Collaborative robots

Abstract

Because auxiliary equipment may interfere with workers performing tasks below it, it is anticipated that the workspace around the collaborative robot will be limited. [Solution] The collaborative robot 1 has a shoulder 14 with multiple mounting holes 43A, 44A, 43B, and 44B formed therein for attaching auxiliary devices 2A and 2B at two different positions. The multiple mounting holes 43A, 44A, 43B, and 44B consist of multiple first mounting holes 43A, 44A formed on one side of the shoulder 14 and multiple second mounting holes 43B, 44B formed on the other side of the first virtual plane P1. The multiple mounting holes 43A, 44A, 43B, and 44B are holes into which the auxiliary devices 2A and 2B are attached by selecting either the multiple first mounting holes 43A, 44A or the multiple second mounting holes 43B, 44B.

Description

Technical Field

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[0001] The present invention relates to a collaborative robot.

Background Art

[0006] In view of the above problems, the collaborative robot according to the present invention comprises: a turntable pivotally attached to a base so as to be rotatable around a first axis; a lower arm pivotally attached to the turntable so as to be rotatable around a second axis; a shoulder pivotally attached to the lower arm so as to be rotatable around a third axis parallel to the second axis; an upper arm pivotally attached to the shoulder so as to be rotatable around a fourth axis along the longitudinal direction; a support arm pivotally attached at the tip of the upper arm so as to be rotatable around a fifth axis perpendicular to the fourth axis; and a tip member pivotally attached to the support arm so as to be rotatable around a sixth axis along the longitudinal direction, wherein an end effector can be attached to the tip member, and the end effector A collaborative robot to which auxiliary equipment is connected via a cable routed along the upper arm, wherein a line perpendicular to the third axis and the fourth axis is set as the normal, and a virtual plane including the third axis is set as the first virtual plane, and the collaborative robot has a plurality of mounting holes formed in the shoulder for attaching the auxiliary equipment at two different positions, wherein the plurality of mounting holes consist of a plurality of first mounting holes formed on one side of the shoulder and a plurality of second mounting holes formed on the other side of the shoulder, straddling the first virtual plane, and the plurality of mounting holes are holes to which the auxiliary equipment is attached by selecting either the plurality of first mounting holes or the plurality of second mounting holes.

[0007] According to the present invention, auxiliary equipment can be attached to two different positions on the shoulder by selecting from a plurality of mounting holes formed on the shoulder. Specifically, if the collaborative robot is installed on the floor, with the direction from the floor to the ceiling being upward and the opposite direction being downward, the opening of the first mounting hole formed on the shoulder faces upward, so the auxiliary equipment can be attached to the upper side of the shoulder via the first mounting hole. On the other hand, if the collaborative robot is installed on the ceiling, the opening of the second mounting hole formed on the shoulder faces upward, so the auxiliary equipment can be attached to the upper side of the shoulder via the second mounting hole. In this way, by selecting either the plurality of first mounting holes or the plurality of second mounting holes depending on the installation surface of the collaborative robot (floor or ceiling), the auxiliary equipment can be attached to the upper side of the shoulder. This makes it possible to position the auxiliary equipment on the upper side of the shoulder regardless of whether the collaborative robot is installed on the floor or the ceiling. As a result, even when the lower arm or shoulder of the collaborative robot rotates around the second and third axes, the limitations on the workspace below the shoulder caused by auxiliary equipment can be alleviated.

[0008] In a more preferred embodiment, the plurality of first mounting holes and the plurality of second mounting holes are provided in positions symmetrical with respect to the first virtual plane.

[0009] According to this embodiment, the length of the cable connecting the auxiliary device attached to the first or second mounting hole to the end effector can be kept substantially constant. Therefore, it is possible to suppress differences in the operability of the collaborative robot caused by cable swing when the auxiliary device is attached to the first mounting hole versus when it is attached to the second mounting hole.

[0010] In a more preferred embodiment, each of the plurality of first mounting holes and the plurality of second mounting holes includes the third axis and includes a pair of mounting holes on either side of a second virtual plane perpendicular to the first virtual plane, and also includes the fourth axis and includes a pair of mounting holes on either side of a third virtual plane perpendicular to the first virtual plane.

[0011] According to this embodiment, even when the shoulder or upper arm of the collaborative robot rotates around the third and fourth axes, the mounting state of the auxiliary equipment to the first or second mounting hole is stably maintained.

[0012] In a more preferred embodiment, the shoulder is a casting in which a raised portion is formed on the surface of the shoulder, the side and top surfaces of the raised portion are cast surfaces, the boundary portion between the side and top surfaces of the raised portion is rounded, a counterbore portion is formed on the top surface of the raised portion, and the plurality of mounting holes are formed in the counterbore portion.

[0013] According to this embodiment, since the boundary between the side surface and the top surface of the raised portion has a rounded casting surface, safety can be ensured when an operator comes into contact with the raised portion while using a collaborative robot. In addition, since a counterbore is formed on the top surface of the raised portion, the accuracy of the attachment of auxiliary equipment can be ensured. [Effects of the Invention]

[0014] According to the present invention, even if an auxiliary device attached to the shoulder rotates in conjunction with the rotation of the lower arm, it is possible to mitigate the limitation of the working space around the collaborative robot caused by the auxiliary device. [Brief explanation of the drawing]

[0015] [Figure 1] This is a perspective view of the collaborative robot according to this embodiment. [Figure 2] Figure 1 is a perspective view showing the collaborative robot with a wire feeder and welding torch attached. [Figure 3] (A) is an enlarged view centered on the shoulder of the collaborative robot according to this embodiment. (B) is a cross-sectional view relating to XX in Figure 3(A). (C) is a cross-sectional view relating to YY in Figure 3(A). [Figure 4] (A) is an enlarged view centered on the raised portion of the shoulder of the collaborative robot according to this embodiment. (B) is a cross-sectional view of the ZZ region in Figure 4(A). [Figure 5] Figure 4(B) is a cross-sectional view illustrating the state in which a wire feeding device is attached to the raised portion shown. [Modes for carrying out the invention]

[0016] [Embodiment] The embodiments of the present invention will be described in detail below with reference to Figures 1 to 5. Note that the embodiments described below are only one aspect of the present invention and do not limit the technical scope of the present invention.

[0017] <Device configuration> Figures 1(A) and 1(B) are perspective views of the collaborative robot 1 according to this embodiment. The collaborative robot 1 is an articulated robot and comprises a base 11 fixed to the floor surface (not shown) as shown in Figure 1(A), and a turntable 12 pivotally attached to the base 11 so as to be rotatable around a first axis A1 in a direction perpendicular to the floor surface. The output shaft of a first axis motor (not shown) fixed to the base 11 is connected to the turntable 12. As a result, the turntable 12 can be rotated around the first axis A1 by driving the first axis motor. A first reduction gear (not shown) is attached to the output shaft of the first axis motor. The first axis motor and the first reduction gear are housed inside the base 11 and the turntable 12.

[0018] Further, the collaborative robot 1 includes a lower arm 13 pivotally attached to the turntable 12 so as to be rotatable about a second axis A2, and a shoulder 14 pivotally attached to the lower arm 13 so as to be rotatable about a third axis A3 parallel to the second axis A2. The proximal end of the lower arm 13 is pivotally attached to the turntable 12 via a second-axis motor (not shown) so as to be rotatable about the second axis A2. Here, the second axis A2 is an axis orthogonal to the first axis A1, but one of the two orthogonal axes may be offset, and these axes may be in a twisted positional relationship. By the power of the second-axis motor, the lower arm 13 rotates about the second axis A2 with respect to the turntable 12. The second-axis motor is housed inside the turntable 12. A second reduction gear (not shown) is attached to the output shaft of the second-axis motor. The lower arm 13 is a cylindrical housing, and various cables (not shown) are inserted therein.

[0019] A part of the shoulder 14 is pivotally attached to the lower arm 13 via a third-axis motor (not shown) so as to be rotatable about the third axis A3. By the power of the third-axis motor, the shoulder 14 rotates about the third axis A3 with respect to the lower arm 13. The third-axis motor is housed inside the shoulder 14. A third reduction gear (not shown) is attached to the output shaft of the third-axis motor.

[0020] Further, the collaborative robot 1 includes an upper arm 15 pivotally attached to the shoulder 14 so as to be rotatable about a fourth axis A4 along the longitudinal direction, a support arm 16 pivotally attached to the distal end portion of the upper arm 15 so as to be rotatable about a fifth axis A5 orthogonal to the fourth axis A4, and a tip member 17 rotatable about a sixth axis A6 along the longitudinal direction with respect to the support arm 16. Here, the lower arm 13, the shoulder 14, the upper arm 15, and the support arm 16 are made of metal, for example, castings such as cast iron or aluminum alloy castings.

[0021] The proximal end of the upper arm 15 is pivotally attached to the shoulder 14 via a motor for the fourth axis (not shown) so as to be rotatable about the fourth axis A4. Here, the fourth axis A4 is an axis orthogonal to the third axis A3, but one of the two orthogonal axes may be offset, and these axes may be in a twisted positional relationship. By the power of the motor for the fourth axis, the upper arm 15 rotates about the fourth axis A4 with respect to the shoulder 14. The motor for the fourth axis is housed inside the shoulder 14. A fourth reduction gear (not shown) is attached to the output shaft of the motor for the fourth axis.

[0022] A part of the support arm 16 is pivotally attached to the upper arm 15 via a motor for the fifth axis (not shown) so as to be rotatable about the fifth axis A5. Here, the fifth axis A5 is an axis orthogonal to the fourth axis A4, but one of the two orthogonal axes may be offset, and these axes may be in a twisted positional relationship. By the power of the motor for the fifth axis, the support arm 16 rotates about the fifth axis A5 with respect to the upper arm 15. The motor for the fifth axis is housed inside the shoulder 14. A fifth reduction gear (not shown) is attached to the output shaft of the motor for the fifth axis.

[0023] The tip member 17 is pivotally attached to the support arm 16 via a motor for the sixth axis (not shown) so as to be rotatable about the sixth axis A6. Here, the sixth axis A6 is an axis orthogonal to the fifth axis A5, but one of the two orthogonal axes may be offset, and these axes may be in a twisted positional relationship. By the power of the motor for the sixth axis, the tip member 17 rotates about the sixth axis A6 with respect to the support arm 16. The motor for the sixth axis is housed inside the support arm 16. A sixth reduction gear (not shown) is attached to the output shaft of the motor for the sixth axis.

[0024] Thus, in this embodiment, the collaborative robot 1 includes motors for the first axis to the sixth axis for driving around the axes from the first axis A1 to the sixth axis A6.

[0025] Furthermore, in this embodiment, a wire feeder 2A (2B) and a welding torch 3 can be attached to the same collaborative robot 1 as shown in Figures 1(A) and 1(B) as shown in Figures 2(A) and 2(B) respectively. In accordance with the welding operation of the wire feeder 2A (2B) and the welding torch 3 on the workpiece (not shown), each arm of the collaborative robot 1 (lower arm 13, upper arm 15, and support arm 16) rotates, swings, or tilts. The wire feeder 2A (2B) and the power supply (not shown) that supplies welding power to the wire feeder 2A (2B) and the welding torch 3 are connected via cable 4A, and the wire feeder 2A and the welding torch 3 are connected via cable 4B. Cable 4A is routed along the lower arm 13 and fixed to the lower arm 13.

[0026] The wire feeding device 2A (2B) and the welding torch 3 are supplied with welding power from the power source, which is delivered through cables 4A and 4B. The wire feeding device 2A (2B) includes a device body 21 that feeds the wire, which is unwound from a wire reel (not shown) through cable 4A, to the welding torch 3 through cable 4B. The device body 21 is composed of a plurality of rolls (not shown) that clamp the wire, and the frictional force of these rolls causes the wire to pass through cable 4B and is fed to the welding torch 3. The wire feeding device 2A includes a mounting base 22A on which the device body 21 is installed, and a plurality of (four) legs 23A that extend from the mounting base 22A and mount the mounting base 22A at a predetermined height from the surface of the shoulder 14. The length of each leg portion 23A is set such that, with the end face 23a of the leg portion 23A in contact with the counterbore portion 48 (described later), the surface of the shoulder 14 and the surface of the mounting base 22A are approximately parallel.

[0027] As shown in Figure 1(A), the shoulder 14 has raised portions 41A and 42A that protrude from the surface of the shoulder 14. Raised portion 41A extends on both sides of the second virtual plane P2, which will be described later. Similarly, raised portion 42A extends on both sides of the third virtual plane P3, which will be described later. Multiple (two) first mounting holes 43A and 44A are formed in the raised portions 41A and 42A, respectively. The wire feeding device 2A is fixed to the shoulder 14 by being attached to the first mounting holes 43A and 44A. The state in which the wire feeding device 2A is attached to the first mounting holes 43A and 44A will be explained in detail using Figure 5, which will be described later.

[0028] The welding torch 3 holds the wire after it has been fed from the wire feeder 2A through the cable 4B, so that the tip of the wire protrudes from the cable 4B. The welding torch 3 is detachable from the tip member 17, and as the tip member 17 rotates around the sixth axis A6, the welding torch 3 also rotates around the sixth axis A6.

[0029] Cable 4B is, as an example, a multi-layered single-wire power cable (torch cable) consisting of a conduit pipe for feeding the wire, a hose that forms a passage for shielding gas supplied from a gas cylinder (not shown) along its outer circumference, a conductive wire covering the outer circumference to supply welding power, and an outermost insulating coating.

[0030] Because cable 4B has multiple layers, it has high bending rigidity and is difficult to bend. Therefore, it is installed with extra length to minimize the tension when the welding torch 3 moves. In other words, to allow deformation of cable 4B, the wire feeder 2A and the welding torch 3 can be positioned away from the support arm 16, and even when the welding torch 3 is tilted or rotated, it can tolerate a certain degree of complex deformation each time.

[0031] Furthermore, while Figures 1(A) and 2(A) show the collaborative robot 1 with the base 11 fixed to the floor, in this embodiment, as shown in Figure 1(B), it is also conceivable to use the collaborative robot 1 with the base 11 fixed to the ceiling (not shown), in a state that is 180 degrees inverted from the state in Figure 1(A). Hereinafter, in this embodiment, the direction from the floor to the ceiling (not shown) will be referred to as the upward direction, and the opposite direction as the downward direction. That is, Figure 1(A) shows the collaborative robot 1 with the shoulder 14 positioned above the base 11, and Figure 1(B) shows the collaborative robot 1 with the shoulder 14 positioned below the base 11.

[0032] Figure 2(A) shows the wire feeder 2A mounted in the first mounting holes 43A and 44A, as previously described, whereas Figure 2(B) shows the wire feeder 2B mounted in the second mounting holes 43B and 44B, which are formed in multiple (two) locations on the raised portions 41B and 42B that rise from the surface of the shoulder 14 as shown in Figure 1(B). The positional relationship of the first mounting holes 43A and 44A and the second mounting holes 43B and 44B (hereinafter collectively referred to as "multiple mounting holes") on the shoulder 14 will be described in detail later. Furthermore, the main body 21 of the wire feeder 2B is the same as the main body 21 of the wire feeder 2A, and the mounting base 22B and legs 23B are the same as the mounting base 22A and legs 23A, so their description will be omitted.

[0033] Here, for the sake of clarity, Figures 2(A) and 2(B) show the mounting bases 22A and 22B as having a symmetrical structure relative to each other. However, the mounting bases 22A and 22B are not limited to having a symmetrical structure relative to each other. In this case, the structure of mounting base 22A (or mounting base 22B) should be set to match the lower arm 13 or the first mounting holes 43A and 44A (or the second mounting holes 43B and 44B).

[0034] Furthermore, while the wire feeding devices 2A and 2B correspond to auxiliary equipment in the present invention, and the welding torch 3 corresponds to the end effector in the present invention, if the collaborative robot 1 is used for purposes other than welding, the auxiliary equipment and end effector are not limited to the wire feeding devices 2A and 2B and the welding torch 3. For example, the auxiliary equipment may be an air circuit, and the end effector may be a suction hand (pad), etc.

[0035] The positional relationship of the multiple mounting holes on the shoulder 14 will be explained in detail. The lines perpendicular to the third axis A3 and the fourth axis A4 are taken as normals, and a virtual plane containing the third axis A3 is set as the first virtual plane P1. The multiple mounting holes consist of first mounting holes 43A and 44A formed on one side of the shoulder 14 and second mounting holes 43B and 44B formed on the other side, flanking the first virtual plane P1. Therefore, by selecting from the multiple mounting holes formed on the shoulder 14, one of the wire feeders 2A and 2B can be attached to two different positions on the shoulder 14.

[0036] Specifically, when the collaborative robot 1 is installed on the floor, the openings of the first mounting holes 43A and 44A face upward, allowing the wire feeder 2A to be attached to the upper side of the shoulder 14 via the first mounting holes 43A and 44A. On the other hand, when the collaborative robot 1 is installed on the ceiling, the openings of the second mounting holes 43B and 44B formed in the shoulder 14 face upward, allowing the wire feeder 2B to be attached to the upper side of the shoulder 14 via the second mounting holes 43B and 44B. In this way, by selecting either the first mounting holes 43A and 44A or the second mounting holes 43B and 44B depending on the installation surface of the collaborative robot 1 (floor or ceiling), either the wire feeder 2A or 2B can be attached to the upper side of the shoulder 14.

[0037] This allows both wire feeders 2A and 2B to be positioned above the shoulder 14, regardless of whether the collaborative robot 1 is installed on the floor or ceiling. As a result, even when the lower arm 13 or shoulder 14 of the collaborative robot 1 rotates around the second axis A2 and the third axis A3, the limitations on the workspace below the shoulder 14 caused by the wire feeders 2A and 2B can be alleviated. Therefore, the safety of workers working below the wire feeders 2A and 2B can be ensured.

[0038] Furthermore, with the above-described configuration in which the first mounting holes 43A, 44A and the second mounting holes 43B, 44B are formed on the shoulder 14 with the first virtual plane P1 in between, regardless of whether the collaborative robot 1 is installed on the floor or the ceiling, the cable 4B connecting the wire feeders 2A, 2B and the welding torch 3 can be routed above the upper arm 15 along the direction of extension from the shoulder 14 of the upper arm 15. This prevents the cable 4B from hanging down below the upper arm 15 and interfering with workers or other personnel.

[0039] Furthermore, since both wire feeders 2A and 2B can be mounted on the upper side of the shoulder 14 regardless of the mounting surface of the collaborative robot 1, maintenance of wire feeders 2A and 2B can be easily performed.

[0040] As previously described, the first mounting holes 43A, 44A and the second mounting holes 43B, 44B are formed on the shoulder 14, with the first virtual plane P1 in between. More specifically, the first mounting holes 43A, 44A and the second mounting holes 43B, 44B are positioned symmetrically across the first virtual plane P1.

[0041] This allows the length of the cable 4B connecting the wire feeders 2A and 2B to the welding torch 3 to be kept approximately constant when the wire feeders 2A and 2B are installed in the first mounting holes 43A and 44A or the second mounting holes 43B and 44B. Therefore, it is possible to suppress differences in the operability of the collaborative robot 1 caused by the swing of the cable 4B, such as the torque applied to the fifth axis motor, between the case where the wire feeder 2A is installed in the first mounting holes 43A and 44A and the case where the wire feeder 2B is installed in the second mounting holes 43B and 44B. In addition, regardless of whether the collaborative robot 1 is installed on the floor or the ceiling, the wire can be efficiently fed from the wire feeders 2A and 2B through the cable 4B to the welding torch 3.

[0042] Figure 3(A) is an enlarged view centered on the shoulder 14 of the collaborative robot 1 according to this embodiment. Figure 3(B) is a cross-sectional view relating to XX in Figure 3(A), and Figure 3(C) is a cross-sectional view relating to YY in Figure 3(A). As shown in Figures 3(A) and 3(B), the first mounting hole 43A and the second mounting hole 43B each include the third axis A3 and are provided as a pair, flanking the second virtual plane P2 which is perpendicular to the first virtual plane P1. Furthermore, as shown in Figures 3(A) and 3(C), the first mounting hole 44A and the second mounting hole 44B each include the fourth axis A4 and are provided as a pair, flanking the third virtual plane P3 which is perpendicular to the first virtual plane P1.

[0043] As a result, even when the shoulder 14 and upper arm 15 rotate around the third axis A3 and the fourth axis A4, the mounting state of the wire feeders 2A and 2B to the first mounting holes 43A and 44A or the second mounting holes 43B and 44B is stably maintained. Note that the internal structure of the cross-section in Figures 3(B) and 3(C) is shown in a simplified manner, and the structure of the motor for the fourth axis, etc., is not shown.

[0044] Figure 4(A) is an enlarged view centered on the raised portion 41A of the shoulder 14 of the collaborative robot 1 according to this embodiment. Figure 4(B) is a cross-sectional view relating to ZZ in Figure 4(A). Figure 5 is a cross-sectional view illustrating the state in which the wire feeding device 2A is attached to the raised portion 41A shown in Figure 4(B). In the following, using Figures 4(A) to 5, the configuration of the raised portion 41A and the method of attaching the wire feeding device 2A to the first mounting hole 43A of the raised portion 41A (hereinafter, the explanation of the first mounting hole 44A will be omitted) will be explained. Furthermore, in the following, these drawings will be used to explain the case when the collaborative robot 1 is installed on the floor, but the explanation will be the same even if the collaborative robot 1 is installed on the ceiling, so the second mounting holes 43B, 44B and the wire feeding device 2B, etc. will be shown in parentheses in Figure 5, and detailed explanations will be omitted.

[0045] As previously described, the shoulder 14 is a casting such as cast iron or an aluminum alloy casting, in which a raised portion 41A is formed from the surface of the shoulder 14. In forming the first mounting hole 43A, first, the surface state of the mold is transferred to the raised portion 41A and the casting is left as is to form the side surface 45 and top surface 46, which are the cast surfaces of the raised portion 41A. At this time, a rounded boundary portion 47 is also formed at the boundary between the side surface 45 and the top surface 46. Next, indentations are formed in two places on the top surface 46 with a drill or the like, and a flat counterbore portion 48 is formed by cutting with an end mill or the like. Finally, a hole for inserting the fixing device 5 is drilled near the center of the counterbore portion 48, and this hole becomes the first mounting hole 43A.

[0046] The first mounting hole 43A is formed by the above procedure. Since the cast surface, which is the side surface 45 and the top surface 46, is left intact, and a counterbore portion 48 is formed on a part of the top surface 46, the edges of the cut surface do not become sharp compared to the case where the counterbore portion 48 is not formed first and the entire upper surface of the raised portion 41A is cut. As a result, safety can be ensured when an operator comes into contact with the raised portion 41A while the collaborative robot 1 is in operation.

[0047] Furthermore, the legs 23A of the wire feeding device 2A all have a cylindrical structure, and the legs 23A extend from the mounting base 22A such that the opening of the hole formed to penetrate the mounting base 22A overlaps with the opening of the hollow portion of the leg 23A.

[0048] When attaching the wire feeding device 2A to the first mounting hole 43A of the raised portion 41A, the wire feeding device 2A is positioned such that the opening of the hollow portion of the leg portion 23A that does not overlap with the opening of the hole formed in the mounting base 22A overlaps with the opening of the first mounting hole 43A, and one end of the leg portion 23A is in contact with the counterbore portion 48. Then, the fixing device 5 is inserted from the mounting base 22A side, through the hole formed in the mounting base 22A and the hollow portion of the leg portion 23A, and into the interior of the first mounting hole 43A. In this way, the wire feeding device 2A is attached to the first mounting hole 43A. Note that the device body 21 is not shown in Figure 5. Here, as an example, the fixing device 5 is a male thread, and the hole formed in the mounting base 22A, the hollow portion of the leg portion 23A, and the first mounting hole 43A are female threads processed by thread cutting.

[0049] Since the cast surface is not flat, while the counterbore portion 48 is flat, one end of each of the multiple legs 23A can be uniformly brought into contact with the counterbore portion 48. Furthermore, since one end of each of the multiple legs 23A is uniformly brought into contact with the counterbore portion 48, the mounting position of the wire feeder 2A to the first mounting hole 43A is stabilized. More specifically, by setting the length of the legs 23A to match the distance from the counterbore portion 48 to the mounting base 22A, the mounting position of the wire feeder 2A to the first mounting hole 43A is stabilized, and mounting accuracy can be ensured.

[0050] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design modifications can be made without departing from the spirit of the invention as described in the claims. [Explanation of Symbols]

[0051] 1: Collaborative robot, 11: Base, 12: Turntable, 13: Lower arm, 14: Shoulder, 15: Upper arm, 16: Support arm, 17: Tip member, 2A / 2B: Wire feeder, 3: Welding torch, 4A / 4B: Cable, 41A: Raised section, 43A / 44A: First mounting hole, 43B / 44B: Second mounting hole, 45: Side view, 46: Top surface, 47: Boundary section, 48: Counterbore section, A1~A6: First axis~Sixth axis, P1: First virtual plane, P2: Second virtual plane, P3: Third virtual plane

Claims

1. A swivel base is pivotally attached to the base so as to be rotatable around the first axis, A lower arm is pivotally attached to the aforementioned turntable so as to be rotatable around a second axis, A shoulder is pivotally attached to the lower arm so as to be rotatable around a third axis parallel to the second axis, An upper arm is pivotally attached to the shoulder so as to be rotatable around a fourth axis along the longitudinal direction, At the tip of the upper arm, a support arm is pivotally attached so as to be rotatable around a fifth axis perpendicular to the fourth axis, The support arm is provided with a tip member that is rotatable around a sixth axis along the longitudinal direction, An end effector can be attached to the aforementioned tip member. A collaborative robot in which auxiliary equipment is connected to the end effector via a cable routed along the upper arm, The line perpendicular to the third axis and the fourth axis is defined as the normal, and a virtual plane containing the third axis is set as the first virtual plane. The aforementioned collaborative robot, The shoulder has multiple mounting holes for attaching the auxiliary device to two different positions. The aforementioned plurality of mounting holes consist of a plurality of first mounting holes formed on one side of the shoulder and a plurality of second mounting holes formed on the other side, with the first virtual plane in between. A collaborative robot characterized in that the plurality of mounting holes are holes to which the auxiliary equipment is attached, by selecting one of the plurality of first mounting holes and the plurality of second mounting holes.

2. The collaborative robot according to claim 1, characterized in that the plurality of first mounting holes and the plurality of second mounting holes are provided in positions symmetrical with respect to the first virtual plane.

3. Each of the plurality of first mounting holes and the plurality of second mounting holes is Including the third axis, and sandwiching a second virtual plane perpendicular to the first virtual plane, it includes a pair of mounting holes, The collaborative robot according to claim 2, characterized in that it includes the fourth axis and a pair of mounting holes, with a third virtual plane orthogonal to the first virtual plane in between.

4. The shoulder is a casting in which a raised portion is formed on the surface of the shoulder, The side and top surfaces of the aforementioned raised portion are cast surfaces. The boundary between the side surface and the top surface of the raised portion is rounded. A counterbore portion is formed on the top surface of the aforementioned raised portion. The collaborative robot according to claim 1, characterized in that the plurality of mounting holes are formed in the counterbore portion.

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