot of aspect 1, the connector unit is configured in a junction box that meets explosion-proof standards, and the junction box is integrated with the head accessory.

[0123] Aspect 3

[0124] According to aspect 3, in the multi-joint robot of aspect 1 or 2, the connector unit includes a terminal block to which the wires extending from the end effector are detachably connected.

[0125] Aspect 4

[0126] According to aspect 4, in the multi-joint robot of aspect 3, the junction box has an opening facing the terminal block, through which the wires leading from the end effector are connected to the terminal block.

[0127] Aspect 5

[0128] According to aspect 5, in the multi-joint robot of aspect 4, the wires leading from the end effector are equipped with a panel, the wires passing through the panel, and the panel is detachably mounted to the junction box to close the opening.

[0129] Aspect 6

[0130] According to aspect 6, in the multi-joint robot of aspect 5, the end effector includes multiple units, and the wires extending from the end effector include multiple wires extending from the multiple units, the multiple wires extending from the multiple units being held by a large-sized panel, the large-sized panel being detachably mounted to a large-sized opening formed in the junction box.

[0131] Aspect 7

[0132] According to aspect 7, in the multi-joint robot of aspect 5, the end effector includes a plurality of units, each of the plurality of units having a small-sized panel, the small-sized panel being detachably mounted to a small-sized opening formed in the junction box.

[0133] Aspect 8

[0134] According to aspect 8, in any of aspects 1 to 7 of the multi-joint robot, the end effector includes an inkjet head.

[0135] Aspect 9

[0136] According to aspect 9, in any of aspects 1 to 8 of the multi-joint robot, the wire fixing component supporting the middle part of the wire is located at a position away from the robot arm.

[0137] Aspect 10

[0138] According to aspect 10, a multi-joint robot of any of aspects 1 to 8 includes a base, a rotating base, a lower arm, a rotating part, an upper arm, a wrist, and an end effector. The rotating base is disposed on the base. The lower arm is disposed on the rotating base. The rotating part is disposed at the upper end of the lower arm. The upper arm is disposed on the rotating part. The wrist is disposed at the front end of the upper arm. The end effector is disposed on the wrist.

[0139] Aspect 11

[0140] According to aspect 11, in the multi-joint robot of aspect 10, the wire fixing component is disposed in the rotating part.

[0141] Aspect 12

[0142] According to aspect 12, in the multi-joint robot of aspect 11, the wire fixing component is connected to one end of the telescopic component, and the other end of the telescopic component is connected to the middle portion of the wire between the end effector and the wire fixing component.

[0143] Aspect 13

[0144] According to aspect 13, in the multi-joint robot of aspect 10, the wire fixing component is erected on the side of the base.

[0145] Aspect 14

[0146] According to aspect 14, in the multi-joint robot of aspect 13, the wire fixing component is connected to one end of the telescopic component, and the other end of the telescopic component is connected to the middle portion of the wire between the end effector and the wire fixing component.

[0147] Aspect 15

[0148] According to aspect 15, in any of aspects 1 to 14, the end effector in the multi-joint robot includes a painting spray gun, a spot welding gun, or surgical forceps.

[0149] This patent application is based on and claims priority to Japanese Patent Application No. 2023-215933, filed with the Japan Patent Office on December 21, 2023, the entire disclosure of which is incorporated herein by reference.

[0150] List of reference numerals

[0151] 1: Multi-joint robot

[0152] 2: End effector

[0153] 3: Header and accessories

[0154] 3a: Installation Department

[0155] 3b: Head Array Holder

[0156] 4: Junction Box

[0157] 4a: Top plate

[0158] 4b: Base plate

[0159] 4c: Side panel

[0160] 4d: Cut-out hole (opening)

[0161] 5: Wrist

[0162] 6: Upper arm (basic third axis)

[0163] 7: Rotating part

[0164] 8: Lower arm (basic second axis)

[0165] 9: Rotating base (basic first axis)

[0166] 10:Abutment

[0167] 11: Wire Lead-out Section

[0168] 12A~12D: Wire fixing components

[0169] 13: Electrical wires (combined wires)

[0170] 13A: Wire (combined wire)

[0171] 13B: Individual wire

[0172] 13a: Relaxation area

[0173] 14: End effector control panel

[0174] 15: Telescopic components

[0175] 16: Object to be painted

[0176] 20: Inkjet head

[0177] 21: needle

[0178] 22: Piezoelectric element

[0179] 23: Drive mechanism

[0180] 24a: Positive electrode wire

[0181] 24a, 24b: Electrical wires

[0182] 24b: Negative terminal wire

[0183] 24c: Catheter accessories

[0184] 24d: catheter

[0185] 25a: Inlet pipe

[0186] 25b: Export pipe

[0187] 26: Liquid Chamber

[0188] 27: Discharge outlet

[0189] 28: Electrical wire outlet

[0190] 29: Sealing materials

[0191] 41, 42: Panel

[0192] 41a, 42a: pod portion

[0193] 41b: Inlet hole

[0194] 43: Rod terminal (or collar terminal)

[0195] 50: DIN rail

[0196] 51: Terminal block (connector unit)

[0197] 101: Arm

[0198] 102: Pliers

[0199] 103: Joints

[0200] 103a: Pliers for manipulating electrical wires

[0201] 103b: Torque transmission tube

[0202] 104: Endoscopy

[0203] J1~J6: Rotation axis

Claims

1. A multi-joint robot, comprising: robotic arm; An end effector is configured at the front end of the robotic arm; A head attachment for mounting the end effector to the front end of the robotic arm; and Electrical wires connect the end effector and the control panel to each other, the control panel being fixedly mounted on the ground. The connector unit is integrated with the head accessory and is used to interconnect the wires leading from the end effector and the wires leading from the control panel.

2. The multi-joint robot according to claim 1, wherein, The connector unit is housed in a junction box that meets explosion-proof standards; and The junction box and the head accessory are integrated.

3. The multi-joint robot according to claim 2, wherein, The connector unit includes a terminal block; and The wires extending from the end effector are detachably connected to the terminal block.

4. The multi-joint robot according to claim 3, wherein, The junction box has an opening facing the terminal block; and The wire leading from the end effector is connected to the terminal block through the opening.

5. The multi-joint robot according to claim 4, wherein, The wires extending from the end effector are equipped with a panel, and the wires pass through the panel; and The panel is detachably mounted to the junction box to close the opening.

6. The multi-joint robot according to claim 5, wherein, The end effector comprises multiple units; The wires extending from the end effector include multiple wires extending from the plurality of units; The multiple wires extending from the multiple units are held by the large-sized panel; and The large panel can be detachably mounted to the large opening formed in the junction box.

7. The multi-joint robot according to claim 5, wherein, The end effector comprises multiple units; Each of the plurality of units has a small-sized panel; and The small panel can be detachably mounted to the small opening formed in the junction box.

8. The multi-joint robot according to any one of claims 1 to 7, wherein, The end effector includes an inkjet head.

Images