Articulated robot

Abstract

To properly arrange a wire body in an articulated robot.SOLUTION: The articulated robot 1 includes a link (first link 31) having a first end 311 included in a first articulation JT1 and a second end 312 included in a second articulation JT2, first actuators 41 connected to the first articulation and located on a first side across the link, second actuators 42 connected to the second articulation and located on a second side opposite to the first actuators across the link, and an umbilical member (harness 5) extending across the link from the first side to the second side or from the second side to the first side between the first end and the second end and connected to the first actuators and the second actuators.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The technology disclosed herein relates to an articulated robot. [Background technology]

[0002] Patent Document 1 describes a conventional articulated robot. The conventional articulated robot is a seven-joint robot. The conventional articulated robot includes a first arm, a second arm, and a third arm connected in series. An actuator in the first arm swings the first arm around a horizontal axis, an actuator in the second arm swings the second arm around a horizontal axis, and an actuator in the third arm swings the third arm around a horizontal axis. The three actuators are located on the same side of the first arm and the second arm in a direction along the horizontal axis. Cables transmit energy to the actuators in the first arm, the second arm, and the third arm. The cables are routed on the opposite side of the actuators in a direction along the horizontal axis in a direction along the horizontal axis in a direction based on the first arm and the second arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5975129 Summary of the Invention [Problem to be solved by the invention]

[0004] Regarding the positions of the actuators, a new articulated robot structure that differs from the conventional articulated robot structure described above can be considered. Specifically, it is a structure in which two actuators, a first actuator and a second actuator, are located separately on the first and second sides of a link. The routing of the wires in the conventional articulated robot described above is difficult to apply to the new articulated robot with a different actuator arrangement. [Means for solving the problem]

[0005] The technology disclosed herein relates to an articulated robot. a link having a first end included in a first joint and a second end included in a second joint; a first actuator connected to the first joint, applying torque around a first axis to the first joint, and positioned on a first side of the link in the extension direction of the first axis; a second actuator connected to the second joint and applying a torque to the second joint about a second axis parallel to the first axis, the second actuator being located on a second side opposite to the first actuator with the link interposed therebetween in the direction in which the first axis or the second axis extends; a filament extending between the first end and the second end so as to cross the link from the first side to the second side or from the second side to the first side, and connected to the first actuator and the second actuator; Equipped with. [Effects of the Invention]

[0006] In the above-described articulated robot, the wire is arranged to extend across the link between the first end and the second end of the link, so that the wire can be appropriately connected to the first actuator on the first side and the second actuator on the second side opposite the first side. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a rear view of a vertical articulated robot. [Figure 2] FIG. 2 is a side view of the vertical articulated robot. [Figure 3] FIG. 3 is an enlarged view of the vertical articulated robot from behind, showing the first to third joints and the first to third actuators. [Figure 4] FIG. 4 is a view of a part of a vertically articulated robot according to a modified example, seen from behind. [Figure 5]FIG. 5 is a view of a part of a vertically articulated robot according to a modified example, seen from behind. [Figure 6] FIG. 6 is a view of a part of a vertically articulated robot according to a modified example, seen from behind. [Figure 7] FIG. 7 is a side view of a portion of a horizontally articulated robot according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of the articulated robot will be described with reference to the drawings. The articulated robot described here is an example.

[0009] (Overall structure of an articulated robot) FIG. 1 shows an articulated robot 1. FIG. 1 is a rear view of the articulated robot 1. FIG. 2 is a side view of the articulated robot 1. The articulated robot 1 is a vertical articulated robot. The articulated robot 1 is equipped with a manipulator with a serial link structure. The articulated robot 1 is a seven-axis robot equipped with joints JT1-JT7.

[0010] The articulated robot 1 is used, for example, in the field of logistics. Specifically, the articulated robot 1 loads and unloads items onto and from the bed of a truck or a container. In FIG. 1 or 2, the articulated robot 1 is installed on a floor 100. The floor 100 is, for example, the floor of the bed of a truck. The articulated robot 1 may also be placed on a cart and moved by the cart. Note that the use of the articulated robot 1 is not limited to logistics applications. The articulated robot 1 can be used in a variety of fields.

[0011] The articulated robot 1 includes a base 21. Note that the base 21 is not an essential element of the articulated robot 1. The base 21 includes a base main body 22. The base main body 22 has a flat upper surface. The base 21 includes a support portion 23. The support portion 23 is fixed to the upper surface of the base main body 22.

[0012] The articulated robot 1 includes a first link 31. The first link 31 constitutes a part of the manipulator of the articulated robot 1. The joint JT1 connects the first link 31 to the base 21. The first link 31 has a first end 311 and a second end 312. The first end 311 of the first link 31 is connected to the support portion 23 of the base 21. The joint JT1 has the first end 311 and the support portion 23. The first link 31 rotates relative to the base 21 around an axis Ax1. The axis Ax1 is a horizontal axis that is parallel to the floor 100.

[0013] The articulated robot 1 includes a second link 32. The joint JT2 connects the second link 32 and the first link 31. The second link 32 has a first end 321 and a second end 322. The first end 321 of the second link 32 is connected to the second end 312 of the first link 31. The joint JT2 has the first end 321 of the second link 32 and the second end 312 of the first link 31. The second link 32 rotates relative to the first link 31 around the axis Ax2. The axis Ax2 is an axis parallel to the axis Ax1.

[0014] The articulated robot 1 includes a third link 33. Note that the third link 33 is not an essential element of the articulated robot 1. The joint JT3 connects the third link 33 and the second link 32. The third link 33 has a first end 331 and a second end 332. The first end 331 of the third link 33 is connected to the second end 322 of the second link 32. The joint JT3 has the first end 331 of the third link 33 and the second end 322 of the second link 32. The third link 33 rotates relative to the second link 32 around the axis Ax3. The axis Ax3 is an axis parallel to the axes Ax1 and Ax2.

[0015] The base 21 rotates around an axis Ax4. The axis Ax4 is an axis perpendicular to the floor 100 and perpendicular to the axis Ax1. The base 21 is a joint JT4. As the base 21 rotates, the first link 31, the second link 32, and the third link 33 rotate around the axis Ax4.

[0016] The joint JT5 rotates the third link 33 about an axis Ax5, which is perpendicular to the axis Ax1.

[0017] The articulated robot 1 includes a fourth link 34. Note that the fourth link 34 is not an essential element of the articulated robot 1. The joint JT6 connects the fourth link 34 and the third link 33. The joint JT6 rotates the fourth link 34 relative to the third link 33 about the axis Ax6. The axis Ax6 is an axis parallel to the axis Ax1.

[0018] The joint JT7 rotates the fourth link 34 about an axis Ax7, which is perpendicular to the axis Ax1.

[0019] The articulated robot 1 has a hand 11 as an end effector. The hand 11 holds an object. Note that the hand 11 that holds an object is not an essential element of the articulated robot 1. The end effector of the articulated robot 1 is selected depending on the application of the articulated robot 1.

[0020] The articulated robot 1 has a joint JT8. The articulated robot 1 can be called an 8-axis robot. The articulated robot 1 has a second base 35. The second base 35 is interposed between the floor 100 and the base 21. The base 21 and the second base 35 are offset in position in the horizontal direction. Note that, to distinguish it from the second base 35, the base 21 may be called the first base 21 below.

[0021] The joint JT8 rotates the second base 35 about an axis Ax8, which is parallel to the axis Ax4 and perpendicular to the axis Ax1.

[0022] The articulated robot 1 includes a horizontal link 36. The horizontal link 36 extends horizontally. A first end of the horizontal link 36 is fixed to the second base 35. When the second base 35 rotates, the horizontal link 36 rotates around the axis Ax8. A second end of the horizontal link 36 is fixed to the first base 21. The horizontal link 36 and the second base 35 support the seven-axis articulated robot 1. When the horizontal link 36 rotates, the position of the seven-axis articulated robot 1 changes.

[0023] The second base 35 and the horizontal link 36 are not essential elements of the articulated robot 1. The second base 35 and the horizontal link 36 can be omitted from the articulated robot 1.

[0024] The articulated robot 1 includes an actuator. The actuator is a power source that moves the joints. The actuator is, for example, an electric motor. The electric motor is, for example, a servo motor. The electric motor may be a step motor. However, the actuator is not limited to an electric motor.

[0025] 1 or 2 shows actuators 41, 42, 43, 44, 45, and 46 among the actuators included in the articulated robot 1.

[0026] The actuator 41 is connected to the joint JT1. The actuator 41 applies a torque about the axis Ax1 to the joint JT1, thereby moving the joint JT1. The actuator 42 is connected to the joint JT2. The actuator 42 applies a torque about the axis Ax2 to the joint JT2, thereby moving the joint JT2. The actuator 43 is connected to the joint JT3. The actuator 43 applies a torque about the axis Ax3 to the joint JT3, thereby moving the joint JT3. Note that the actuator 43 is not an essential element of the articulated robot 1.

[0027] The actuator 44 is connected to the joint JT4. The actuator 44 moves the joint JT4. The actuator 45 is connected to the joint JT5. The actuator 45 moves the joint JT5. The actuator 46 is connected to the joint JT8. The actuator 46 moves the joint JT8. Note that the actuators 44, 45, and 46 are not essential elements of the articulated robot 1.

[0028] The actuators are electrically connected to a controller 9 via a harness 5 (see FIG. 1), which will be described later. The harness 5 is an example of a wire. The actuators receive control signals from the controller 9 via the harness 5. The controller 9 is a computer that includes at least a processor, a memory, and an interface. The actuators operate in accordance with the control signals. The articulated robot 1 operates in response to the operation of the actuators.

[0029] (Actuator placement) The arrangement of the actuators 41, 42, and 43 will be described with reference to Fig. 3. Fig. 3 is a rear view of the articulated robot 1. Joints JT1, JT2, and JT3 of the articulated robot 1 are connected in series.

[0030] As described above, the joint JT1 has the first end 311 of the first link 31 and the support portion 23 of the first base 21. The first end 311 and the support portion 23 are aligned in the direction in which the axis Ax1 extends. The support portion 23 supports the first end 311 so that the first link 31 rotates around the axis Ax1.

[0031] The actuator 41 has a main body 411 and a shaft 412. The shaft 412 protrudes from the main body 411 in the direction in which the axis Ax1 extends. The shaft 412 is a rotor of an electric motor, and is the output shaft of the actuator 41. The actuators 42 and 43 described below have the same structure as the actuator 41.

[0032] The shaft 412 is connected to the joint JT1. More specifically, in the example of Fig. 3, the shaft 412 is coaxial with the axis Ax1 and is connected to the joint JT1 via a reducer. The reducer reduces the speed of the output of the actuator 41 and then applies torque to the joint JT1.

[0033] The first link 31 supports the main body 411. More specifically, the main body 411 is located on the opposite side of the support portion 23 with respect to the first end 311 in the direction in which the axis Ax1 extends. The main body 411 protrudes from the first end 311 in the direction in which the axis Ax1 extends. The main body 411 is fixed to the first end 311. When the first link 31 rotates, the main body 411 rotates together with the first link 31 around the axis Ax1.

[0034] As described above, the joint JT2 has the first end 321 of the second link 32 and the second end 312 of the first link 31. The first end 321 and the second end 312 are aligned in the direction in which the axis Ax2 extends. The second end 312 supports the first end 321 so that the second link 32 rotates around the axis Ax2.

[0035] The actuator 42 has a main body 421 and a shaft 422. The shaft 422 protrudes from the main body 421 in the direction in which the axis Ax2 extends. The shaft 422 is coaxial with the axis Ax2 and is connected to the joint JT2 via a reducer. Here, with respect to the direction in which the axis Ax1 or the axis Ax2 extends, the direction in which the shaft 422 protrudes is opposite to the direction in which the shaft 412 protrudes. In other words, the shaft 412 protrudes from right to left on the paper surface in FIG. 3, and the shaft 422 protrudes from left to right on the paper surface in FIG. 3.

[0036] The first link 31 supports the main body 421. More specifically, the main body 421 is located on the opposite side of the first end 321 with respect to the second end 312 in the direction in which the axis Ax2 extends. In other words, the actuator 41 and the actuator 42 are located on opposite sides of the first link 31 with respect to the first link 31. In FIG. 3 , the actuator 41 is located on the right side with respect to the first link 31, and the actuator 42 is located on the left side with respect to the first link 31. The main body 421 protrudes from the second end 312 in the direction in which the axis Ax2 extends. The main body 421 is fixed to the second end 312.

[0037] As described above, the joint JT3 has the first end 331 of the third link 33 and the second end 322 of the second link 32. The first end 331 and the second end 322 are aligned in the direction in which the axis Ax3 extends. The second end 322 supports the first end 331 so that the third link 33 rotates around the axis Ax3.

[0038] The actuator 43 has a main body 431 and a shaft 432. The shaft 432 protrudes from the main body 431 in the direction in which the axis Ax3 extends. The shaft 432 is coaxial with the axis Ax3 and is connected to the joint JT3 via a reducer. Here, with respect to the direction in which the axis Ax1, axis Ax2, or axis Ax3 extends, the protruding direction of the shaft 432 is opposite to the protruding direction of the shaft 412 and is the same as the protruding direction of the shaft 422.

[0039] The third link 33 supports the main body 431. More specifically, the main body 431 is located on the opposite side of the second end 322 from the first end 331 in the direction in which the axis Ax3 extends. The actuators 42 and 43 are located on the same side from the second link 32. The actuators 41 and 43 are located on opposite sides from the first link 31 and the second link 32. The main body 431 protrudes from the first end 331 in the direction in which the axis Ax3 extends.

[0040] (Harness routing) With reference to Figure 3, the routing of the harness 5 connected to the actuators 41 and 42 will be described. The harness 5 is a wire harness that electrically connects the controller 9 and the actuators 41-46. The harness 5 includes a plurality of cables. One or more of the plurality of cables branch off from the harness 5 and are connected to one actuator. The harness 5 supplies driving power to the actuators 41-46 and transmits control signals between the controller 9 and the actuators 41-46.

[0041] The upstream end of the harness 5 is connected to the controller 9. The first clamp 61 secures the end of the first portion 51 of the harness 5 to a side surface of the support portion 23 of the first base 21. More specifically, the first clamp 61 secures the first portion 51 to a side surface of the support portion 23 opposite the first end 311 of the first link 31. The first portion 51 of the harness 5 refers to a portion of the harness 5 including the portion secured by the first clamp 61. The first portion 51 is located on the opposite side of the actuator 41 from the actuator 41, with the first link 31 in between. The first portion 51 extends in a direction perpendicular to the axis Ax1.

[0042] The second clamp 62 secures the end of the second portion 52 of the harness 5 to the first link 31. More specifically, the second clamp 62 secures the end of the second portion 52 of the harness 5 to the surface of the first link 31 on which the main body 421 of the actuator 42 is supported. The second portion 52 of the harness 5 refers to the portion of the harness 5 between the first clamp 61 and the second clamp 62. The second portion 52 is a movable part that absorbs the movement of the joint JT1. The second portion 52 extends from the first clamp 61 in a direction perpendicular to the axis Ax1, and then extends in the direction in which the axis Ax1 extends. The second portion 52 has a bent portion.

[0043] The third clamp 63 fixes the end of the third portion 53 of the harness 5 to the first link 31. More specifically, the third clamp 63 fixes the end of the third portion 53 of the harness 5 to the surface of the first link 31 on which the main body 411 of the actuator 41 is supported. Note that the third portion 53 of the harness 5 refers to the portion of the harness 5 between the second clamp 62 and the third clamp 63. The third portion 53 is a fixed portion fixed to the first link 31.

[0044] The third portion 53 extends across the first link 31 between the first end 311 and the second end 312 of the first link 31, from the side where the actuator 42 is located to the side where the actuator 41 is located, with the first link 31 in between. More specifically, the third portion 53 passes through a through hole 310 formed in the first link 31 and extends along the axis Ax1 or Ax2. The through hole 310 connects the first side (i.e., the right side of the paper in FIG. 3 ) and the second side (i.e., the left side of the paper in FIG. 3 ) of the first link 31 in the direction in which the axis Ax1 or Ax2 extends. The third portion 53 bends from the direction along the axis Ax1 to a direction perpendicular to the axis Ax1. The third portion 53 has a bent portion.

[0045] The fourth clamp 64 secures the end of the fourth portion 54 of the harness 5 to the second link 32. More specifically, the fourth clamp 64 secures the end of the fourth portion 54 of the harness 5 to a surface of the second link 32 opposite to the side on which the actuator 42 is located. The fourth portion 54 of the harness 5 refers to the portion of the harness 5 between the third clamp 63 and the fourth clamp 64. The fourth portion 54 is a movable part that absorbs the movement of the joint JT2. The fourth portion 54 extends from the third clamp 63 in a direction perpendicular to the axis Ax2.

[0046] The fifth clamp 65 fixes an end of the fifth portion 55 of the harness 5 to the second link 32. More specifically, the fifth clamp 65 fixes the end of the fifth portion 55 of the harness 5 to a surface of the second link 32 on the same side as the side on which the fourth clamp 64 is located. The fifth portion 55 of the harness 5 refers to the portion of the harness 5 between the fourth clamp 64 and the fifth clamp 65. The fifth portion 55 is a fixed portion fixed to the second link 32. The fifth portion 55 extends from the fourth clamp 64 in a direction perpendicular to the axis Ax2. A part of the fifth portion 55 is routed inside the second link 32.

[0047] As shown in FIG. 1 or 2 , the sixth clamp 66 secures the end of the sixth portion 56 of the harness 5 to the third link 33. More specifically, the sixth clamp 66 secures the end of the sixth portion 56 of the harness 5 near the first end 331 of the third link 33. The sixth portion 56 of the harness 5 refers to the portion of the harness 5 between the fifth clamp 65 and the sixth clamp 66. The sixth portion 56 of the harness 5 is a movable part that absorbs the movement of the joint JT3. The harness 5 secured by the sixth clamp 66 is routed inside the third link 33 and connected to the actuators following the third link 33.

[0048] As shown in Fig. 3, the harness 5 has a branch line 57. The branch line 57 is a line that branches off at the third portion 53. The branch line 57 branches off from the harness 5 at a branch portion 58 located on the first side where the actuator 41 is located across the through hole 310, that is, on the right side of the paper in Fig. 3. The branch line 57 is electrically connected to the actuator 41.

[0049] The harness 5 also has a branch line 59. The branch line 59 is a line that branches off at the third portion 53. The branch line 59 branches off from the harness 5 at a branching portion 510 located on the second side of the through-hole 310 where the actuator 42 is located, that is, on the left side of the paper surface in FIG. 3 . The branch line 59 is electrically connected to the actuator 42.

[0050] The harness 5 further includes a branch line 511. The branch line 511 is a line that branches off inside the third link 33. The branch line 511 is electrically connected to the actuator 43.

[0051] (Action and effect) The articulated robot 1 is a seven-axis vertical articulated robot. The seven-axis articulated robot 1 has a high degree of freedom in its posture, so it can efficiently transport articles in narrow spaces such as the bed of a truck. The articulated robot 1 is also an eight-axis articulated robot equipped with a second base 35. The eight-axis articulated robot 1 has an even higher degree of freedom in its posture, so it can transport articles even more efficiently in narrow spaces.

[0052] High support strength is required for the joint JT1 of the articulated robot 1. This is because the joint JT1 supports at least the joint JT2, the joint JT3, the actuator 42, and the actuator 43 that are connected in series to the joint JT1.

[0053] The actuator 41 is located on the opposite side of the support portion 23 of the first base 21 with respect to the first end 311 of the first link 31. The first end 311 supports the actuator 41. The support portion 23 does not directly support the actuator 41. As shown in FIG. 3 , because the support portion 23 does not directly support the actuator 41, the thickness of the support portion 23 can be increased without being affected by the actuator 41. More specifically, the thickness is the thickness in the direction in which the axis Ax1 extends. Because the thickness of the support portion 23 is large, the joint JT1 can have the necessary strength.

[0054] In a conventional design concept, in a multi-joint robot in which multiple joints are connected in series, multiple actuators are generally positioned on the same side of the links. In contrast, in the multi-joint robot 1, the orientation of actuator 42 is opposite to that of actuator 41. In other words, the protruding direction of shaft 422 is opposite to that of shaft 412. As the orientation of actuator 42 is reversed, actuator 42 is positioned on the opposite side of actuator 41 relative to first link 31. Actuator 42 positioned on the opposite side of actuator 41 reduces the turning radius of the multi-joint robot 1. A small turning radius of actuator 42 positioned away from first base 21 is effective in reducing the moment around axis Ax4 of the multi-joint robot 1.

[0055] The harness 5 extends across the first link 31 from the second side to the first side between the first end 311 and the second end 312 of the first link 31. Furthermore, on the first side across the through hole 310, the branch line 57 is connected to the actuator 41, and on the second side across the through hole 310, the branch line 59 is connected to the actuator 42. The harness 5 connected to the actuator 41 and the actuator 42 located on opposite sides of the first link 31 can be properly routed in the articulated robot 1.

[0056] In the articulated robot 1 of FIG. 3, the joint JT1 corresponds to the first joint, the joint JT2 corresponds to the second joint, the actuator 41 corresponds to the first actuator, and the actuator 42 corresponds to the second actuator.

[0057] Furthermore, the third portion 53 of the harness 5 extends along the axis Ax1 or the axis Ax2 and passes through the through-hole 310 formed in the first link 31. The length of the third portion 53 fixed to the first link 31 can be minimized while avoiding interference between the first link 31 and the harness 5.

[0058] The first portion 51 of the harness 5 is located on the opposite side of the actuator 41 from the actuator 41, with the first link 31 sandwiched between them. The fourth portion 54, the fifth portion 55, and the sixth portion 56 are located on the opposite side of the actuator 42 or 43, with the first link 31 or the second link 32 sandwiched between them, respectively. The harness 5 is routed near the axis Ax4. In other words, when the harness is routed on the same side as the actuator, with the link sandwiched between them, the harness is routed so as to bypass the actuator. The harness is routed away from the rotation axis of the articulated robot. In the articulated robot 1, routing the harness 5 near the axis Ax4 shortens the moving part of the harness 5 and stabilizes the behavior of the harness 5. Furthermore, routing the harness 5 near the axis Ax4 reduces the size of the articulated robot 1. This is advantageous for robots that operate in narrow spaces.

[0059] (Variation 1) 4 shows modified examples of the position of the actuator 43 and the routing of the harness 5. The orientation of the actuator 43 is the same as that of the actuator 41. The orientation of the actuator 43 is opposite to that of the actuator 42. In other words, the protruding direction of the shaft 432 is the same as that of the shaft 412, and is opposite to that of the shaft 422. The actuator 43 is located on the same side as the actuator 41 with respect to the first link 31 and the second link 32. The second end 322 of the second link 32 supports the main body 431.

[0060] Regarding the wiring of the harness 5, the first part 51 to the fourth part 54 of the harness 5 and the first clamp 61 to the fourth clamp 64 are the same as the first part 51 to the fourth part 54 and the first clamp 61 to the fourth clamp 64 in Figure 3.

[0061] The fifth portion 55 of the harness 5 has a branch portion 512, and a branch line 513 branches off at the branch portion 512. The branch line 513 is electrically connected to the actuator 43.

[0062] The fifth clamp 65 is located on the opposite side of the second link 32 from the side on which the actuator 43 is located. The fifth clamp 65 secures the end of the fifth portion 55 of the harness 5 to the second link 32.

[0063] The fifth portion 55 extends between the first end 321 and the second end 322 of the second link 32, from the side where the actuator 43 is located to the side where the actuator 42 is located, across the second link 32. More specifically, the fifth portion 55 passes through a through hole 320 formed in the second link 32 and extends along the axis Ax2 or the axis Ax3. The through hole 320 communicates the first side (i.e., the right side of the paper in FIG. 3 ) and the second side (i.e., the left side of the paper in FIG. 3 ) of the second link 32 in the direction in which the axis Ax2 or the axis Ax3 extends.

[0064] The sixth clamp 66 fixes the end of the sixth portion 56 of the harness 5 to the third link 33. The sixth portion 56 is a movable portion that absorbs the movement of the joint JT3 and has a bent portion. The portion of the harness 5 beyond the sixth portion 56 and the sixth clamp 66 is located on the opposite side of the second link 32 from the actuator 43. The harness 5 is routed in a position close to the axis Ax4. Because the size of the articulated robot 1 is small, the routing structure of the harness 5 shown in FIG. 4 is advantageous for robots that work in narrow spaces.

[0065] In the articulated robot 1 of Modification 1, the joint JT1 corresponds to the first joint, the joint JT2 corresponds to the second joint, the actuator 41 corresponds to the first actuator, and the actuator 42 corresponds to the second actuator. A third portion 53 of the harness 5 extends between the first end 311 and the second end 312 of the first link 31 so as to cross the first link 31 from the second side to the first side. The harness 5 is connected to the actuator 41 via a branch line 57 and to the actuator 42 via a branch line 59.

[0066] In the articulated robot 1 of Modification 1, the joint JT2 corresponds to the first joint, the joint JT3 corresponds to the second joint, the actuator 42 corresponds to the first actuator, and the actuator 43 corresponds to the second actuator. A sixth portion 56 of the harness 5 extends between the first end 321 and the second end 322 of the second link 32 so as to cross the second link 32 from the first side to the second side.

[0067] (Variation 2) FIG. 5 shows modified examples of the position of the actuator 42 and the routing of the harness 5. The orientation of the actuator 42 is the same as that of the actuator 41. The orientation of the actuator 42 is opposite to that of the actuator 43. In other words, the protruding direction of the shaft 422 is the same as that of the shaft 412, but opposite to that of the shaft 432. The actuator 42 is located on the same side as the actuator 41 with respect to the first link 31. The first end 321 of the second link 32 supports the main body 421. The main body 421 protrudes from the first end 321 in the direction in which the axis Ax2 extends.

[0068] The second portion 52 of the harness 5 has a branch portion 514. At the branch portion 514, a branch line 515 branches off. The branch line 515 is fixed to the first link 31 by a second clamp 62. The branch line 515 is electrically connected to the actuator 41. The branch line 515 may be routed around the outer periphery of the first link 31 instead of passing through the through hole 310 of the first link 31.

[0069] The third clamp 63 secures the end of the second portion 52 of the harness 5 to the first link 31. More specifically, the third clamp 63 secures the second portion 52 to the surface of the first link 31 opposite to the actuators 41 and 42.

[0070] The fourth clamp 64 secures the end of the third portion 53 of the harness 5 to the second link 32. The third portion 53 has a branch portion 516. At the branch portion 516, a branch line 517 branches off. The branch line 517 is secured to the third link 33 by the fifth clamp 65 and is electrically connected to the actuator 43.

[0071] The fourth portion 54 of the harness 5, which is the portion beyond the fourth clamp, extends across the second link 32 from the second side to the first side between the first end 321 and the second end 322 of the second link 32. More specifically, the fourth portion 54 passes through the through-hole 320 of the second link 32. The length of the fourth portion 54 fixed to the second link 32 can be minimized while avoiding interference between the second link 32 and the harness 5.

[0072] The fourth portion 54 has a branch portion 518. At the branch portion 518, a branch line 519 branches off. The branch line 519 is electrically connected to the actuator 42.

[0073] The sixth clamp 66 fixes the end of the fourth portion 54 to the surface of the second link 32 on the side where the actuator 42 is located. The harness 5 ahead of the sixth clamp 66 is connected to the actuators on the third link 33 and onwards.

[0074] On the first side of the through hole 320, the branch line 519 is connected to the actuator 42, and on the second side, the branch line 517 is connected to the actuator 43. The harnesses 5 connected to the actuators 42 and 43 located on opposite sides of the second link 32 can be properly routed.

[0075] In the articulated robot 1 of Modification 2, the joint JT2 corresponds to the first joint, the joint JT3 corresponds to the second joint, the actuator 42 corresponds to the first actuator, and the actuator 43 corresponds to the second actuator. A fourth portion 54 of the harness 5 extends between the first end 321 and the second end 322 of the second link 32 so as to cross the second link 32 from the second side to the first side.

[0076] Furthermore, the first portion 51 of the harness 5 is located on the opposite side of the actuator 41 across the first link 31, the second portion 52 and the third portion 53 are located on the opposite side of the actuator 42 across the first link 31, and the portion of the harness 5 beyond the sixth clamp 66 is located on the opposite side of the actuator 43 across the second link 32. The harness 5 is routed in a position close to the axis Ax4.

[0077] (Variation 3) FIG. 6 shows a modified example of the number of joints of the articulated robot. The articulated robot 10 may be a six-axis vertical articulated robot. Compared to the articulated robot 1 of FIG. 3, the articulated robot 10 omits the second link 32 and the actuator 42. The joint JT3 connects the second end 312 of the first link 313 and the first end 331 of the third link 33. The joint JT3 has the second end 312 and the first end 331.

[0078] With regard to the routing of the harness 5, since the second link 32 and the actuator 42 are omitted, the branch line 59, branch portion 510, and fifth clamp 65 in the articulated robot 1 of FIG. 3 are also omitted in the articulated robot 10. The fourth clamp 64 fixes the fourth portion 54 of the harness 5 to the first link 313. The fourth portion 54 is a fixed portion fixed to the first link 313. The harness 5 ahead of the fourth clamp 64 is connected to the actuators on and after the third link 33, including the actuator 43.

[0079] In the articulated robot 10 of Modification 3, the joint JT1 corresponds to the first joint, the joint JT3 corresponds to the second joint, the actuator 41 corresponds to the first actuator, and the actuator 43 corresponds to the second actuator. A third portion 53 of the harness 5 extends between the first end 311 and the second end 312 of the first link 313 so as to cross the first link 313 from the second side to the first side. The harness 5 is connected to the actuator 41 via a branch line 57 and to the actuator 43 via a branch line 511. The harness 5 can be routed appropriately.

[0080] The first portion 51 of the harness 5 is located on the opposite side of the actuator 41 with the first link 313 in between, and the fourth portion 54 and the fifth portion 55 are located on the opposite side of the actuator 43 with the first link 313 in between. The harness 5 is routed in a position close to the axis Ax4.

[0081] (Variation 4) Fig. 7 shows a modified example of the articulated robot. The articulated robot may be a horizontal articulated robot 101. Fig. 7 shows a part of the manipulator of the horizontal articulated robot 101. The number of joints of the horizontal articulated robot 101 is not limited to a specific number.

[0082] The horizontal articulated robot 101 includes a base 7. The horizontal articulated robot 101 also includes a first link 81. The first link 81 has a first end 811 and a second end 812. A joint JT1 connects the first end 811 of the first link 81 to the base 7. The first link 81 rotates relative to the base 7 about an axis Ax1. The axis Ax1 is a vertical axis that is perpendicular to the floor.

[0083] The horizontally articulated robot 101 includes a second link 82. The second link 82 has at least a first end 821. A joint JT2 connects the first end 821 of the second link 82 to a second end 812 of the first link 81. The second link 82 rotates relative to the first link 81 about an axis Ax2. The second axis Ax2 is an axis parallel to the axis Ax1.

[0084] The actuator 41 is connected to the joint JT1. A main body 411 of the actuator 41 is located on the opposite side of the base 7 with respect to the first end 811 of the first link 81 in the direction in which the axis Ax1 extends. The actuator 41 is located on the first side across the first link 81. A shaft 412 of the actuator 41 protrudes from the main body 411 toward the base 7.

[0085] The actuator 42 is connected to the joint JT2. A main body 421 of the actuator 42 is located on the opposite side of the second end 812 of the first link 81 with respect to the direction in which the axis Ax2 extends, with the first end 821 of the second link 82 as the reference. The actuator 42 is located on the second side across the first link 81. A shaft 422 of the actuator 42 protrudes from the main body 421 toward the first link 81.

[0086] With respect to routing of the harness 5, the first clamp 61 secures an end of the first portion 51 of the harness 5 to the base 7. More specifically, the first clamp 61 secures the first portion 51 of the harness 5 to a surface of the base 7 opposite to the first end 811 of the first link 81. The first portion 51 is located on the opposite side of the actuator 41 with respect to the actuator 41, across the first link 81, and extends in a direction perpendicular to the axis Ax1.

[0087] The second portion 52 of the harness 5 has a branch portion 514. At the branch portion 514, a branch line 515 branches off. The branch line 515 is fixed to the first link 81 by a second clamp 62. The branch line 515 is electrically connected to the actuator 41.

[0088] The second portion 52 also has a branch portion 516. At the branch portion 516, a branch line 517 branches off. The branch line 517 is fixed to the first link 81 by a third clamp 63. More specifically, the third clamp 63 fixes the branch line 517 to a surface of the first link 81 opposite to the actuator 41. The branch line 517 is also fixed to the second link 82 by a fourth clamp 64, and is electrically connected to the actuator 42.

[0089] The harness 5 beyond the branch portion 516 extends across the first link 81 between the first end 811 and the second end 812 of the first link 81, from the second side to the first side. More specifically, the harness 5 passes through a through hole 810 formed in the first link 81. Interference between the first link 81 and the harness 5 can be avoided. The harness 5 beyond the through hole 810 is located on the opposite side of the second link 82 from the actuator 42, and extends in a direction perpendicular to the axis Ax2. The harness 5 beyond the through hole 810 is connected to the actuator beyond the second link 82.

[0090] In the horizontally articulated robot 101 of the fourth modification, the joint JT1 corresponds to the first joint, the joint JT2 corresponds to the second joint, the actuator 41 corresponds to the first actuator, and the actuator 42 corresponds to the second actuator. The portion of the harness 5 beyond the branching portion 516 extends across the first link 81 between the first end 811 and the second end 812 of the first link 81 from the second side to the first side.

[0091] Furthermore, the first portion 51 and the second portion 52 of the harness 5 are located on the opposite side of the actuator 41 with the first link 81 interposed therebetween, and the harness 5 ahead of the through hole 810 is located on the opposite side of the actuator 42 with the second link 82 interposed therebetween. The harness 5 is routed in a position close to the first link 81 and the second link 82.

[0092] (Aspect) The above-described embodiments are examples of the following aspects.

[0093] (Aspect 1) Links (31, 32, 313, 81) whose first ends (311, 321, 811) are included in first joints (JT1, JT2) and whose second ends (312, 322, 812) are included in second joints (JT2, JT3); a first actuator (41, 42) connected to the first joint (JT1, JT2) and applying a torque around a first axis (Ax1, Ax2) to the first joint (JT1, JT2), and located on a first side across the link (31, 32, 313, 81) in an extension direction of the first axis (Ax1, Ax2); second actuators (42, 43) connected to the second joints (JT2, JT3) and applying torque to the second joints (JT2, JT3) about second axes (Ax2, Ax3) parallel to the first axes (Ax1, Ax2), and positioned on a second side opposite to the first actuators (41, 42) across the link (31, 32, 313, 81) in the direction in which the first axes (Ax1, Ax2) or the second axes (Ax2, Ax3) extend; a filament (5) extending across the link (31, 32, 313, 81) between the first end (311, 321, 811) and the second end (312, 322, 812) from the first side to the second side or from the second side to the first side, and connected to the first actuator (41, 42) and the second actuator (42, 43); An articulated robot (1, 10, 101) comprising:

[0094] Since the wire body (5) is arranged to extend across the links (31, 32, 313, 81) between the first actuator (41, 42) and the second actuator (42, 43), the wire body (5) can be appropriately connected to the first actuator (41, 42) on the first side sandwiched between the links (31, 32, 313, 81) and the second actuator (42, 43) on the second side opposite the first side.

[0095] (Aspect 2) the first actuators (41, 42) have first bodies (411, 421) and first shafts (412, 422) protruding from the first bodies (411, 421) along the first axes (Ax1, Ax2), the second actuator (42, 43) has a second body (421, 431) and a second shaft (422, 432) that protrudes from the second body (421, 431) along the second axis (Ax2, Ax3) in a direction opposite to the protruding direction of the first shaft (412, 422), The filament (5) extends along the first axis (Ax1, Ax2) or the second axis (Ax2, Ax3). An articulated robot (1, 10, 101) according to embodiment 1.

[0096] By extending the filament (5) along the first axis (Ax1, Ax2) or the second axis (Ax2, Ax3), the length of the portion of the filament (5) fixed to the link (31, 32, 313, 81) becomes the shortest.

[0097] (Aspect 3) The link (31, 32, 313, 81) has a through hole (310, 320, 810) that connects the first side and the second side, The filament (5) passes through the through-holes (310, 320, 810). The articulated robot (1, 10, 101) according to aspect 1 or 2.

[0098] The filament (5) passes through the through-holes (310, 320, 810) formed in the links (31, 32, 313, 81), thereby preventing interference between the links (31, 32, 313, 81) and the filament (5).

[0099] (Aspect 4) The filament (5) has a first branch line (57, 519) that branches on the first side across the through hole (310, 320) and is connected to the first actuator (41, 42), and a second branch line (59, 517) that branches on the second side across the through hole (310, 320) and is connected to the second actuator (42, 43). An articulated robot (1, 10, 101) according to embodiment 3.

[0100] The wires (5) connected to the first actuators (41, 42) and the second actuators (42, 43) located on opposite sides of the link (31, 32, 313, 81) can be properly routed.

[0101] (Aspect 5) The filament (5) extends in a direction perpendicular to the first axis (Ax1, Ax2) or the second axis (Ax2, Ax3) at a position opposite the first actuator (41, 42) across the link (31, 32, 313, 81), and also extends in a direction perpendicular to the first axis (Ax1, Ax2) or the second axis (Ax2, Ax3) at a position opposite the second actuator (42, 43) across the link (31, 32, 313, 81). An articulated robot (1, 10, 101) according to any one of aspects 1 to 4.

[0102] Since the umbilical member (5) is routed close to the links (31, 32, 313, 81), the length of the movable portion of the umbilical member (5) for absorbing the movement of the joints is shortened, and the behavior of the umbilical member (5) is stabilized. In addition, the size of the articulated robot (1, 10, 101) is reduced.

[0103] (Aspect 6) the first actuator (41, 42) and the second actuator (42, 43) are electric motors, The umbilical member (5) is a wire harness electrically connected to the first actuator (41, 42) and the second actuator (42, 43). An articulated robot (1, 10, 101) according to any one of aspects 1 to 5.

[0104] (Aspect 7) The link forms part of a manipulator of a vertical articulated robot (1, 10), An articulated robot (1, 10) according to any one of aspects 1 to 6.

[0105] (Aspect 8) The link forms part of a horizontal articulated robot manipulator. The articulated robot (101) according to any one of aspects 1 to 6. [Explanation of symbols]

[0106] 1. Articulated robot 10 Articulated Robot 101 Horizontal articulated robot 31 First Link 310 Through hole 311 1st end 312 2nd end 313 First Link 32 Second Link 320 Through hole 321 1st end 322 2nd end 33 Third Link 331 1st end 41 Actuator 411 Main Unit 412 Shaft 42 Actuator 421 Main Unit 422 Shaft 43 Actuator 431 Main Unit 432 Shaft 5 Harness (striate) 57 Branch Line 59 Branch Line 517 Branch Line 519 Branch Line 81 Link 1 810 Through hole 811 1st end 812 2nd end 82 Second Link 821 1st end Ax1 axis Ax2 axis Ax3 axis JT1 joint JT2 joint JT3 joint

Claims

1. a link having a first end included in a first joint and a second end included in a second joint; a first actuator connected to the first joint and applying torque around a first axis to the first joint, the first actuator being located on a first side of the link in the direction in which the first axis extends; a second actuator connected to the second joint and applying a torque to the second joint about a second axis parallel to the first axis, the second actuator being located on a second side opposite to the first actuator across the link in the direction in which the first axis or the second axis extends; a filament extending between the first end and the second end so as to cross the link from the first side to the second side or from the second side to the first side, and connected to the first actuator and the second actuator; An articulated robot comprising:

2. The articulated robot according to claim 1, the first actuator has a first body and a first shaft protruding from the first body along the first axis; the second actuator has a second body and a second shaft that protrudes from the second body along the second axis in a direction opposite to the direction in which the first shaft protrudes, The filament extends along the first axis or the second axis. Articulated robot.

3. The articulated robot according to claim 2, the link has a through hole that communicates the first side with the second side, The filament passes through the through-hole. Articulated robot.

4. The articulated robot according to claim 3, the wire body has a first branch line that branches off on the first side across the through hole and is connected to the first actuator, and a second branch line that branches off on the second side across the through hole and is connected to the second actuator, Articulated robot.

5. The articulated robot according to any one of claims 1 to 4, the filament extends in a direction perpendicular to the first axis or the second axis at a position on the opposite side of the link from the first actuator, and also extends in a direction perpendicular to the first axis or the second axis at a position on the opposite side of the link from the second actuator, Articulated robot.

6. The articulated robot according to claim 1, the first actuator and the second actuator are electric motors, the umbilical member is a wire harness electrically connected to the first actuator and the second actuator; Articulated robot.

7. The articulated robot according to claim 1, The link forms part of a vertical articulated robot manipulator. Articulated robot.

8. The articulated robot according to claim 1, The link forms part of a horizontal articulated robot manipulator. Articulated robot.

Images