Vertical articulated robot

Abstract

In a configuration that allows wiring to be routed from the second arm, this invention provides a vertical articulated robot that offers excellent weight balance of the second arm and effectively suppresses a decrease in operational performance. [Solution] The vertical articulated robot has a first arm, a second arm connected to the tip of the first arm and rotating relative to the first arm around a first pivot axis and extending along the first pivot axis, and a third arm connected to the tip of the second arm and rotating relative to the second arm around a second pivot axis. The second arm has a housing connected to the first arm, a first wiring outlet located in the housing that pulls out first wiring routed from inside the first arm into the housing, and a second wiring outlet that pulls out second wiring routed from inside the first arm into the housing. The first wiring outlet and the second wiring outlet are arranged opposite each other via a first pivot axis.

Description

Technical Field

[0001] The present invention relates to a vertical articulated robot.

Background Art

[0002] The robot described in Patent Document 1 is a 6-axis vertical articulated robot, and has an arm in which six arm members are rotatably connected to each other, and a tool attached to the tip of the arm. Hereinafter, for convenience of explanation, the six arm members will also be referred to as the first arm member, the second arm member, the third arm member, the fourth arm member, the fifth arm member, and the sixth arm member in order from the base side of the arm. And in the robot of Patent Document 1, wiring is drawn out from one side surface of the fourth arm member, and this wiring is connected to the tool.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in such a configuration, the wiring and the lead-out portion for leading out the wiring are arranged only on one side surface of the fourth arm member. Therefore, the left-right balance of the fourth arm member is lost, the center of gravity around the rotation axis of the fourth arm member is biased, and there is a risk that the operation performance of the arm will deteriorate.

Means for Solving the Problems

[0005] The vertical articulated robot of the present invention includes a first arm, a second arm connected to the tip of the first arm, rotatable about a first rotation axis with respect to the first arm, and extending along the first rotation axis, It has a third arm connected to the tip of the second arm and rotating relative to the second arm around a second pivot axis, The second arm includes a housing connected to the first arm, a first wiring outlet located in the housing that pulls out a first wiring that is routed from inside the first arm into the housing, and a second wiring outlet that pulls out a second wiring that is routed from inside the first arm into the housing. The first wiring outlet and the second wiring outlet are arranged opposite each other via the first pivot shaft. [Brief explanation of the drawing]

[0006] [Figure 1] This is a side view showing a vertical articulated robot according to a preferred embodiment. [Figure 2] Figure 1 is a cross-sectional view of the arm of the vertical articulated robot shown. [Figure 3] This is a cross-sectional view showing the configuration of the drive unit. [Figure 4] This is a plan view of the arm to illustrate the problems with the conventional structure. [Figure 5] This is a plan view of the arm. [Figure 6] This is a side view showing the connection between the arm and hand via wiring. [Figure 7] This is a side view showing the connection between the arm and hand via wiring. [Modes for carrying out the invention]

[0007] The vertical articulated robot of the present invention will be described in detail below based on the embodiments shown in the accompanying drawings.

[0008] Figure 1 is a side view showing a vertical articulated robot according to a preferred embodiment. Figure 2 is a cross-sectional view of the arm of the vertical articulated robot shown in Figure 1. Figure 3 is a cross-sectional view showing the configuration of the drive unit. Figure 4 is a plan view of the arm to illustrate the problems of the conventional structure. Figure 5 is a plan view of the arm. Figures 6 and 7 are side views showing the arm and hand connected by wiring, respectively.

[0009] The vertical articulated robot 1 shown in Figure 1 comprises a base 11 fixed to the floor or the like, a robot arm 12 rotatably connected to the base 11, a hand 14 attached to the tip of the robot arm 12, and a control device 15.

[0010] Furthermore, the robot arm 12 includes an arm 121 that is rotatably connected to the base 11 around a pivot axis J1, an arm 122 that is rotatably connected to arm 121 around a pivot axis J2 that is perpendicular to the pivot axis J1, an arm 123 as a first arm that is rotatably connected to arm 122 around a pivot axis J3 that is parallel to the pivot axis J2, an arm 124 as a second arm that is rotatably connected to arm 123 around a pivot axis J4 that is perpendicular to the pivot axis J3, a first pivot axis, a second pivot axis, an arm 125 as a third arm that is rotatably connected to arm 124 around a pivot axis J5 that is perpendicular to the pivot axis J4, a second pivot axis, and an arm 126 that is rotatably connected to arm 125 around a pivot axis J6 that is perpendicular to the pivot axis J5. The hand 14 is attached to arm 126. The hand 14 is detachable from the arm 126, and the hand suitable for the task performed by the vertical articulated robot 1 is selectively attached. Note that the rotation axes J1 to J6 are virtual straight lines.

[0011] Furthermore, the vertical articulated robot 1 includes a drive unit 131 that rotates arm 121 around pivot axis J1 relative to the base 11, a drive unit 132 that rotates arm 122 around pivot axis J2 relative to arm 121, a drive unit 133 that rotates arm 123 around pivot axis J3 relative to arm 122, a drive unit 134 that rotates arm 124 around pivot axis J4 relative to arm 123, a drive unit 135 that rotates arm 125 around pivot axis J5 relative to arm 124, and a drive unit 136 that rotates arm 126 around pivot axis J6 relative to arm 125. Each drive unit 131 to 136 is equipped with, for example, a motor which is a drive source, a reduction gear that reduces the rotation of the motor to increase the rotational force (torque) and output it, an encoder that detects the amount of rotation of the motor, etc.

[0012] Furthermore, the control device 15 independently controls the drive of the motors provided in each drive unit 131 to 136, and also controls the drive of the hand 14. The control device 15 is, for example, composed of a computer and includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory) where the program is stored, etc. The CPU reads the program stored in the ROM and executes it, thereby achieving the function of the control device 15 as a control device that controls the drive of the vertical articulated robot 1.

[0013] The above is a brief explanation of the overall configuration of the vertical articulated robot 1. Next, the configuration of the arm 124, which is a characteristic feature of the vertical articulated robot 1, will be explained in detail based on Figures 2 to 7. For the sake of explanation, in Figures 2 to 7, the three mutually orthogonal axes are shown as the X-axis, Y-axis, and Z-axis. Also, for the sake of explanation below, the direction parallel to the X-axis will be referred to as the "X-axis direction," the direction parallel to the Y-axis will be referred to as the "Y-axis direction," and the direction parallel to the Z-axis will be referred to as the "Z-axis direction." Furthermore, the side of each axis indicated by the arrow will be referred to as the "positive side," and the opposite side as the "negative side."

[0014] As shown in Figure 2, the arm 124 is rotatably connected to the tip of the arm 123 and extends along the pivot axis J4. The arm 124 also includes a housing 2 and a first wiring outlet 3 and a second wiring outlet 4 located on the housing 2.

[0015] Furthermore, the housing 2 includes an arm body 21 connected to the arm 123 via a reduction gear T4 of the drive unit 134, and a first cover member 22 and a second cover member 23 fixed to the arm body 21. The first wiring 91 and the second wiring 92 are routed through the reduction gear T4 from inside the arm 123 into the housing 2. Specifically, the reduction gear T4 is, for example, a harmonic drive gear, and includes a circular spline T41 fixed to the arm 123, a flexspline T42 fixed to the arm 124 (arm body 21), and a wave generator T43 connected to a motor (not shown) of the drive unit 134. The wave generator T43 is cylindrical. Therefore, the first and second wirings 91 and 92 are routed through the wave generator T43 from inside the arm 123 into the housing 2, respectively.

[0016] Although not shown in the diagram, the first and second wirings 91 and 92 are routed through arms 122 and 121 into the base 11 and connected to the control device 15, etc., via a group of connectors formed on the back of the base 11.

[0017] Here, the first and second wirings 91 and 92 are not particularly limited. For example, they may be electrical wirings for transmitting and receiving electrical signals, or may be air pressure pipes for supplying compressed air, or may be liquid pipes for supplying liquid, or may be wirings and pipes having other functions. Also, the number of the first and second wirings 91 and 92 is not particularly limited, and each may be one or two or more. Also, the number of the first and second wirings 91 and 92 may be the same as each other or different. However, in the present embodiment, both the first and second wirings 91 and 92 are three in number, one of which is the electrical wirings 911 and 921, and the other two are the air pressure pipes 912 and 922. According to such a configuration, the balance between the first wiring 91 and the second wiring 92 can be achieved, and as will be described later, the deviation of the center of gravity of the arm 124 can be effectively suppressed.

[0018] The arm body 21 is a high-rigidity member made of a metal material or the like, and has a cylindrical shape with openings 211 and 212 on both side surfaces in the Y-axis direction. By making the arm body 21 cylindrical, it becomes easy to mount the drive units 135 and 136 inside the arm body 21.

[0019] Also, the first cover member 22 is a lightweight member made of a resin material or the like, and is fixed to one side surface (the minus side in the Y-axis direction) of the arm body 21 so as to close the opening 211 of the arm body 21. The second cover member 23 is, like the first cover member 22, a lightweight member made of a resin material or the like, and is fixed to the other side surface (the plus side in the Y-axis direction) of the arm body 21 so as to close the opening 212 of the arm body 21. Thus, by making the first and second cover members 22 and 23 of a lightweight resin material, the weight of the arm 124 can be reduced, and the motion performance of the robot arm 12 can be improved. However, the constituent materials of the first and second cover members 22 and 23 are not particularly limited, and for example, they may be made of a lightweight metal material such as aluminum or stainless steel.

[0020] Furthermore, a first opening 221 is formed in the first cover member 22, and the first wiring 91 is routed out of the housing 2 through this first opening 221. Similarly, a second opening 231 is formed in the second cover member 23, and the second wiring 92 is routed out of the housing 2 through this second opening 231.

[0021] Now, let's briefly describe the drive units 135 and 136 located on the arm 124, based on Figure 3.

[0022] The drive unit 135 rotates the arm 125 relative to the arm 124 around the pivot axis J5, and includes a reduction gear T5 that rotatably connects the arms 124 and 125, a motor M5 that serves as a third arm drive motor, an encoder E5 that detects the amount of rotation of the motor M5, and a power transmission unit D5 that transmits the power of the motor M5 to the reduction gear T5.

[0023] The motor M5 is positioned with its output shaft M51 facing the negative side of the Y-axis direction, and parallel to the pivot axis J5. The reduction gear T5 is a harmonic drive gear and includes a circular spline T51 fixed to arm 124, a flex spline T52 fixed to arm 125, and a wave generator T53 connected to the motor M5 via a power transmission unit D5. The power transmission unit D5 includes a pulley D51 positioned on the output shaft M51, a pulley D52 positioned on the wave generator T53, and a belt D53 wrapped around pulleys D51 and D52.

[0024] Therefore, when the motor M5 is driven, the rotation of the output shaft M51 is transmitted to the wave generator T53 via pulley D51, belt D53, and pulley D52, causing the wave generator T53 to rotate. Furthermore, the flexspline T52 rotates in response to the rotation of the wave generator T53 at a predetermined reduction ratio, and as a result, the arm 125 rotates around the pivot axis J5 relative to the arm 124.

[0025] The drive unit 136 rotates the arm 126 relative to the arm 125 around the pivot axis J6, and includes a motor M6, an encoder E6 for detecting the amount of rotation of the motor M6, and a power transmission unit D6 for transmitting the power of the motor M6 to the arm 126.

[0026] Motor M6 is positioned with its output shaft M61 facing the positive side of the Y-axis direction, and parallel to the pivot axis J5. Motor M6 is also positioned overlapping with motor M5 in the Z-axis direction. The power transmission unit D6 includes a pulley D61 positioned on the output shaft M61, a pulley D62 supported by arms 124 and 125 so as to be rotatable around the pivot axis J5, a belt D63 wrapped around pulleys D61 and D62, an input bevel gear D64 that rotates around the pivot axis J5 together with pulley D62, and an output bevel gear D65 that meshes with the input bevel gear D64 and rotates around the pivot axis J6 together with arm 126.

[0027] Therefore, when the motor M6 is driven, the rotation of the output shaft M61 is transmitted to the arm 126 via the power transmission unit D6, and as a result, the arm 126 rotates around the pivot axis J6 relative to the arm 125.

[0028] The drive units 135 and 136 have been described above. However, the configuration of the drive unit 135 is not particularly limited as long as it can rotate the arm 125 relative to the arm 124 around the pivot axis J5. Similarly, the configuration of the drive unit 136 is not particularly limited as long as it can rotate the arm 126 relative to the arm 125 around the pivot axis J6.

[0029] Returning to the description of arm 124, as shown in Figure 2, the first and second openings 221 and 231 formed in the first and second cover members 22 and 23 are located on the base side, i.e., on the arm 123 side, of the pulleys D51 and D61 of the drive units 135 and 136. By arranging the first and second openings 221 and 231 on the base side of the pulleys D51 and D61 in this way, contact between the pulleys D51 and D61 and the first and second wirings 91 and 92 can be effectively suppressed. Therefore, disconnection of the first and second wirings 91 and 92 can be effectively suppressed. However, the arrangement of the first and second openings 221 and 231 is not particularly limited; for example, they may be arranged in line with the pulleys D51 and D61 in the Y-axis direction, or they may be arranged on the tip side, i.e., on the arm 125 side, of the pulleys D51 and D61.

[0030] The enclosure 2 has now been described. Next, the first wiring outlet 3 and the second wiring outlet 4 located in the enclosure 2 will be described.

[0031] The first wiring outlet section 3 is fixed to the first cover member 22 so as to cover the first opening 221 formed in the first cover member 22. The first wiring outlet section 3 then leads the first wiring 91 to the outside of the housing 2 through the first opening 221. Similarly, the second wiring outlet section 4 is fixed to the second cover member 23 so as to cover the second opening 231 formed in the second cover member 23. The second wiring outlet section 4 then leads the second wiring 92 to the outside of the housing 2 through the second opening 231. Both the first and second wiring outlet sections 3 and 4 are lightweight components made of resin material or the like. Therefore, the weight increase of the arm 124 due to the placement of the first and second wiring outlet sections 3 and 4 can be effectively suppressed. However, the constituent materials of the first and second wiring outlet sections 3 and 4 are not particularly limited and may be made of lightweight metal materials such as aluminum or stainless steel.

[0032] Furthermore, the first wiring outlet 3 and the second wiring outlet 4 are positioned opposite each other via the pivot axis J4. In other words, the first wiring outlet 3 and the second wiring outlet 4 are positioned on opposite sides of the pivot axis J4. With this configuration, the first wiring outlet 3 and the second wiring outlet 4 are evenly positioned on both sides of the arm 124. Therefore, the bias of the center of gravity of the arm 124, that is, the deviation of the center of gravity of the arm 124 from the pivot axis J4, can be effectively suppressed. As a result, the deterioration of the operational performance of the arm 124 can be effectively suppressed.

[0033] Furthermore, as shown in Figure 4, for example, in a conventional configuration where only one of the first and second wiring outlets 3 and 4 (hereinafter referred to as the first wiring outlet 3) is present, and the first and second wirings 91 and 92 are both drawn out from the first wiring outlet 3, the number of wires passing through the first wiring outlet 3 increases, and the first wiring outlet 3 becomes larger as a result. Consequently, the rotation radius r of the arm 124 around the pivot axis J4 increases, which leads to an increase in the self-interference area and a narrower range of operation. In addition, as the rotation radius r increases, the center of gravity of the arm 124 becomes more unbalanced, and the operating performance deteriorates.

[0034] In contrast, the vertical articulated robot 1 has first and second wiring outlets 3 and 4 on both sides of the arm 124, with the first wiring 91 being drawn out from the first wiring outlet 3 and the second wiring 92 being drawn out from the second wiring outlet 4. As a result, the first and second wiring outlets 3 and 4 can be made smaller, and as shown in Figure 5, the rotation radius r around the pivot axis J4 of the arm 124 becomes smaller, which leads to a reduction in the self-interference area and a wider range of motion. Also, as the rotation radius r becomes smaller, the bias of the center of gravity of the arm 124 becomes smaller, improving the operational performance. Furthermore, by dividing the wiring inside the housing 2 into the first wiring 91 drawn out from the first wiring outlet 3 and the second wiring 92 drawn out from the second wiring outlet 4, the number of wires passing through the first and second wiring outlets 3 and 4 can be reduced. Therefore, stress is less likely to be applied to the first and second wirings 91 and 92, and excessive bending or breakage of the first and second wirings 91 and 92 can be effectively suppressed.

[0035] In particular, in this embodiment, the first wiring outlet 3 and the second wiring outlet 4 have the same shape. Therefore, the first wiring outlet 3 and the second wiring outlet 4 have the same mass, which can more effectively suppress the bias of the center of gravity of the arm 124. In addition, parts can be standardized, which can reduce the manufacturing cost of the vertical articulated robot 1. Furthermore, compared to the case where the first wiring outlet 3 and the second wiring outlet 4 have different shapes, the rotation radius r of the arm 124 around the pivot axis J4 can be kept smaller. As the rotation radius r decreases, the bias of the center of gravity of the arm 124 decreases, and the operating performance is improved. However, this is not limited to this, and the first wiring outlet 3 and the second wiring outlet 4 may have different shapes.

[0036] Furthermore, as shown in Figure 5, in this embodiment, in a plan view from the direction along the pivot axis J4, that is, a plan view from the X-axis direction, the outer edges 30 and 40 of the first and second wiring lead-out sections 3 and 4 are curved in an arc shape so as to follow a circle C centered on the pivot axis J4. With this shape, the rotation radius r of the arm 124 around the pivot axis J4 can be made smaller. As the rotation radius r is reduced, the bias of the center of gravity of the arm 124 is reduced, and the operating performance is improved. However, this is not limited to this, and the outer edges 30 and 40 of the first and second wiring lead-out sections 3 and 4 do not necessarily have to follow circle C.

[0037] Furthermore, as shown in Figure 2, the arm 124 has a first partition wall portion 241 that separates the first wiring 91 in the first wiring outlet portion 3 from the pulley D51, and a second partition wall portion 242 that separates the second wiring 92 in the second wiring outlet portion 4 from the pulley D61. The first partition wall portion 241 is formed from the first cover member 22 and the first wiring outlet portion 3, and is interposed between the first wiring 91 in the first wiring outlet portion 3 and the pulley D51. With this configuration, the first partition wall portion 241 can effectively suppress contact between the pulley D51 and the first wiring 91. Therefore, disconnection of the first wiring 91 can be effectively suppressed. Similarly, the second partition wall portion 242 is formed from the second cover member 23 and the second wiring outlet portion 4, and is interposed between the second wiring 92 in the second wiring outlet portion 4 and the pulley D61. With this configuration, the second partition wall 242 effectively suppresses contact between the pulley D61 and the second wiring 92. Therefore, disconnection of the second wiring 92 can be effectively suppressed. However, the configuration is not limited to this, and the first and second partition walls 241 and 242 may be omitted.

[0038] Furthermore, as shown in Figures 2 and 5, a first connector support portion 5 is positioned at the tip of the first wiring outlet portion 3, supporting a plurality of first connectors 51 connected to the first wiring 91. The first connector support portion 5 is screwed to the first wiring outlet portion 3 and is shaped so as not to protrude from the first wiring outlet portion 3 when viewed from a plan view along the pivot axis J4. In this embodiment, since there are three first wirings 91, there are also three first connectors 51. Specifically, the first connector 51 includes a first connector 511 to which the electrical wiring 911 is connected, a first connector 512 to which one compressed air pipe 912 is connected, and a first connector 513 to which the other compressed air pipe 912 is fixed. As shown in Figure 6, these first connectors 511, 512, and 513 are connected to the hand 14 via a connecting wire 81. The first connector 511 is not particularly limited and could be, for example, D-sub, Ethernet, etc.

[0039] Furthermore, as shown in Figure 5, of these three first connectors 51, the first connector 511 is the largest, while the first connectors 512 and 513 are smaller than the first connector 511. The largest first connector, the first connector 511, is positioned in the center of the first connector support portion 5, while the other first connectors 512 and 513 are positioned around the first connector 511. Specifically, the first connector 512 is positioned above the first connector 511 (positive Z-axis side), and the first connector 513 is positioned below the first connector 511 (negative Z-axis side).

[0040] As mentioned above, because the outer edge 30 of the first wiring outlet 3 is curved in an arc shape, the width (length in the Y-axis direction) of the first connector support 5 is widest in the central part and narrows towards the upper and lower ends. Therefore, by placing the largest first connector 511 in the central part and the other first connectors 512 and 513 above and below it, the first connectors 511, 512 and 513 can be balanced on the first connector support 5, and the first connector support 5 can be made smaller. In addition, by placing the largest first connector 511 in the central part, the bias of the center of gravity of the arm 124 can be effectively suppressed.

[0041] Furthermore, as shown in Figures 2 and 5, a second connector support section 6 is positioned at the tip of the second wiring outlet section 4, supporting a plurality of second connectors 61 connected to the second wiring 92. This second connector support section 6 has the same configuration as the first connector support section 5. The second connector support section 6 is screwed to the second wiring outlet section 4 and is shaped so as not to protrude from the second wiring outlet section 4 when viewed from a plan view along the pivot axis J4. Also, in this embodiment, since there are three second wirings 92, there are also three second connectors 61. Specifically, the second connector 61 includes a second connector 611 to which the electrical wiring 921 is connected, a second connector 612 to which one compressed air pipe 922 is connected, and a second connector 613 to which the other compressed air pipe 922 is fixed. As shown in Figure 7, these second connectors 611, 612, and 613 are connected to the hand 14 via a connecting wire 82. The second connector 611 is not particularly limited and could be, for example, D-sub, Ethernet, etc.

[0042] Furthermore, as shown in Figure 5, of these three second connectors 61, second connector 611 is the largest, while second connectors 612 and 613 are smaller than second connector 611. The largest second connector, second connector 611, is positioned in the center of the second connector support portion 6, while the other second connectors 612 and 613 are positioned around second connector 611. Specifically, second connector 612 is positioned above second connector 611, and second connector 613 is positioned below second connector 611.

[0043] As mentioned above, because the outer edge 40 of the second wiring outlet 4 is curved in an arc shape, the width (length in the Y-axis direction) of the second connector support 6 is widest in the central part and narrows towards the upper and lower ends. Therefore, by placing the largest second connector 611 in the central part and the other second connectors 612 and 613 above and below it, the second connectors 611, 612 and 613 can be balanced on the second connector support 6, and the second connector support 6 can be made smaller. In addition, by placing the largest second connector 611 in the central part, the bias of the center of gravity of the arm 124 can be effectively suppressed.

[0044] As described above, the first and second connector support sections 5 and 6 have been explained, and as mentioned above, in this embodiment, the number of first connectors 51 and second connectors 61 is the same. By making the number of first connectors 51 and second connectors 61 the same in this way, the connectors can be arranged in a balanced manner in the first and second wiring outlet sections 3 and 4, and both the first and second wiring outlet sections 3 and 4 can be made smaller. As a result, the rotation radius r of the arm 124 around the pivot axis J4 can be reduced.

[0045] Furthermore, as shown in Figure 5, the pivot axis J4 and the pivot axis J5 are orthogonal, and in a plan view from the direction along the pivot axis J4, that is, in a plan view in the X-axis direction, the first wiring outlet 3 and the second wiring outlet 4 each overlap with the pivot axis J5. With this configuration, for example, the wiring length L1 of the connecting wires 81 and 82 required when rotating the arm 125 to the positive Z-axis direction relative to the arm 124 is approximately the same as the wiring length L2 of the connecting wires 81 and 82 required when rotating the arm 125 to the negative Z-axis direction relative to the arm 124. Therefore, the wiring lengths of the connecting wires 81 and 82 can be easily determined. Also, if wiring length L1 > wiring length L2, the wiring lengths of the connecting wires 81 and 82 must be determined to match the wiring length L1. Therefore, when the arm 125 is rotated to the negative side in the Z-axis direction relative to the arm 124, excessive bending of the connecting wires 81 and 82 may occur, potentially worsening workability. In contrast, in this embodiment, excessive bending of the connecting wires 81 and 82 does not occur when the arm 125 is rotated to the positive side in the Z-axis direction relative to the arm 124, nor when it is rotated to the negative side in the Z-axis direction, so workability does not worsen. However, this is not limited to this, and in a plan view in the X-axis direction, the first wiring outlet 3 and the second wiring outlet 4 may be arranged so as not to overlap with the rotation axis J5, for example, they may be arranged to overlap with a virtual straight line that intersects the rotation axis J5, such as an orthogonal line.

[0046] The first and second wiring outlets 3 and 4 have been described above. These first and second wiring outlets 3 and 4 are detachably fixed to the housing 2, for example, by screw fastening. This allows the first and second wiring outlets 3 and 4 to be appropriately replaced depending on the number and type of the first and second wirings 91 and 92. Furthermore, for example, for users who do not need the first and second wiring outlets 3 and 4, a vertical articulated robot 1 can be provided with the first and second wiring outlets 3 and 4 removed and the first and second openings 221 and 231 covered with plate-shaped covers instead. By making the first and second wiring outlets 3 and 4 detachable from the housing 2 in this way, the customization of the vertical articulated robot 1 becomes easier.

[0047] The vertical articulated robot 1 has been described above. As previously mentioned, this vertical articulated robot 1 includes a first arm, arm 123; a second arm, arm 124, connected to the tip of arm 123, which rotates around a pivot axis J4 (the first rotation axis) relative to arm 123 and extends along the pivot axis J4; and a third arm, arm 125, connected to the tip of arm 124, which rotates around a pivot axis J5 (the second rotation axis) relative to arm 124. Arm 124 also includes a housing 2 connected to arm 123, a first wiring exit section 3 located in the housing 2 that pulls out a first wiring 91 routed from inside arm 123 into the housing 2, and a second wiring exit section 4 that pulls out a second wiring 92 routed from inside arm 123 into the housing 2. The first wiring exit section 3 and the second wiring exit section 4 are arranged opposite each other via the pivot axis J4. With this configuration, the first wiring outlet 3 and the second wiring outlet 4 are balanced and positioned on both sides of the arm 124. Therefore, the bias of the arm 124's center of gravity, that is, the deviation of the arm 124's center of gravity from the pivot axis J4, can be effectively suppressed. As a result, the deterioration of the arm 124's operational performance can be effectively suppressed.

[0048] Furthermore, as mentioned above, the pivot axis J4 and the pivot axis J5 intersect, and in a plan view from the direction along the pivot axis J4, the first wiring outlet 3 and the second wiring outlet 4 each overlap with the pivot axis J5. With this configuration, the wiring length L1 of the connecting wires 81 and 82 required when rotating the arm 125 in the positive Z-axis direction relative to the arm 124 is approximately the same as the wiring length L2 of the connecting wires 81 and 82 required when rotating the arm 125 in the negative Z-axis direction relative to the arm 124. Therefore, the wiring lengths of the connecting wires 81 and 82 can be easily determined.

[0049] As mentioned above, the vertical articulated robot 1 includes a motor M5, which is a third arm drive motor located within the arm 124 and rotates the arm 125 around the pivot axis J5 relative to the arm 124, and a power transmission unit D5 which includes a pulley D51 located on the output shaft M51 of the motor M5 and transmits the rotation of the output shaft M51 to the arm 125. The arm 124 also has a first opening 221 that connects the inside of the housing 2 to the inside of the first wiring outlet 3 and through which the first wiring 91 is inserted, and a second opening 231 that connects the inside of the housing 2 to the inside of the second wiring outlet 4 and through which the second wiring 92 is inserted. The first opening 221 and the second opening 231 are each located on the arm 123 side of the pulley D51. With this configuration, contact between the pulley D51 and the first and second wirings 91 and 92 can be effectively suppressed. Therefore, disconnections in the first and second wirings 91 and 92 can be effectively suppressed.

[0050] Furthermore, as mentioned above, the arm 124 has a first partition wall portion 241 that separates the first wiring 91 in the first wiring outlet portion 3 from the pulley D51, and a second partition wall portion 242 that separates the second wiring 92 in the second wiring outlet portion 4 from the pulley D51. With this configuration, the first and second partition walls 241 and 242 can effectively suppress contact between the pulley D51 and the first and second wirings 91 and 92. Therefore, disconnection of the first and second wirings 91 and 92 can be effectively suppressed.

[0051] Furthermore, as mentioned above, the first wiring outlet 3 and the second wiring outlet 4 are detachable from the arm 124. With this configuration, the first and second wiring outlets 3 and 4 can be appropriately replaced depending on the number and type of the first and second wirings 91 and 92. Also, for example, a vertical articulated robot 1 without the first and second wiring outlets 3 and 4 can be easily provided to users who do not need them. This makes it easy to customize the vertical articulated robot 1.

[0052] Furthermore, as mentioned above, the first wiring outlet 3 and the second wiring outlet 4 have the same shape. With this configuration, the bias of the center of gravity of the arm 124 can be suppressed more effectively. In addition, parts can be standardized, which can reduce the manufacturing cost of the vertical articulated robot 1.

[0053] Furthermore, as mentioned above, the vertical articulated robot 1 has a first connector support part 5 located in the first wiring outlet part 3 and supporting a first connector 51 connected to the first wiring 91, and a second connector support part 6 located in the second wiring outlet part 4 and supporting a second connector 61 connected to the second wiring 92. The number of first connectors 51 and second connectors 61 are the same. With this configuration, connectors can be arranged in a balanced manner in the first and second wiring outlet parts 3 and 4, and both the first and second wiring outlet parts 3 and 4 can be made smaller. As a result, the rotation radius r of the arm 124 around the pivot axis J4 can be reduced.

[0054] Furthermore, as mentioned above, the first connector support section 5 has multiple first connectors 51 of different sizes arranged on it, with the largest first connector 511, designated as the maximum first connector, positioned in the center of the first connector support section 5, and the other first connectors 512 and 513 positioned around the first connector 511. Similarly, the second connector support section 6 has multiple second connectors 61 of different sizes arranged on it, with the largest second connector 611, designated as the maximum second connector, positioned in the center of the second connector support section 6, and the other second connectors 612 and 613 positioned around the second connector 611. With this configuration, the first connectors 511, 512, and 513 can be arranged in a balanced manner on the first connector support section 5, and the first connector support section 5 can be made smaller. Similarly, the second connectors 611, 612, and 613 can be arranged in a balanced manner on the second connector support section 6, and the second connector support section 6 can be made smaller. In addition, the bias of the center of gravity of the arm 124 can be effectively suppressed.

[0055] Although the vertical articulated robot of the present invention has been described above based on the illustrated embodiment, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, other arbitrary configurations may be added to the present invention. In addition, the above-described embodiments may be combined as appropriate. [Explanation of Symbols]

[0056] 1...Vertical articulated robot, 11...Base, 12...Robot arm, 121...Arm, 122...Arm, 123...Arm, 124...Arm, 125...Arm, 126...Arm, 131...Drive unit, 132...Drive unit, 133...Drive unit, 134...Drive unit, 135...Drive unit, 136...Drive unit, 14...Hand, 15...Control device, 2...Housing, 21...Arm body, 211...Opening, 212...Opening, 22...First Cover member, 221...First opening, 23...Second cover member, 231...Second opening, 241...First partition wall section, 242...Second partition wall section, 3...First wiring outlet section, 30...Outer edge, 4...Second wiring outlet section, 40...Outer edge, 5...First connector support section, 51...First connector, 511...First connector, 512...First connector, 513...First connector, 6...Second connector support section, 61...Second connector, 611...Second connector, 612...Second connector Nectar, 613...Second connector, 81...Connection wiring, 82...Connection wiring, 91...First wiring, 911...Electrical wiring, 912...Compressed air piping, 92...Second wiring, 921...Electrical wiring, 922...Compressed air piping, C...Circle, D5...Power transmission unit, D51...Pulley, D52...Pulley, D53...Belt, D6...Power transmission unit, D61...Pulley, D62...Pulley, D63...Belt, D64...Input side bevel gear, D65...Output side bevel gear, E5...Encoder, E6... Encoder, J1... Rotating shaft, J2... Rotating shaft, J3... Rotating shaft, J4... Rotating shaft, J5... Rotating shaft, J6... Rotating shaft, M5... Motor, M51... Output shaft, M6... Motor, M61... Output shaft, T4... Reducer, T41... Circular spline, T42... Flex spline, T43... Wave generator, T5... Reducer, T51... Circular spline, T52... Flex spline, T53... Wave generator, r... Turning radius

Claims

1. First arm and A second arm is connected to the tip of the first arm, rotates relative to the first arm around a first pivot axis, and extends along the first pivot axis, It has a third arm connected to the tip of the second arm and rotating relative to the second arm around a second pivot axis, The second arm includes a housing connected to the first arm, a first wiring outlet located in the housing that pulls out a first wiring that is routed from inside the first arm into the housing, and a second wiring outlet that pulls out a second wiring that is routed from inside the first arm into the housing, A vertical articulated robot characterized in that the first wiring outlet and the second wiring outlet are arranged opposite each other via the first pivot axis.

2. The first pivot axis and the second pivot axis intersect, The vertical articulated robot according to claim 1, wherein, in a plan view from a direction along the first pivot axis, the first wiring outlet and the second wiring outlet each overlap with the second pivot axis.

3. A third arm drive motor is positioned within the second arm and rotates the third arm around the second pivot axis relative to the second arm, The third arm drive motor has a pulley positioned on its output shaft, and a power transmission unit that transmits the rotation of the output shaft to the third arm, The second arm has a first opening through which the first wiring is inserted, connecting the inside of the housing and the inside of the first wiring outlet, and a second opening through which the second wiring is inserted, The vertical articulated robot according to claim 1, wherein the first opening and the second opening are each located on the first arm side of the pulley.

4. The vertical articulated robot according to claim 3, wherein the second arm has a first partition wall that separates the first wiring in the first wiring outlet from the pulley, and a second partition wall that separates the second wiring in the second wiring outlet from the pulley.

5. The vertical articulated robot according to claim 1, wherein the first wiring outlet and the second wiring outlet are each detachable from the second arm.

6. The vertical articulated robot according to claim 1, wherein the first wiring outlet and the second wiring outlet have the same shape as each other.

7. A first connector support portion is located in the first wiring outlet portion and supports the first connector connected to the first wiring, It has a second connector support portion which is located in the second wiring outlet portion and supports the second connector connected to the second wiring, The vertical articulated robot according to claim 1, wherein the number of first connectors and second connectors are the same.

8. Multiple first connectors of different sizes are arranged in the first connector support section. The largest of the first connectors, the maximum first connector, is positioned in the center of the first connector support portion, and the other first connectors are positioned around the maximum first connector. Multiple second connectors of different sizes are arranged in the second connector support section. The vertical articulated robot according to claim 7, wherein the largest of the second connectors, the maximum second connector, is located in the center of the second connector support portion, and the second connectors other than the maximum second connector are located around the maximum second connector.

9. In a plan view from the direction along the first rotation axis, The first pivot shaft and the second pivot shaft intersect, and the first wiring outlet and the second wiring outlet each overlap with the second pivot shaft. A third arm drive motor is positioned within the second arm and rotates the third arm around the second pivot axis relative to the second arm, The third arm drive motor has a pulley positioned on its output shaft, and a power transmission unit that transmits the rotation of the output shaft to the third arm, The second arm has a first opening through which the first wiring is inserted and which connects the inside of the housing and the inside of the first wiring outlet, and a second opening through which the second wiring is inserted, The first opening and the second opening are each located on the first arm side of the pulley, Furthermore, the second arm has a first partition wall that separates the first wiring within the first wiring outlet from the pulley, and a second partition wall that separates the second wiring within the second wiring outlet from the pulley. The first wiring outlet and the second wiring outlet are each detachable from the second arm and have the same shape as each other. Furthermore, the first connector support section is located in the first wiring outlet section and supports a plurality of first connectors connected to the first wiring, It has a second connector support section which is located in the second wiring outlet section and supports a plurality of second connectors connected to the second wiring, The number of the first connector and the second connector are the same, The multiple first connectors are of different sizes, with the largest first connector, the largest first connector, being positioned in the center of the first connector support portion, and the other first connectors being positioned around the largest first connector. The vertical articulated robot according to claim 1, wherein the plurality of second connectors are of different sizes, the largest of the second connectors, which is the largest second connector, is located in the center of the second connector support portion, and the second connectors other than the largest second connector are located around the largest second connector.

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