Robot

Abstract

To provide a robot capable of making a region where the robot is arranged compact.SOLUTION: A robot 100 comprises a vertical multi-joint robot arm part 10 including a plurality of joint parts that rotate around respective rotary shaft lines thereof, and a tube part 30 including at least either of an electric cable and a hose for fluid. The tube part 30 overlaps with a circular region whose radius is equal to a distance from the rotary shaft line to an outer surface of the predetermined joint part with the rotary shaft line as a center, when viewed from an extending direction of the rotary shaft line, in the predetermined joint part that is at least one of the plurality of joint parts, and is arranged inside an outer shape of the predetermined joint part, when viewed from a direction perpendicular to the rotary shaft line.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] This disclosure relates to robots. [Background technology]

[0002] Conventionally, robots equipped with cables have been known. For example, Patent Document 1 discloses a robot equipped with a drive cable including a power cable that supplies power to a motor that drives an arm and a signal cable that transmits and receives signals. In the robot described in Patent Document 1, the drive cable is arranged along the outer surface of the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-13343 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, when arranging tube parts such as cables along the outer surface of a robot as in the robot described in Patent Document 1, it is necessary to operate the robot while taking into consideration interference between the tube parts and objects such as workpieces arranged around the robot. Therefore, it is necessary to set the robot arrangement area to be large in consideration of interference of the tube parts, and therefore, when arranging the tube parts along the outer surface of the robot, the arrangement area of ​​the robot cannot be made compact.

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

[0006] A robot according to one aspect of the disclosure includes a vertical multi-joint robot arm section including a plurality of joints that rotate around their respective rotation axes, and a tube section including at least one of an electric cable and a fluid hose, which, at a predetermined joint section that is at least one of the plurality of joints, overlaps a circular area having a radius equal to the distance from the rotation axis to an outer surface of the predetermined joint section, with the rotation axis as the center, when viewed from the direction in which the rotation axis extends, and which is positioned inside the outer shape of the predetermined joint section when viewed from a direction perpendicular to the rotation axis.

[0007] As described above, the robot according to one aspect of the disclosure includes a tube part including at least one of an electric cable and a fluid hose, which is arranged in a predetermined joint part, which is at least one of the joint parts, and which overlaps a circular area having a radius equal to the distance from the rotation axis to the outer surface of the predetermined joint part, with the rotation axis as the center, as viewed in the direction in which the rotation axis extends, and which is arranged inside the outer shape of the predetermined joint part, as viewed in a direction perpendicular to the rotation axis. This makes it possible to suppress interference of the tube part with surrounding objects as the robot moves, unlike a case in which the tube part is arranged along the outer surface of the joint part. As a result, the robot can be arranged without considering interference of the tube part, and therefore the arrangement area of ​​the robot can be made compact. Effect of the Invention

[0008] According to the present disclosure, the area required for placing the robot can be made compact. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view showing an overall configuration of a robot according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of an arrangement of robots in a paint booth. [Diagram 3] FIG. 2 is a side view of the robot as viewed from the X direction in FIG. [Figure 4] FIG. 2 is a block diagram showing a control configuration of the robot. [Diagram 5]FIG. 4 is a view of the robot arm section as seen from below. [Figure 6] FIG. 11 is a side view showing an example of a state in which the robot arm unit is extended. [Figure 7] 13 is a diagram for explaining an arrangement of a lifting section in a first modified example of the present disclosure. FIG. [Figure 8] FIG. 13 is a side view showing a robot arm unit in a second modified example of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0011] The configuration of a robot 100 according to this embodiment will be described with reference to FIGS.

[0012] (Robot configuration) As shown in FIG. 1, the robot 100 includes a robot arm unit 10, a lifting unit 20, and a tube unit 30. The robot 100 is, for example, an industrial painting robot that performs painting. A paint gun 101 that sprays paint is attached to the tip of the robot arm unit 10 as an end effector. The paint gun 101 includes, for example, an electrostatic bell. In FIG. 1 to FIG. 6, the vertical direction is the Z direction, and directions perpendicular to each other in a horizontal plane perpendicular to the vertical direction are the X direction and the Y direction. The lifting unit 20 moves the robot arm unit 10 up and down along the Z direction.

[0013] As shown in FIG. 2, the robot 100 is disposed on a column-shaped stand 104 in a paint booth 102, above the Z direction, which is the vertical direction. For example, the robot 100 paints a workpiece 103 transported by a transport device such as a belt conveyor in the paint booth 102. The workpiece 103 to be painted is, for example, a vehicle part. The paint booth 102 has a recovery mechanism that suppresses scattering of paint sprayed by the paint gun 101 and recovers paint that has not been applied to the workpiece 103. In addition, when the workpiece 103 is transported in the X direction in the paint booth 102, for example, a plurality of robots 100 may be disposed along the X direction.

[0014] As shown in FIG. 1, the robot arm unit 10 has a base unit 11, a lower arm unit 12, an upper arm unit 13, and a wrist unit 14. In the robot arm unit 10, the base unit 11, the lower arm unit 12, the upper arm unit 13, and the wrist unit 14 are connected in this order from the base end side to the tip end side. The "base end" means the end on the root side of both ends of the robot arm unit 10, and the "tip end" means the end on the side where the paint gun 101, which is an end effector, is attached, of both ends of the robot arm unit 10. The base unit 11 is disposed at the base end of the robot arm unit 10. Each of the lower arm unit 12 and the upper arm unit 13 has a rod-like long shape extending from the base end side to the tip end side. The robot arm unit 10 is also connected to the lift unit 20. The base unit 11 of the robot arm unit 10 is connected to the lift unit 20. A base end side of the lower arm portion 12 opposite to the upper arm portion 13 is connected to the base portion 11. A tip end side of the lower arm portion 12 is connected to the upper arm portion 13. A base end side of the upper arm portion 13 is connected to the lower arm portion 12, and a tip end side of the upper arm portion 13 is connected to the wrist portion 14. A paint gun 101 serving as an end effector is attached to the tip of the wrist portion 14.

[0015] As shown in Fig. 3, the robot arm unit 10 is a six-axis vertical articulated robot arm including a plurality of joints 41, 42, 43, 44, 45, and 46. The robot arm unit 10 also includes a plurality of link members 11a, 11b, 12a, 13a, 14a, and 14b. The base unit 11 has two link members 11a and 11b. The lower arm unit 12 has one link member 12a. The upper arm unit 13 has one link member 13a. The wrist unit 14 has two link members 14a and 14b. The six joints 41, 42, 43, 44, 45, and 46 connect the link members 11a, 11b, 12a, 13a, 14a, and 14b to each other and to the paint gun 101, which is an end effector connected to the tip of the robot arm unit 10, and rotate around their respective rotation axes. Specifically, the joints 41, 42, 43, 44, 45, and 46 rotate around the JT1 axis, the JT2 axis, the JT3 axis, the JT4 axis, the JT5 axis, and the JT6 axis, respectively. The joints 42 and 43 are examples of predetermined joints.

[0016] The robot arm unit 10 is disposed in a direction perpendicular to the Z direction, which is the direction of the lifting movement by the lifting unit 20. The robot arm unit 10 is disposed along the Y direction relative to the lifting unit 20. Specifically, the link member 11a of the base unit 11 is connected to the lifting unit 20, and the link member 11b rotates about the JT1 axis relative to the link member 11a, whereby the base unit 11 rotates about the JT1 axis relative to the lifting unit 20. The JT1 axis is disposed along the Y direction in FIG. 3. In the lower arm unit 12, the base end side of the link member 12a is connected to the link member 11b of the base unit 11 so as to rotate about the JT2 axis. The JT2 axis extends in a direction perpendicular to the JT1 axis. The JT2 axis is disposed along the X direction in FIG. 3. The link member 12a is disposed so as to extend along a direction perpendicular to the JT2 axis. At the tip side of the link member 12a, the link member 13a of the upper arm portion 13 is connected so as to rotate around the JT3 axis. The JT3 axis is parallel to the JT2 axis and is disposed along the X direction in FIG. 3. The upper arm portion 13 is disposed so as to extend along a direction perpendicular to the JT3 axis. The wrist portion 14 is connected to the link member 13a so that the link member 14a rotates around the JT4 axis. And the link member 14b is connected to the link member 14a so as to rotate around the JT5 axis. The JT4 axis is perpendicular to the JT3 axis and is disposed along the extension direction of the upper arm portion 13. The JT5 axis intersects with the JT4 axis. And the paint gun 101, which is an end effector, is attached to the tip side of the wrist portion 14 so as to rotate around the JT6 axis with respect to the link member 14b. The JT6 axis intersects with the JT5 axis.

[0017] As shown in FIG. 1, the lifting unit 20 is disposed on the base end side of the robot arm unit 10. The lifting unit 20 is connected to the base unit 11 of the robot arm unit 10, and is disposed on the opposite side of the lower arm unit 12 with respect to the base unit 11. Specifically, the lower arm unit 12 is disposed on one side of the base unit 11 in the Y direction, and the lifting unit 20 is disposed on the other side of the Y direction opposite the lower arm unit 12. The lifting unit 20 includes a pair of counterweights 21 and 22, wires 23 and 24, pulleys 25 and 26, and a support member 27. The pair of counterweights 21 and 22 are disposed side by side along the X direction. The pair of counterweights 21 and 22 are connected to the robot arm unit 10 via wires 23 and 24, respectively. In detail, the wire 23 is disposed along a plate-shaped support member 27 disposed along the XZ plane, and is hung on a pulley 25 disposed above the support member 27. One end of the wire 23 is fixed to the counterweight 21, and the other end is fixed to the base 11 of the robot arm 10. The wire 24 is arranged along the support member 27 and hung on a pulley 26 arranged above the support member 27, with one end fixed to the counterweight 22 and the other end fixed to the base 11 of the robot arm 10. The lifting unit 20 moves the base 11 in the Z direction along the support member 27. The support member 27 has a hole in the center in the X direction through which the tube 30 passes.

[0018] The tube section 30 includes at least one of an electric cable and a fluid hose. In this embodiment, the robot 100 includes a plurality of flexible tube sections 30. For example, the plurality of tube sections 30 includes an electric cable including a power cable for supplying power as a driving source for the operation of the robot arm section 10 and the paint gun 101, and a signal cable for transmitting a signal for controlling the operation. The plurality of tube sections 30 also includes a paint hose as a fluid hose for supplying paint to the paint gun 101, and an air hose as a fluid hose for supplying air to the paint gun 101. The tube section 30 may include a plurality of paint hoses for painting in a plurality of colors. The tube section 30 may also include a plurality of air hoses. The robot 100 also includes a bundling section 31. The bundling section 31 bundles the plurality of tube sections 30. The bundling section 31 is attached to the robot arm section 10, and includes, for example, a flexible band or a mechanical clamp. 1, the multiple tube portions 30 in a bundled state are illustrated as one tube portion 30. The arrangement of the tube portions 30 will be described in detail later.

[0019] As shown in FIG. 4, the robot 100 includes a control unit 51 and a driving unit 52. The control unit 51 includes a calculation device such as a CPU (Central Processing Unit). The control unit 51 is a robot controller that controls the operation of the robot 100. A storage device such as a hard disk drive is arranged in the control unit 51, and the calculation device executes control processing based on the programs and parameters stored in the storage device. The driving unit 52 includes a servo motor that serves as a drive source for the operation of the robot arm unit 10 and the lifting unit 20. The driving unit 52 is arranged in each of the multiple joints 41, 42, 43, 44, 45, and 46 as a drive source for the robot arm unit 10. Similarly, the driving unit 52 is arranged in the lifting unit 20 as a drive source for moving the robot arm unit 10 up and down. The control unit 51 has, for example, a main CPU that controls the overall operation of the robot 100, and a servo CPU that controls the power supplied to the drive units 52 of the six joint units 41, 42, 43, 44, 45, and 46 and the drive unit 52 of the lift unit 20 based on a command from the main CPU. The drive unit 52 rotates a rotation shaft of a servo motor by three-phase AC power supplied from the control unit 51. When the rotation shaft of the servo motor of the drive unit 52 in the robot arm unit 10 rotates, each of the multiple joint units 41, 42, 43, 44, 45, and 46 rotates, and the robot arm unit 10 operates. Similarly, when the rotation shaft of the servo motor of the drive unit 52 in the lift unit 20 rotates, the lift unit 20 moves the robot arm unit 10 up and down.

[0020] (Details of tube placement) 1, in this embodiment, the tube section 30 is disposed along the robot arm section 10 from the base end side of the robot arm section 10, which is common to the lifting section 20. The tube section 30 is disposed in the lifting section 20 so as to extend from the lifting section 20 toward the robot arm section 10 while passing between a pair of counterweights 21 and 22. The tube section 30 is disposed so as to penetrate linearly from one side of the base section 11 to the other side.

[0021] As shown in Fig. 3, the base unit 11 has a through hole 11c that penetrates linearly along the Y direction from one side to the other side in the Y direction. The through hole 11c includes the JT1 axis that is the rotation axis of the joint unit 41. That is, the joint unit 41 has a hollow portion at the rotation axis. The tube unit 30 is disposed inside the through hole 11c on the inside of the joint unit 41. Therefore, the lift unit 20, the base unit 11, the lower arm unit 12, and the upper arm unit 13 are disposed along one direction.

[0022] In this embodiment, the tube section 30 is disposed inside each of the adjacent pairs of joint sections 42 and 43 disposed at both ends of the lower arm section 12 among the multiple joint sections 41, 42, 43, 44, 45, and 46. In each of the joint sections 42 and 43, the tube section 30 overlaps with circular regions 42r and 43r having a radius equal to the distance from the rotation axis to the outer surface of each of the joint sections 42 and 43, with the rotation axis as the center, when viewed from the direction in which the rotation axis extends, and is disposed inside the outer diameter of the joint sections 42 and 43 when viewed from a direction perpendicular to the rotation axis. Specifically, in the joint portion 42, the tube portion 30 is arranged to overlap a circular region 42r having a radius of the distance from the JT2 axis to the outer surface of the joint portion 42, with the JT2 axis of the rotation axis as the center, as viewed from the X direction, which is the direction in which the JT2 axis of the rotation axis of the joint portion 42 extends. The circular region 42r is shown as a shaded region in FIG. 3. Similarly, in the joint portion 43, the tube portion 30 is arranged to overlap a circular region 43r having a radius of the distance from the JT3 axis to the outer surface of the joint portion 43, with the JT3 axis of the rotation axis as the center, as viewed from the X direction, which is the direction in which the JT3 axis of the rotation axis of the joint portion 43 extends. The circular region 43r is shown as a shaded region in FIG. 3. For example, the tube portion 30 is arranged to overlap a rotation drive mechanism such as a reducer or a bearing unit in each of the circular regions 42r and 43r, as viewed from the X direction. In addition, in the joints 42 and 43, the tube portion 30 is disposed inside the outer shape of the robot arm portion 10 when viewed from the X direction. In other words, in both end portions of the link member 12a of the lower arm portion 12, the tube portion 30 is disposed inside the link member 12a.

[0023] As shown in FIG. 5, in the joint 42, the tube 30 is disposed inside the outer shape of the joint 42 when viewed from the Z direction, which is a direction perpendicular to the JT2 axis of the rotation axis of the joint 42. Specifically, in the base 11 of the robot arm 10, the end 11d of the link member 11b has a bifurcated U-shape when viewed from the Z direction. Similarly, the end 12b on the base side of the link member 12a of the lower arm 12 also has a bifurcated U-shape when viewed from the Z direction. In the joint 42, the end 11d and the end 12b are connected to each other. Specifically, the joint 42 has a pair of connecting parts 42a and 42b that are disposed opposite to each other along the JT2 axis, which is the rotation axis, by connecting the U-shaped ends 11d and 12b of the pair of link members 11b and 12a to each other. The tube 30 is disposed between the pair of connecting parts 42a and 42b in the joint 42. In other words, the joint 42 has a tube arrangement region 42c in which the tube section 30 is arranged as the robot arm section 10 moves, at a position between the connecting sections 42a and 42b inside the outer shape of the joint 42 when viewed from a direction perpendicular to the JT2 axis, which is the axis of rotation. In the joint 42, the end 11d of the link member 11b of the base section 11 is arranged inside the end 12b of the link member 12a of the lower arm section 12. The tube arrangement region 42c in the joint 42 is an area arranged further inside the inner end 12b. The tube section 30 is arranged so as to pass through the center part inside the outer shape of the joint 42 in the X direction, which is the width direction of the joint 42, which is the direction in which the JT2 axis extends. The joint 42 is a joint having a double-support structure by a pair of connecting sections 42a and 42b.

[0024] In the joint 43, similarly to the joint 42, the tube 30 is disposed inside the outer shape of the joint 43 when viewed from the Z direction, which is a direction perpendicular to the JT3 axis of the rotation axis of the joint 43. The tip end 12c of the link member 12a of the lower arm 12 of the robot arm 10 and the base end 13b of the link member 13a of the upper arm 13 also have a bifurcated U-shape when viewed from the Z direction. The joint 43 has a pair of connecting parts 43a and 43b that are disposed opposite to each other along the JT3 axis, which is the rotation axis, by connecting the U-shaped ends 12c and 13b of the pair of link members 12a and 13a to each other. The tube 30 is disposed between the pair of connecting parts 43a and 43b in the joint 43. The joint 43 has a tube arrangement area 43c in which the tube 30 is arranged as the robot arm 10 moves, at a position between the connecting parts 43a and 43b inside the outer shape of the joint 43 when viewed from a direction perpendicular to the JT3 axis, which is the rotation axis. In the joint 43, the end 13b of the link member 13a of the upper arm 13 is arranged inside the end 12c of the link member 12a of the lower arm 12, and the tube arrangement area 43c in the joint 43 is an area arranged further inside the inner end 13b. The tube 30 is arranged so as to pass through the center part inside the outer shape of the joint 43 in the X direction, which is the width direction of the joint 43, which is the direction in which the JT3 axis extends, similar to the joint 42. The joint 43 is a joint having a double-support structure, similar to the joint 42, by the pair of connecting parts 43a and 43b.

[0025] As shown in FIG. 6, the tube arrangement region 42c of the tube section 30 inside the joint section 42 includes a position overlapping with the center of the JT2 axis when viewed from the X direction, which is the direction in which the JT2 axis of the rotation axis of the joint section 42 extends. Similarly, in the joint section 43, the tube arrangement region 43c of the tube section 30 inside the joint section 43 includes a position overlapping with the center of the JT3 axis when viewed from the X direction, which is the direction in which the JT3 axis of the rotation axis of the joint section 43 extends. In addition, the lower arm section 12 has a curved arch shape. The tube section 30 is arranged passing through the tube arrangement region 42c of the joint section 42 and the tube arrangement region 43c of the joint section 43, which are arranged at both ends of the lower arm section 12 having a curved arch shape. When the robot arm unit 10 is operated so that the lower arm unit 12 and the upper arm unit 13 assume a posture in which they are extended from each other, the arch-shaped lower arm unit 12 is positioned in a curved state so as to avoid the tube unit 30, and the tube unit 30 is positioned in a straight line from the joint unit 41 to the joint unit 42 and to the joint unit 43. In this case, the tube unit 30 is positioned at a position overlapping both the center of the JT2 axis and the center of the JT3 axis when viewed from the X direction.

[0026] As shown in FIG. 5, in this embodiment, the tube portion 30 is disposed on the inside of the robot arm portion 10 in the width direction in at least a part of the robot arm portion 10. Specifically, the lower arm portion 12 and the upper arm portion 13 have recesses 12d and 13c in which the tube portion 30 is disposed, respectively. The recesses 12d and 13c are disposed so as to extend along the robot arm portion 10 on the lower side of the robot arm portion 10. That is, the recesses 12d and 13c of the lower arm portion 12 and the upper arm portion 13 are grooves having a U-shaped cross section that opens downward. The binding portion 31 is attached to the recesses 12d of the lower arm portion 12 and the recesses 13c of the upper arm portion 13 by a fastening member such as a screw. At the tip side of the upper arm portion 13, the tube portion 30 is disposed inside the upper arm portion 13, and is connected to the paint gun 101 from the inside of the upper arm portion 13 via the inside of the wrist portion 14.

[0027] [Effects of this embodiment] The robot 100 includes a tube portion 30 including at least one of an electric cable and a fluid hose, which overlaps with a circular region 42r or 43r having a radius of a distance from the rotation axis to the outer surface of the joint portion 42 or 43, as viewed from the direction in which the rotation axis extends, and which is centered on the rotation axis and is located inside the outer shape of the joint portion 42 or 43, as viewed from the direction perpendicular to the rotation axis. This makes it possible to suppress interference of the tube portion 30 with surrounding objects as the robot 100 moves, unlike a case in which the tube portion 30 is located along the outer surface of the joint portion 42 or 43. As a result, the robot 100 can be located without considering interference of the tube portion 30, and therefore the location area of ​​the robot 100 can be made compact.

[0028] The joint 42 as the predetermined joint includes a position overlapping with the center of the rotation axis when viewed from the direction in which the rotation axis extends, and has a tube arrangement area 42c in which the tube part 30 is arranged as the robot arm part 10 moves, inside the outer shape of the joint 42 when viewed from the direction perpendicular to the rotation axis. The joint 43 as the predetermined joint includes a position overlapping with the center of the rotation axis when viewed from the direction in which the rotation axis extends, and has a tube arrangement area 43c in which the tube part 30 is arranged as the robot arm part 10 moves, inside the outer shape of the joint 43 when viewed from the direction perpendicular to the rotation axis. As a result, the tube arrangement areas 42c and 43c in which the tube part 30 is arranged include a position overlapping with the center of the rotation axis, so that the tube part 30 is arranged at a position overlapping with the center of the rotation axis when the robot arm part 10 moves, and therefore, it is possible to suppress the tube part 30 from bending more than necessary as the robot arm part 10 moves, compared to a case in which the tube part 30 is not arranged at a position overlapping with the center of the rotation axis. Therefore, interference between the tube portion 30 and surrounding objects can be further suppressed, and the area in which the robot 100 is arranged can be made more compact.

[0029] The joint 42 as the predetermined joint has a pair of connecting parts 42a and 42b arranged opposite each other along the rotation axis. The joint 43 as the predetermined joint has a pair of connecting parts 43a and 43b arranged opposite each other along the rotation axis. The tube part 30 is arranged between the pair of connecting parts 42a and 42b in the joint 42, and between the pair of connecting parts 43a and 43b in the joint 43. As a result, by arranging the tube part 30 between the pair of connecting parts 42a and 42b, the tube part 30 can be easily arranged inside the joint 42, and by arranging the tube part 30 between the pair of connecting parts 43a and 43b, the tube part 30 can be easily arranged inside the joint 43. Therefore, the arrangement area of ​​the robot 100 can be easily made compact.

[0030] The robot arm section 10 includes a pair of link members 11b and 12a having a U-shape with ends 11d and 12b split into two. A joint section 42 as a predetermined joint section has a pair of connecting parts 42a and 42b arranged opposite each other along the rotation axis by connecting the U-shaped ends 11d and 12b of each of the pair of link members 11b and 12a to each other. The robot arm section 10 also includes a pair of link members 12a and 13a having a U-shape with ends 12c and 13b split into two. A joint section 43 as a predetermined joint section has a pair of connecting parts 43a and 43b arranged opposite each other along the rotation axis by connecting the U-shaped ends 12c and 13b of each of the pair of link members 12a and 13a to each other. As a result, a pair of connecting parts 42a and 42b connecting U-shaped ends 11d and 12b are arranged in joint 42, and a pair of connecting parts 43a and 43b connecting U-shaped ends 12c and 13b are arranged in joint 43, so that deterioration in strength of joints 42 and 43 can be suppressed even when tube section 30 is arranged inside, compared to when there is only one connecting part. Therefore, deterioration in strength of robot arm section 10 can be suppressed, and the arrangement area of ​​robot 100 can be made compact.

[0031] The tube section 30 is disposed on the inside in the width direction of the robot arm section 10 in at least a part of the robot arm section 10. As a result, since the tube section 30 is disposed on the inside in the width direction of the robot arm section 10, it is possible to prevent the tube section 30 from interfering with surrounding objects even in parts other than the joint sections 42 and 43 as the predetermined joint sections. This makes it possible to make the arrangement area of ​​the robot 100 more compact.

[0032] The robot 100 includes a plurality of tube parts 30. The robot 100 also includes a bundling unit 31 that bundles the plurality of tube parts 30. This prevents the plurality of tube parts 30 from coming apart due to the operation of the robot arm unit 10, making the arrangement area of ​​the robot 100 more compact. Therefore, by arranging the plurality of tube parts 30 bundled by the bundling unit 31 inside the joint parts 42 and 43 as the predetermined joint parts, the arrangement area of ​​the robot 100 can be made even more compact.

[0033] The robot 100 includes joints 42 and 43 as a pair of adjacent predetermined joints among a plurality of joints 41, 42, 43, 44, 45, and 46. In each of the pair of adjacent joints 42 and 43, the tube section 30 overlaps the circular regions 42r and 43r when viewed from the direction in which the rotation axis extends, and is disposed inside the outer shape of the joints 42 and 43 when viewed from the direction perpendicular to the rotation axis. This allows the tube section 30 to be disposed inside both of the adjacent joints 42 and 43, so that the tube section 30 can be more effectively prevented from bending outward from the outer shape of the robot arm section 10 as the robot arm section 10 moves, compared to the case in which the tube section 30 is disposed inside only one of the joints. Therefore, by disposing the tube section 30 inside both of the pair of adjacent joints 42 and 43, the arrangement area of ​​the robot 10 can be made even more compact.

[0034] The robot arm section 10 includes a lower arm section 12 disposed on the base end side, and an upper arm section 13 connected to the lower arm section 12 and disposed on the tip end side. The joint sections 42 and 43 as the predetermined joint section are disposed at both ends of the lower arm section 12 among the plurality of joint sections 41, 42, 43, 44, 45, and 46. This makes it possible to prevent the tube section 30 from bending outward from the outer shape of the lower arm section 12 as the lower arm section 12 moves, when the lower arm section 12 is operated. This makes it possible to prevent interference between objects around the lower arm section 12 and the tube section 30 disposed along the lower arm section 12, and therefore makes it possible to make the arrangement area of ​​the robot 100 more compact.

[0035] The lower arm section 12 has a curved arch shape. The tube section 30 is arranged passing through the joint sections 42 and 43 as predetermined joint sections arranged at both ends of the lower arm section 12 having a curved arch shape. As a result, when the tube section 30 is arranged to pass through the insides of the joint sections 42 and 43 arranged at both ends of the lower arm section 12 because the lower arm section 12 has a curved arch shape, the lower arm section 12 can be arranged to avoid the arranged tube section 30. Therefore, the tube section 30 can be arranged in a straight line from the base end to the tip end of the lower arm section 12, so that the bending of the tube section 30 can be further suppressed. As a result, the arrangement area of ​​the robot 100 can be made even more compact.

[0036] The robot arm unit 10 includes a lower arm unit 12 arranged on the base end side, an upper arm unit 13 connected to the lower arm unit 12 and arranged on the tip side, and a base unit 11 connected to the base end side of the lower arm unit 12 opposite the upper arm unit 13. The tube unit 30 is arranged to penetrate linearly from one side to the other side of the base unit 11. By arranging the tube unit 30 linearly from one side to the other side of the base unit 11, the arrangement of the tube unit 30 on the base unit 11 can be prevented from becoming complicated compared to a case in which the tube unit 30 is arranged in a curved manner on the base unit 11.

[0037] The robot 100 includes a lifting unit 20 that moves the robot arm unit 10 up and down. The lifting unit 20 is disposed on the base end side of the robot arm unit 10. The tube unit 30 is disposed along the robot arm unit 10 from the base end side of the robot arm unit 10, which is common to the lifting unit 20. This allows the robot arm unit 10 and the tube unit 30 disposed along the robot arm unit 10 to be lifted and moved together by the lifting unit 20. Therefore, unlike a case in which the lifting unit 20 and the tube unit 30 are disposed apart from each other, there is no need to dispose a mechanism to assist the movement of the tube unit 30, so that the device configuration of the robot 100 can be prevented from becoming complicated, and the area in which the robot 100 is disposed can be made compact. In addition, since the robot arm unit 10 can be lifted and moved by the lifting unit 20, the operating range of the lifting unit 20 can be added to the operating range of the robot arm unit 10 alone. Therefore, even when the arrangement area of ​​the robot arm unit 10 is made compact, the operating range of the entire robot 100 can be increased by the lifting unit 20. As a result, it is possible to prevent the operating range of the robot 100 from becoming smaller while making the arrangement area of ​​the robot 100 compact.

[0038] The robot 100 includes a lifting unit 20 that moves the robot arm unit 10 up and down. The lifting unit 20 includes counterweights 21 and 22 that are connected to the robot arm unit 10 via wires 23 and 24. This allows the weight of the robot arm unit 10 to be supported by the counterweights 21 and 22, thereby reducing the amount of power consumed by arranging the lifting unit 20. Therefore, by arranging the lifting unit 20, the area in which the robot 100 is arranged can be made compact, while preventing the operating range of the robot 100 from becoming smaller, thereby preventing an increase in power consumption.

[0039] The robot arm section 10 includes a lower arm section 12 arranged on the base end side, an upper arm section 13 connected to the lower arm section 12 and arranged on the tip side, and a base section 11 connected to the base end side of the lower arm section 12 opposite the upper arm section 13. The robot arm section 10 is arranged in a direction perpendicular to the direction of the lifting and lowering movement by the lifting and lowering section 20. The lifting and lowering section 20 is arranged on the opposite side of the lower arm section 12 with respect to the base section 11. This allows the lifting and lowering section 20, the base section 11, the lower arm section 12, and the upper arm section 13 to be arranged along one direction. Therefore, when multiple robots 100 are arranged side by side, the distance between adjacent robots 100 can be reduced. As a result, even when multiple robots 100 are arranged side by side, the arrangement area for the multiple robots 100 can be made compact.

[0040] The lifting unit 20 includes a pair of counterweights 21 and 22 connected to the robot arm unit 10 via wires 23 and 24. The tube unit 30 is arranged from the lifting unit 20 towards the robot arm unit 10 while passing between the pair of counterweights 21 and 22. As a result, even when the lifting unit 20, the base unit 11, the lower arm unit 12, and the upper arm unit 13 are arranged in one direction, by arranging the tube unit 30 so that it passes between the pair of counterweights 21 and 22, the arrangement area for multiple robots 100 can be made compact and an increase in power consumption due to the counterweights 21 and 22 can be suppressed.

[0041] A paint gun 101 that sprays paint is attached to the tip of the robot arm unit 10 as an end effector. The tube unit 30 includes a paint hose as a fluid hose that supplies paint to the paint gun 101. Here, even when the workpiece 103 to be painted and the robot 100 are placed in a paint booth 102, the tube unit 30 that supplies paint is placed passing through the inside of the joints 42 and 43 as predetermined joints, so that the placement area of ​​the robot 100 in the paint booth 102 can be made compact. Therefore, the paint booth 102 itself for painting the workpiece 103 can be made compact.

[0042] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0043] (First Modification) For example, in the above embodiment, the lifting / lowering unit 20 is disposed on the opposite side of the lower arm unit 12 with respect to the base unit 11, and the tube unit 30 is disposed linearly penetrating from one side of the base unit 11 to the other side, but the present disclosure is not limited to this. In the present disclosure, as in the first modified example shown in FIG. 7, the lifting / lowering unit 220 may be disposed on the side of the base unit 11. That is, the lifting / lowering unit 220 may be disposed in a direction intersecting the direction in which the robot arm unit 10 is disposed with respect to the base unit 11. In that case, the tube unit may be disposed linearly from one side of the base unit 11 to the other side, or the tube unit may be bent and disposed in the direction in which the lifting / lowering unit 220 is disposed. Also, when the lifting / lowering unit is disposed on the opposite side of the lower arm unit with respect to the base unit, the tube unit may be disposed in a bent state rather than linearly in the base unit. Also, the tube unit may be disposed so as to extend from a position separated from the lifting / lowering unit to the robot arm unit.

[0044] (Second Modification) In the above embodiment, an example is shown in which the lifting unit 20 for lifting and lowering the robot arm unit 10 is provided, but the present disclosure is not limited to this. In the present disclosure, the lifting unit may not be provided. For example, as in the robot arm unit 310 according to the second modified example shown in FIG. 8, the base unit 311 of the robot arm unit 310 may be directly disposed on the stand or installation surface without providing a lifting unit. In that case, the tube unit 330 may be bent and disposed so as to extend to the side of the base unit 311, or may be disposed so as to penetrate linearly from one side of the base unit to the other.

[0045] (Other variations) In the above embodiment, the joints 42 and 43 as the predetermined joints have the tube arrangement regions 42c and 43c, respectively, including a position overlapping with the center of the rotation axis when viewed from the direction in which the rotation axis extends, but the present disclosure is not limited to this. In the present disclosure, the tube arrangement region in which the tube parts are arranged does not have to include a position overlapping with the center of the rotation axis when viewed from the direction in which the rotation axis extends. In other words, the position in which the tube parts are arranged may be a position shifted from the center of the rotation axis when viewed from the direction in which the rotation axis extends.

[0046] In the above embodiment, the tube portion 30 is disposed between the connection portions 42a and 42b at which the ends 11d and 12b of the link members 11b and 12a having a U-shape are connected to each other in the joint portion 42 as the predetermined joint portion, and the tube portion 30 is disposed between the connection portions 43a and 43b at which the ends 12c and 13b of the link members 12a and 13a having a U-shape are connected to each other in the joint portion 43 as the predetermined joint portion, but the present disclosure is not limited to this. In the present disclosure, the predetermined joint portion does not need to have a pair of connection portions. For example, the predetermined joint portion may be a joint portion having a cantilever structure with one connection portion. Also, the end of the link member in the predetermined joint portion does not need to be U-shaped. For example, the link member may have a hollow column shape.

[0047] In the above embodiment, the tube section 30 is disposed on the inside of the width direction of the robot arm section 10 by disposing the recess 12d and the recess 13c in each of the lower arm section 12 and the upper arm section 13 of the robot arm section 10, but the present disclosure is not limited to this. In the present disclosure, in a part of the robot arm section, the tube section may be disposed on the outer side of the outer shape of the robot arm section in the width direction of the robot arm section. In this case, the width direction of the robot arm section is a direction perpendicular to the direction in which the robot arm section extends, and may be either a direction along the rotation axis of each of the multiple joint sections disposed in the robot arm section or a direction perpendicular to the rotation axis. In addition, a recess with an opening on the bottom may not be disposed in the robot arm section. For example, a recess with an opening on the top may be disposed in the robot arm section. In addition, a recess as a groove section having a V-shaped cross section instead of a U-shaped cross section may be disposed in the robot arm section. In addition, an L-shaped guide having a wall surface only on one side may be disposed in the robot arm section instead of a recess.

[0048] In the above embodiment, the robot 100 is provided with a plurality of tube parts 30 including both an electric cable and a fluid hose, but the present disclosure is not limited to this. In the present disclosure, the robot may be provided with a tube part including only either an electric cable or a fluid hose. Also, the robot may be provided with only one tube part instead of multiple tube parts.

[0049] In the above embodiment, the robot arm unit 10 is a 6-axis vertical multi-joint robot, includes the base unit 11, the lower arm unit 12, the upper arm unit 13, and the wrist unit 14, and the joint units 42 and 43 as the predetermined joint units are disposed adjacent to each of both ends of the lower arm unit 12. However, the present disclosure is not limited to this. In the present disclosure, the robot arm unit may include joint units having 5 or less axes or 7 or more axes instead of 6 axes. The number and orientation of the joint units of the robot arm unit are not limited to the above embodiment. For example, the orientation of the axis of rotation of the joint unit in the base unit may be different from that in the above embodiment. The structure of the wrist unit may also be different from that in the above embodiment. The upper arm unit may have multiple link members and multiple joint units instead of one link member. For example, the upper arm unit may have a joint unit that rotates around the axis of rotation in the direction in which the upper arm unit extends. The predetermined joint units do not have to be both ends of the lower arm unit.

[0050] In the above embodiment, the lower arm portion 12 has an arch shape, but the present disclosure is not limited to this. In the present disclosure, the lower arm portion may have a shape that extends linearly.

[0051] In the above embodiment, an example was shown in which a pair of counterweights 21 and 22 connected to the robot arm unit 10 via wires 23 and 24 are disposed in the lifting unit 20, but the present disclosure is not limited to this. In the present disclosure, one or three or more counterweights may be disposed in the lifting unit, or no counterweight may be disposed. In addition, when a counterweight is disposed, the counterweight may be connected to the robot arm unit by a fixing member without using wires.

[0052] In the above embodiment, an example in which the paint gun 101 is attached as an end effector to the tip of the robot arm unit 10 has been described, but the present disclosure is not limited to this. In the present disclosure, a welding torch may be attached as an end effector to the tip of the robot arm unit. Also, a processing tool for performing processing such as cutting, polishing, and cutting may be attached as an end effector to the tip of the robot arm unit, or a hand for holding a workpiece for transportation may be attached as an end effector. Also, the robot may be a medical robot instead of an industrial robot.

[0053] In the above embodiment, the control unit 51 includes a main CPU and a servo CPU, but the present disclosure is not limited to this. In the present disclosure, the robot operation may be controlled by a single arithmetic device such as a CPU.

[0054] [Aspects] It will be appreciated by those skilled in the art that the exemplary embodiments described above are examples of the following aspects.

[0055] (Aspect 1) a vertically articulated robot arm including a plurality of joints each rotating about a rotation axis; the tube portion including at least one of an electric cable and a fluid hose, ...

[0056] (Aspect 2) The robot of aspect 1, wherein the specified joint portion includes a position that overlaps with the center of the rotation axis when viewed from the direction in which the rotation axis extends, and has a tube arrangement area in which the tube portion is arranged in association with the movement of the robot arm portion, inside the outer shape of the specified joint portion when viewed from a direction perpendicular to the rotation axis.

[0057] (Aspect 3) the predetermined joint portion has a pair of connection portions disposed opposite to each other along the rotation axis, 3. The robot according to claim 1, wherein the tube portion is disposed between the pair of connection portions at the predetermined joint portion.

[0058] (Aspect 4) The robot arm unit includes a pair of link members each having a U-shape with two forked ends, The robot of aspect 3, wherein the specified joint portion has a pair of connection portions arranged opposite each other along the rotation axis by connecting the U-shaped ends of each of a pair of the link members to each other.

[0059] (Aspect 5) The robot according to any one of aspects 1 to 4, wherein the tube portion is disposed on the inner side in a width direction of the robot arm portion in at least a portion of the robot arm portion.

[0060] (Aspect 6) The tube portion includes a plurality of tube portions, The robot according to any one of aspects 1 to 5, further comprising a bundling section that bundles the plurality of tube sections.

[0061] (Aspect 7) the predetermined joint portion includes a pair of adjacent predetermined joint portions among the plurality of joint portions, A robot described in any of aspects 1 to 6, wherein the tube portion, in each of an adjacent pair of the specified joint portions, overlaps the circular area when viewed from the direction in which the rotation axis extends, and is positioned inside the outer shape of the specified joint portion when viewed from a direction perpendicular to the rotation axis.

[0062] (Aspect 8) the robot arm unit includes a lower arm unit disposed on a base end side, and an upper arm unit connected to the lower arm unit and disposed on a tip end side, 8. The robot of claim 7, wherein the predetermined joint portion is one of the plurality of joint portions and is disposed at each end of the lower arm portion.

[0063] (Aspect 9) The lower arm portion has a curved arch shape, 9. The robot of claim 8, wherein the tube portion is arranged passing through the predetermined joint portion located at each end of the lower arm portion having a curved arch shape.

[0064] (Aspect 10) the robot arm unit includes a lower arm unit disposed on a base end side, an upper arm unit connected to the lower arm unit and disposed on a tip end side, and a base unit connected to a base end side of the lower arm unit opposite to the upper arm unit, A robot according to any one of aspects 1 to 9, wherein the tube portion is arranged to penetrate linearly from one side of the base portion to the other side.

[0065] (Aspect 11) The robot arm unit may further include a lift unit that lifts and lowers the robot arm unit. the lifting unit is disposed on a base end side of the robot arm unit, The robot according to any one of aspects 1 to 10, wherein the tube portion is arranged along the robot arm portion from a base end side of the robot arm portion common to the lifting portion.

[0066] (Aspect 12) The robot arm unit may further include a lift unit that lifts and lowers the robot arm unit. The robot according to any one of aspects 1 to 11, wherein the lifting section includes a counterweight connected to the robot arm section via a wire.

[0067] (Aspect 13) The robot arm unit includes: a lower arm portion disposed on a base end side, an upper arm portion connected to the lower arm portion and disposed on a tip end side, and a base portion connected to a base end side of the lower arm portion opposite to the upper arm portion, The lifting unit is disposed in a direction perpendicular to a direction of lifting movement, A robot according to aspect 11, wherein the lifting section is disposed on the opposite side of the base section from the lower arm section.

[0068] (Aspect 14) the lifting unit includes a pair of counterweights connected to the robot arm unit via wires, The robot of aspect 13, wherein the tube portion is arranged from the lifting portion toward the robot arm portion while passing between the pair of counterweights.

[0069] (Aspect 15) The robot arm has a paint gun attached to its tip as an end effector for spraying paint, The robot according to any one of aspects 1 to 14, wherein the tube portion includes a paint hose as the fluid hose that supplies the paint to the paint gun. [Explanation of symbols]

[0070] 10, 310 Robot arm part 11, 311 Base 11b, 12a, 13a Link members 11d, 12b, 12c, 13b ends 12 Lower arm section 13 Upper arm section 20, 220 Lifting section 21, 22 Counterweight 23, 24 wire rod 30, 330 Tube section 31 Binding section 41, 42, 43, 44, 45, 46 Joints 42, 43 Prescribed joint 42a, 42b, 43a, 43b Connections 42c, 43c Tube placement area 42r, 43r Circular area 100 Robots 101 Paint gun

Claims

1. a vertically articulated robot arm including a plurality of joints each rotating about a rotation axis; a tube portion including at least one of an electric cable and a fluid hose, the ...

2. 2. The robot according to claim 1, wherein the specified joint portion includes a position that overlaps with a center of the rotation axis when viewed from a direction in which the rotation axis extends, and has a tube arrangement area in which the tube portion is arranged in association with movement of the robot arm portion, inside an outer shape of the specified joint portion when viewed from a direction perpendicular to the rotation axis.

3. the predetermined joint portion has a pair of connection portions disposed opposite to each other along the rotation axis, The robot according to claim 1 , wherein the tube portion is disposed between the pair of connection portions at the predetermined joint portion.

4. The robot arm unit includes a pair of link members each having a U-shape with two forked ends, 4. The robot according to claim 3, wherein the predetermined joint portion has a pair of the connection portions disposed opposite each other along the rotation axis by connecting the U-shaped ends of each of the pair of the link members to each other.

5. The robot according to claim 1 , wherein the tube portion is disposed on an inner side in a width direction of the robot arm portion in at least a portion of the robot arm portion.

6. The tube portion includes a plurality of tube portions, The robot according to claim 1 , further comprising a bundling section that bundles the plurality of tube sections.

7. the predetermined joint portion includes a pair of adjacent predetermined joint portions among the plurality of joint portions, 3. The robot according to claim 1, wherein the tube portion overlaps the circular region in each of an adjacent pair of the specified joint portions when viewed from a direction in which the rotation axis extends, and is disposed inside an outer shape of the specified joint portion when viewed from a direction perpendicular to the rotation axis.

8. the robot arm unit includes a lower arm unit disposed on a base end side, and an upper arm unit connected to the lower arm unit and disposed on a tip end side, The robot according to claim 7 , wherein the predetermined joint portion is one of the plurality of joint portions and is disposed at each end of the lower arm portion.

9. The lower arm portion has a curved arch shape, 9. The robot according to claim 8, wherein the tube portion is disposed so as to pass through the predetermined joint portion disposed on each end of the lower arm portion having a curved arch shape.

10. the robot arm unit includes a lower arm unit disposed on a base end side, an upper arm unit connected to the lower arm unit and disposed on a tip end side, and a base unit connected to a base end side of the lower arm unit opposite to the upper arm unit, The robot according to claim 1 , wherein the tube portion is disposed so as to penetrate linearly from one side of the base portion to the other side.

11. The robot arm unit may further include a lift unit that lifts and lowers the robot arm unit. the lifting unit is disposed on a base end side of the robot arm unit, The robot according to claim 1 , wherein the tube portion is disposed along the robot arm portion from a base end side of the robot arm portion common to the lifting portion.

12. The robot arm unit may further include a lift unit that lifts and lowers the robot arm unit. The robot according to claim 1 or 2, wherein the lifting section includes a counterweight connected to the robot arm section via a wire.

13. The robot arm unit includes: a lower arm portion disposed on a base end side, an upper arm portion connected to the lower arm portion and disposed on a tip end side, and a base portion connected to a base end side of the lower arm portion opposite to the upper arm portion, The lifting unit is disposed in a direction perpendicular to a direction of lifting movement, The robot according to claim 11 , wherein the lifting section is disposed on an opposite side of the base section from the lower arm section.

14. the lifting unit includes a pair of counterweights connected to the robot arm unit via wires, The robot according to claim 13 , wherein the tube portion is disposed from the lifting portion toward the robot arm portion while passing between the pair of counterweights.

15. The robot arm has a paint gun attached to its tip as an end effector for spraying paint, 3. The robot according to claim 1, wherein the tube portion includes a paint hose as the fluid hose for supplying the paint to the paint gun.

Images