Multi-joint robot

Abstract

To secure ease of replacement even in an end effector from which a large number of electric wires are pulled out.SOLUTION: A multi-joint robot 1 according to the invention includes: a robot arm; an end effector provided at a tip of the robot arm; a head attachment 3 for attaching the end effector to the tip of the robot arm; and an electric wire 13 which connects the end effector with a control board fixedly disposed on the ground side. A connection part (a terminal block 51) for connecting the electric wire pulled out from the end effector with the electric wire pulled out from the control board is integrated with the head attachment 3.SELECTED DRAWING: Figure 3B

Description

Technical Field

[0001] The present invention relates to a multi-joint robot.

Background Art

[0002] Conventionally, as described in, for example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2015-058515) and Patent Document 2 (Japanese Patent Application Laid-Open No. 2004-1177), a working multi-joint robot having an end effector (for example, a spray gun for painting, a gun for spot welding, etc.) attached to the tip of the multi-joint robot is widely used in many industrial fields. The end effector side electric wire drawn out from the end effector is connected to the robot side electric wire coming from the robot side. Since these electric wires are subjected to large stresses (bending and tension) when the robot operates, in the invention of Patent Document 1, the end effector side electric wire and the robot side electric wire are terminally connected on the end effector side rather than the wrist part (also referred to as the attachment part).

[0003] When the end effector is an inkjet head for painting or the like, the number of end effector side electric wires and robot side electric wires increases. Therefore, it takes time for terminal connection, and it is difficult to ensure the ease of replacement of the inkjet head or the like.

Disclosure of the Invention

Problems to be Solved by the Invention

[0004] Therefore, an object of the present invention is to provide a multi-joint robot capable of ensuring ease of replacement even for an end effector with a large number of drawn electric wires.

Means for Solving the Problems

[0005] The articulated robot of the present invention for solving the above problems includes a robot arm, an end effector provided at the tip of the robot arm, a head attachment for attaching the end effector to the tip of the robot arm, and a wire connecting the end effector and a control panel fixedly arranged on the ground side. In the articulated robot, a connection part for connecting the wire drawn from the end effector and the wire drawn from the control panel is integrated with the head attachment.

Advantages of the Invention

[0006] According to the present invention, even for an end effector with a large number of wires to be drawn out, the ease of replacement can be ensured.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3A

Figure 3B

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0008] Hereinafter, with reference to the drawings, the multi-joint robot according to the first embodiment of the present invention will be described in order. The feature of the multi-joint robot 1 of the present invention is that a terminal block 51 as a connection part for connecting the electric wires 24a and 24b drawn from the inkjet head 20 and the electric wire 13B drawn from the end effector control board 14 is integrated with a head attachment 3 for attaching the inkjet head 20 as an end effector to the tip of the robot arm.

[0009] ● First Embodiment FIG. 1 is a schematic view of a multi-joint robot according to the first embodiment of the present invention. The multi-joint robot 1 is a multi-joint robot (6-axis vertical multi-joint robot) having a plurality of links and a plurality of rotating shafts J1 to J6 connecting the respective links as shown in FIG. 1.

[0010] On the base 10 of this multi-joint robot 1, a swivel base (basic first axis) 9 that can be horizontally swiveled via a vertical rotating shaft J6 is disposed. On the swivel base (basic first axis) 9, a lower arm (basic second axis) 8 is disposed so as to be movable back and forth via a horizontal rotating shaft J5.

[0011] A swivel part 7 is disposed at the upper end of the lower arm (basic second axis) via a horizontal rotating shaft J4. An upper arm (basic third axis) 6 is disposed on this swivel part 7 via a rotating shaft J3. The upper arm (basic third axis) 6 can move up and down around the rotating shaft J4 and can swivel around the rotating shaft J3.

[0012] A wrist part (wrist first axis to wrist third axis) 5 is disposed at the tip of the upper arm (basic third axis) 6 via a rotating shaft J2. An end effector 2 is attached to the wrist part 5 via a head attachment 3. The head attachment 3 is configured to be rotatable around the rotating shaft J1.

[0013] The rotating shafts J2, J4, and J5 rotate in the clockwise or counterclockwise direction when viewed from the surface of FIG. 1. Also, the rotating shafts J1, J3, and J6 rotate in the front or back direction of FIG. 1 around the rotating shaft.

[0014] The head attachment 3 has an end effector 2 and a junction box 4 attached thereto. The junction box 4 mounts members such as connectors and terminal blocks for connecting a plurality of electric wires drawn from the end effector 2 to the electric wires 13 (13A, 13B) arranged from the robot side, and is for connection inside the junction box 4.

[0015] The electric wire 13 is drawn from the junction box 4 and is fixed at the wire drawing portion 11 of the junction box 4. Thereafter, the electric wire 13 is connected to the end effector control panel 14 fixedly arranged on the ground via the wire fixing portion 12A erected on the upper surface of the turning portion 7. Since the turning portion 7 has less movement (swing amount) compared to the arms 6 and 8, the movement (swing amount) of the wire fixing portion 12A is also small.

[0016] Here, although not shown in the figure, for the rotation control of each rotating shaft, generally, a servo motor is mounted on each shaft, and these are controlled by a robot control device to move the end effector 2. When the end effector 2 is a discharge device that discharges paint, painting can be performed by moving it along the painted surface of the target to be painted.

[0017] The life of the electric wire 13 is disconnection due to the bending of the electric wire 13. What has an adverse effect on this disconnection is that the number of bends of the electric wire 13 is large and the bending radius is small. Conversely, if the number of bends is reduced and the bending radius is increased, the life of the electric wire 13 can be extended.

[0018] The present invention realizes a reduction in the number of bends and an increase in the bending radius by fixing the electric wire 13 at a location that does not adversely affect the number of bends and the bending radius. Specifically, the electric wire 13 is connected to the rotating shafts of the wrist portion (wrist first axis to wrist third axis) 5 that attaches the head attachment 3, and (1) Do not fix it to parallel arms. (2) Do not fix to an arm having a rotation axis on the same straight line and capable of rotating in the direction opposite to the rotation direction of the wrist part (wrist first axis to wrist third axis) 5. (3) Do not fix to an arm having a rotation axis on the same straight line and having a phase difference even when rotating in the same rotation direction as the rotation direction of the wrist part (wrist first axis to wrist third axis) 5.

[0019] When the electric wire 13 is fixed to the arms (1) to (3) above, the number of bending times of the electric wire 13 increases and the bending radius becomes small, which leads to disconnection of the electric wire 13. Therefore, by avoiding (spacing apart from the arms) the upper arm 6 and the lower arm 8 of the multi-joint robot 1 and fixing or supporting the middle part of the electric wire 13, the number of bending times is reduced and the bending radius is increased, so as to extend the life of the electric wire 13.

[0020] ● Inkjet head In this embodiment, for example, the inkjet head 20 of FIG. 2 can be used as the end effector 2. Using this FIG. 2, the outline of an inkjet head 20 using a generally known piezo element will be described. The inkjet head 20 has a piezo element 22, and a needle 21 is attached to the piezo element 22 via a drive mechanism unit 23.

[0021] Eight needles 21 are mounted on the inkjet head 20. Each needle 21 uses the piezo element 22 as a drive source, and the expansion and contraction vibration of the piezo element 22 is transmitted to the needle 21 as a left-right movement in FIG. 2 via the drive mechanism unit 23.

[0022] Two electric wires, a positive electrode electric wire 24a and a negative electrode electric wire 24b, for applying a voltage to the piezo element 22 are attached. By applying a voltage to the piezo element 22 via these electric wires 24a and 24b, the piezo element 22 compresses and expands. Due to this compression and expansion, the needle 21 attached in the compression and expansion direction is moved.

[0023] On one side, high-pressure paint is supplied from the inlet pipe 25a to one end of the liquid chamber 26 that houses the needle 21. The paint supplied to the liquid chamber 26 is configured to exit from the outlet pipe 25b on the opposite side of the liquid chamber 26.

[0024] A nozzle-shaped paint discharge port 27 is formed on the surface where the tip of the needle 21 in the liquid chamber 26 hits. When the needle 21 is driven (reciprocated) in the left-right direction in FIG. 2, the discharge port 27 opens and closes, and when the discharge port 27 is open, the high-pressure paint in the liquid chamber 26 is discharged to the outside from the discharge port 27.

[0025] The inkjet head 20 has a wire outlet 28. Wires 24a and 24b are drawn out of the head from this wire outlet 28.

[0026] The wire outlet 28 is filled with a sealing material 29. The inside of the head is blocked from the outside by the sealing material 29, thereby ensuring the pressure resistance and explosion protection of the inkjet head 20.

[0027] In order to meet the criteria for pressure resistance and explosion protection, it may be required to pass the wires 24a and 24b through a metal conduit 24d that is a wire protection tube. In this case, one end of the conduit 24d is fixed to the wire outlet 28 by a conduit fitting 24c attached to the wire outlet 28 of the inkjet head 20.

[0028] Using the conduit 24d increases the weight of the end effector 2 and affects the operability of the multi-joint robot 1. Also, the flexibility of the wires is reduced by the conduit 24d, so the wire connectivity deteriorates.

[0029] When not using the conduit 24d, it is necessary to protect the electric wires 24a and 24b from external damage by some method other than the conduit 24d. Incidentally, the amount of paint ejected from one ejection port 27 of the inkjet head 20 at one opening is extremely small, on the order of several nl (nanoliters). For this reason, in order to correspond to the painting area per unit time required for painting, for example, of an automobile body, the number of ejection ports 27 has been increased.

[0030] Although details are omitted, generally, in order to satisfy the painting area per unit time required for general painting, it is common that six or more heads shown in FIG. 2 are required. That is, if six inkjet heads 20 are mounted as end effectors 2, 96 electric wires (2 wires × 8 elements × 6 units) will be drawn out from the inkjet head 20. The number of these drawn-out electric wires is significantly larger compared to the number of electric wires (2 to 3 wires) drawn out from a generally known painting gun for electrostatic painting.

[0031] Since the painting gun for electrostatic painting has few electric wires, the workability of replacing the painting gun is not particularly problematic. Even if the length of the electric wire of the painting gun is about 8 m, the workability of replacing the painting gun will not deteriorate significantly because the weight of the electric wire itself is light.

[0032] However, since the inkjet head 20 has a significantly larger number of drawn-out electric wires, the number of electric wires becomes a factor that significantly deteriorates the workability of replacing the head. This embodiment improves the workability of replacing the head with a large number of electric wires.

[0033] ● Head attachment and connection box FIG. 3A is an assembled perspective view of the head attachment 3 and the connection box 4. FIG. 3B shows a state in which the head array unit of FIG. 4 is attached to the head attachment 3. Here, the head array unit refers to the inkjet head 20 in which a plurality of heads are integrated as shown in FIG. 4.

[0034] The head attachment 3 has a box-shaped housing. In FIGS. 3A and 3B, the front wall of the housing is omitted to show the inside of the head attachment 3.

[0035] The head attachment 3 is attached to the wrist part 5 at the tip of the upper arm 6 via a columnar attachment part 3a fixed to the side surface of the housing. A connection box 4 is disposed on the upper surface of the head attachment 3.

[0036] A plurality of inkjet heads 20 are mounted inside the head attachment 3. As shown in FIG. 4, each inkjet head 20 has its nozzle side integrated with a head array holder 3b to form a head array unit.

[0037] FIGS. 4(a) and 4(b) are an example showing an embodiment of the head array unit. A plurality (six in the illustrated example) of inkjet heads 20 are integrated in a row (array) on a plate-shaped head array holder 3b.

[0038] The electric wires drawn out from the inkjet heads 20 are inserted and supported by pod portions 41a rising from the upper surface of the face plate 41. The face plate 41 is disposed in parallel with the head array holder 3b above the inkjet heads 20.

[0039] The position adjustment of each of the inkjet heads 20 can be performed when attaching them to the head array holder 3b. After mounting the inkjet heads 20 in the connection box 4, the head array holder 3b is fixed to the lower opening of the head attachment 3 to form a part of the head attachment 3.

[0040] In Fig. 4(a), a large-sized face plate 41 with six pod portions 41a is used. However, it is also possible to use six small-sized face plates 42 each having one pod portion 42a as shown in Fig. 4(b) for each head array unit. When using the small-sized face plate 42, a plurality of small-sized notch holes (openings) sized to correspond to the small-sized face plate 42 can be formed in the bottom plate 4b of the connection box 4. By forming the small-sized notch holes, the pressure resistance and explosion-proof performance of the connection box 4 can be improved.

[0041] The head array holder 3b can be configured with one sheet as shown in Fig. 3A or with a plurality of two or more sheets as shown in Fig. 3B depending on the number of inkjet heads 20. The head array holder 3b is fixed to the edge of the lower opening of the head attachment 3 in a state where the head array unit is housed in the head attachment 3 from the lower opening of the head attachment 3. In this state, the head array holder 3b becomes a part of the head attachment 3.

[0042] An electric wire (bundled electric wire) 13A obtained by dividing the electric wire (bundled electric wire) 13 routed from the control panel 14 on the robot side into six parts is connected to the upper plate 4a of the connection box 4. Inside the connection box 4, a DIN rail 50 spanning between the left and right side plates 4c is disposed.

[0043] A plurality of known push-type two-stage terminal blocks 51 are attached to this DIN rail 50. Each electric wire (bundled electric wire) 13A is detachably connected to the upper end of the terminal block 51 as a number of individual electric wires 13B.

[0044] Note that the electric wires coming from the control panel 14 are not limited to the electric wires 13 (13A, 13B). Only the electric wires 13A and 13B are shown as the electric wires coming from the control panel 14 in Figs. 3A and 3B, but actually there are other electric wires.

[0045] On one hand, the upper ends of the electric wires 24a and 24b rising from the pod portion 41a are detachably connected to the lower end of the terminal block 51 in the connection box 4. Through this terminal block 51, the individual electric wire 13B of the electric wire 13A coming from the control panel 14 and the electric wires 24a and 24b on the head side are connected.

[0046] On the bottom plate 4b of the connection box 4 below the DIN rail 50 or the terminal block 51, a pair of rectangular notch holes 4d as openings are formed on the left and right. Through the notch holes 4d, the upper ends of the electric wires 24a and 24b rising from the pod portion 41a are drawn into the connection box 4 and detachably connected to the lower end of the terminal block 51.

[0047] ● Attachment of the head array unit The attachment of the head array unit to the head attachment 3 is performed by lifting the entire head array unit in the direction of the arrow in FIG. 3B. Then, the face plate 41 is detachably attached to the connection box 4 so as to block the notch hole 4d of the connection box 4. By integrating the face plate 41 with the connection box 4, the pressure resistance and explosion protection performance of the connection box 4 can be improved.

[0048] Next, the head array holder 3b is detachably attached so as to block the lower end opening of the head attachment 3. The attachment order of the face plate 41 and the head array holder 3b may be reversed. Then, the bar terminals (or ferrule terminals) 43 attached to the upper ends of the electric wires 24a and 24b on the head side are inserted into the terminal block 51.

[0049] Here, the connection box 4 and the terminal block 51 that satisfy a predetermined explosion protection standard (for example, the explosion protection structure standard for electrical machinery and appliances according to the explosion protection guidelines for industrial electrical equipment) can be used. When explosion protection is not required for the connection box 4 and the terminal block 51, the face plate 41 can be omitted, or the terminal block 51 can be replaced with a general industrial connector as a substitute.

[0050] By connecting the electric wires 24a and 24b of the inkjet head 20 to the terminal block 51 in the connection box 4, the work of installing the electric wires 24a and 24b along the arms 6 and 8 of the robot 1 can be omitted. Further, when the connection part (terminal block 51) of the electric wires 24a and 24b is arranged in the connection box 4 corresponding to safety increased explosion protection, the predetermined explosion protection standards can be satisfied. In this way, by providing a configuration (front panel 41 and bar terminal 43) that satisfies the predetermined explosion protection standards in cooperation with a part of the connection box 4 (notch hole 4d and terminal block 51) in the replacement unit (head array unit) of the end effector 2, the replaceability of the end effector 2 can be improved.

[0051] ● Removal of the head array unit To remove the head array unit from the head attachment 3, first, remove the front housing plate of the head attachment 3 as shown in Fig. 3B. Then, pull out all the bar terminals 43 from the terminal block 51. Next, remove the front panel 41 from the connection box 4.

[0052] Then, remove the head array holder 3b from the head attachment 3. In this way, the head array unit can be removed from the head attachment 3.

[0053] ● Fixing state of the front panel to the connection box Referring to Fig. 5, the fixing state of the front panel 41 to the connection box 4 will be described. Six lead-in holes 41b for leading the electric wires 24a and 24b drawn from the inkjet head 20 into the connection box 4 are formed in the front panel 41.

[0054] Each lead-in hole 41b communicates with the hole of the pod part 41a protruding from the inner surface of the front panel 41 into the connection box 4. The front panel 41 is detachably fixed to the bottom plate 4b of the connection box 4 so as to close the notch hole 4d shown in Fig. 3B.

[0055] FIG. 5 is a view showing that two face plates 41 each formed with six (6) lead-in holes 41b are attached to the junction box 4. FIG. 5 shows a configuration in which six lead-in holes 41b are provided for one face plate 41, but the number of lead-in holes 41b provided for one face plate 41 is arbitrary.

[0056] Further, the shape of the face plate 41 does not necessarily have to be square as long as it forms a surface (plate-like). Since the shape of the face plate 41 does not affect the present invention, it may be circular or the like.

[0057] In the head array unit of FIG. 4, the electric wires 24a and 24b drawn out from the head 20 are drawn into the pod portions 41a formed on the face plate 41. The pod portions 41a are filled with a sealing material in order to satisfy the explosion-proof standard. By this sealing material, the inside of the junction box 4 is blocked from the outside, and the inflow of an explosive atmosphere from the outside into the junction box 4 is prevented.

[0058] Bar terminals 43 are attached to the tips (upper ends) of the electric wires 24a and 24b. The bar terminals 43 are connected to the terminal block 51 inside the junction box 4.

[0059] By adopting the configuration of the head array unit of FIG. 4, it is possible to complete in advance the wire passing operation, the sealing operation, the installation operation of the connector 24d, the connector fitting 24c, etc. that occur when replacing the head alone. Thereby, the head replacement time can be shortened and the workability can be improved. Note that if the electric wires 24a and 24b are protected in some way, the installation operation of the connector 24d and the connector fitting 24c is unnecessary.

[0060] ●Second Embodiment FIG. 6 is a schematic view of the articulated robot 1 according to the second embodiment of the present invention. This FIG. 6 is obtained by adding a wire fixing portion 12B and a telescopic member 15 to the configuration of FIG. 1.

[0061] The wire fixing portion 12B is L-shaped as a whole and is erected on the upper surface of the turning portion 7. The upper part of the wire fixing portion 12B horizontally projects in the direction of the upper arm 6.

[0062] The upper end of the telescopic member 15 is connected to the horizontally protruding tip. The lower end of the telescopic member 15 is connected to the slack portion 13a of the middle portion of the electric wire 13 so that the slack portion 13a of the middle portion of the electric wire 13 does not touch the object to be coated 16.

[0063] The amount of slack of the slack portion 13a in the middle portion of the electric wire 13 is determined by the distance between the electric wire fixing portion 12B and the electric wire lead-out portion 11, and this distance changes due to the operation of the rotation axes J1, J2, and J3. Corresponding to the maximum change in the distance, the length of the telescopic member 15 and the height of the electric wire fixing portion 12B can be set.

[0064] When the distance between the electric wire fixing portion 12B and the electric wire lead-out portion 11 is the shortest, the amount of slack of the electric wire 13 becomes the maximum. Even in this case, the length of the telescopic member 15 and the height of the electric wire fixing portion 12B can be set so that the slack portion 13a does not touch the object to be coated 16. The telescopic member 15 is configured not to interfere with the movement of the end effector 2 due to the operation of the rotation axes J1, J2, and J3.

[0065] ● Third Embodiment FIG. 7 is a schematic view of the articulated robot 1 according to the third embodiment of the present invention. In this FIG. 7, an electric wire fixing portion 12C is erected on the side of the base 10 of the articulated robot 1, and the middle portion of the electric wire 13 is fixed to the upper end portion of the electric wire fixing portion 12C.

[0066] It is characterized in that the electric wire fixing portion 12C is disposed outside the articulated robot 1. When there is a weight limit on the articulated robot 1, the weight limit on the articulated robot 1 can be alleviated by the electric wire fixing portion 12C.

[0067] ● Fourth Embodiment FIG. 8 is a schematic view of the articulated robot 1 according to the fourth embodiment of the present invention. Also in this embodiment, an electric wire fixing portion 12D is erected on the side of the base 10 of the articulated robot 1. When there is a weight limit on the articulated robot 1, the weight limit on the articulated robot 1 can be alleviated by the electric wire fixing portion 12C.

[0068] The wire fixing part 12D is L-shaped as a whole, and the upper part of the wire fixing part 12D horizontally extends in the direction of the upper arm 6. The upper end of the telescopic member 15 is connected to the tip of this horizontally extending part.

[0069] The lower end of the telescopic member 15 is connected to the slack part 13a in the middle of the wire 13 so that the slack part 13a of the middle part of the wire 13 does not touch the object to be coated 16. That is, the fourth embodiment of the present invention in FIG. 8 corresponds to the combination of the second embodiment in FIG. 6 and the third embodiment in FIG. 7.

[0070] ● Summary As described above, the present invention has been specifically described based on the embodiments. However, it goes without saying that the present invention is not limited to the above embodiments and can be variously modified within the scope of the technical idea described in the claims. For example, the present invention is applicable not only to a 6-axis vertical articulated robot but also to an articulated robot with 5 or less axes or 7 or more axes.

[0071] Also, the articulated robot of the present invention is applicable to a surgical robot. In this case, the end effector 2 is, for example, the forceps 102 shown in FIGS. 9(a) and 9(b). FIG. 9(a) is a perspective view of the forceps 102, 102 attached to the distal end of the arm 101 of the surgical robot. FIG. 9(b) is an enlarged view of the forceps 102.

[0072] Each forceps 102, 102 is connected to the distal end of the arm 101 via the joint parts 103, 103. The joint parts 103, 103 have a plurality of joints and are freely bendable. In addition to the joint parts 103, 103, an endoscope 104 is also connected to the distal end of the arm 101. The state of the forceps 102, 102 can be monitored with this endoscope 104.

[0073] The joint part 103 has a forceps operation electric wire 103a and a torque transmission tube 103b as shown in Fig. 9(b). By moving (reciprocating) the forceps operation electric wire 103a in its extending direction, the forceps 102 can be opened and closed. Also, by rotating the torque transmission tube 103b, the wrist joint as the wrist part at the tip of the joint part 103 can be rotated.

[0074] The forceps operation electric wire 103a and the torque transmission tube 103b are drawn out from a wire lead-out part provided at the distal end of the arm 101 in the same manner as in Figs. 1, 6 to 8, and are connected to a forceps control board as an end effector control board. The middle part of the forceps operation electric wire 103a and the torque transmission tube 103b is supported by a wire fixing part separated from the arm 101.

[0075] ●Supplementary Note Hereinafter, preferred embodiments of the present invention will be appended. <First Embodiment> The first embodiment is a multi-joint robot having a robot arm, an end effector provided at the tip of the robot arm, a head attachment for attaching the end effector to the tip of the robot arm, and an electric wire connecting the end effector and a control board fixedly arranged on the ground side, wherein a connecting part for connecting the electric wire drawn out from the end effector and the electric wire drawn out from the control board is integrated with the head attachment. <Second Embodiment> The second embodiment is the multi-joint robot according to the first embodiment, characterized in that the connecting part is disposed inside a connection box conforming to explosion-proof standards, and the connection box is integrated with the head attachment. <Third Embodiment> The third embodiment is the multi-joint robot according to the first or second embodiment, characterized in that the connecting part has a terminal block, and the electric wire drawn out from the end effector is detachably connected to the terminal block. <Fourth Embodiment> The fourth aspect is a multi-joint robot according to the third aspect, characterized in that the connection box has an opening facing the terminal block, and the electric wire drawn from the end effector is connected to the terminal block through the opening. <The fifth aspect> The fifth aspect is a multi-joint robot according to the fourth aspect, characterized in that the electric wire drawn from the end effector has a face plate through which the electric wire passes, and the face plate is detachably attached to the connection box so as to close the opening. <The sixth aspect> The sixth aspect is a multi-joint robot according to the fifth aspect, characterized in that the end effector is composed of a plurality of units, a plurality of electric wires drawn from the plurality of units are held by the large face plate, and the large face plate is detachably attached to the large opening formed in the connection box. <The seventh aspect> The seventh aspect is a multi-joint robot according to the fifth aspect, characterized in that the end effector is composed of a plurality of units, each of the plurality of units has a small face plate, and the small face plate is detachably attached to the small opening formed in the connection box. <The eighth aspect> The eighth aspect is a multi-joint robot for painting, characterized in that in the multi-joint robot according to any one of the first to seventh aspects, the end effector is constituted by an inkjet head. <The ninth aspect> The ninth aspect is a multi-joint robot according to any one of the first to eighth aspects, characterized in that an electric wire fixing portion for supporting an intermediate portion of the electric wire is disposed at a position separated from the robot arm. <The tenth aspect> Aspect 10 is a multi-joint robot according to any one of Aspects 1 to 8, characterized in that the multi-joint robot includes a base, a swivel base disposed on the base, a lower arm disposed on the swivel base, a swivel unit disposed at the upper end of the lower arm, an upper arm disposed on the swivel unit, a wrist portion disposed at the tip of the upper arm, and an end effector disposed on the wrist portion. <Aspect 11> Aspect 11 is a multi-joint robot according to Aspect 10, characterized in that the wire fixing portion is disposed on the swivel base. <Aspect 12> Aspect 12 is a multi-joint robot according to Aspect 11, characterized in that one end of a telescopic member is connected to the wire fixing portion, and the other end of the telescopic member is connected to an intermediate portion of the wire between the end effector and the wire fixing portion. <Aspect 13> Aspect 13 is a multi-joint robot according to Aspect 10, characterized in that the wire fixing portion is erected on the side of the base. <Aspect 14> Aspect 14 is a multi-joint robot according to Aspect 13, characterized in that one end of a telescopic member is connected to the wire fixing portion, and the other end of the telescopic member is connected to an intermediate portion of the wire between the end effector and the wire fixing portion. <Aspect 15> Aspect 15 is a multi-joint robot according to any one of Aspects 1 to 14, characterized in that the end effector is a spray gun for painting, a spot welding gun, or surgical forceps.

Explanation of Reference Numerals

[0076] 1: Multi-joint robot 2: End effector 3: Head attachment 3a: Attachment portion 3b: Head array holder 4: Junction box 4a: Upper plate 4b: Bottom plate 4c: Side plate 4d: Notch hole (opening) 5: Wrist part 6: Upper arm (basic third axis) 7: Swivel part 8: Lower arm (basic second axis) 9: Swivel base (basic first axis) 10: Base 11: Wire lead-out part 12A - 12D: Wire fixing part 13: Wire (bundled wire) 13A: Wire (bundled wire) 13B: Individual wire 13a: Slack part 14: End effector control panel 15: Telescopic member 16: Object to be painted 20: Inkjet head 21: Needle 22: Piezo element 23: Drive mechanism part 24a: Positive electrode wire 24a, 24b: Wires 24b: Negative electrode wire 24c: Conductive fitting 24d: Conductor 25a: Inlet pipe 25b: Outlet pipe 26: Liquid chamber 27: Discharge port 28: Wire lead-out port 29: Sealing material 41, 42: Panel 41a, 42a: Pod part 41b: Pull-in hole 43: Bar terminal (or ferrule terminal) 50: DIN rail 51: Terminal block (connection part) 101: Arm 102: Forceps 103: Joint part 103a: Forceps operation wire 103b: Torque transmission tube 104: Endoscope J1~J6: Rotation axis

Prior art documents

Patent documents

[0077]

Patent Document 1

Patent Document 2

Claims

1. In a multi-joint robot having a robot arm, an end effector provided at the tip of the robot arm, a head attachment for attaching the end effector to the tip of the robot arm, and an electric wire connecting the end effector and a control panel fixedly arranged on the ground side, A multi-joint robot, characterized in that a connection part for connecting the electric wire drawn from the end effector and the electric wire drawn from the control panel is integrated with the head attachment.

2. The multi-joint robot according to claim 1, characterized in that the connection part is disposed inside a junction box conforming to explosion-proof standards, and the junction box is integrated with the head attachment.

3. The multi-joint robot according to claim 2, characterized in that the connection part has a terminal block, and the electric wire drawn from the end effector is detachably connected to the terminal block.

4. The multi-joint robot according to claim 3, characterized in that the junction box has an opening facing the terminal block, and the electric wire drawn from the end effector is connected to the terminal block through the opening.

5. The multi-joint robot according to claim 4, characterized in that the electric wire drawn from the end effector has a face plate through which the electric wire passes, and the face plate is detachably attached to the junction box so as to close the opening.

6. The multi-joint robot according to claim 5, characterized in that the end effector is composed of a plurality of units, a plurality of electric wires drawn from the plurality of units are held by the large face plate, and the large face plate is detachably attached to the large opening formed in the junction box.

7. The multi-joint robot according to claim 5, characterized in that the end effector is composed of a plurality of units, each of the plurality of units has a small face plate, and the small face plate is detachably attached to the small opening formed in the junction box.

8. In the multi-joint robot according to any one of claims 1 to 7, a painting multi-joint robot, characterized in that the end effector is composed of an inkjet head.

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