Robots and robot systems

Abstract

A robot and a robot system are provided that can improve the approachability to a workpiece while suppressing an increase in the size of the booth. [Solution] The painting robot (1) has a base (3) fixed to an installation surface (15), a base (5) rotatably supported on the base (3) and rotating around a first axis (AX1), a lower arm (7) rotatably supported on the base (5) and rotating around a second axis (AX2) perpendicular to the first axis (AX1), and a middle arm (9) rotatably supported on the lower arm (7) and rotating around a third axis (AX3) parallel to the second axis (AX2), and the offset distance (L1) between the first axis (AX1) and the second axis (AX2) is at least 1 / 3 times the offset distance (L2) between the second axis (AX2) and the third axis (AX3).

Description

[Technical Field]

[0001] The disclosed embodiments relate to robots and robotic systems. [Background technology]

[0002] Patent Document 1 describes a painting system in which a painting robot equipped with a painting end effector is placed in a painting booth to paint an automobile. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-65973 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned painting system, there has been a demand for improving the approachability to the workpiece while suppressing an increase in the size of the painting booth.

[0005] The disclosed embodiments have been made in consideration of these problems, and aim to provide a robot and a robot system that can improve the approachability to the workpiece while preventing the booth from becoming too large. [Means for solving the problem]

[0006] In order to solve the above problem, according to one aspect of the present invention, a robot is provided, which includes: a base fixed to an installation surface; a base rotatably supported on the base and rotating about a first axis; a first arm rotatably supported on the base and rotating about a second axis perpendicular to the first axis; and a second arm rotatably supported on the first arm and rotating about a third axis parallel to the second axis, wherein the offset distance between the first axis and the second axis is 1 / 3 or more of the offset distance between the second axis and the third axis.

[0007] According to another aspect of the present invention, there is provided a robot system comprising: a booth; and a robot that performs a predetermined task on a workpiece within the booth, wherein the robot comprises: a base fixed to an installation surface; a base rotatably supported on the base and rotating about a first axis; a first arm rotatably supported on the base and rotating about a second axis perpendicular to the first axis; and a second arm rotatably supported on the first arm and rotating about a third axis parallel to the second axis, wherein the offset distance between the first axis and the second axis is 1 / 3 or more of the offset distance between the second axis and the third axis. [Effects of the Invention]

[0008] According to the disclosed embodiment, it is possible to improve the approachability to the workpiece while suppressing an increase in the size of the booth. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view illustrating an example of a configuration of a painting robot according to an embodiment. [Figure 2] FIG. 1 is a top view illustrating an example of a configuration of a painting robot according to an embodiment. [Figure 3] FIG. 2 is an explanatory diagram showing an example of dimensions of each part of a painting robot. [Figure 4] FIG. 2 is a side view showing an example of the shape of an upper portion of a base of a painting robot. [Figure 5] FIG. 2 is a side view showing an example of the arrangement of paint tubes provided in the painting robot. [Figure 6] FIG. 2 is a top view showing an example of the arrangement of paint tubes provided in the painting robot. [Figure 7] FIG. 2 is a rear view showing an example of the arrangement of paint tubes provided in the painting robot. [Figure 8] 10 is a top view showing an example of the movement of the paint tube due to the rotation of the base about the first axis. FIG. [Figure 9]10 is a top view showing an example of the movement of the paint tube due to the rotation of the base about the first axis. FIG. [Figure 10] 10 is a top view showing an example of the movement of the paint tube due to the rotation of the base about the first axis. FIG. [Figure 11] FIG. 2 is a side view showing an example of a folding structure of an arm of a painting robot. [Figure 12] FIG. 2 is a rear view showing an example of a folding structure of an arm of a painting robot. [Figure 13] FIG. 2 is a side view showing an example of electronic devices and cables mounted inside the painting robot. [Figure 14] FIG. 1 is a diagram illustrating an example of the arrangement of painting robots in a painting booth. [Figure 15] FIG. 10 is a diagram showing another example of the arrangement of painting robots in a painting booth. [Figure 16] FIG. 10 is a diagram showing yet another example of the arrangement of painting robots in a painting booth. [Figure 17] FIG. 10 is a top view showing an example of the arrangement of paint tubes in a modified example in which the base has a cantilever structure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] <1. Painting robot configuration> An example of the configuration of a painting robot 1 according to an embodiment will be described with reference to Figures 1 and 2. Each of the figures, including Figures 1 and 2, shows a three-dimensional Cartesian coordinate system consisting of a Z axis, with the positive direction being vertically upward, a Y axis, with the positive direction being the direction in which the workpiece to be painted is transported, and an X axis, orthogonal to the X axis and the Y axis. Also, paint tubes, which will be described later, are not shown in Figures 1 and 2. The coordinate systems are merely examples, and there are cases in which the positive and negative signs of each coordinate system are different.

[0012] As shown in FIGS. 1 and 2, a painting robot 1 (an example of a robot) has a base 3, a base 5, a lower arm 7, a middle arm 9, an upper arm 11, and a wrist portion 13.

[0013] The base 3 is fixed to an installation surface 15. The installation surface 15 may be, for example, the floor, wall, or ceiling of the paint booth, or a stand installed thereon. The base 3 is provided with a terminal box 3A on the rear side, which is the negative side of the X-axis, to which a power cable, a control cable, etc. are connected. When the base 3 is installed by rotating it 90° or −90° about the first axis AX1 from the orientation shown in FIGS. 1 and 2, the terminal box 3A may be disposed on the positive and negative sides of the Y-axis.

[0014] The base 5 is rotatably supported on the base 3 and rotates about a first axis AX1. The painting robot 1 may be installed so that the first axis AX1 is parallel to the vertical Z-axis, or so that the first axis AX1 is inclined relative to the Z-axis. The base 5 has a substantially circular main body 5A located on the base 3 and a pair of protrusions 5B, 5C protruding a predetermined length from the main body 5A toward the lower arm 7. In the example shown in FIG. 1 , the protrusions 5B, 5C protrude at a predetermined angle relative to a plane perpendicular to the first axis AX1 so that their tips point slightly upward. Note that the protrusions 5B, 5C may also protrude at a predetermined angle so that they are substantially parallel to the plane perpendicular to the first axis AX1 or point slightly downward. The protrusion 5B is installed as a strength member to support the weight of the arm at the tip, and the protrusion 5C is installed as a cable support for routing cables inside. Both of the protrusions 5B and 5C may be strength members. The protrusions 5B and 5C are arranged facing each other in the horizontal direction, and the base end 7a of the lower arm 7 is connected between the tip ends of the protrusions 5B and 5C so as to be rotatable about the second axis AX2. The base 5 has a gap 17 penetrating in a direction parallel to the first axis AX1 between the protrusions 5B and 5C and between the main body 5A and the base end 7a of the lower arm 7. In other words, the base 5 has a gap 17 penetrating in a direction parallel to the first axis AX1 between the first axis AX1 and the second axis AX2. The "rotation" of the base 5 can also be called a "swivel" because it is an action of swinging the arm around the first axis AX1.

[0015] Lower arm 7 (an example of a first arm) is rotatably supported on base 5 and rotates about a second axis AX2 perpendicular to first axis AX1. A base end 7a of lower arm 7 is connected between the tip ends of protrusions 5B and 5C of base 5 so as to be rotatable about the second axis AX2. Note that the "rotation" of lower arm 7 can also be called "pivoting" because it is an operation that changes the angle formed by adjacent arms.

[0016] The middle arm 9 (an example of a second arm) is rotatably supported by the lower arm 7, and rotates about a third axis AX3 parallel to the second axis AX2. A base end 9a of the middle arm 9 is connected to a tip end 7b of the lower arm 7 so as to be rotatable about the third axis AX3. Note that the "rotation" of the middle arm 9 can also be called "pivoting," since it is an operation that changes the angle formed by the adjacent arms.

[0017] An upper arm 11 (an example of a third arm) is rotatably supported by the middle arm 9, and rotates about a fourth axis AX4 parallel to the third axis AX3. A base end 11a of the upper arm 11 is connected to a tip end 9b of the middle arm 9 so as to be rotatable about the fourth axis AX4. Note that the "rotation" of the upper arm 11 can also be called "pivoting," since it is an operation that changes the angle formed by adjacent arms.

[0018] The wrist 13 is rotatably supported by the upper arm 11 and is a three-axis mechanism to which a painting end effector 25 can be attached at its tip. Specifically, the wrist 13 has a fifth arm 19, a sixth arm 21, and a seventh arm 23. The fifth arm 19 is rotatably supported by the tip 11b of the upper arm 11 and rotates about a fifth axis AX5 perpendicular to the fourth axis AX4. The sixth arm 21 is rotatably supported by the tip of the fifth arm 19 and rotates about a sixth axis AX6 that intersects with the fifth axis AX5 at a predetermined inclination angle. The seventh arm 23 is rotatably supported by the tip of the sixth arm 21 and rotates about a seventh axis AX7 that intersects with the sixth axis AX6 at a predetermined inclination angle. A painting end effector 25 is attached to the tip of the seventh arm 23. The end effector 25 is, for example, a paint gun. In addition, the "rotation" of the fifth arm 19, the sixth arm 21, and the seventh arm 23 can also be called "pivoting" because it is an operation in which the adjacent arms rotate relative to each other without changing the angle between them.

[0019] Although not shown in the figures, the wrist 13 has a hollow portion inside, in which hoses, tubes, cables, etc. can be routed. Therefore, painting work can be performed on workpieces with complex shapes without worrying about interference from hoses, tubes, cables, etc. Furthermore, although the three-axis configuration of the wrist 13 shown in the figures is a configuration called a two-roll wrist, the wrist 13 may also be configured as a lemma wrist, an in-line wrist, a three-roll wrist, or a solid structure depending on the type of end effector 25 and the working mode.

[0020] As described above, the painting robot 1 is configured as a seven-axis robot having seven joints. Although not shown in the figure, the actuators that drive the joints are configured by, for example, servo motors, encoders, reducers, etc.

[0021] <2. Dimensions of each part of the painting robot> FIG. 3 shows an example of dimensions of each part of the painting robot 1.

[0022] 3, the offset distance between the first axis AX1 and the second axis AX2 in the direction perpendicular to the first axis AX1 is denoted as L1, the offset distance between the second axis AX2 and the third axis AX3 in the direction perpendicular to the axes AX2 and AX3 is denoted as L2, the offset distance between the third axis AX3 and the fourth axis AX4 in the direction perpendicular to the axes AX3 and AX4 is denoted as L3, and the offset distance between the fourth axis AX4 and the intersection point P in the direction perpendicular to the fourth axis AX4 is denoted as L4. The intersection point P is the intersection point of the fifth axis AX5 and the sixth axis AX6. Furthermore, the offset distance between the installation surface 15 and the second axis AX2 in a direction perpendicular to the second axis AX2 is defined as L5, the offset distance between the second axis AX2 and the upper end of the main body 5A of the base 5 in a direction perpendicular to the second axis AX2 is defined as L6, the offset distance between the second axis AX2 and the base end of the lower arm 7 in a direction perpendicular to the second axis AX2 is defined as L7, the offset distance between the third axis AX3 and the base end of the middle arm 9 in a direction perpendicular to the third axis AX3 is defined as L8, and the offset distance between the fourth axis AX4 and the base end of the upper arm 11 in a direction perpendicular to the fourth axis AX4 is defined as L9. Offset distance L2 can also be referred to as the arm length of the lower arm 7, offset distance L3 can also be referred to as the arm length of the middle arm 9, and offset distance L4 can also be referred to as the arm length of the upper arm 11. Furthermore, offset distance L5 can also be referred to as the height of the second axis AX2 from the installation surface 15.

[0023] The offset distance L1 is 1 / 3 or more times the offset distance L2 (the arm length of the lower arm 7) and 2 / 3 or less times the offset distance L2. In other words, the offset distance L2 (the arm length of the lower arm 7) is 3 / 2 or more times the offset distance L1 and 3 or less times the offset distance L1. The offset distance L2 may be greater than the offset distance L3 (the arm length of the middle arm 9) and less than the offset distance L4 (the arm length of the upper arm 11). The offset distance L4 is less than twice the offset distance L3 (the arm length of the middle arm 9).

[0024] The offset distance L5 (height of the second axis AX2 from the installation surface 15) is at least 1 / 3 the offset distance L2 (arm length of the lower arm 7) and is not more than 1 / 2 the offset distance L2. The offset distance L6 is at least 1 / 3 the offset distance L5 and is not more than 1 / 2 the offset distance L5. The offset distances L7, L8, and L9 are all approximately the same dimension as the offset distance L6.

[0025] The dimensions of each of the offset distances L1 to L9 are set to appropriate values ​​depending on the dimensions of the workpiece to be coated, the coating method, and the like.

[0026] <3. Upper base shape> FIG. 4 shows an example of the shape of the upper part of the base 5 of the painting robot 1. As shown in FIG.

[0027] As shown in FIG. 4, the housing of the main body 5A of the base 5 has an inclined portion 27 that is approximately parallel to the housing of the lower arm 7 when the painting robot 1 is in a position where the third axis AX3 is closer to the first axis AX1 than the second axis AX2. In the example shown in FIG. 4, the inclined portion 27 is formed at an angle that makes it approximately parallel to the housing of the lower arm 7 when the painting robot 1 is in a fully retracted position where the overall length of the arm is shortest, or is shaped to fit into a silhouette that is approximately parallel to the housing. The fully retracted position is an example of a position where the third axis AX3 is closer to the first axis AX1 than the second axis AX2. This allows the lower arm 7 to have an expanded operating range toward the rear, which is the negative side of the X-axis.

[0028] <4. Arrangement of paint tubes> 5 to 10 show an example of the arrangement of paint tubes provided in the painting robot 1. FIG.

[0029] The painting robot 1 has a paint tube 29 (an example of a wire) for supplying paint to the end effector 25. The paint tube 29 is arranged outside the painting robot 1 along the extension direction of each arm. As shown in FIGS. 5 to 7, the paint tube 29 is arranged outside the painting robot 1 so as to pass through the interior of the gap 17 from a space 31 on the opposite side of the base 3 of the base 5. The space 31 is the space above the base 5 when the painting robot 1 is installed on the floor of a painting booth, for example, and is the space below the base 5 when the painting robot 1 is installed upside down on the ceiling of the painting booth, for example (so-called ceiling-suspended installation).

[0030] Specifically, as shown in FIGS. 5 to 7, the painting robot 1 has support members 33, 35, 37, and 39 that support the paint tube 29. The support member 33 (an example of a first support) is installed on the terminal box 3A of the base 3. The support member 33 supports the paint tube 29 at a position to the left rear (negative side of the X-axis and positive side of the Y-axis; see FIG. 6) with respect to the first axis AX1. The left rear position is an example of a position on one side. The support member 35 (an example of a second support) is installed in the gap 17 of the protruding portion 5C of the base 5. In the reference posture of the painting robot 1 shown in FIG. 6, the support member 35 supports the paint tube 29 at a position to the right front (positive side of the X-axis and negative side of the Y-axis; see FIG. 6) with respect to the first axis AX1. The right front position is an example of a position on the other side. As shown in FIG. 6, the support position by the support member 33 and the support position by the support member 35 are positions that are approximately point-symmetric with respect to the first axis AX1. The reference posture is a posture in which the rotation angle of the base 5 relative to the base 3 is a predetermined reference angle, and in which the robot arm including the lower arm 7, middle arm 9, upper arm 11, and wrist portion 13 faces forward (positive side of the X-axis) relative to the first axis AX1.

[0031] A support member 37 (an example of a third support) is installed on the outer side 5Ba of the housing of the protruding portion 5B of the base 5. The support member 37 supports the paint tube 29, which is arranged from the space 31 on the opposite side of the base 5 from the base 3, through the interior of the gap 17 and a space 41 (see FIG. 5) on the base 3 side of the gap 17, toward the side 5Ba of the protruding portion 5B. The space 41 is the space below the gap 17 when the painting robot 1 is installed on the floor of a painting booth, for example, and is the space above the gap 17 when the painting robot 1 is installed upside down on the ceiling of the painting booth, for example (so-called ceiling-suspended installation). The support members 33, 35, and 37 allow the paint tube 29 to be arranged so as to be wrapped around the base 5.

[0032] The support member 39 is installed at the base end 9a of the middle arm 9 and supports the paint tube 29 arranged from the support member 37 along the extension direction of the lower arm 7. The paint tube 29 is arranged in a space 43 formed by the curved shape of the lower arm 7 or by being arranged offset from the middle arm 9. The support members 33, 35, 37, and 39 allow the paint tube 29 to be arranged within the width dimension WS of the painting robot 1.

[0033] 8 to 10 show an example of the movement of the paint tube 29 due to the rotation of the base 5 about the first axis AX1. FIG. 8 shows the case where the painting robot 1 is in the standard position described above. As shown in FIG. 8, the paint tube 29 is disposed above the base 5 on a substantially diagonal line centered on the first axis AX1 by the support members 33 and 35 and inserted into the gap 17. FIG. 9 shows the case where the base 5 is rotated counterclockwise around the first axis AX1 from the standard position shown in FIG. 8 (approximately 90° in the example shown in FIG. 9). As shown in FIG. 9, the paint tube 29 is swung in the rotation direction of the support member 35 around the support member 33, passes from the support member 33 to the left side of the first axis AX1 (positive side of the Y-axis) above the base 5, and is inserted into the gap 17. FIG. 10 shows the case where the base 5 is rotated clockwise around the first axis AX1 from the standard position shown in FIG. 8 (approximately 90° in the example shown in FIG. 10). 10, the paint tube 29 is swung around the support member 33 in the rotation direction of the support member 35, passes from the support member 33 to the rear side of the first axis AX1 (the negative side of the X-axis) above the base 5, and is inserted into the gap 17. In this way, the paint tube 29 can be prevented from protruding outward in the width direction of the painting robot 1 due to the rotation caused by the rotation of the base 5.

[0034] Although the above has described the arrangement of the paint tube 29, when wires other than the paint tube, such as various cables such as power cables and communication cables, or hoses, are arranged outside the painting robot 1, they may be arranged in the same manner as the paint tube 29 described above.

[0035] <5. Arm folding structure> 11 and 12 show an example of a folding structure for the arms of the painting robot 1. As shown in FIG. 12, the lower arm 7 is curved so that the tip end 7b protrudes further toward the positive side of the Y-axis than the base end 7a. Due to the curved shape of the lower arm 7 or its offset position relative to the middle arm 9, a space 43 is formed between the lower arm 7 and the middle arm 9 in which the upper arm 11, which is oriented substantially horizontally, can be stored. As a result, as shown in FIGS. 11 and 12, the tip end 7b of the lower arm 7 protrudes toward the positive side of the Y-axis and the upper arm 11 protrudes toward the negative side of the Y-axis alternately, allowing the arms to be folded so that the lower arm 7 and the middle arm 9 overlap when viewed from the Y-axis direction. This allows the painting robot 1 to be in a compact position and minimizes the stroke of the painting robot 1.

[0036] <6. Electronic devices and cables installed inside the robot> Figure 13 shows an example of electronic devices and cables mounted inside the painting robot 1. The painting robot 1 has a hollow section inside the housing that can accommodate the electronic devices and cables, and has an internal pressure explosion-proof structure that prevents flammable gases from the outside from entering the robot by maintaining the internal pressure at a value higher than the external pressure (internal space of the painting booth).

[0037] As shown in FIG. 13 , the painting robot 1 has an electronic device 45, an electronic device 47, a cable 49, and a cable 51 inside the housing. The electronic device 45 is, for example, a camera or a sensor that requires high-speed communication. The electronic device 45 is disposed inside the base 5, for example, and is connected to the terminal box 3A by the cable 49. The electronic device 45 is a device that relays communication. The electronic device 47 is disposed inside the middle arm 9, for example, and is connected to the electronic device 45 by the cable 51. The electronic device 47 is, for example, a solenoid valve. The cables 49 and 51 have different CATs (categories), which are cable standards determined by the maximum communication speed and transmission bandwidth. For example, the cable 49 is a high-category cable (e.g., CAT8) that requires a short communication distance and a small number of relays. The cable 51 is a medium-category cable (e.g., CAT5e) that allows for a certain communication distance and a certain number of relays. In this way, by providing a device for relaying communication inside the painting robot 1, electronic devices with different communication characteristics can be mounted in a form optimized for the communication characteristics.

[0038] <7. Placement of painting robots in the painting booth> 14 to 16 show examples of the arrangement of the painting robot 1 in the painting booth. Although Fig. 14 to 16 illustrate the case where the workpiece W to be painted is an automobile body, the workpiece W may be something other than an automobile body.

[0039] As shown in FIG. 14 , a painting system 100 (an example of a robot system) includes a painting booth 53 (an example of a booth) and a painting robot 1 that paints a workpiece W (an example of a predetermined task) in the painting booth 53. In the painting booth 53, the workpiece W is transported to the positive side of the Y-axis by a transport device 55, and the transported workpiece W is painted by the painting robot 1. Although two painting robots 1 are shown in FIG. 14 , there may be one painting robot 1 or three or more painting robots 1. Each painting robot 1 is disposed such that its base 3 is spaced apart from the floor 53 a of the painting booth 53. Each painting robot 1 is disposed on a platform 57 whose base 3 is installed on a wall 53 b of the painting booth 53. In the example shown in FIG. 14 , each painting robot 1 is disposed such that its base 3 is higher than a reference position (e.g., an upper end position Wt) of the workpiece W. That is, the height H1 of the base 3 of each painting robot 1 from the floor surface 53a of the painting booth is higher than the height H2 of the upper end position Wt of the workpiece W from the floor surface 53a of the painting booth.

[0040] The reference position of the workpiece W is not limited to the upper end position Wt. For example, the reference position may be the center position Wm of the workpiece W in the height direction. In this case, the painting robot 1 may be disposed so that the base 3 is higher than the center position Wm of the workpiece W. The reference position may also be the lower end position Wb of the workpiece W. In this case, the painting robot 1 may be disposed so that the base 3 is higher than the lower end position Wb of the workpiece W.

[0041] When the workpiece W is an automobile body, the vehicle height is generally about 2.0 m. Therefore, by setting the height H1 of the base 3 from the painting booth floor 53a to, for example, about 1.5 m to 3 m, the installation surface of the painting robot 1 can be installed in a range from the middle of the vehicle body placed on the transport device 55 to the ceiling.

[0042] In the example shown in FIG. 15, the base 3 of each painting robot 1 is disposed so that the first axis AX1 is inclined relative to the vertical direction. Specifically, each painting robot 1 is disposed on a platform 59, the base 3 of which is installed on the wall surface 53b of the painting booth 53, and the installation surface of the platform 59 is inclined relative to the horizontal direction. As a result, each painting robot 1 is disposed so that the first axis AX1 is inclined at an inclination angle θ relative to the vertical direction. By setting the inclination angle θ appropriately, the stroke required to paint the workpiece W can be shortened. However, if the inclination angle θ is too large, the installation of the painting robot 1 becomes unstable. Furthermore, the load on the servo motor driving the base 5 increases, making it necessary to limit the range of motion of the first axis AX1. For this reason, the inclination angle θ is preferably set to, for example, 10° to 45°.

[0043] In the example shown in FIG. 16, each painting robot 1 has its base 3 fixed to the ceiling 53c of the painting booth 53 and is installed upside down (so-called ceiling-suspended installation). In this case, unlike the arrangement shown in FIGS. 5 to 10, the paint tube 29 may be inserted from the space 41 (see FIG. 5) on the base 3 side of the gap 17 into the gap 17 and arranged along the lower arm 7, rather than passing through the space 31 on the opposite side of the base 5 from the base 3. The ceiling 53c is an example of a position spaced apart from the floor 53a of the painting booth 53. Note that the painting robot 1 may be installed not only horizontally but also upside down while tilted by an angle θ.

[0044] 8. Effects of the embodiment As described above, the painting robot 1 of this embodiment is configured so that the offset distance L1 between the first axis AX1 and the second axis AX2 is at least one-third of the offset distance L2 between the second axis AX2 and the third axis AX3. That is, the painting robot 1 is configured so that the offset distance L1 between the first axis AX1 and the second axis AX2 is relatively large. This offsetting the second axis AX2 toward the workpiece W with respect to the first axis AX1 compensates for the arm length. This improves the approachability to the workpiece W. Meanwhile, by increasing the offset distance L1 between the first axis AX1 and the second axis AX2, the offset distance L2 between the second axis AX2 and the third axis AX3 (the arm length of the lower arm 7) can be shortened while maintaining the arm length. This reduces the height from the installation surface 15 to the upper end of the lower arm 7, thereby enabling the painting booth 53 to be made more compact. This improves the approachability to the workpiece W while preventing the painting booth 53 from becoming larger.

[0045] In this embodiment, the housing of the base 5 may have an inclined portion 27. In this case, when the painting robot 1 is oriented such that the third axis AX3 is positioned closer to the first axis AX1 than the second axis AX2, interference between the housing of the base 5 and the housing of the lower arm 7 can be avoided. This allows the rearward operating range of the painting robot 1 to be expanded.

[0046] Furthermore, in this embodiment, the base 5 may have a gap 17 between the first axis AX1 and the second axis AX2, penetrating in a direction parallel to the first axis AX1. In this case, the gap 17 can be used as a passage for tubes, wiring, etc. Therefore, the space between the first axis AX1 and the second axis AX2, which is created by increasing the offset distance of the base 5, can be used effectively.

[0047] Furthermore, in this embodiment, the paint tube 29 may be disposed outside the painting robot 1 so as to pass through the gap 17 from the space 31 on the opposite side of the base 5 from the base 3. In this case, when the base 5 is rotated relative to the base 3, the paint tube 29 can be prevented from protruding outward in the width direction of the painting robot 1 due to the rotation. This prevents interference with adjacent painting robots 1 or equipment, making it possible to install the painting robots 1 and equipment in close proximity. This can therefore contribute to the miniaturization of the painting booth 53.

[0048] Furthermore, in this embodiment, a support member 33 may be installed on the base 3 to support the paint tube 29 at a position on one side with respect to the first axis AX1, and a support member 35 may be installed in the gap 17 of the base 5 to support the paint tube 29 at a position on the other side that is approximately point-symmetrical to the position on one side with respect to the first axis AX1 in the reference posture. In this case, the support members 33 and 35 allow the paint tube 29 to be disposed above the base 5 on a substantially diagonal line centered on the first axis AX1 and inserted into the gap 17. This prevents the excess length of the paint tube 29 from protruding outward in the width direction of the painting robot 1 due to rotation caused by the rotation of the base 5.

[0049] Furthermore, in this embodiment, a support member 37 may be provided that is installed on the side surface 5Ba of the housing of the base 5 and supports the paint tube 29 that is arranged from the space 31 on the opposite side of the base 5 from the base 3, through the inside of the gap 17 and the space 41 on the base 3 side of the gap 17, and toward the side surface 5Ba. In this case, the support members 33, 35, and 37 allow the paint tube 29 to be arranged so as to be wrapped around the base 5. This allows the paint tube 29 to be arranged along the base 5 and the lower arm 7 while preventing the excess length of the paint tube 29 from protruding outward in the width direction of the painting robot 1.

[0050] In this embodiment, the base 3 may be located at a distance from the floor 53a of the painting booth 53 where the workpieces W are transported and painted. In this case, the operating range of the painting robot 1 can be optimized by adjusting the height from the floor 53a. Also, the painting robot 1 can be prevented from blocking the downflow path in the painting booth 53.

[0051] In this embodiment, the base 3 may be placed on stands 57, 59 that are arranged on the wall surface 53b of the painting booth 53. In this case, the painting robot 1 can be easily installed.

[0052] Furthermore, in this embodiment, the base 3 may be positioned higher than the reference position (e.g., the upper end position Wt) of the workpiece W. This allows painting-related equipment (e.g., an opener robot for opening vehicle doors, etc.) to be positioned below the painting robot 1. Furthermore, for example, if the painting robot 1 is installed at a high position near the ceiling of the painting booth 53, the arms other than the lower arm 7 will not be higher than the upper end of the lower arm 7 during painting operation. Therefore, by shortening the arm length of the lower arm 7, the ceiling of the painting booth 53 can be lowered.

[0053] In this embodiment, the base 3 may be disposed so that the first axis AX1 is inclined relative to the vertical direction. In this case, the operating range of the painting robot 1 can be optimized by adjusting the inclination angle θ.

[0054] Furthermore, in this embodiment, the painting robot 1 may have an upper arm 11 rotatably supported on the middle arm 9 and rotatable about a fourth axis AX4 parallel to the third axis AX3, and a three-axis wrist 13 rotatably supported on the upper arm 11 and capable of attaching a painting end effector 25 to its tip. In this case, the painting robot 1 can have a seven-axis configuration. This allows access to the area immediately forward of the lower arm 7, which is difficult to access with a six-axis configuration, thereby expanding the range of operation.

[0055] <9. Variations> The disclosed embodiments are not limited to those described above, and various modifications are possible within the scope of the spirit and technical concept thereof.

[0056] For example, in the above embodiment, the base 5 has a pair of protrusions 5B, 5C, and the base end 7a of the lower arm 7 is rotatably connected between these protrusions 5B, 5C (a so-called double-supported structure). However, this is not limited to this. For example, as shown in FIG. 17 , the base 5 may have a single protrusion 5D, and the base end 7a of the lower arm 7 may be rotatably connected to the tip of the protrusion 5D around the second axis AX2 (a so-called cantilevered structure). In this modification, the base 5 has a gap 17 extending parallel to the first axis AX1 between the protrusion 5D, the main body 5A, and the base end 7a of the lower arm 7. The support member 35 is installed in the gap 17 of the protrusion 5D of the base 5. This modification also achieves the same effects as the above embodiment. Note that when the painting robot 1 is installed on opposite sides of the painting booth 53 (on both sides of the workpiece W in the X-axis direction), a mirror-symmetrical variation of the illustrated robot is also possible.

[0057] Furthermore, although the above description has been given of the case where the predetermined work performed by the robot is painting, the predetermined work may be other than painting, such as workpiece transport (handling), arc welding, spot welding, etc.

[0058] In the above description, when terms such as "vertical," "parallel," and "plane" are used, these terms are not used in their strict sense. These terms "vertical," "parallel," and "plane" mean "substantially vertical," "substantially parallel," and "substantially plane," allowing for tolerances and errors in design and manufacturing.

[0059] In the above description, when the external dimensions, size, shape, position, etc. are described as "same," "equal," "different," etc., these descriptions do not have the strict meaning. The terms "same," "equal," and "different" mean "substantially the same," "substantially the same," "substantially equal," and "substantially different," allowing for design and manufacturing tolerances and errors.

[0060] In addition to the above, the methods according to the above-described embodiments and modifications may be combined as appropriate. Although not specifically illustrated, the above-described embodiments and modifications may be implemented with various modifications within the spirit and scope of the invention.

[0061] The problems and effects that the above-described embodiments and modifications are intended to solve are not limited to those described above. The embodiments and modifications may solve problems or achieve effects that are not described above, or may solve only some of the problems or achieve only some of the effects that are described. [Explanation of symbols]

[0062] 1. Painting robot (example of a robot) 3. Foundation 5. Bass 7 Lower arm (example of first arm) 9 Middle arm (example of second arm) 11 Upper arm (example of the third arm) 13 Wrist part 15 Installation surface 17 void 19 5th Arm 21 6th Arm 23 7th Arm 25 End Effector 27 Slope 29 Paint tube (an example of a filament) 31 Space 33 Support member (an example of a first support) 35 Support member (an example of a second support) 37 Support member (an example of a third support) 39 Support Members 41 Space 45 Electronic equipment 47 Electronic equipment 53 Paint booth (an example of a booth) 53a Floor 53b Wall 53c Ceiling 57 Mounting stand 59 Mounting stand 100 Painting system (an example of a robot system) AX1 1st axis AX2 2nd axis AX3 3rd axis AX4 4th axis AX5 5th axis AX6 6th axis AX7 7th axis L1 offset distance L2 offset distance L3 offset distance L4 offset distance L5 offset distance L6 offset distance L7 offset distance L8 offset distance L9 offset distance double work Wb Bottom position (example of reference position) Wm center position (example of reference position) Wt Upper end position (example of reference position) θ Tilt angle

Claims

1. a base fixed to an installation surface; a base rotatably supported on the base and rotating about a first axis; a first arm rotatably supported on the base and configured to rotate about a second axis perpendicular to the first axis; a second arm rotatably supported by the first arm and rotating about a third axis parallel to the second axis, an offset distance between the first axis line and the second axis line is equal to or greater than 1 / 3 of an offset distance between the second axis line and the third axis line; robot.

2. The housing of the base comprises: the robot has an inclined portion that is substantially parallel to a housing of the first arm when the robot is in a position where the third axis is positioned closer to the first axis than the second axis; The robot of claim 1 .

3. The base is The rotor is configured to have a gap between the first axis and the second axis that passes through in a direction parallel to the first axis. The robot of claim 1 .

4. The robot further includes a linear member disposed outside the robot so as to pass through the gap from a space on the opposite side of the base from the base. The robot according to claim 3.

5. a first support member that is installed on the base and supports the filament at a position on one side of the first axis; a second support member that is installed in the gap of the base and supports the filament at a position on the other side that is substantially point-symmetrical to the position on the one side with respect to the first axis when the rotation angle of the base relative to the base is a predetermined reference angle, The robot according to claim 4.

6. a third support member that is installed on a side surface of a housing of the base and supports the umbilical member that is arranged from a space on the opposite side of the base of the base through the inside of the gap and the space on the base side of the gap toward the side surface of the housing; The robot according to claim 5.

7. The base is It is located at a position separated from the floor of the booth where the work is transported and the predetermined work is performed. The robot according to any one of claims 1 to 6.

8. The base is It is placed on a stand arranged on the wall of the booth. The robot according to claim 7.

9. The base is The workpiece is positioned at a higher position than the reference position. The robot according to claim 8.

10. The base is The first axis is arranged to be inclined with respect to the vertical direction. The robot according to claim 8.

11. a third arm rotatably supported by the second arm and rotating about a fourth axis parallel to the third axis; a wrist portion having a three-axis configuration, which is rotatably supported by the third arm and to which an end effector can be attached at a tip end thereof; The robot according to any one of claims 1 to 6.

12. This is a painting robot that paints workpieces. The robot according to any one of claims 1 to 6.

13. Booth and a robot that performs a predetermined operation on a workpiece in the booth, The robot a base fixed to an installation surface; a base rotatably supported on the base and rotating about a first axis; a first arm rotatably supported on the base and configured to rotate about a second axis perpendicular to the first axis; a second arm rotatably supported by the first arm and rotating about a third axis parallel to the second axis, an offset distance between the first axis line and the second axis line is equal to or greater than 1 / 3 of an offset distance between the second axis line and the third axis line; Robot system.

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