Articulated robot

Abstract

Reduce the turning radius of an articulated robot. [Solution] The articulated robot (articulated robot 1) comprises a manipulator 3 with a serial link structure having at least a first joint JT2 that rotates around a first axis Ax2 and a second joint JT3 that rotates around a second axis Ax3 that is parallel to the first axis, a first wire body (harness 5) laid along the manipulator on a first side in the direction in which the first axis and the second axis extend, and a second wire body (hose 6) laid along the manipulator on a second side opposite the first side across the manipulator in the direction in which the first axis and the second axis extend.

Description

[Technical Field]

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

[0002] Patent Document 1 describes a conventional vertically articulated robot. The vertically articulated robot includes a first arm, a second arm, a third arm, and a tip end connected in series. The vertically articulated robot also includes a first actuator that swings the first arm, a second actuator that swings the second arm, a third actuator that swings the third arm, and a plurality of attitude adjustment actuators that adjust the attitude of the tip end.

[0003] The vertical articulated robot includes a first cable and a second cable connected to the actuators, the first cable and the second cable being routed on opposite sides of the first actuator, the second actuator, and the third actuator along a wiring path extending from the first arm to the third arm via the second arm. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5975129 Summary of the Invention [Problem to be solved by the invention]

[0005] In the conventional vertical articulated robot, multiple wires are installed on the same side of the manipulator. Installing multiple wires on the same side of the manipulator can increase the turning radius of the robot. An increase in turning radius is disadvantageous for an articulated robot that operates in a narrow space, for example. [Means for solving the problem]

[0006] The technology disclosed herein relates to an articulated robot. a manipulator with a serial link structure having at least a first joint that rotates around a first axis and a second joint that rotates around a second axis parallel to the first axis; a first umbilical member laid along the manipulator on a first side in a direction in which the first axis and the second axis extend with respect to the manipulator; and a second umbilical member laid along the manipulator on a second side opposite to the first side across the manipulator in the direction in which the first axis and the second axis extend. [Effects of the Invention]

[0007] In the articulated robot, the first and second umbilical members are installed separately on the first and second sides of the manipulator, so that the turning radius of the articulated robot is small. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a rear view schematically showing an articulated robot. [Figure 2] FIG. 2 is a side view schematically showing the articulated robot. [Figure 3] FIG. 3 is a perspective view of the articulated robot. [Figure 4] FIG. 4 is a perspective view of the articulated robot. [Figure 5] FIG. 5 shows an enlarged view of the guide. [Figure 6] FIG. 6 shows the structure of the split hose. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the articulated robot will be described with reference to the drawings. The articulated robot described here is an example.

[0010] (Overall structure of an articulated robot) FIG. 1 shows an articulated robot 1. The articulated robot 1 is an example of an industrial robot. FIG. 1 is a rear view that schematically shows the articulated robot 1. FIG. 2 is a side view that schematically shows the articulated robot 1. The articulated robot 1 is a vertical articulated robot. The articulated robot 1 is equipped with a manipulator 3 having a serial link structure. The articulated robot 1 is a seven-axis robot equipped with joints JT1-JT7. The manipulator 3 has an arm 30 and a wrist device 34.

[0011] 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, 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 perform work in a narrow space. Multiple articulated robots 1 may be installed side by side, each performing a task. As shown in FIG. 2, the articulated robot 1 may be combined with a conveyor 101. 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 may be used in a variety of fields.

[0012] 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 supports the manipulator 3.

[0013] The articulated robot 1 includes a first link 31. The first link 31 is part of the arm 30. However, the first link 31 is not an essential element of the articulated robot 1. A joint JT1 connects the first link 31 to the base 21. A first end of the first link 31 is connected to the base 21. 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.

[0014] The articulated robot 1 includes a second link 32. The second link 32 is part of the arm 30. However, the second link 32 is not an essential element of the articulated robot 1. A joint JT2 connects the second link 32 and the first link 31. A first end of the second link 32 is connected to a second end of the first link 31. The second link 32 rotates relative to the first link 31 around an axis Ax2. The axis Ax2 is an axis parallel to the axis Ax1.

[0015] The articulated robot 1 includes a third link 33. The third link 33 is part of the arm 30. However, the third link 33 is not an essential element of the articulated robot 1. The joint JT3 connects the third link 33 to the second link 32. A first end of the third link 33 is connected to a second end of the second link 32. The third link 33 rotates relative to the second link 32 about the axis Ax3. The axis Ax3 is an axis parallel to the axes Ax1 and Ax2.

[0016] 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.

[0017] The joint JT5 rotates a part of the third link 33 about an axis Ax5, which is an axis perpendicular to the axis Ax1.

[0018] The articulated robot 1 includes a wrist device 34. Note that the wrist device 34 is not an essential element of the articulated robot 1. The wrist device 34 is connected to the second end of the third link 33. The joint JT6 rotates the wrist device 34 relative to the third link 33 about the axis Ax6. The axis Ax6 is an axis parallel to the axis Ax1.

[0019] The articulated robot 1 is equipped with an end effector. However, the end effector is not an essential element of the articulated robot 1. The end effector is supported by a wrist device 34. The end effector is, for example, a hand that holds an object. The end effector of the articulated robot 1 is selected depending on the application of the articulated robot 1.

[0020] The wrist device 34 is a joint JT7. The joint JT7 rotates the end effector about an axis Ax7 relative to the third link 33. The axis Ax7 is an axis perpendicular to the axis Ax1.

[0021] The articulated robot 1 has a joint JT8. The articulated robot 1 can be called an eight-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, in the following, the base 21 may be referred to as the first base 21 to distinguish it from the second base 35.

[0022] 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.

[0023] 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 seven-axis articulated robot 1 is displaced around the axis Ax8. The conveyor 101 is located above the horizontal link 36. When the articulated robot 1 is combined with the conveyor 101, the second base 35 and the horizontal link 36 improve the workability of the articulated robot 1 in a narrow space. Note that 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, and 45 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. The actuator 44 is connected to the joint JT4. The actuator 44 moves the joint JT4. The actuator 45 is connected to the joint JT8. The actuator 45 moves the joint JT8. Note that the actuators 41, 42, 43, 44, and 45 are not essential elements of the articulated robot 1.

[0027] Here, the arrangement of the actuators 41, 42, and 43 in the arm 30 will be described with reference to Fig. 1. The actuator 41 is located on a first side of the arm 30 in the direction in which the axes Ax1, Ax2, and Ax3 extend. The first side corresponds to the right side of the paper in Fig. 1. In other words, the actuator 41 is located on the opposite side of the base 21 with respect to the first link 31 in the direction in which the axis Ax1 of the joint JT1 extends.

[0028] The actuator 42 is located on the second side of the arm 30 in the direction in which the axes Ax1, Ax2, and Ax3 extend. The second side corresponds to the left side of the paper in Fig. 1. In other words, the actuator 42 is located on the opposite side of the second link 32 with respect to the first link 31 in the direction in which the axis Ax2 of the joint JT2 extends.

[0029] The actuator 43 is located on the second side of the arm 30 in the direction in which the axes Ax1, Ax2, and Ax3 extend. In other words, the actuator 42 is located on the opposite side of the second link 32 with respect to the third link 33 in the direction in which the axis Ax3 of the joint JT3 extends.

[0030] In a conventional design concept, in a manipulator 3 with a serial link structure, multiple actuators are generally located on the same side relative to the manipulator 3. In contrast to this, in the articulated robot 1, the actuator 42 is located on the opposite side of the actuator 41 relative to the manipulator 3. The actuator 43 is also located on the opposite side of the actuator 41 relative to the manipulator 3.

[0031] The actuator is electrically connected to the controller 9 via a harness 5. The harness 5 is an example of a first umbilical member. The harness 5 is laid along the arm 30. The actuator receives a control signal from the controller 9 via the harness 5. The controller 9 is a computer equipped with at least a processor, a memory, and an interface. The actuator operates according to the control signal. The articulated robot 1 operates due to the operation of the actuator.

[0032] The hand that serves as the end effector is, for example, a vacuum hand. The vacuum hand holds an object by suctioning air. Air is an example of a fluid used to operate the end effector. The articulated robot 1 is equipped with a hose 6. The hose 6 is an example of a second umbilical member. The hose 6 is a vacuum hose that connects the vacuum pump 10 and the end effector to each other. For example, the outer diameter of the hose 6 is larger than the outer diameter of the harness 5. The end of the hose 6 is connected to a wrist device 34, as shown in FIG. 3, for example. Air flows through the hose 6 from the end effector to the vacuum pump 10. The hose 6 is flexible and bendable, and is laid along the arm 30.

[0033] (Laying hoses and harnesses) The following describes the installation structure of the hose 6 and harness 5 in the articulated robot 1 with reference to the drawings. First, the installation structure of the harness 5 relative to the arm 30 will be described with reference to FIG.

[0034] As described above, the harness 5 is a wire harness that electrically connects the controller 9 and the actuators 41-45. 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 41-45 and transmits control signals between the controller 9 and the actuators 41-45.

[0035] The upstream end of the harness 5 is connected to the controller 9. As shown in FIG. 1, the harness clamp 51 fixes a first portion of the harness 5 close to the upstream portion to the second side surface of the first base 21, that is, the left side surface in FIG. 1. The first portion of the harness 5 is located on the opposite side of the arm 30 from the actuator 41.

[0036] The harness clamp 52 secures the second portion of the harness 5 to the first link 31. More specifically, the harness clamp 52 secures the second portion of the harness 5 to the second side surface of the first link 31.

[0037] The harness clamp 53 secures an end of the third portion of the harness 5 to the first link 31. More specifically, the harness clamp 53 secures the third portion of the harness 5 to a side surface on the first side of the first link 31. Between the harness clamp 52 and the harness clamp 53, the harness 5 extends across the first link 31 from the second side to the first side of the first link 31. More specifically, the harness 5 passes through a through-hole formed in the first link 31 and extends along the axis Ax1 or Ax2 (see also FIG. 3 ).

[0038] The harness clamp 54 and the harness clamp 55 respectively fix the fourth and fifth portions of the harness 5 to the second link 32. More specifically, the harness clamp 54 and the harness clamp 55 respectively fix the fourth and fifth portions of the harness 5 to the first side surface of the second link 32. The harness 5 is located on the opposite side of the arm 30 from the actuator 42 or 43, and extends in a direction perpendicular to the axis Ax1, axis Ax2, or axis Ax3. The harness clamp 56 fixes the sixth portion of the harness 5 to the third link 33.

[0039] The harness 5 routed along the arm 30 has a plurality of branch lines. Each of the plurality of branch lines is electrically connected to an actuator 41 or 42. The harness 5 also branches inside the third link 33. The branch lines are electrically connected to the actuator 43 and other actuators.

[0040] Next, the structure for laying the hose 6 on the arm 30 will be described with reference to Figure 3 or 4. Figure 3 is a perspective view of the articulated robot 1. Figure 4 is a perspective view of the articulated robot 1 as seen from the opposite direction.

[0041] As described above, the hose 6 is connected to the vacuum pump 10. The downstream side of the hose 6 is laid below the horizontal link 36. The downstream side here corresponds to the direction in which air flows within the hose 6. Since air is sucked into the vacuum pump 10, the side of the hose 6 that is closer to the vacuum pump 10 is the downstream side of the hose 6.

[0042] As shown in FIG. 3, the hose clamp 71 secures the first portion of the hose 6 to the side surface of the second base 35 .

[0043] As shown in FIG. 4 , the hose clamp 72 secures the second portion of the hose 6 to the underside of the horizontal link 36. When the horizontal link 36 rotates, the hose clamp 72 and the second portion of the hose 6 rotate about the axis Ax8. A third portion 603 between the first and second portions of the hose 6 is an excess length. The third portion 603 has a length that allows for rotation of the second base 35 and the horizontal link 36 and prevents the hose 6 from slackening or being dragged along with the rotation of the horizontal link 36. More specifically, the third portion 603 extends from the hose clamp 71 below the horizontal link 36 in a first circumferential direction of the second base 35 along the outer circumferential surface of the second base 35, then turns around and extends in a second circumferential direction to reach the hose clamp 72. The third portion 603 is laid in a U-shape along the outer circumferential surface of the second base 35.

[0044] The hose clamp 73 secures the fourth portion of the hose 6 to the underside of the horizontal link 36. The fourth portion of the hose 6 is secured to the horizontal link 36 at a position close to the axis Ax4. The hose clamp 74 secures the fifth portion of the hose 6 to a side portion of the first base 21 above the horizontal link 36. The fifth portion of the hose 6 is secured to a side portion of the first base 21 on the first side across from the arm 30. The fifth portion of the hose 6 is secured to the first base 21 at a position close to the axis Ax4. When the first base 21 rotates, the hose clamp 74 and the fifth portion of the hose 6 rotate around the axis Ax4.

[0045] A sixth portion 606 between the fourth and fifth portions of the hose 6 is a second excess length portion. The sixth portion 606 has a length that allows rotation of the first base 21 and prevents the hose 6 from slackening or being dragged along with the rotation of the first base 21. As shown in FIG. 3 or 4 , the sixth portion 606 is U-shaped and is laid so as to extend in a direction away from the horizontal link 36. Because the fourth and fifth portions of the hose 6 are fixed at positions close to the axis Ax4, the sixth portion 606 is short in length and the amount of displacement of the sixth portion 606 caused by the rotation of the first base 21 is small. The small displacement of the hose 6 prevents interference between the hose 6 and the wall of the loading platform, thereby improving the installability of the articulated robot 1 that operates in a narrow space.

[0046] 3, the hose clamp 75 secures the seventh portion of the hose 6 to the side portion on the second side of the first base 21. The portion of the hose 6 between the sixth portion of the hose 6 held by the hose clamp 74 and the seventh portion of the hose 6 held by the hose clamp 75 is laid from the first side to the second side of the first base 21 so as to bypass the actuator 44.

[0047] The hose clamp 76 secures the eighth portion of the hose 6 to the side of the third link 33. More specifically, the hose clamp 76 secures the eighth portion of the hose 6 to a cover 430 that covers the actuator 43. The section of the hose 6 from the seventh portion to the eighth portion is located on the opposite side of the arm 30 from the harness 5, and is laid along the arm 30 (see also FIG. 1 ). In other words, the hose 6 is laid along the arm 30 on the side where the actuators 42 and 43 are located across the arm 30. The hose clamp 75 is an example of a first clamp or a second clamp that secures the hose 6 to the manipulator 3. The hose clamp 76 is an example of a second clamp or a first clamp that secures the hose 6 to the manipulator 3.

[0048] The guide 8 guides the intermediate portion between the seventh and eighth portions of the hose 6. The guide 8 is located at a position corresponding to the joint JT2. The guide 8 may be located at a position intersecting the axis Ax2, for example. The guide 8 is fixed to the first link 31 via a bracket 81. The bracket 81 protrudes from the side surface of the first link 31 in the direction in which the axis Ax2 extends, and holds the guide 8 to the side of the actuator 41.

[0049] FIG. 5 shows an enlarged view of the guide 8. Unlike the hose clamps 71-78, the guide 8 does not secure the hose 6. The guide 8 has a guide hole 82. The direction of the hole axis of the guide hole 82 is perpendicular to the axis Ax2. The inner diameter of the guide hole 82 is larger than the outer diameter of the hose 6. The hose 6 extending along the arm 30 passes through the guide hole 82. The guide 8 does not restrict the movement of the hose 6 in the direction in which the hose 6 extends. On the other hand, the guide 8 restricts the hose 6 from moving significantly in a direction perpendicular to the direction in which the hose 6 extends.

[0050] As shown in FIG. 3 , the hose clamp 77 secures the ninth portion of the hose 6 to the third link 33. More specifically, the hose clamp 77 secures the ninth portion of the hose 6 to a location on the third link 33 that prevents the ninth portion from rotating around the axis Ax5 via the joint JT5. The hose clamp 78 secures the tenth portion of the hose 6 to the third link 33. More specifically, the hose clamp 78 secures the tenth portion of the hose 6 to a location on the third link 33 that rotates around the axis Ax5 via the joint JT5. An eleventh portion 611 between the ninth and tenth portions of the hose 6 is a third excess length portion. The eleventh portion 611 has a length that allows the third link 33 to rotate around the axis Ax5 and prevents the hose 6 from sagging or being dragged along with the rotation of the third link 33. The eleventh portion 611 is U-shaped and is laid along the outer circumferential surface of the third link 33. The ninth portion of the hose 6 fixed to the hose clamp 77, the tenth portion of the hose 6 fixed to the hose clamp 78, and the eleventh portion 611 are covered by a cover 330 attached to the third link 33.

[0051] The upstream end of the hose 6 is connected to a port 331 at the tip of the third link 33. Through the port 331, the hose 6 is connected to an end effector.

[0052] (Hose split structure) The hose 6 is divided into multiple pieces. The divided hose 6 makes it easy to replace the hose 6 in the articulated robot 1. As shown in FIG. 3 or 4 , the hose 6 includes a first hose 61, a second hose 62, and a third hose 63. The first hose 61 is attached to the third link 33. The second hose 62 is attached to the third link 33, the first link 31, the first base 21, and the horizontal link 36. The third hose 63 is attached to the horizontal link 36 and the second base 35.

[0053] The first hose 61, the second hose 62, and the third hose 63 have the same structure except for the different lengths of the hoses. Hereinafter, the first hose 61, the second hose 62, and the third hose 63 will be referred to as divided hoses 60.

[0054] FIG. 6 shows a split hose 60. The split hose 60 has a first connector 601 and a second connector 602. The first connector 601 is attached to a first end of the split hose 60. The second connector 602 is attached to a second end of the split hose 60. The first connector 601 or the second connector 602 is connected to the port 331 of the articulated robot 1, the port 110 of the vacuum pump 10 (see FIG. 1), or the relay port 332 of the articulated robot 1. As shown in FIG. 3 or 4, the relay port 332 is located in the middle of the third link 33 and on the underside of the horizontal link 36 of the articulated robot 1. The first connector 601 or the second connector 602 of the first hose 61 is connected to the relay port 332 of the third link 33, and the first connector 601 or the second connector 602 of the second hose 62 is also connected to the relay port 332 of the third link 33. The relay port 332 of the third link 33 connects the ends of the first hose 61 and the second hose 62 to each other. The relay port 332 of the horizontal link 36 is connected to the first connector 601 or the second connector 602 of the second hose 62, and is also connected to the first connector 601 or the second connector 602 of the third hose 63. The relay port 332 of the horizontal link 36 connects the ends of the second hose 62 and the third hose 63 to each other.

[0055] The split hose 60 has a hose clamp 70. The hose clamp 70 corresponds to the hose clamps 71-78 described above. The hose clamp 70 is fixed in advance to a predetermined position between the first connector 601 and the second connector 602. The hose clamp 70 has a mounting hole 701. A bolt passes through the mounting hole 701. The bolt is used to fix the hose clamp 70 to the articulated robot 1.

[0056] 6, the articulated robot 1 has an attachment portion 83. The attachment portion 83 has a bolt hole 84. The hose clamp 70 is attached to the attachment portion 83 with a bolt. The hose clamp 70 is detachable from the attachment portion 83.

[0057] (Action and effect) In the articulated robot 1, actuators 42 and 43 are located on the opposite side of actuator 41 across arm 30. Actuators 42 and 43, located on the opposite side of actuator 41, reduce the turning radius of the articulated robot 1. Since the reduction in turning radius reduces the size of the articulated robot 1, the articulated robot 1 is advantageous for use in small spaces.

[0058] The harness 5 connected to the actuators 42 and 43 is located on the opposite side of the arm 30 from the actuators 42 and 43. To prevent interference between the harness 5 and the actuators 42 and 43, the harness 5 is laid close to the arm 30. As shown in FIG. 1, the turning radius r1 determined by the harness 5 is small. A small turning radius r1 reduces the size of the articulated robot 1, which is advantageous for a robot that works in a narrow space. Note that the turning radius r1 here refers to the distance from axis Ax4, which is the turning axis of the articulated robot 1, to the harness 5 in a direction perpendicular to axis Ax4.

[0059] The hose 6 is located on the opposite side of the arm 30 from the harness 5. If the hose 6 were laid on the same side as the harness 5, the hose 6 would be laid avoiding the harness 5, and the turning radius determined by the hose 6 would be relatively large. The hose 6 laid on the opposite side of the harness 5 reduces the turning radius r2 of the articulated robot 1. Having small turning radii r1 and r2 on both sides of the arm 30 reduces the size of the articulated robot 1, which is advantageous for a robot that works in a narrow space.

[0060] The seventh portion of the hose 6 is fixed to the arm 30 by a hose clamp 75, and the eighth portion is fixed to the arm 30 by a hose clamp 76. The intermediate portion between the seventh and eighth portions is guided by a guide 8. The intermediate portion of the hose 6 is not fixed to the arm 30. The guide 8 allows the intermediate portion of the hose 6 to move in the direction in which the hose 6 extends. The length of the intermediate portion of the hose 6 between the seventh and eighth portions is an excess portion that does not restrict the movement of the arm 30. Because the excess portion is allowed to move in the direction in which the hose 6 extends, the length of the excess portion can be shortened. A short length of the intermediate portion between the seventh and eighth portions is advantageous in reducing the turning radius r2. Furthermore, the guide 8 limits the movement of the intermediate portion of the hose 6 in a direction perpendicular to the direction in which the hose 6 extends by the guide hole 82, thereby suppressing displacement of the hose 6 due to the movement of the arm 30. This also enables the articulated robot 1 to operate in a narrow space.

[0061] Furthermore, because the guide 8 is located at a position corresponding to the joint JT2 between the hose clamp 75 and the hose clamp 76, it is possible to appropriately limit the behavior of the hose 6 in response to the movement of the joint JT2. Furthermore, because the guide 8 does not fix the hose 6, it is possible to prevent the hose 6 from being crushed at the position of the joint JT2 and preventing air from flowing when the amount of rotation of the joint JT2 is large.

[0062] Because the hose 6 is laid below the horizontal link 36, there is no interference between the hose 6 and the conveyor 101. In addition, the intermediate portion between the sixth portion of the hose 6 held by the hose clamp 74 and the seventh portion of the hose 6 held by the hose clamp 75 is laid close to the actuator 44. The conveyor 101 can be installed close to the articulated robot 1. This improves the work efficiency of the articulated robot 1.

[0063] Additionally, below the horizontal link 36, a third portion 603 between the first portion of the hose 6 held by the hose clamp 71 and the second portion of the hose 6 held by the hose clamp 72 is laid along the outer circumferential surface of the second base 35. The second base 35 and the horizontal link 36 can rotate smoothly, and the hose 6 can be appropriately displaced as the second base 35 and the horizontal link 36 rotate.

[0064] Because the hose 6 is divided into multiple pieces, maintenance personnel can easily replace the hose 6 due to, for example, deterioration or damage. Furthermore, because the split hose 60 has a first connector 601 and a second connector 602, it can be easily removed from and attached to the articulated robot 1. Furthermore, a hose clamp 7 is attached to the split hose 60 in advance at a predetermined position. Once a maintenance personnel attaches the hose clamp 70 of the split hose 60 to the attachment portion 83 of the articulated robot 1 using a bolt, the split hose 60 can be attached to the articulated robot 1 with the necessary slack length secured. The hose 6 can be replaced by any general user of the articulated robot 1, not just a specialized maintenance personnel.

[0065] Furthermore, since the hose 6 is divided into multiple parts, it is possible to replace only the parts of the hose 6 that need replacing, thereby reducing maintenance costs.

[0066] (Variation) Robots to which the technology disclosed herein can be applied are not limited to 7-axis or 8-axis vertical articulated robots. The technology disclosed herein can be applied to, for example, a 6-axis vertical articulated robot in which the second link 32 is omitted. Furthermore, robots to which the technology disclosed herein can be applied are not limited to vertical articulated robots. For example, the technology disclosed herein may be applied to a horizontal articulated robot.

[0067] The hose 6 is not limited to the flow of air for operating the vacuum hand. If the end effector has an actuator that operates by receiving a supply of air, the hose 6 may also carry air to be supplied to the end effector. Also, if the end effector has an actuator that operates by receiving a supply of hydraulic oil, the hose 6 may also carry hydraulic oil to be supplied to the end effector.

[0068] The first and second wire bodies are not necessarily different types of wire bodies. The first harness may be laid on a first side of the arm 30, and the second harness may be laid on a second side of the arm 30. Alternatively, the first hose may be laid on the first side of the arm 30, and the second hose may be laid on the second side of the arm 30.

[0069] (Aspect) The above-described embodiments are examples of the following aspects.

[0070] (Aspect 1) A manipulator (3) having a serial link structure, which has at least a first joint (JT2, JT3) that rotates around a first axis (Ax2, Ax3) and a second joint (JT3, JT2) that rotates around a second axis (Ax3, Ax2) that is parallel to the first axis (Ax2, Ax3); a first umbilical member (5) laid along the manipulator (3) on a first side in a direction in which the first axis (Ax2, Ax3) and the second axis (Ax3, Ax2) extend relative to the manipulator (3); a second umbilical member (6) laid along the manipulator (3) on a second side opposite to the first side across the manipulator (3) in the direction in which the first axes (Ax2, Ax3) and the second axes (Ax3, Ax2) extend, Articulated robot (1).

[0071] The first and second umbilical members (5) and (6) are installed separately on either side of the manipulator (3), thereby reducing the turning radius of the articulated robot (1). The articulated robot (1) is suitable for working in narrow spaces.

[0072] (Aspect 2) a first clamp (75, 76) for fixing a first portion of the second filament (6) to the manipulator (3); a second clamp (76, 75) for fixing a second portion of the second filament (6) to the manipulator (3); a guide (8) that guides an intermediate portion of the second filament (6) between the first portion and the second portion; Furthermore, The guide (8) does not restrict movement of the intermediate portion of the second filament (6) in the direction in which the second filament (6) extends, and restricts movement of the intermediate portion of the second filament (6) in a direction perpendicular to the direction in which the second filament (6) extends. The articulated robot (1) according to aspect 1.

[0073] Because the intermediate portion between the first clamps (75, 76) and the second clamps (76, 75), i.e., the excess portion of the second umbilical member (6), is not fixed, the length of the excess portion can be shortened, which is advantageous for reducing the turning radius of the articulated robot (1). In addition, because the guide (8) limits the movement of the intermediate portion of the second umbilical member (6) in the perpendicular direction, the displacement of the hose 6 caused by the operation of the manipulator (3) is appropriately suppressed.

[0074] (Aspect 3) The guide (8) has a guide hole (82) through which the intermediate portion of the second filament (6) passes, the guide hole (82) having an inner diameter larger than the outer diameter of the second filament (6), and is supported by the manipulator (3) between the first clamps (75, 76) and the second clamps (76, 75) of the manipulator (3). The articulated robot (1) according to aspect 2.

[0075] The guide (8) having a relatively large diameter guide hole (82) can restrict the movement of the middle part of the second filament (6) in the direction in which the second filament (6) extends, while restricting the movement in a direction perpendicular to the extension direction.

[0076] (Aspect 4) The guide (8) is located at a position corresponding to a joint (JT2) connecting a first link (31) and a second link (32) of the manipulator (3). The articulated robot (1) according to aspect 2 or 3.

[0077] By positioning the guide (8) at a position corresponding to the joint (JT2), the guide (8) can appropriately restrict the behavior of the second umbilical cord (6) accompanying the movement of the joint (JT2).

[0078] (Aspect 5) a first base (21) that supports the manipulator (3) rotatably around a third axis (Ax4); a second base (35) that rotates around a fourth axis (Ax8) parallel to the third axis (Ax4); a horizontal link (36) extending horizontally between the first base (21) and the second base (35) and displacing the first base (21) about the fourth axis (Ax8) in accordance with rotation of the second base (35); a third clamp (71) that fixes a fourth portion of the second filament (6) to the second base (35); a fourth clamp (72) that fixes a fifth portion of the second filament (6) to the horizontal link (36); an excess length portion (603) between the fourth portion and the fifth portion of the second filament (6) has a length that allows rotation of the second base (35), and extends, below the horizontal link (36), from the third clamp (71) in a first circumferential direction of the second base (35) along the outer circumferential surface of the second base (35), then turns around and extends in a second circumferential direction to reach the fourth clamp (72); The articulated robot (1) according to any one of aspects 1 to 4.

[0079] Since the excess length (603) of the second filament (6) is laid along the outer peripheral surface of the second base (35), the movement of the second base (35) is not restricted by the second filament (6), and the second filament (6) can be appropriately displaced in accordance with the rotation of the second base (35).

[0080] (Aspect 6) the first umbilical member is a harness (5) connected to actuators (41, 42, 43, 44, 45) that move the manipulator (3); The second umbilical member is a hose (6) through which a fluid for operating an end effector supported at the tip of the manipulator (3) flows. The articulated robot (1) according to any one of aspects 1 to 5.

[0081] Since the harness (5) and the hose (6) are laid separately on both sides of the manipulator (3), the turning radius of the articulated robot (1) can be made small.

[0082] (Aspect 7) the robot further includes first actuators (42, 43) connected to the first joints (JT2, JT3) and applying a torque about the first axis (Ax2, Ax3) to the first joints (JT2, JT3), and second actuators (43, 42) connected to the second joints (JT3, JT2) and applying a torque about the second axis (Ax3, Ax2) to the second joints (JT3, JT2), the first actuators (42, 43) and the second actuators (43, 42) are located on the second side across the manipulator (3) in the direction in which the first axes (Ax2, Ax3) and the second axes (Ax3, Ax2) extend; The articulated robot (1) according to embodiment 6.

[0083] The harness 5 is located on the opposite side of the manipulator 3 from the first actuators 42, 43 and the second actuators 43, 42, so that the harness 5 does not interfere with the first actuators 42, 43 and the second actuators 43, 42. The harness 5 can be installed close to the manipulator 3, which is advantageous in reducing the turning radius of the articulated robot 1.

[0084] (Aspect 8) The hose (6) has a first connector (601) that connects a first end of the hose (6) to a first port (331, 332, 110), a second connector (602) that connects a second end of the hose (6) to a second port (331, 332, 110), and a clamp (70) that is fixed to the hose (6) between the first connector (601) and the second connector (601) and that is detachably attached to an attachment portion (83) of the manipulator (3). The articulated robot (1) according to aspect 6 or 7.

[0085] A maintenance person can easily connect and disconnect the hose 6 to the articulated robot 1 using the first connector 601 and the second connector 602. Furthermore, the clamp 70 of the hose 6 allows the maintenance person to easily attach and detach the hose 6 to and from the articulated robot 1. Furthermore, because the clamp 70 is fixed to the hose 6 in advance, once the hose 6 is attached to the articulated robot 1 via the clamp 70, the necessary slack length of the hose 6 can be ensured. This makes it easy to replace the hose 6.

[0086] (Aspect 9) The hose (6) is divided into a first hose (60) and a second hose (60), the first hose (60) has the first connector (601), the second connector (602), and the clamp (70), and the first connector (601) is connected to the first port (332); the second hose (60) has the first connector (601), the second connector (602), and the clamp (70), and the first connector (601) of the second hose (60) is connected to the first port (332) and thereby connected to the first connector (601) of the first hose (60); An articulated robot (1) according to embodiment 8.

[0087] If the hose (6) is divided into multiple parts, replacement is easy and it becomes possible to replace only the parts of the hose (6) that need replacement, thereby reducing maintenance costs.

[0088] (Aspect 10) A serial link structure manipulator (3), a first base (21) that supports the manipulator (3) rotatably around a first axis (Ax4); a second base (35) that rotates around a second axis (Ax8) parallel to the first axis (Ax4); a horizontal link (36) extending horizontally between the first base (21) and the second base (35) and displacing the first base (21) about the second axis (Ax8) as the second base (35) rotates; a first clamp (71) for fixing a first portion of the filament (6) to the second base (35); a second clamp (72) for fixing a second portion of the filament (6) to the horizontal link (36); an excess length portion (603) between the first portion and the second portion of the filament (6) has a length that allows rotation of the second base (35), and extends, below the horizontal link (36), from the first clamp (71) in a first circumferential direction of the second base (35) along the outer circumferential surface of the second base (35), then turns around and extends in a second circumferential direction to reach the second clamp (72); Articulated robot.

[0089] (Aspect 11) A hose (6) laid along the serial link structure manipulator (3), a first connector (601) for connecting a first end of the hose (6) to a first port; a second connector (602) for connecting a second end of the hose (6) to a second port; a clamp (70) fixed to the hose (6) between the first connector (601) and the second connector (601) and detachably attached to a mounting portion (83) of the manipulator (3); Robot hose (6). [Explanation of symbols]

[0090] 1. Articulated robot Port 110 21 First Base 3 Manipulator 31 First Link 32 Second Link 35 Second Base 36 Horizontal Link Port 331 332 relay port 41 Actuator 42 Actuator 43 Actuator 44 Actuator 45 Actuator 5 Harness (first striatum) 6 Hose (second corpus) 60 Split hose (1st hose, 2nd hose) 601 First Connector 602 Second Connector 603 3rd part (extra length part) 70 Hose clamp 71 Hose clamp 72 Hose clamp 75 Hose clamp 76 Hose clamp 8 Guide 82 Guide hole 83 Mounting part JT2 joint (1st joint, 2nd joint) JT3 joint (2nd joint, 1st joint) Ax2 axis Ax3 axis Ax4 axis Ax8 axis

Claims

1. a manipulator with a serial link structure having at least a first joint that rotates around a first axis and a second joint that rotates around a second axis parallel to the first axis; a first umbilical member laid along the manipulator on a first side in a direction in which the first axis and the second axis extend with respect to the manipulator; a second umbilical member laid along the manipulator on a second side opposite to the first side across the manipulator in a direction in which the first axis and the second axis extend, Articulated robot.

2. The articulated robot according to claim 1, a first clamp that fixes a first portion of the second filament to the manipulator; a second clamp that fixes a second portion of the second filament to the manipulator; a guide that guides an intermediate portion of the second filament between the first portion and the second portion; Furthermore, the guide does not restrict movement of the intermediate portion of the second wire body in the direction in which the second wire body extends, and restricts movement of the intermediate portion of the second wire body in a direction perpendicular to the direction in which the second wire body extends. Articulated robot.

3. The articulated robot according to claim 2, the guide has a guide hole having an inner diameter larger than an outer diameter of the second filament and through which the intermediate portion of the second filament passes, and is supported by the manipulator between the first clamp and the second clamp of the manipulator. Articulated robot.

4. The articulated robot according to claim 2 or 3, the guide is located at a position corresponding to a joint connecting a first link and a second link of the manipulator; Articulated robot.

5. The articulated robot according to claim 1, a first base that supports the manipulator rotatably around a third axis; a second base that rotates about a fourth axis parallel to the third axis; a horizontal link extending horizontally between the first base and the second base and displacing the first base about the fourth axis in accordance with rotation of the second base; a third clamp that fixes a fourth portion of the second filament to the second base; a fourth clamp that fixes a fifth portion of the second filament to the horizontal link, an excess length portion between the fourth portion and the fifth portion of the second filament has a length that allows rotation of the second base, and extends, below the horizontal link, from the third clamp in a first circumferential direction of the second base along an outer circumferential surface of the second base, then turns around and extends in a second circumferential direction to reach the fourth clamp; Articulated robot.

6. The articulated robot according to claim 1, the first umbilical member is a harness connected to an actuator that moves the manipulator, the second umbilical member is a hose through which a fluid for operating an end effector supported at the tip of the manipulator flows; Articulated robot.

7. The articulated robot according to claim 6, a first actuator connected to the first joint and applying a torque around the first axis to the first joint; and a second actuator connected to the second joint and applying a torque around the second axis to the second joint, the first actuator and the second actuator are located on the second side across the manipulator in a direction in which the first axis and the second axis extend, Articulated robot.

8. The articulated robot according to claim 6, The hose has a first connector for connecting a first end of the hose to a first port of the manipulator, a second connector for connecting a second end of the hose to a second port of the manipulator, and a clamp fixed to the hose between the first connector and the second connector and detachably attached to an attachment portion of the manipulator. Articulated robot.

9. The articulated robot according to claim 8, The hose is divided into a first hose and a second hose, the first hose has the first connector, the second connector, and the clamp, and the first connector is connected to the first port; the second hose has the first connector, the second connector, and the clamp, and the first connector of the second hose is connected to the first port, thereby being connected to the first connector of the first hose; Articulated robot.

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