Vertical articulated robot and cover

Abstract

To provide a technology that strikes a balance between preventing a cable from interfering with a robot arm and peripheral devices and preventing the cable from being damaged.SOLUTION: A vertical articulated robot includes: a first arm; a second arm connected to the first arm and rotating about a first rotation shaft; and a first storage part for storing wiring therein inside the first arm. The first storage part includes a first wiring hole for drawing out the wiring along a first rotation shaft direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vertical articulated robot and a cover.

Background Art

[0002] Various techniques for arranging cables outside a robot arm are known. For example, in the technique described in Patent Document 1, a cable arranged on a robot arm is fastened using a cable support frame and a telescopic cylindrical guide member to prevent interference.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since it is difficult to achieve both prevention of interference between the cable and the robot arm and peripheral devices and prevention of damage to the cable, a technique capable of achieving both has been demanded.

Means for Solving the Problems

[0005] The present disclosure can be realized in the following forms.

[0006] According to a first aspect of the present disclosure, a vertical articulated robot is provided. The vertical articulated robot includes a first arm, a second arm connected to the first arm and rotating about a first rotation axis, and a first accommodation portion that accommodates a part of wiring inside the first arm. The first accommodation portion is characterized by having a first wiring hole that draws out the wiring along the first rotation axis direction.

[0007] According to a second aspect of the present disclosure, there is provided a cover attached to a vertical articulated robot having a first arm and a second arm connected to the first arm and rotating about a rotation axis. The cover is attached to the first arm and includes a housing portion for housing a part of the wiring. The housing portion has a wiring hole for drawing out the wiring along the rotation axis direction.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0009] A. Embodiment: FIG. 1 is a perspective view showing the overall configuration of the robot 1 according to this embodiment. FIG. 2 is a side view of the robot 1. FIG. 3 is a front view of the robot 1. FIG. 4 is a plan view of the robot 1. FIG. 5 is a bottom view.

[0010] Robot 1 is a vertical articulated robot. Robot 1 is controlled by a robot controller. In FIG. 1, the illustration of the robot controller is omitted. Robot 1 performs, for example, an assembly operation that is part of a manufacturing process in a production line. Robot 1 includes a base 10, an arm 20, a force sensor 30, an end effector 40, and a wiring housing member 50.

[0011] In FIG. 1, a robot coordinate system RC is set. The robot coordinate system RC is a three-dimensional orthogonal coordinate system with a predetermined position of Robot 1 as the coordinate origin. Let the angular position of rotation about the X axis be RX, the angular position of rotation about the Y axis be RY, and the angular position of rotation about the Z axis be RZ.

[0012] The control point of the arm 20 is installed, for example, at a predetermined position at the tip of the arm 20. The control point may be referred to as TCP (Tool Point Center). The position of the control point in the robot coordinate system RC can be represented by the position in the X-axis direction, the position in the Y-axis direction, and the position in the Z-axis direction. Also, the posture of the control point in the robot coordinate system RC can be represented by the angular position RX, the angular position RY, and the angular position RZ.

[0013] The base 10 supports the arm 20. In the example shown in FIG. 1, Robot 1 is installed in a ceiling-suspended manner. For this reason, the base 10 is fixed to the ceiling of the work space where Robot 1 is installed. Note that Robot 1 may be attached to the floor, a workbench, a wall, or the like.

[0014] The arm 20 has arm elements 21 to 26 and joints J1 to J6 (see FIG. 2) that connect the arm elements. The joints J1 to J6 are rotary joints.

[0015] Each joint is provided with a servo motor, a speed reducer, and an angle sensor (not shown), respectively. The servo motor is supplied with current from the robot controller and generates a rotational output for driving each joint. The speed reducer reduces the rotational input given from the corresponding servo motor. The angle sensor detects the rotational angle (position of the axis) of the output shaft of the corresponding servo motor as the rotational angle of the joint. The angle sensor is, for example, an encoder, a potentiometer, or a resolver. The detected rotational angle is output to the robot controller. By driving joints J1 to J6 shown in FIG. 2, the end effector 40 is arranged at the specified position and in the specified posture in the robot coordinate system RC.

[0016] The arm element 21 is connected to the -Z side end of the base 10 via the joint J1. The arm element 21 rotates relative to the base 10 about the rotation axis of the joint J1. The arm element 22 is connected to the tip of the arm element 21 via the joint J2. The arm element 22 rotates relative to the arm element 21 about the rotation axis of the joint J2. The arm element 23 is connected to the tip of the arm element 22 via the joint J3. The arm element 23 rotates relative to the arm element 22 about the rotation axis of the joint J3. The arm element 21 is also referred to as the "first arm". The arm element 22 is also referred to as the "second arm". The arm element 23 is also referred to as the "third arm". The rotation axis of the joint J2 is also referred to as the "first rotation axis". The rotation axis of the joint J3 is also referred to as the "second rotation axis".

[0017] The arm element 24 is connected to the tip of the arm element 23 via the joint J4. The arm element 24 rotates relative to the arm element 23 about the rotation axis of the joint J4. The arm element 25 is connected to the tip of the arm element 24 via the joint J5. The arm element 25 rotates relative to the arm element 24 about the rotation axis of the joint J5. The arm element 26 is connected to the tip of the arm element 25 via the joint J6. The arm element 26 rotates relative to the arm element 25 about the rotation axis of the joint J6.

[0018] Joints J1, J4, and J6 are torsion joints. Joints J2, J3, and J5 are bending joints. Joints J2, J3, and J5 extend in directions intersecting the longitudinal directions of arm elements 21, 22, and 24, respectively.

[0019] The force sensor 30 is attached to the tip of the arm 20. The force sensor 30 detects the force applied to the end effector 40. The detection value of the force sensor 30 is output to a robot controller (not shown). The end effector 40 is attached to the tip of the arm element 26 via the force sensor 30. In the present embodiment, the end effector 40 is an electric driver. The torque, rotation angle, etc. of the electric driver are controlled by the robot controller. The end effector 40 is attached to the arm 20 by a fixing member F1.

[0020] The wiring housing member 50 is provided in the robot 1 to house the wiring of the end effector 40 and the like.

[0021] In the present embodiment, the object housed by the wiring housing member 50 is the wiring used for the devices attached to the robot 1 such as the end effector 40. As a device attached to the robot 1 other than the end effector 40, there is a camera attached to the tip of the arm 20 or the like.

[0022] In this specification, the wiring includes the electrical wiring for supplying power to the devices attached to the robot 1 such as the end effector 40 and the piping for flowing fluids. Fluids include gases and liquids. For example, when the end effector 40 is a vacuum suction hand, a pipe for flowing air is attached to the end effector 40.

[0023] The wiring housing member 50 includes a first case 51, a second case 52, a first tube 53, a second tube 54, and a fixing member 55.

[0024] FIG. 6 is a perspective view showing the appearance of the first case 51. The first case 51 is composed of a frame 51F and a lid 51L. The frame 51F is formed in a frame shape. In the present embodiment, the shape of the frame 51F is formed to match the shape of the +Y side surface of the housing of the arm element 21. The lid 51L is formed in a plate shape. The lid 51L is used to close one opening of the frame 51F. The lid 51L and the frame 51F are formed of resin. The first case 51 is also referred to as a "cover member".

[0025] FIGS. 7 and 8 are explanatory views showing an example of the wiring arranged in the first case 51. In FIGS. 7 and 8, for ease of understanding of the technology, the lid 51L and the frame 51F are shown by broken lines. FIG. 7 shows a state in which the lid 51L is attached to one opening of the frame 51F and the first case 51 is viewed from the other opening side of the frame 51F. The other opening side of the frame 51F is the side that contacts the housing of the arm element 21. FIG. 8 shows a state in which the lid 51L is attached to one opening of the frame 51F and the first case 51 is viewed from the lid 51L side.

[0026] As shown in FIGS. 1 to 5, the first case 51 is attached to the arm element 21. The first case 51 is fixed to the +Y side surface of the housing of the arm element 21, for example, by screwing. In this state, the first case 51 constitutes the first accommodation portion S1 together with a part of the housing of the arm element 21. More specifically, the first accommodation portion S1 is constituted by the first case 51 and the +Y side surface of the housing of the arm element 21. As shown in FIG. 7, the first accommodation portion S1 forms a space capable of accommodating wiring. A part of the wiring used for the end effector 40 or the like is accommodated in the first accommodation portion S1.

[0027] As shown in FIG. 6, wiring holes 511H and 512H are formed in the lid 51L. The wiring holes 511H and 512H are each formed as openings penetrating in a direction substantially perpendicular to the lid 51L. "Substantially perpendicular" means that the angle formed by the penetrating direction of the wiring hole 511H with respect to one surface of the lid 51L is in the range of plus or minus 20 degrees with respect to a right angle. The same applies to the wiring hole 512H. The wiring hole 511H is used to draw wiring from the outside into the inside of the first accommodating portion S1. For this reason, when the first case 51 is attached to the arm element 21, the wiring hole 511H is disposed on the side opposite to the side to which the arm element 22 is connected. The wiring hole 512H is used to draw wiring from the inside of the first accommodating portion S1 to the outside. For this reason, when the first case 51 is attached to the arm element 21, the wiring hole 512H is disposed on the side to which the arm element 22 is connected. The wiring hole 512H is also referred to as the "first wiring hole". The wiring hole 511H is also referred to as the "fourth wiring hole". In the example shown in FIG. 6, the electrical wiring EW1 is drawn into the inside of the first case 51 through the wiring hole 511H. One end of the electrical wiring EW1 is connected to a power source (not shown). Further, the electrical wiring EW1 is drawn out from the inside of the first case 51 to the outside through the wiring hole 512H. The electrical wiring EW1 is wiring for supplying power to the end effector 40.

[0028] As shown in FIGS. 7 and 8, inside the first case 51, the electrical wiring EW1 is disposed along the longitudinal direction of the first case 51. Further, the electrical wiring EW1 is fixed to the inside of the lid 51L in the vicinity of the wiring holes 511H and 512H, respectively. Note that any mode can be adopted as the mode of fixing the wiring.

[0029] As shown in FIGS. 1 and 2, in a state where the first case 51 is attached to the arm element 21, the longitudinal direction of the first case 51 is the same as the longitudinal direction of the arm element 21.

[0030] As shown in FIGS. 1 to 6, in a state where the first case 51 is attached to the arm element 21, the lid 51L of the first case 51 is disposed substantially parallel to the +Y side surface of the housing of the arm element 21. Substantially parallel means that the angle formed by the lid 51L with respect to the +Y side surface of the housing of the arm element 21 is in the range of plus or minus 20 degrees. Note that the +Y side surface of the housing of the arm element 21 is assumed to be a plane substantially perpendicular to the joint J2. Substantially perpendicular means that the angle formed by the +Y side surface of the housing of the arm element 21 with respect to the joint J2 is in the range of plus or minus 20 degrees with respect to a right angle. For this reason, as shown in FIGS. 6 to 8, when the electrical wiring EW1 is drawn into the first case 51 from the wiring hole 511H, the portion of the electrical wiring EW1 passing through the wiring hole 511H extends along the rotation axis direction of the joint J2. Also, when the electrical wiring EW1 is drawn out of the first case 51 from the wiring hole 512H, the portion of the electrical wiring EW1 passing through the wiring hole 512H extends along the rotation axis direction of the joint J2. In other words, the electrical wiring EW1 extends along the rotation axis direction of the joint J2 within the wiring hole 512H. That the electrical wiring EW1 extends along the rotation axis direction means that the inclination of the electrical wiring EW1 with respect to the rotation axis in the extending direction is in the range of plus or minus 30 degrees. The rotation axis of the joint J2 is also referred to as the "first rotation axis".

[0031] Also, as shown in FIG. 7, one or more pipes 51P are fixed inside the lid 51L. Each pipe 51P is arranged along the longitudinal direction of the first case 51. Joints 51J are provided at both ends of each pipe 51P, respectively. Pipes (not shown) for flowing fluid are connected to each joint 51J. As shown in FIG. 6, the joint 51J located on the wiring hole 511H side protrudes outside the first case 51 from an opening (not shown) formed in the lid 51L. Each joint 51J located on the wiring hole 511H side is fixed to the lid 51L. Note that each joint 51J does not necessarily have to be fixed to the lid 51L.

[0032] Each joint 51J located on the side of the wiring hole 511H and each joint 51J located on the side of the wiring hole 512 are arranged side by side in a direction intersecting the longitudinal direction of the first case 51. When a pipe (not shown) is connected to the joint 51J located on the side of the wiring hole 511H, the pipe will extend along the rotation axis direction of the joint J2. Similarly, when a pipe (not shown) is connected to the joint 51J located on the side of the wiring hole 512H, the pipe will also extend along the rotation axis direction of the joint J2.

[0033] Since the first case 51 has the above configuration, the portion of the electrical wiring EW1 drawn out from the first accommodating portion S1 extends in the rotation axis direction of the joint J2 (Y-axis direction in FIG. 1) and is drawn out from the first accommodating portion S1. Even when the joint J2 is driven to rotate the arm element 22, the position of the portion of the electrical wiring EW1 drawn out from the first accommodating portion S1, that is, the portion passing through the wiring hole 512H of the electrical wiring EW1, in the plane (XZ plane in FIG. 1) intersecting the rotation axis of the joint J2 hardly changes. It is possible to suppress an external force from being applied to the portion of the electrical wiring EW1 drawn out from the first accommodating portion S1 as the joint J2 is driven. In FIG. 1 and the like, although the pipe is not shown, the same applies to the pipe. Therefore, it is possible to suppress damage to the wiring including the electrical wiring EW1.

[0034] FIG. 9 is a perspective view showing the appearance of the second case 52. The second case 52 is composed of a frame 52F and a lid 52L. The frame 52F is formed in a frame shape. In the present embodiment, the shape of the frame 52F is formed to match the shape of the +Y side surface of the housing of the arm element 22. The lid 52L is formed in a plate shape. The lid 52L is used to close one opening of the frame 52F. The lid 52L and the frame 52F are formed of resin.

[0035] FIG. 10 is an explanatory diagram showing an example of wiring disposed within the second case 52. In FIG. 10, for ease of understanding of the technology, the lid 52L and the frame 52F are represented by dashed lines. FIG. 10 shows a view of the second case 52 as seen from the lid 52L side in a state where the lid 52L is attached to one opening of the frame 52F. The other opening side of the frame 52F is the side that contacts the housing of the arm element 22.

[0036] As shown in FIGS. 1 to 5, the second case 52 is attached to the arm element 22. The second case 52 is fixed, for example, by screwing to the +Y side surface of the housing of the arm element 22. In this state, the second case 52, together with a part of the housing of the arm element 22, constitutes the second accommodation portion S2. More specifically, the second accommodation portion S2 is constituted by the second case 52 and the +Y side surface of the housing of the arm element 22. As shown in FIG. 10, the second accommodation portion S2 forms a space capable of accommodating wiring. A part of the wiring used for the end effector 40 etc. is accommodated in the second accommodation portion S2.

[0037] As shown in FIG. 9, wiring holes 521H and 522H are formed in the lid 52L. The wiring hole 521H is also referred to as the "second wiring hole". The wiring hole 522H is also referred to as the "third wiring hole". The wiring holes 521H and 522H are each formed as openings penetrating in a direction substantially perpendicular to the lid 52L. Substantially perpendicular means that the angle formed by the penetrating direction of the wiring hole 521H with respect to one surface of the lid 52L is in the range of plus or minus 20 degrees with respect to a right angle. The same applies to the wiring hole 522H. The wiring hole 521H is used to draw wiring from the outside into the inside of the second housing portion S2. For this reason, when the second case 52 is attached to the arm element 22, the wiring hole 521H is disposed on the side to which the arm element 21 is connected. The wiring hole 522H is used to draw wiring from the inside of the first housing portion S1 to the outside. For this reason, when the second case 52 is attached to the arm element 22, the wiring hole 522H is disposed on the side to which the arm element 23 is connected. In the example shown in FIG. 9, the electrical wiring EW1 is drawn into the inside of the second case 52 through the wiring hole 521H. Also, the electrical wiring EW1 is drawn out from the inside of the second case 52 to the outside through the wiring hole 522H.

[0038] As shown in FIG. 10, inside the second case 52, the electrical wiring EW1 is disposed along the longitudinal direction of the second case 52. Also, the electrical wiring EW1 is fixed to the inside of the lid 52L near the wiring holes 521H and 522H, respectively. Note that any mode can be adopted as the mode of fixing the wiring.

[0039] As shown in FIGS. 1 and 2, in a state where the second case 52 is attached to the arm element 22, the longitudinal direction of the second case 52 is the same as the longitudinal direction of the arm element 22. Also, as described above, the joint J2 connecting the arm element 21 and the arm element 22 is a bending joint. For this reason, the wiring hole 512H of the first case 51 and the wiring hole 521H of the second case 52 open on the same-side surfaces of the respective cases in the rotational axis direction of the joint J2.

[0040] As shown in FIGS. 1 to 6, in a state where the second case 52 is attached to the arm element 22, the lid 52L of the second case 52 is disposed substantially parallel to the +Y side surface of the housing of the arm element 22. Substantially parallel means that the angle formed by the lid 52L with respect to the +Y side surface of the housing of the arm element 22 is in the range of plus or minus 20 degrees. Note that the +Y side surface of the housing of the arm element 22 is assumed to be a plane substantially perpendicular to the joint J3. Substantially perpendicular means that the angle formed by the +Y side surface of the housing of the arm element 22 with respect to the joint J3 is in the range of plus or minus 20 degrees with respect to a right angle. For this reason, as shown in FIGS. 9 and 10, when the electrical wiring EW1 is drawn into the second case 52 from the wiring hole 521H, the portion of the electrical wiring EW1 passing through the wiring hole 521H will extend along the rotation axis direction of the joint J2. In other words, the electrical wiring EW1 will extend along the rotation axis direction of the joint J2 within the wiring hole 521H. Further, when the electrical wiring EW1 is drawn out of the second case 52 from the wiring hole 522H, the portion of the electrical wiring EW1 passing through the wiring hole 522H will extend along the rotation axis direction of the joint J3. In other words, the electrical wiring EW1 will extend along the rotation axis direction of the joint J3 within the wiring hole 522H.

[0041] Also, as shown in FIG. 10, one or more pipes 52P are fixed inside the lid 52L. Each pipe 52P is arranged along the longitudinal direction of the second case 52. Joints 52J are respectively provided at both ends of each pipe 52P. Pipes (not shown) for flowing fluid are connected to each joint 52J. Each joint 52J is arranged side by side in a direction intersecting the longitudinal direction of the second case 52. When a pipe (not shown) is connected to the joint 52J, the pipe will extend in a direction along the rotation axis of the joint J3.

[0042] Since the second case 52 has the above configuration, the portion of the electrical wiring EW1 drawn out from the second housing portion S2 extends in the rotational axis direction of the joint J3 (Y-axis direction in FIG. 1) and is drawn out from the second housing portion S2. Even when the joint J3 is driven to rotate the arm element 23, the position of the portion of the electrical wiring EW1 drawn out from the second housing portion S2, that is, the portion passing through the wiring hole 522H of the electrical wiring EW1, in the plane (XZ plane in FIG. 1) intersecting the rotational axis of the joint J3 hardly changes. It is possible to suppress an external force from being applied to the portion drawn out from the second housing portion S2 as the joint J3 is driven. In FIG. 1 and the like, although piping is not shown, the same applies to piping. Therefore, it is possible to suppress damage to the wiring including the electrical wiring EW1.

[0043] Also, the portion of the electrical wiring EW1 drawn into the second housing portion S2 extends in the rotational axis direction of the joint J2 (Y-axis direction in FIG. 1) and is drawn into the second housing portion S2. When the arm element 22 rotates as the joint J2 is driven, the relative distance between the wiring hole 521H of the second case 52 and the wiring hole 512H of the first case 51 does not change. For this reason, the relative distance between the wiring passed through the wiring hole 521H of the second case 52 and the wiring passed through the wiring hole 512H of the first case 51 hardly changes. Therefore, when the arm element 22 rotates, it is possible to suppress an external force from being applied to the wiring passed through the wiring hole 521H of the second case 52, the wiring passed through the wiring hole 512H of the first case 51, and the wiring not housed in the first housing portion S1 and the second housing portion S2 between the wiring holes 521H and 512H. In FIG. 1 and the like, although piping is not shown, the same applies to piping. Therefore, it is possible to suppress damage to the wiring including the electrical wiring EW1.

[0044] The first tube 53 and the second tube 54 shown in FIGS. 1 to 5 are configured as telescopic cylindrical members. For example, the first tube 53 and the second tube 54 are cylindrical members that can be telescoped by a bellows structure. The first tube 53 and the second tube 54 are formed of resin. The first tube 53 and the second tube 54 are cut along the longitudinal direction to draw wiring into the inside of the tube.

[0045] The first tube 53 connects the wiring hole 512H of the first case 51 and the wiring hole 521H of the second case 52. The first tube 53 can be telescoped as the robot 1 operates. The first tube 53 houses the wiring that is drawn out from the wiring hole 512H of the first case 51 and not drawn into the wiring hole 521H of the second case 52. The first tube 53 can protect the portion of the wiring drawn out from the wiring hole 512H of the first case 51 that is not drawn into the wiring hole 521H of the second case 52. The first tube 53 expands and contracts as the robot 1 operates. Even when the robot 1 operates, the wiring not housed in the first housing portion S1 and the second housing portion S2 can be sufficiently protected.

[0046] The second tube 54 connects the wiring hole 522H of the second case 52 and the wiring hole 551H formed in a fixing member 55 described later. The second tube 54 can be telescoped as the robot 1 operates. The second tube 54 houses the wiring that is drawn out from the wiring hole 522H of the second case 52 and not drawn into the wiring hole 551H of the fixing member 55. The second tube 54 can protect the portion of the wiring drawn out from the wiring hole 522H of the second case 52 that is not drawn into the wiring hole 551H of the fixing member 55. The second tube 54 expands and contracts as the robot 1 operates. Even when the robot 1 operates, the wiring not housed in the second housing portion S2 can be sufficiently protected.

[0047] The fixing member 55 is used to fix the wiring drawn out from the wiring hole 522H. The fixing member 55 is fixed to the arm element 23. Since the joint J4 adjacent to the joint J3 is a torsion joint, the fixing member 55 is used. The fixing member 55 is arranged so that its longitudinal direction extends along the longitudinal direction of the arm element 24 connected to the arm element 23. The fixing member 55 includes a fixing portion 55F and a mounting portion 55M. For example, by bending a single plate-like member formed of resin at a substantially right angle, the fixing portion 55F and the mounting portion 55M are formed. The substantially right angle means that the angle formed by the fixing portion 55F and the mounting portion 55M is in the range of 70 degrees to 110 degrees. The fixing member 55 is configured such that the cross section when cut by a plane intersecting its longitudinal direction is in an L-shape.

[0048] The fixing portion 55F is the portion fixed to the arm element 23. The fixing portion 55F is fixed to the +X side surface of the housing of the arm element 23 by, for example, screwing.

[0049] A wiring hole 551H is formed in the mounting portion 55M. The wiring hole 551H is formed as an opening penetrating in a direction substantially perpendicular to the mounting portion 55M. It means being in the range of plus or minus 20 degrees with respect to the right angle. The wiring hole 551H is formed to pass the electrical wiring EW1 drawn out from the second housing portion S2.

[0050] As shown in FIGS. 1 to 6, in a state where the fixing member 55 is attached to the arm element 23, the mounting portion 55M is arranged substantially parallel to the lid 52L of the second case 52. The substantially parallel means that the angle formed by the mounting portion 55M with respect to the lid 52L is in the range of plus or minus 20 degrees. As described above, the lid 52L of the second case 52 is arranged substantially parallel to the +Y side surface of the housing of the arm element 22. Also, the +Y side surface of the housing of the arm element 22 is a plane substantially perpendicular to the joint J3. Therefore, when the electrical wiring EW1 is passed through the wiring hole 551H, the portion of the electrical wiring EW1 passing through the wiring hole 551H will extend in the direction along the rotation axis of the joint J3.

[0051] When the arm element 23 rotates as the joint J3 is driven, the relative distance between the wiring hole 551H of the fixing member 55 and the wiring hole 522H of the second case 52 does not change. Therefore, the relative distance between the wiring passed through the wiring hole 551H of the fixing member 55 and the wiring passed through the wiring hole 522H of the second case 52 hardly changes. Thus, when the arm element 23 rotates, it is possible to suppress an external force from being applied to the wiring passed through the wiring hole 551H of the fixing member 55, the wiring passed through the wiring hole 522H of the second case 52, and the wiring not accommodated in the second accommodation portion S2 between the wiring holes 551H and 522H. Although not shown in FIG. 1 and the like, the same applies to piping. Therefore, it is possible to suppress breakage of the wiring including the electrical wiring EW1.

[0052] The wiring is arranged by an operator as follows. First, the frame 51F of the first case 51 is attached to the +Y side surface of the housing of the arm element 21. The frame 52F of the second case 52 is attached to the +Y side surface of the housing of the arm element 22. The fixing member 55 is attached to the housing of the arm element 23. The lids 51L and 52L through which the electrical wiring EW1 is passed are attached to the frames 51F and 52F, respectively. Also, necessary piping is appropriately connected to the joint 51J. The wiring not accommodated in the first case 51 and the second case 52 is accommodated inside the first tube 53 from the cut of the first tube 53. The wiring not accommodated in the first case 51 and the second case 52 is accommodated inside the second tube 54 from the cut of the second tube 54. As described above, since the first tube 53 and the second tube 54 have cuts along the longitudinal direction, the wiring can be easily arranged inside the first tube 53 and the second tube 54. Each end of the first tube 53 is connected to a corresponding wiring hole. Each end of the second tube 54 is connected to a corresponding wiring hole. The wiring is arranged by the above procedure.

[0053] Conventionally, wiring for the end effector 40 and the like was arranged along the arm element on the outside of the arm element. For this reason, while the robot 1 was operating, the wiring for the end effector 40 and the like might interfere with peripheral devices. Also, as the robot 1 operated, the wiring might contact the peripheral devices and the wiring might be damaged.

[0054] Therefore, in order to avoid interference and damage to the wiring, for example, when installing the robot, a technician with skilled experience had to route the wiring while considering the installation environment of the robot, the planned work content of the robot, the degree of deflection of the wiring, and the like.

[0055] In the aspect of using the wiring housing member 50 according to the present embodiment, since the wiring may be arranged by the above-described procedure, it is not necessary for a technician with skilled experience to route the wiring while considering the installation environment of the robot, the planned work content of the robot, the degree of deflection of the wiring, and the like. Therefore, the work of arranging the wiring becomes simpler compared to the conventional case.

[0056] In the present embodiment, a part of the wiring for the end effector 40 and the like is housed in the first housing portion S1. Also, a part of the wiring for the end effector 40 and the like is housed in the second housing portion S2. Therefore, it is possible to suppress the interference of the wiring, which was conventionally arranged along the arm elements 21 and 22 on the outside of the arm elements 21 and 22, with the peripheral devices. Therefore, it is possible to suppress the contact of the wiring with the peripheral devices as the robot 1 operates and the damage of the wiring. In this way, it is possible to achieve both prevention of the wiring from interfering with the robot arm and peripheral devices and prevention of the wiring from being damaged.

[0057] Also, as described above, with respect to the portions of the wiring drawn out from the first accommodation portion S1 and the second accommodation portion S2, they are configured to be drawn out in the respective rotational axis directions of the joints J2 and J3. For this reason, even when the joint J2 is driven, it is possible to suppress an external force from being applied to the portion drawn out from the first accommodation portion S1. Even when the joint J3 is driven, it is possible to suppress an external force from being applied to the portion drawn out from the second accommodation portion S2. Therefore, damage to the wiring can be suppressed.

[0058] Furthermore, with respect to the portion of the wiring drawn into the second accommodation portion S2, it is configured to be drawn in the rotational axis direction of the joint J2. For this reason, even when the joint J2 is driven, it is possible to suppress an external force from being applied to the portion drawn into the second accommodation portion S2. Therefore, damage to the wiring can be suppressed.

[0059] With respect to the portion drawn into the wiring hole 551H of the fixing member 55, it is configured to be drawn in the rotational axis direction of the joint J3. For this reason, even when the joint J3 is driven, no external force is applied to the portion drawn into the wiring hole 551H of the fixing member 55. Therefore, damage to the wiring can be suppressed.

[0060] Also, in the present embodiment, the first accommodation portion S1 is formed from a part of the housing of the arm element 21 and the first case 51 attached to the housing of the arm element 21. For this reason, weight reduction can be achieved as compared with an aspect that does not utilize a part of the housing of the arm element 21. Even in an aspect in which the second accommodation portion S2 is formed from a part of the housing of the arm element 22 and the second case 52 attached to the housing of the arm element 22, weight reduction can be similarly achieved as compared with an aspect that does not utilize a part of the housing of the arm element 22.

[0061] B. Other Embodiments: In the above-described embodiment, an example in which the first accommodation portion S1 is configured by a part of the housing of the arm element 21 and the first case 51 has been described. Alternatively, the first accommodation portion S1 may be provided inside the housing of the arm element 21. Further, the second accommodation portion S2 may be provided inside the housing of the arm element 22. For example, so that the first accommodation portion S1 is formed inside the housing of the arm element 21, a partition wall that partitions a space for accommodating the first accommodation portion S1 and components necessary for the arm element 22 to function in order to operate the robot 1 may be provided inside the housing of the arm element 21. Also in this case, as in the embodiment, the wiring is arranged inside the first accommodation portion S1 of the housing of the arm element 21. Also, the mode of drawing out and drawing in the wiring is the same as in the embodiment. The same applies to the second accommodation portion S2 formed inside the housing of the arm element 22.

[0062] C. Other forms: The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each form described in the summary of the invention can be appropriately replaced and combined in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Also, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

[0063] (1) According to the first aspect of the present disclosure, a vertical articulated robot is provided. This vertical articulated robot includes a first arm, a second arm connected to the first arm and rotating about a first rotation axis, and a first accommodation portion that accommodates a part of the wiring inside the first arm. The first accommodation portion is characterized by having a first wiring hole for drawing out the wiring along the first rotation axis direction. According to the above-described embodiment, for the wiring drawn out from the first accommodating portion along the first rotation axis direction, even when the second arm rotates, the position of the wiring in the plane intersecting the first rotation axis hardly changes. Therefore, when the second arm rotates, no external force is applied to the wiring drawn out from the first accommodating portion, and it is possible to suppress the wiring from being damaged. Further, by accommodating a part of the wiring in the first accommodating portion, it is possible to prevent the wiring from interfering with the robot arm and the peripheral devices. In this way, it is possible to achieve both prevention of interference between the wiring and the robot arm and the peripheral devices and prevention of damage to the wiring. (2) In the vertically articulated robot according to the above-described embodiment, it may include a second accommodating portion that accommodates a part of the wiring inside the second arm, and the second accommodating portion may have a second wiring hole that draws the wiring drawn out from the first wiring hole into the second accommodating portion. According to the above-described embodiment, since the first arm and the second arm are connected by the first rotation axis, even when the second arm rotates, the relative distance between the first wiring hole and the second wiring hole does not change. Therefore, when the second arm rotates, it is possible to suppress an external force from being applied to the wiring drawn out from the first accommodating portion. Thus, it is possible to suppress the wiring from being damaged. Further, by accommodating the wiring in the second accommodating portion, it is possible to prevent the wiring from interfering with the robot arm and the peripheral devices. (3) In the vertically articulated robot according to the above-described embodiment, it may include a third arm connected to the second arm and rotating around a second rotation axis, and the second accommodating portion may have a third wiring hole that draws a part of the wiring accommodated in the second accommodating portion along the second rotation axis direction. According to the above-described embodiment, for the wiring drawn out from the second accommodating portion along the second rotation axis, even when the third arm rotates, the position of the wiring in the plane intersecting the second rotation axis hardly changes. Therefore, when the third arm rotates, no external force is applied to the wiring drawn out from the second accommodating portion, and it is possible to suppress the wiring from being damaged. (4) In the vertically articulated robot according to the above-described embodiment, the first rotation axis may extend in a direction intersecting the longitudinal direction of the first arm. (5) In the vertical articulated robot of the above-described form, the third arm may have a fixing member for fixing the wiring drawn out from the third wiring hole. (6) In the vertical articulated robot of the above-described form, the first accommodating portion may be composed of a housing of the first arm and a cover member attached to the housing. In the above-described form, by configuring the first accommodating portion from a part of the housing of the first arm and a cover member attached to the housing of the first arm, weight reduction can be achieved as compared with a mode in which a part of the housing of the first arm is not used. (7) In the vertical articulated robot of the above-described form, the first accommodating portion may be arranged on the side opposite to the side to which the second arm is connected, and may be provided with a fourth wiring hole for drawing out an end portion of the wiring. (8) In the vertical articulated robot of the above-described form, it may be provided with a cylindrical member that accommodates a part of the wiring, connects the first wiring hole and the second wiring hole, and is deformable as the vertical articulated robot operates. In the above-described form, the wiring drawn out from the first wiring hole and not accommodated in the first accommodating portion and the second accommodating portion can be protected. Further, as the cylindrical member that is deformable deforms as the robot operates, the wiring not accommodated in the first accommodating portion and the second accommodating portion can be sufficiently protected. (9) In the vertical articulated robot of the above-described form, a cut may be made in the cylindrical member along the longitudinal direction of the cylindrical member. In the above-described form, the wiring not accommodated in the first accommodating portion and the second accommodating portion is drawn into the inside of the cylindrical member from the cut made along the longitudinal direction of the cylindrical member. It is easy to arrange the wiring inside the cylindrical member. (10) According to the second form of the present disclosure, there is provided a cover attached to a vertical articulated robot having a first arm and a second arm connected to the first arm and rotating about a rotation axis. This cover is attached to the first arm and includes an accommodating portion that accommodates a part of the wiring. The accommodating portion has a wiring hole for drawing out the wiring along the rotation axis direction. According to the above-described embodiment, for the wiring drawn out from the accommodating portion along the rotation axis direction, even when the second arm rotates, the position of the wiring in the plane intersecting the rotation axis hardly changes. Therefore, when the second arm rotates, no external force is applied to the wiring drawn out from the accommodating portion, and it is possible to suppress the wiring from being damaged. Further, by accommodating the wiring in the accommodating portion, it is possible to prevent the wiring from interfering with the robot arm and the peripheral devices. In this way, it is possible to achieve both prevention of the wiring from interfering with the robot arm and the peripheral devices and prevention of the wiring from being damaged.

Explanation of Reference Numerals

[0064] 1... robot, 10... base, 20... arm, 21 - 26... arm elements, 30... force sensor, 40... end effector, 50... wiring accommodating member, 51... first case, 51F... frame, 51J... joint, 51L... lid, 51P... pipe, 52... second case, 52F... frame, 52J... joint, 52L... lid, 52P... pipe, 53... first tube, 54... second tube, 55... fixing member, 55F... fixing portion, 55M... mounting portion, 511H... wiring hole, 512... wiring hole, 512H... wiring hole, 521H... wiring hole, 522... wiring hole, 522H... wiring hole, 551H... wiring hole, EW1... electrical wiring, F1... fixing member, J1 - J6... joints, RC... robot coordinate system, RX... angular position, S1... first accommodating portion, S2... second accommodating portion

Claims

1. a first arm, a second arm connected to the first arm and rotating about a first rotation axis, and a first accommodating portion that accommodates a part of the wiring inside the first arm, wherein the first accommodating portion has a first wiring hole that draws out the wiring along the first rotation axis direction, characterized by a vertically articulated robot.

2. comprising a second accommodating portion that accommodates a part of the wiring inside the second arm, wherein the second accommodating portion has a second wiring hole that draws the wiring drawn out from the first wiring hole into the second accommodating portion, the vertically articulated robot according to claim 1.

3. comprising a third arm connected to the second arm and rotating about a second rotation axis, wherein the second accommodating portion has a third wiring hole that draws out a part of the wiring accommodated in the second accommodating portion along the second rotation axis direction, the vertically articulated robot according to claim 2.

4. wherein the first rotation axis extends in a direction intersecting the longitudinal direction of the first arm, the vertically articulated robot according to claim 1.

5. wherein the third arm has a fixing member for fixing the wiring drawn out from the third wiring hole, the vertically articulated robot according to claim 3.

6. wherein the first accommodating portion is composed of a housing of the first arm and a cover member attached to the housing, the vertically articulated robot according to claim 1.

7. wherein the first accommodating portion is disposed on a side opposite to the side to which the second arm is connected and has a fourth wiring hole for drawing out an end portion of the wiring, the vertically articulated robot according to claim 1.

8. a cylindrical member that accommodates a part of the wiring, connects the first wiring hole and the second wiring hole, and is deformable along with the operation of the vertically articulated robot, the vertically articulated robot according to claim 2.

9. wherein the cylindrical member has a cut along the longitudinal direction of the cylindrical member, the vertically articulated robot according to claim 8.

10. a cover attached to a vertically articulated robot having a first arm and a second arm connected to the first arm and rotating about a rotation axis, wherein the cover is attached to the first arm and has an accommodating portion that accommodates a part of the wiring, wherein the accommodating portion has a wiring hole that draws out the wiring along the rotation axis direction, characterized by a cover.

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