Coating robot system and robot

Abstract

To provide a coating robot system that allows a robot to be arranged in a smaller arrangement area.SOLUTION: A coating robot system 100 includes a plurality of vertical multi-joint type coating robots 10 for performing coating work for a workpiece 200. At least one of the plurality of coating robots 10 includes: a base end arm part 12; a tip arm part 13 whose base end is connected to the base end arm part 12; a wrist part 14 whose base end is connected to the tip arm part 13, which is equipped with coating equipment 20 at the tip; and a JT7 joint arranged in at least either the base end arm part 12 or the tip arm part 13, which expands and contracts at least either the base end arm part 12 or the tip arm part 13.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] This disclosure relates to painting robot systems and robots. [Background technology]

[0002] Conventionally, robots that perform tasks such as painting have been disclosed. Patent Document 1 discloses a seven-axis vertical articulated robot. The seven-axis vertical articulated robot of Patent Document 1 includes a base unit, a lower arm unit, an upper arm unit, and a wrist unit. Furthermore, in Patent Document 1, a first arm and a second arm that bend relative to each other are disposed between the upper arm unit and the wrist unit. In other words, the seven-axis vertical articulated robot of Patent Document 1 has an additional seventh axis joint for bending the first arm and the second arm, compared to a conventional six-axis vertical articulated robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-183843 Summary of the Invention [Problem to be solved by the invention]

[0004] The seven-axis vertical articulated robot disclosed in Patent Document 1 is more compact than conventional six-axis vertical articulated robots by bending the seventh axis. Therefore, when arranging multiple seven-axis vertical articulated robots, the seven-axis vertical articulated robots can be closely spaced while avoiding interference between them. As a result, the layout area in which the seven-axis vertical articulated robots are arranged can be reduced. However, in the seven-axis vertical articulated robot of Patent Document 1, while the first and second arms are bent, the overall lengths of the first and second arms remain unchanged. Therefore, if the spacing between the seven-axis vertical articulated robots is made too small, the seven-axis vertical articulated robots will interfere with each other. Therefore, a vertical articulated robot that can be arranged in a smaller layout area is desired.

[0005] This disclosure has been made to solve the above-mentioned problems, and one object of this disclosure is to provide a painting robot system and a robot that can be placed in a smaller placement area. [Means for solving the problem]

[0006] A painting robot system according to a first aspect of the present disclosure includes a plurality of vertically articulated robots that perform painting work on a workpiece, and at least one of the plurality of robots includes a base arm section, a tip arm section whose base end is connected to the base arm section, a wrist section whose base end is connected to the tip arm section and has a painting tool attached to its tip, and an extension shaft that is disposed on at least one of the base arm section and the tip arm section and that extends and retracts at least one of the base arm section and the tip arm section.

[0007] As described above, the painting robot system according to a first aspect of this disclosure includes a telescopic shaft disposed in at least one of the base arm portion and the distal arm portion, and configured to extend or retract the base arm portion or the distal arm portion. This allows the base arm portion or the distal arm portion to be retracted, thereby reducing the overall length of the base arm portion or the distal arm portion. This reduces interference between the robots compared to when the base arm portion or the distal arm portion is bent. As a result, the robots can be arranged closer together, allowing the robots to be placed in a smaller installation area. Furthermore, even when the base arm portion or the distal arm portion is relatively short, painting work can be performed on a distant workpiece by extending the base arm portion or the distal arm portion using the telescopic shaft.

[0008] A robot according to a second aspect of this disclosure is a vertical articulated robot that performs painting work on a workpiece, and includes a base arm section, a tip arm section having a base end connected to the base arm section, a wrist section having a base end connected to the tip arm section and having a painting tool attached to its tip, and an extension shaft that is disposed on the tip arm section and extends and retracts the tip arm section.

[0009] As described above, the robot according to a second aspect of this disclosure includes an extension shaft disposed in the distal arm section that extends and retracts the distal arm section. This allows the distal arm section to retract, thereby reducing the overall length of the distal arm section. This makes it possible to further reduce interference between robots compared to when the distal arm section is bent. As a result, robots can be arranged more closely together, providing a robot that can be arranged in a smaller arrangement area. [Effects of the Invention]

[0010] According to the present disclosure, painting robots can be placed in a smaller placement area. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a diagram showing a painting robot system according to a first embodiment as viewed from above. FIG. [Figure 2] FIG. 2 is a diagram showing the painting robot according to the first embodiment in a state where the JT7 joint is contracted. [Figure 3] 1 is a diagram showing a joint of a painting robot according to a first embodiment. FIG. [Figure 4] FIG. 2 is a diagram showing the painting robot according to the first embodiment in a state where the JT7 joint is contracted. [Figure 5] FIG. 1 is a block diagram of a painting robot system according to a first embodiment. [Figure 6] FIG. 1 is a side view of a painting robot system according to a first embodiment. [Figure 7] FIG. 2 is a diagram showing a range of movement of the painting robot according to the first embodiment. [Figure 8] FIG. 10 is a diagram showing a painting robot according to a second embodiment in a state where the JT7 joint is contracted. [Figure 9] FIG. 10 is a diagram showing the joints of a painting robot according to a second embodiment. [Figure 10] FIG. 10 is a diagram showing the painting robot according to the second embodiment with the JT7 joint extended. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0013] [First embodiment] (Painting robot system) The configuration of a painting robot system 100 according to a first embodiment will be described. As shown in FIG. 1, the painting robot system 100 performs painting work on a workpiece 200. The workpiece 200 is, for example, the door of an automobile 210. In this specification, the up-down direction is defined as the Z direction. The upper side is defined as the Z1 side, and the lower side is defined as the Z2 side. The direction perpendicular to the Z direction is defined as the X direction. One side of the X direction is defined as the X1 side, and the other side is defined as the X2 side. The direction perpendicular to the Z direction and the X direction is defined as the Y direction. One side of the Y direction is defined as the Y1 side, and the other side is defined as the Y2 side. The X direction is an example of a predetermined direction.

[0014] As shown in FIG. 1, the painting robot system 100 includes multiple painting robots 10. The multiple painting robots 10 are arranged side by side and perform painting work on a workpiece 200. In FIG. 1, two painting robots 10 are arranged side by side along the X direction. The two painting robots 10 are attached to a wall 1 along the Z direction. The workpiece 200 is, for example, a door of an automobile 210. The painting robot 10 paints one or both of the X1 side and X2 side surfaces of the workpiece 200. The workpiece 200 is transported along the X direction by a conveyor or the like. When the painting robot 10 paints the workpiece 200, the workpiece 200 is stationary. Note that the painting robot 10 may paint a moving workpiece 200. Multiple workpieces 200 are arranged along the X direction. Note that in the example shown in FIG. 1, two doors of a single automobile 210 are arranged as the workpieces 200 along the X direction. Note that the painting robot 10 is an example of a robot.

[0015] (painting robot) The configuration of the painting robot 10 will be described below. Since the configurations of the two painting robots 10 are similar, the configuration of one painting robot 10 will be described below. As shown in FIG. 2, the painting robot 10 is a vertically articulated robot. The painting robot 10 is a seven-axis vertically articulated painting robot 10 including a JT1 joint, a JT2 joint, a JT3 joint, a JT4 joint, a JT5 joint, a JT6 joint, and a JT7 joint. The painting robot 10 includes a base 11, a base arm 12, a distal arm 13, a wrist 14, and a robot controller 15 shown in FIG. 5. A painting tool 20 is connected to the distal end of the painting robot 10. The JT7 joint is an example of a telescopic axis in the present disclosure.

[0016] The connection relationship between the base 11, base arm 12, distal arm 13, and wrist 14 will now be described. The painting robot 10 is attached to a pedestal 30. The pedestal 30 is attached to a wall 1 that is aligned in the Z direction. The pedestal 30 and the base 11 are connected by a JT1 joint. In the example shown in FIG. 2, the JT1 joint rotates around an axis that is aligned in the Y direction. The base 11 and the base end of the base arm 12 are connected by a JT2 joint. The JT2 joint rotates around an axis that is perpendicular to the axis of the JT1 joint. The tip of the base arm 12 and the base end of the distal arm 13 are connected by a JT3 joint. The JT3 joint rotates around an axis that is parallel to the axis of the JT2 joint. The tip of the distal arm 13 and the base end of the wrist 14 are connected by a JT4 joint. The JT4 joint rotates around an axis that is perpendicular to the axis of the JT3 joint. The tip of the wrist 14 and the painting tool 20 are connected by a JT6 joint. The JT6 joint rotates around an axis that is perpendicular to the axis of the JT3 joint. The JT4 joint and the JT6 joint are connected by a JT5 joint. The JT5 joint rotates around an axis that is perpendicular to the axis of the JT3 joint. The axes of the JT4 joint and the JT5 joint intersect with each other. The axes of the JT5 joint and the JT6 joint intersect with each other. A drive unit 16 shown in FIG. 5 is provided for each of the JT1 joint to the JT7 joint. The drive unit 16 includes a servo motor, an encoder, and a reducer.

[0017] The location of the JT7 joint will be described. In the first embodiment, the JT7 joint is disposed on the distal arm 13 and extends and retracts the distal arm 13. That is, the painting robot 10 is a seven-axis vertical articulated painting robot 10 having the JT7 joint as an extension / retraction axis. As described above, the two painting robots 10 have the same configuration, and each has a JT7 joint as an extension / retraction axis. Furthermore, while the JT1 joint to the JT6 joint are rotational axes, the JT7 joint is a linear axis. The JT7 joint includes, for example, a servo motor, and the extension amount of the JT7 joint is adjustable.

[0018] The specific configuration of the distal arm unit 13 will be described. In the first embodiment, as shown in FIG. 2, the distal arm unit 13 has a distal arm base end portion 13a and a distal arm tip portion 13b. The base end of the distal arm base end portion 13a is connected to the base end arm unit 12. That is, the distal arm base end portion 13a and the base end arm unit 12 are connected by a JT3 joint. The tip of the distal arm tip portion 13b is connected to the wrist unit 14 by a JT4 joint. The distal arm tip portion 13b is moved relative to the distal arm base end portion 13a by a JT7 joint. Specifically, the distal arm base end portion 13a and the distal arm tip portion 13b both have a cylindrical shape. The distal arm tip portion 13b is inserted into the distal arm base end portion 13a, and the distal arm tip portion 13b moves in and out of the distal arm base end portion 13a. This causes the distal arm unit 13 to extend and retract. As shown in Figure 3, the painting robot 10 has joints arranged in the following order from the base end to the tip end: JT1 joint, JT2 joint, JT3 joint, JT7 joint, JT4 joint, JT5 joint, and JT6 joint.

[0019] The extension amount L1 of the distal arm section 13 will now be described. In the first embodiment, as shown in Fig. 4, the maximum extension amount L1 of the distal arm section 13 is greater than the length L2 of the distal arm tip portion 13b when the distal arm section 13 is retracted. Note that the length L2 of the distal arm tip portion 13b refers to the length of the portion of the distal arm tip portion 13b that extends beyond the distal arm base end portion 13a when the distal arm section 13 is in the most retracted state. Also, the extension amount L1 of the distal arm section 13 refers to the maximum length that the distal arm tip portion 13b extends beyond the length L2.

[0020] The robot controller 15 will now be described. As shown in FIG. 5, the robot controller 15 includes a main control unit 15a, a servo control unit 15b, and a drive circuit unit 15c. The main control unit 15a and the servo control unit 15b each include, for example, a CPU (Central Processing Unit). The main control unit 15a controls the drive units 16 from the JT1 joint to the JT7 joint. The servo control unit 15b controls the power supplied to the drive units 16 based on commands from the main control unit 15a. The drive circuit unit 15c supplies drive power to the drive units 16. The drive circuit unit 15c is provided for each of the JT1 joint to the JT7 joint. Note that a single common drive circuit unit 15c may be provided for the JT1 joint to the JT7 joint.

[0021] (Painting robot system layout) The layout of the painting robot system 100 will be described. In the first embodiment, as shown in FIG. 1, when painting workpieces 200 are being painted, multiple painting robots 10 are positioned between the workpieces 200. Each of the painting robots 10 paints the workpieces 200 with the extension amount L1 of the JT7 joint adjusted. For example, when the painting robot 10 paints the Z1 side of the workpiece 200, the extension amount L1 of the JT7 joint is reduced. On the other hand, as shown in FIG. 6, when the painting robot 10 paints the Z2 side of the workpiece 200, the extension amount L1 of the JT7 joint is increased. In other words, the extension amount L1 of the JT7 joint is adjusted to match the height of the part to be painted.

[0022] The distance between the painting robots 10 will now be described. In the first embodiment, as shown in FIG. 1, the distance W between the painting robots 10 arranged side by side is equal to or less than the distance L3 from the axis of the JT1 joint to the end of the movable range of the painting robot 10 when the JT7 joint is retracted as shown in FIG. 7. Note that the distance W between the painting robots 10 arranged side by side refers to the distance W between the axes of the JT1 joints of the painting robots 10 along the X direction. Furthermore, the end of the movable range refers to, for example, the farthest end that the point where the axis of the JT4 joint and the axis of the JT5 joint intersect can reach in a direction away from the axis of the JT1 joint.

[0023] [Effects of the first embodiment] The painting robot 10 includes a JT7 joint disposed in at least one of the base arm section 12 and the tip arm section 13, which extends or retracts the base arm section 12 or the tip arm section 13. This allows the base arm section 12 or the tip arm section 13 to retract, thereby reducing the overall length of the base arm section 12 or the tip arm section 13. This reduces interference between the painting robots 10 compared to when at least one of the base arm section 12 and the tip arm section 13 is bent. As a result, the painting robots 10 can be arranged closer together, allowing the painting robots 10 to be placed in a smaller installation area. Furthermore, even if the tip arm section 13 is relatively short, painting can be performed on a distant workpiece 200 by extending the tip arm section 13 using the JT7 joint.

[0024] At least one of the multiple painting robots 10 includes a seven-axis vertical articulated painting robot 10 having a JT7 joint. This allows the seven-axis vertical articulated painting robots 10 to be arranged more closely together in a painting robot system 100 that includes multiple seven-axis vertical articulated painting robots 10.

[0025] Each of the multiple painting robots 10 includes a JT7 joint. This allows the seven-axis vertical articulated painting robots 10 to be arranged more closely together than when only some of the multiple painting robots 10 include JT7 joints.

[0026] A plurality of workpieces 200 are arranged along the X direction, and when painting is performed on the workpieces 200, the painting robots 10 each perform painting on the workpieces 200 with the amount of extension and contraction of the JT7 joint adjusted between the workpieces 200. This allows the painting robots 10 to accurately perform painting work because the amount of extension and contraction of the JT7 joint is adjusted.

[0027] The painting robot 10 includes a base 11 to which the base end of the base arm 12 is connected and which rotates the base arm 12 about the axis of the JT1 joint. The spacing W between the painting robots 10 arranged side by side is equal to or less than the distance L3 from the axis of the JT1 joint to the end of the movable range of the painting robot 10 when the JT7 joint is retracted. This reduces the spacing W between the painting robots 10, ensuring that the painting robots 10 are arranged closely together.

[0028] A plurality of painting robots 10 are arranged along the X direction, so that the painting robots 10 can easily perform painting work on each of the plurality of workpieces 200 arranged along the X direction.

[0029] The distal arm unit 13 has a distal arm base end portion 13a whose base end is connected to the base end arm unit 12, and a distal arm tip portion 13b whose tip is connected to the wrist unit 14 and which is moved relative to the distal arm base end portion 13a by a JT7 joint. As a result, unlike when the base end arm unit 12 extends and the entire distal arm unit 13 moves toward the workpiece 200, only the distal arm tip portion 13b, which is a part of the distal arm unit 13, moves toward the workpiece 200. For this reason, the size of the distal arm tip portion 13b that approaches the workpiece 200 is relatively small, so painting work can be performed with a relatively large distance between the distal arm tip portion 13b and the workpiece 200. As a result, interference between the distal arm unit 13 and the workpiece 200 can be suppressed.

[0030] The maximum extension amount L1 of the distal arm section 13 is greater than the length L2 of the distal arm tip portion 13b in the retracted state of the distal arm section 13. As a result, the extension amount L1 of the distal arm section 13 becomes relatively large, so that painting work can be carried out at a more distant position.

[0031] [Second embodiment] The configuration of a painting robot 110 according to the second embodiment will be described. In the painting robot 110 according to the second embodiment, the position of the JT7 joint is different from that of the painting robot 10 according to the first embodiment. The painting robot 110 is an example of a robot.

[0032] In the second embodiment, as shown in FIG. 8 , the JT7 joint is disposed in the base-end arm section 112 and extends and retracts the base-end arm section 112. Specifically, the base-end arm section 112 has a base-end arm base end portion 112a and a base-end arm tip end portion 112b. The base end of the base-end arm base end portion 112a is connected to the base unit 11. The tip of the base-end arm tip end portion 112b is connected to the tip arm section 13 and is moved relative to the base-end arm base end portion 112a by the JT7 joint. Specifically, the base-end arm base end portion 112a and the base-end arm tip end portion 112b both have a cylindrical shape. The base-end arm tip end portion 112b is inserted into the base-end arm base end portion 112a, and the base-end arm tip end portion 112b moves in and out of the base-end arm base end portion 112a. This causes the base-end arm section 112 to extend and retract. The distal end arm 113 of the painting robot 110 does not extend or retract. As shown in Figure 9, the painting robot 110 has joints arranged in the following order from the base end to the tip end: JT1 joint, JT2 joint, JT7 joint, JT3 joint, JT4 joint, JT5 joint, and JT6 joint.

[0033] The extension amount L11 of the base-end arm section 112 will now be described. In the second embodiment, as shown in Fig. 10, the maximum extension amount L11 of the base-end arm section 112 is greater than the length L12 of the base-end arm tip portion 112b when the base-end arm section 112 is in a contracted state. Note that the length L12 of the base-end arm tip portion 112b refers to the length of the portion of the base-end arm tip portion 112b that extends beyond the base-end arm base portion 112a when the base-end arm section 112 is in the most contracted state. Also, the extension amount L11 of the base-end arm section 112 refers to the maximum length that the base-end arm tip portion 112b extends beyond the length L12.

[0034] The other configurations of the second embodiment are the same as those of the first embodiment.

[0035] [Effects of the second embodiment] The painting robot 110 includes a base 11 to which a base end of a base arm 112 is connected, and which rotates the base arm 112 about the axis of a joint JT1. The base arm 112 has a base arm base portion 112a whose base end is connected to the base 11, and a base arm tip portion 112b whose tip is connected to the tip arm 13 and which is moved relative to the base arm base portion 112a by a JT7 joint. As a result, the JT7 joint is located closer to the base end of the painting robot 110, allowing the painting robot 110 to be positioned more stably than if the JT7 joint were located closer to the tip of the painting robot 110.

[0036] The maximum extension amount L11 of the base-end arm portion 112 is greater than the length L12 of the base-end arm tip portion 112b when the base-end arm portion 112 is in a retracted state. As a result, the extension amount L11 of the base-end arm portion 112 is relatively large, so that painting work can be carried out at a more distant position.

[0037] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0038] In the first embodiment, an example was shown in which a JT7 joint is provided in each of the multiple painting robots 10, but the present disclosure is not limited to this. For example, a JT7 joint may be provided in some of the multiple painting robots 10. In other words, the painting robots included in the painting robot system 100 may include a mixture of six-axis painting robots and seven-axis painting robots 10. The same applies to the painting robot 110 of the second embodiment.

[0039] In the first embodiment, the painting robot 10 includes six joints, JT1 to JT6, as rotation axes. However, the present disclosure is not limited to this. For example, the painting robot 10 may include a number of joints other than six as rotation axes. The same applies to the painting robot 110 of the second embodiment.

[0040] In the first embodiment, when a painting operation is performed on the workpieces 200, the multiple painting robots 10 each perform the painting operation between the workpieces 200, but the present disclosure is not limited to this. For example, the painting robot 10 may perform the painting operation on the workpiece 200 arranged in front of the painting robot 10. The same applies to the painting robot 110 of the second embodiment.

[0041] In the first embodiment, the multiple painting robots 10 each perform a painting operation on a plurality of workpieces 200 arranged along the X direction, but the present disclosure is not limited to this. For example, multiple painting robots 10 may perform a painting operation on a common workpiece 200. The same applies to the painting robot 110 of the second embodiment.

[0042] In the first embodiment, the interval W between the painting robots 10 is equal to or less than the distance L3, which is measured in a direction perpendicular to the axis of the JT1 joint from the axis of the JT1 joint to the end of the reach of the painting robot 10 when the JT7 is retracted. However, the present disclosure is not limited to this. For example, the interval W between the painting robots 10 may be greater than the distance L3. The same applies to the painting robot 110 of the second embodiment.

[0043] In the first embodiment described above, an example has been shown in which the distal arm tip portion 13b is moved relative to the distal arm base end portion 13a by the JT7 joint, but the present disclosure is not limited to this. For example, the distal arm base end portion 13a may be moved relative to the distal arm tip portion 13b by the JT7 joint. Similarly, in the second embodiment described above, an example has been shown in which the base arm tip portion 112b is moved relative to the base arm base end portion 112a by the JT7 joint, but for example, the base arm base end portion 112a may be moved relative to the base arm tip portion 112b by the JT7 joint.

[0044] In the first embodiment described above, an example was shown in which the maximum extension amount L1 of the distal arm section 13 was greater than the length L2 of the distal arm tip portion 13b when the distal arm section 13 was retracted, but for example, the maximum extension amount L1 of the distal arm section 13 may be equal to or less than the length L2 of the distal arm tip portion 13b when the distal arm section 13 was retracted. Similarly, in the second embodiment described above, an example was shown in which the maximum extension amount L11 of the base end arm section 112 was greater than the length L12 of the base end arm tip portion 112b when the base end arm section 112 was retracted, but for example, the maximum extension amount L11 of the base end arm section 112 may be equal to or less than the length L12 of the base end arm tip portion 112b when the base end arm section 112 was retracted.

[0045] In the first and second embodiments, the JT7 joint includes, for example, a servo motor, and the extension / contraction amount of the JT7 joint is adjustable. However, the present disclosure is not limited to this. For example, the JT7 joint may include an air cylinder or the like, and the JT7 joint may be adjusted to only two lengths: an extended state and a retracted state.

[0046] In the first embodiment, the JT7 joint is disposed between the JT3 joint and the JT4 joint, and in the second embodiment, the JT7 joint is disposed between the JT2 joint and the JT3 joint, but the present disclosure is not limited to this. For example, the JT7 joint may be disposed between joints other than these joints.

[0047] In the first embodiment, multiple painting robots 10 are arranged on the wall 1 along the Z direction, but the present disclosure is not limited to this. For example, multiple painting robots 10 may be arranged on a floor surface along the horizontal direction. The same applies to the painting robot 110 of the second embodiment.

[0048] In the first and second embodiments, the workpiece 200 is a door of the automobile 210, but the present disclosure is not limited to this. For example, the workpiece 200 may be a workpiece 200 other than a door of the automobile 210.

[0049] In the first embodiment, the JT7 joint as the telescopic shaft is disposed in the distal arm 13, and in the second embodiment, the JT7 joint as the telescopic shaft is disposed in the proximal arm 112, but the present disclosure is not limited to this. For example, telescopic shafts may be disposed in both the proximal arm and the distal arm.

[0050] [Aspect] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0051] (Item 1) It is equipped with multiple vertical articulated robots that perform painting work on the workpiece, At least one of the plurality of robots a base end arm portion; a distal arm portion having a proximal end connected to the proximal arm portion; a wrist portion having a base end connected to the distal arm portion and a tip end to which a coating tool is attached; a telescopic shaft disposed on at least one of the base arm portion and the tip arm portion, and configured to extend and retract at least one of the base arm portion and the tip arm portion.

[0052] (Item 2) Item 1. The painting robot system according to item 1, wherein at least one of the plurality of robots includes a seven-axis vertical articulated robot having the telescopic axis.

[0053] (Item 3) 3. The painting robot system according to claim 1, wherein each of the plurality of robots includes the telescopic shaft.

[0054] (Item 4) A plurality of the workpieces are arranged along a predetermined direction, 4. The painting robot system according to claim 3, wherein when painting work is performed on the workpiece, each of the plurality of robots performs painting work on the workpiece with the extension and contraction amounts of the telescopic shafts adjusted between the workpieces.

[0055] (Item 5) the robot includes a base unit to which a base end of the base arm unit is connected and which rotates the base arm unit around a predetermined axis; 5. The painting robot system according to claim 4, wherein the distance between the robots arranged side by side is equal to or less than the distance from the predetermined axis to the end of the movable range of the robot when the telescopic shaft is retracted.

[0056] (Item 6) 6. The painting robot system according to claim 4, wherein a plurality of the robots are arranged along the predetermined direction.

[0057] (Item 7) The distal arm portion 6. The painting robot system according to any one of items 1 to 5, comprising: a tip arm base end portion having a base end connected to the base end arm section; and a tip arm tip portion having a tip connected to the wrist portion and moved by the telescopic shaft relative to the tip arm base end portion.

[0058] (Item 8) 8. The painting robot system according to item 7, wherein the maximum extension amount of the tip arm is greater than the length of the tip portion of the tip arm in a retracted state.

[0059] (Item 9) the painting robot includes a base portion to which a base end of the base arm portion is connected and which rotates the base arm portion around a predetermined axis; The base end arm portion 9. The painting robot system according to any one of items 1 to 8, further comprising: a base-end arm base-end portion having a base end connected to the base unit; and a base-end arm tip-end portion having a tip connected to the tip arm unit and moved by the telescopic shaft relative to the base-end arm base-end portion.

[0060] (Item 10) Item 10. The painting robot system according to item 9, wherein the maximum extension amount of the base end arm portion is greater than the length of the tip portion of the base end arm when the base end arm portion is retracted.

[0061] (Item 11) A vertical articulated robot that performs painting work on a workpiece, The robot a base end arm portion; a distal arm portion having a proximal end connected to the proximal arm portion; a wrist portion having a base end connected to the distal arm portion and a tip end to which a coating tool is attached; a telescopic shaft disposed on the distal arm portion and configured to extend and retract the distal arm portion.

[0062] (Item 12) The distal arm portion Item 12. The robot according to item 11, comprising: a distal arm base end portion having a base end connected to the base end arm section; and a distal arm tip portion having a tip connected to the wrist section and moved by the telescopic shaft relative to the distal arm base end portion.

[0063] (Item 13) Item 13. The robot according to item 12, wherein the maximum extension amount of the tip portion of the tip arm is greater than the length of the tip portion of the tip arm in a retracted state of the tip arm. [Explanation of symbols]

[0064] 10 Painting robot (robot) 11 Base 12 Base end arm 13 Tip arm 13a Base end of distal arm 13b Tip of the distal arm 14 Wrist part 20 Painting equipment 100 Painting Robot System 110 Painting robot (robot) 112 Base end arm 112a base end portion of base end arm 112b Tip of base arm 113 Tip arm 200 Work JT7 joint (telescopic axis) X direction (predetermined direction)

Claims

1. The system is equipped with multiple vertical articulated robots that perform painting work on the workpieces, At least one of the plurality of robots A base end arm portion, a distal arm portion having a proximal end connected to the proximal arm portion; A wrist portion having a base end connected to the distal arm portion and a coating tool attached to a distal end thereof; a telescopic shaft disposed on at least one of the base arm portion and the tip arm portion, the telescopic shaft extending and contracting at least one of the base arm portion and the tip arm portion.

2. 2. The painting robot system according to claim 1, wherein at least one of the plurality of robots includes a seven-axis vertical articulated robot having the telescopic axis.

3. The painting robot system according to claim 1 , wherein each of the plurality of robots includes the telescopic shaft.

4. The workpieces are arranged in a predetermined direction, 4. The painting robot system according to claim 3, wherein when a painting operation is performed on the workpiece, each of the plurality of robots performs the painting operation on the workpiece in a state in which an amount of extension and contraction of the telescopic shaft is adjusted between the workpieces.

5. the robot includes a base portion to which a base end of the base end arm portion is connected and which rotates the base end arm portion around a predetermined axis; 5. The painting robot system according to claim 4, wherein the distance between the adjacent robots is equal to or less than the distance from the predetermined axis to an end of a movable range of the robot when the telescopic shaft is contracted.

6. The painting robot system according to claim 4 , wherein the robot is arranged in a plurality of positions along the predetermined direction.

7. The distal arm portion is 2. The painting robot system according to claim 1, further comprising: a tip arm base end portion having a base end connected to the base end arm section; and a tip arm tip portion having a tip connected to the wrist section and moved by the telescopic shaft relative to the tip arm base end portion.

8. 8. The painting robot system according to claim 7, wherein a maximum extension amount of the tip arm is greater than a length of a tip portion of the tip arm in a contracted state.

9. the robot includes a base portion to which a base end of the base end arm portion is connected and which rotates the base end arm portion around a predetermined axis; The base end arm portion is 2. The painting robot system according to claim 1, further comprising: a base end portion of a base end arm connected to the base portion; and a base end portion of a base end arm connected to the tip arm portion and moved by the telescopic shaft relative to the base end portion of the base end arm.

10. 10. The painting robot system according to claim 9, wherein a maximum extension amount of the base arm portion is greater than a length of the tip portion of the base arm in a contracted state.

11. A vertical articulated robot that performs painting work on a workpiece, The robot comprises: A base end arm portion, a distal arm portion having a proximal end connected to the proximal arm portion; A wrist portion having a base end connected to the distal arm portion and a coating tool attached to a distal end thereof; a telescopic shaft disposed on the distal arm portion and configured to extend and retract the distal arm portion.

12. The distal arm portion is 12. The robot according to claim 11, further comprising: a distal arm base end portion having a base end connected to the base end arm section; and a distal arm tip portion having a tip connected to the wrist section and moved by the telescopic shaft relative to the distal arm base end portion.

13. The robot according to claim 12 , wherein a maximum extension amount of the tip portion of the tip arm is greater than a length of the tip portion of the tip arm in a contracted state.

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