Industrial robots

Abstract

In industrial robots, the goal is to achieve both increased versatility and improved work efficiency. [Solution] The industrial robot 1 comprises an end effector 27, a wrist 25 that supports the end effector, an arm 2 that supports the wrist, a support part 10 that supports the arm, a first valve unit 31 connected to the end effector, the first valve unit being supported by the arm, and a second valve unit 41 connected to the end effector, which is larger than the first valve unit and is located further away from the end effector than the first valve unit.

Description

Technical Field

[0001] The technology disclosed herein relates to industrial robots.

Background Art

[0002] Patent Document 1 describes a conventional painting robot. The painting robot includes a base, a swivel base, a first arm, a second arm, and a wrist. The wrist is provided at the tip of the second arm. A painting gun is attached to the tip of the wrist. The painting robot also includes a paint change valve unit. The paint change valve unit selectively supplies a specified one of a plurality of types of paints supplied from a paint supply source to the painting gun. The paint change valve unit is provided on the upper surface of the second arm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As the number of paints that a painting robot can apply increases, the versatility of the painting robot increases. On the other hand, as the number of paints increases, the number of valves in the paint change valve unit increases, so the valve unit becomes larger. When a large valve unit is provided on the second arm, the size of the second arm becomes larger.

[0005] If the size of the second arm increases, for example, when a painting robot tries to insert a paint gun into the workpiece through an opening, the second arm is more likely to interfere with the workpiece. A highly versatile painting robot may result in a decrease in work efficiency. Conversely, if the size of the second arm is reduced by limiting the number of valves in the valve unit provided on the second arm, the painting robot will only be able to paint with, for example, a specific color of paint. The versatility of the painting robot will decrease. In painting robots, improving versatility and improving work efficiency are conflicting requirements.

[0006] Furthermore, the demand for smaller arms to support the wrist is not limited to painting robots. From the perspective of improving work efficiency in industrial robots, smaller arms may be required in industrial robots for various applications. [Means for solving the problem]

[0007] The technology disclosed herein relates to industrial robots. Industrial robots are, End effectors and, The wrist supporting the end effector, The arm that supports the wrist, A support portion that supports the aforementioned arm, A first valve unit connected to the end effector, comprising a first valve unit supported by the arm, A second valve unit, which is larger than the first valve unit and connected to the end effector, and which is located further away from the end effector than the first valve unit, It is equipped with. [Effects of the Invention]

[0008] In the aforementioned industrial robot, the first valve unit supported by the arm is relatively small, allowing for a smaller arm size. Furthermore, the industrial robot is equipped with a relatively large second valve unit, resulting in high versatility. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a perspective view of an industrial robot. [Figure 2] Figure 2 shows an industrial robot performing a task. [Figure 3] Figure 3 shows the connection structure between the end effector and the valve unit in an industrial robot. [Modes for carrying out the invention]

[0010] The following describes an embodiment of an industrial robot with reference to the drawings. The industrial robot described here is an example.

[0011] Figure 1 shows industrial robot 1. Hereafter, it will simply be referred to as robot 1. Figure 2 shows robot 1 in operation. Robot 1 is a robot that paints a workpiece 9. The painting robot 1 is installed, for example, in an isolated painting area. Explosion-proof measures are taken for robot 1 and its peripheral equipment. The workpiece 9 may have an opening 91. Robot 1 paints the outside of the workpiece 9. Robot 1 may also paint the inside of the workpiece 9. Note that workpiece 9 is not limited to a specific workpiece. Robot 1 can be used to paint various industrial products, such as automobiles, aircraft, or railway vehicles. Also, robot 1 is not limited to a painting robot. Robot 1 can be used to manufacture various industrial products. Industrial products include, in addition to the automobiles, aircraft, or railway vehicles mentioned above, home appliances, electronic devices, industrial machinery, or medical devices.

[0012] Robot 1 is a so-called vertical articulated robot. Robot 1 is a 7-axis robot with joints JT1-JT7. The manipulator of robot 1 has a serial link structure.

[0013] Robot 1 includes a support section 10. The support section 10 is fixed so as not to move. The support section 10 includes a base 11. The base 11 is fixed to a fixed surface 12. The fixed surface 12 is, for example, a floor. The fixed surface 12 is not limited to a floor.

[0014] The support unit 10 includes a relay box 13. The relay box 13 relays the harness 130 connected to the robot 1. The relay box 13 is located near the base 11. The inside of the relay box 13 and the inside of the base 11 are connected. The relay box 13 is fixed to the fixed surface 12 together with the base 11. The relay box 13 does not move.

[0015] The support unit 10 includes a rotor 15. The rotor 15 is rotatably supported on the base 11. More specifically, the rotor 15 rotates relative to the base 11 around a first axis Ax1. The first axis Ax1 is an axis perpendicular to the fixed surface 12. The support unit 10 has a joint JT1.

[0016] The rotor 15 has a bracket 16. The bracket 16 rotates together with the rotor 15 around the first axis Ax1 relative to the base 11. The first axis Ax1 is a swivel axis. The bracket 16 connects the rotor 15 to the lower arm 21 of the arm 2, which will be described later.

[0017] Robot 1 includes an arm 2. Arm 2 includes a lower arm 21. The first end of the lower arm 21 is supported by the rotor 15. The lower arm 21 rotates relative to the rotor 15 around a second axis Ax2. In other words, joint JT2 connects the first end of the lower arm 21 to the rotor 15. The second axis Ax2 is a bent axis parallel to the fixed surface 12.

[0018] Arm 2 includes a middle arm 22. The first end of the middle arm 22 is supported by the second end of the lower arm 21. The middle arm 22 rotates relative to the lower arm 21 about the third axis Ax3. That is, the joint JT3 connects the first end of the middle arm 22 to the second end of the lower arm 21. The third axis Ax3 is a bent axis parallel to the second axis Ax2.

[0019] Arm 2 includes an upper arm 23. The first end of the upper arm 23 is supported by the second end of the middle arm 22. The middle arm 22 connects the upper arm 23 and the lower arm 21. The upper arm 23 rotates relative to the middle arm 22 about the fourth axis Ax4. That is, the joint JT4 connects the first end of the upper arm 23 to the second end of the middle arm 22. The fourth axis Ax4 is a bent axis parallel to the third axis Ax3.

[0020] Robot 1 includes a wrist 25. The wrist 25 is supported by the upper arm 23. The wrist 25 is connected to the second end of the upper arm 23 via the joint JT5. The joint JT5 rotates the wrist 25 relative to the upper arm 23 about the fifth axis Ax5. The fifth axis Ax5 is a swivel axis. The direction of the fifth axis Ax5 is a direction orthogonal to the direction of the fourth axis Ax4. As will be described later, the end effector 27 supported by the wrist 25 rotates about the fifth axis Ax5.

[0021] The wrist 25 has a joint JT6. The joint JT6 rotates about the sixth axis Ax6. The sixth axis Ax6 is a swivel axis that intersects the fifth axis Ax5 at a predetermined angle. The joint JT6 rotates the end effector 27 about the sixth axis Ax6.

[0022] The wrist 25 also has a joint JT7. The joint JT7 rotates about the seventh axis Ax7. The seventh axis Ax7 is a swivel axis that intersects the sixth axis Ax6 at a predetermined angle. The joint JT7 rotates the end effector 27 about the seventh axis Ax7.

[0023] The structure of the wrist 25 of robot 1 is not limited to the structure described above. The fifth axis Ax5 of joint JT5 may be a bend axis parallel to the fourth axis Ax4.

[0024] Robot 1 is equipped with an end effector 27. The end effector 27 has the function of painting the workpiece 9. The end effector 27 is, for example, a painting bell. A painting bell has a known structure. The painting bell has at least a valve that switches painting on and off, and an air motor that atomizes the paint. However, the end effector 27 is not limited to a painting bell. The end effector 27 may be a spray gun. The spray gun atomizes the paint with air and sprays it onto the workpiece 9.

[0025] (Valve unit arrangement) Figure 3 shows the connection structure between the end effector 27 of robot 1 and the valve unit. Note that the connection structure in Figure 3 is an example, and the technology disclosed herein is not limited to its application to the connection structure in Figure 3. Also, Figure 3 does not show the relative sizes of the valve units 31 and 41, which will be described later, nor does it show the relative lengths of the first tube 35 and the second tube 45.

[0026] Robot 1 includes a valve unit 31. The valve unit 31 is connected to an air supply source 5. The valve unit 31 is connected directly or indirectly to an end effector 27. A first tube 35 is interposed between the valve unit 31 and the end effector 27. The first tube 35 is one tube or a bundle of multiple tubes. Air flows through the first tube 35.

[0027] The valve unit 31 has control valves. In the robot 1 of Figure 1, the valve unit 31 has two control valves, a first valve 32 and a second valve 33. The valve unit 31 may have two or more control valves. However, the number of control valves in the valve unit 31 is less than the number of control valves in the valve unit 41, which will be described later. The valve unit 31 is relatively small. Here, "small" may mean that the volume of the valve unit 31 is smaller than the volume of the valve unit 41. Also, here, "small" may mean that the number of control valves in the valve unit 31 is less than the number of control valves in the valve unit 41.

[0028] The control valve in the valve unit 31 is an electromagnetic valve that opens and closes in response to an electrical signal via the harness 130. However, the control valve is not limited to an electromagnetic valve.

[0029] The first valve 32 is used to switch the painting by the end effector 27 on and off. Specifically, the first valve 32 switches the supply of spray air to the end effector 27 on and off. The second valve 33 is used to control the atomization of paint in the end effector 27. Specifically, the second valve 33 controls the air motor 271 of the end effector 27 through a switching valve 36. The switching valve 36 is connected to the air motor 271 via an air tube 37. The first valve 32 and the second valve 33 are valves that control the painting of the end effector 27. The first valve 32 and the second valve 33 are essential valves for the painting robot 1 that provide the necessary functions for the end effector 27 to perform painting.

[0030] The valve unit 31 is supported by the arm 2. More specifically, the valve unit 31 is supported by the upper arm 23 of the arm 2. As shown in the enlarged view 101 of Figure 1, the main body of the valve unit 31 is built into the upper arm 23. The main body of the valve unit 31 refers to the part that includes the control valve and to the part to which the harness 130 is connected. The main body of the valve unit 31 is not exposed outside the outer casing of the upper arm 23. The air tube connection port 34 of the valve unit 31 is exposed outside the outer casing of the upper arm 23. As shown in Figure 3, the first tube 35 is connected to the air tube connection port 34. The air tube connection port 34 is located in a recess 231 in the outer casing of the upper arm 23. The air tube connection port 34 is located inside the outermost surface of the outer casing of the upper arm 23.

[0031] Valve unit 31 is an example of a first valve unit.

[0032] Robot 1 includes a valve unit 41. The valve unit 41 is connected to an air supply source 5. The valve unit 41 is connected directly or indirectly to an end effector 27. A second tube 45 is interposed between the valve unit 41 and the end effector 27. The second tube 45 is one tube or a bundle of multiple tubes. Air flows through the second tube 45.

[0033] The valve unit 41 has control valves. In robot 1 in Figure 1, the valve unit 41 has 16 control valves. There is no limit to the number of control valves in the valve unit 41, as long as it is greater than the number of control valves in the valve unit 31. The valve unit 41 is relatively large. That is, the volume of the valve unit 41 is larger than the volume of the valve unit 31. Also, the number of control valves in the valve unit 41 is greater than the number of control valves in the valve unit 31.

[0034] The control valve in the valve unit 41 is an electromagnetic valve that opens and closes in response to an electrical signal via the harness 130. Note that the control valve is not limited to an electromagnetic valve.

[0035] As shown in Figure 3, a color change valve 46 is interposed between the control valve of the valve unit 41 and the end effector 27. The color change valve 46 changes the color of the paint applied from the end effector 27 to the workpiece 9. The color change valve 46 is connected to the end effector 27 via a paint tube 47. A thinner path on / off valve 48 is interposed between the control valve of the valve unit 41 and the end effector 27. The thinner path on / off valve 48 is used to clean residual paint when the color is changed. The thinner path on / off valve 48 is connected to the end effector 27 via a thinner tube 49.

[0036] As shown in Figure 1, the valve unit 41 is mounted on the support 10. The valve unit 41 is located further from the end effector 27 than the valve unit 31. The valve unit 41 is mounted on the base 11 of the support 10. More specifically, as shown in the enlarged view 102 of Figure 1, the main body of the valve unit 41 is housed in the relay box 13. The main body of the valve unit 41 is mounted on the back of a panel 132, for example. The panel 132 closes the opening 131 of the relay box 13. When the panel 132 is attached to the relay box 13, the main body of the valve unit 41 is not exposed outside the relay box 13. When the panel 132 is removed from the relay box 13, the main body of the valve unit 41 is exposed outside the relay box 13. The air tube connection port 44 of the valve unit 41 is located on the surface of the panel 132. The air tube connection port 44 is exposed outside the relay box 13. As shown in Figure 3, the second tube 45 is connected to the air tube connection port 44. The main body of the valve unit 41 refers to the part including the control valve and to the part to which the harness 130 is connected.

[0037] Valve unit 41 is an example of a second valve unit.

[0038] (Effects and Benefits) The valve unit 31 is supported by the upper arm 23. Because the valve unit 31 is small, the upper arm 23 does not become larger even when the main body of the valve unit 31 is built into it. The size of the upper arm 23 is small. In other words, the upper arm 23 is thin. When the upper arm 23 is thin, it means that the length of the upper arm 23 is short in the direction perpendicular to the direction in which the upper arm 23 extends. That is, the width of the upper arm 23 is short and or the height of the upper arm 23 is low. For example, as shown in Figure 2, when the robot 1 paints the inside of the workpiece 9, the end effector 27 is inserted into the inside of the workpiece 9 from the opening 91. Because the upper arm 23 is thin, interference between the upper arm 23 and the workpiece 9 is suppressed when the robot 1 inserts the end effector 27 into the inside of the workpiece 9 from the opening 91 of the workpiece 9. The work efficiency of the robot 1 is improved.

[0039] Furthermore, a sealed structure using a packing or gasket is employed at the mounting point of the valve unit 31 to the upper arm 23. This ensures the explosion-proof performance of the robot 1.

[0040] The small valve unit 31 has a small number of control valves. Generally, a small number of control valves reduces the versatility of the robot. However, robot 1 is equipped with a large valve unit 41. The large valve unit 41 has a large number of control valves. The number of channels connected to the end effector 27 is also large. Robot 1 has high versatility.

[0041] The valve unit 41 is mounted on the support unit 10. The valve unit 41 is located further away from the end effector 27 than the valve unit 31. The valve unit 41 does not affect the shape of the arm 2 of the robot 1. Although the robot 1 has a large number of control valves, the size of the arm 2 is small. The robot 1 can achieve both improved versatility and improved work efficiency.

[0042] Furthermore, the fact that the main body of the valve unit 41 is built into the relay box 13 makes it possible to attach the valve unit 41 to the support part 10 without increasing the installation area of ​​the robot 1. In addition, a sealed structure using a packing or gasket is used at the mounting location of the valve unit 41 to the relay box 13. This ensures the explosion-proof performance of the robot 1.

[0043] The valve unit 31 includes a first valve 32 for switching the painting of the end effector 27 on and off, and a second valve 33 for controlling the atomization of the paint in the end effector 27. As mentioned above, the first valve 32 and the second valve 33 are valves that control the painting of the end effector 27. Because the valve unit 31 is located near the end effector 27, the length of the first tube 35 interposed between the valve unit 31 and the end effector 27 is relatively short. This increases the control responsiveness of the end effector 27 to the opening and closing of the first valve 32 or the second valve 33. High control responsiveness of the end effector 27 that performs painting can suppress the spraying of unnecessary paint, which is advantageous for saving paint. The fact that the valve unit 31 is supported by the upper arm 23 is also advantageous in that it increases the control responsiveness of the first valve 32 and the second valve 33.

[0044] Because the valve unit 41 is located far from the end effector 27, its control responsiveness is relatively low. However, the color change valve 46 or the thinner path opening / closing valve 48 controlled by the valve unit 41 do not require the same level of control responsiveness as the valve unit 31. The valve unit 41 may have a control valve that does not require high control responsiveness.

[0045] Here, the valve unit 31 may have a control valve that requires higher control responsiveness than the valve unit 41.

[0046] (modified version) The functions of the control valve in the valve unit 31 are not limited to, as described above, the function of switching the paint application by the end effector 27 on and off, and the function of controlling the atomization of the paint in the end effector 27. The valve unit 31 can have control valves with various functions.

[0047] Furthermore, the valve unit 31 may have one control valve.

[0048] The main body of the valve unit 31 may be mounted outside the upper arm 23 instead of being built into the upper arm 23.

[0049] The valve unit 31 may also be supported by the middle arm 22 in addition to being supported by the upper arm 23. The main body of the valve unit 31 may be built into the middle arm 22 or mounted outside the middle arm 22.

[0050] The valve unit 31 may also be supported by the lower arm 21. The main body of the valve unit 31 may be built into the lower arm 21 or mounted outside the lower arm 21.

[0051] The main body of the valve unit 41 may be mounted outside the relay box 13 or base 11, instead of being built into the relay box 13. Alternatively, the valve unit 41 may be mounted on the rotor 15. The main body of the valve unit 41 may be built into the rotor 15 or mounted outside the rotor 15.

[0052] The valve unit 41 may be installed at any location within the painting area where the robot 1 is installed. The valve unit 41 may also be installed outside the painting area.

[0053] Robot 1 may be a 6-axis robot. The middle arm 22 of robot 1 may be omitted.

[0054] The technology disclosed herein does not preclude the robot 1 from having a third valve unit connected to the end effector 27. The size of the third valve unit is arbitrary. The position of the third valve unit is also arbitrary. For example, the third valve unit may be located midway between valve unit 31 and valve unit 41 with respect to the end effector 27.

[0055] (Aspect) The embodiments described above are specific examples of the following embodiments.

[0056] (Aspect 1) End effector (27), The wrist (25) supporting the end effector (27), The arm (2) that supports the wrist (25), A support part (10) that supports the arm (2), A valve unit (31) connected to the end effector (27), the valve unit (31) supported by the arm (2), A valve unit (41) is connected to the end effector (27) and is larger than the valve unit (31), and is located further away from the end effector (27) than the valve unit (31), Equipped with, Industrial robot (1).

[0057] Because the valve unit (31) is small, the size of the arm (2) does not increase even when supporting the valve unit (31). Interference between the arm (2) and the workpiece (9) is suppressed, which improves the work efficiency of the robot (1).

[0058] Furthermore, the valve unit (31) located near the end effector (27) can satisfy the high control responsiveness required of the end effector (27).

[0059] Since the industrial robot (1) is equipped with a large valve unit (41) in addition to the valve unit (31), the industrial robot (1) can achieve high versatility.

[0060] Furthermore, the valve unit (31) may be connected directly or indirectly to the end effector (27), and the valve unit (41) may also be connected directly or indirectly to the end effector (27).

[0061] (Aspect 2) The valve unit (41) has a larger number of control valves than the valve unit (31). An industrial robot (1) as described in Embodiment 1.

[0062] Because the large valve unit (41) has a large number of control valves, the industrial robot (1) is highly versatile.

[0063] (Aspect 3) The valve unit (31) has two or more control valves. An industrial robot (1) according to embodiment 1 or 2.

[0064] A valve unit (31) having two or more control valves can satisfy the function of an end effector (27) that requires high control responsiveness.

[0065] (Aspect 4) The aforementioned control valve is an electromagnetic valve that opens and closes in response to an electrical signal. An industrial robot (1) according to embodiment 2 or 3.

[0066] Solenoid valves are suitable as control valves for industrial robots (1).

[0067] (Aspect 5) The end effector (27) paints the workpiece (9), The valve unit (31) includes a first valve (32) that switches the painting by the end effector (27) on and off, and a second valve (33) that controls the atomization of the paint in the end effector (27). An industrial robot (1) according to any one of embodiments 1 to 4.

[0068] Since the first valve (32) and second valve (33), which are essential for the end effector (27) to perform painting, are located close to the end effector (27), the end effector (27) can perform painting with high control responsiveness.

[0069] (Aspect 6) The valve unit (41) is connected to a color change valve that changes the color of the paint applied from the end effector (27) to the workpiece (9). An industrial robot (1) as described in Embodiment 5.

[0070] The color change valve does not require high control responsiveness. A valve unit (41) with relatively low control responsiveness can control the color change valve. The valve unit (41) can be made larger by increasing the number of control valves. Increasing the number of control valves allows the end effector (27) to be painted with a wider variety of colors through the color change valve. The valve unit (41) may also be connected to valves that have functions other than color change valves. For example, the valve unit (41) may be connected to a thinner path opening / closing valve used to clean residual paint when changing colors.

[0071] (Aspect 7) The arm (2) includes an upper arm (23) to which the wrist (25) is connected, and a lower arm (21) connected to the support part (10). The valve unit (31) is supported by the upper arm (23), An industrial robot (1) according to any one of embodiments 1 to 6.

[0072] The valve unit (31), supported by the upper arm (23), is located close to the end effector (27). The valve unit (31) allows for improved control responsiveness of the end effector (27).

[0073] (Pattern 8) The arm (2) further includes a middle arm (22) that connects the upper arm (23) and the lower arm (21), The valve unit (31) is supported by the middle arm (22), An industrial robot (1) as described in Embodiment 7.

[0074] Even when the valve unit (31) is supported by the middle arm (22), the valve unit (31) is located relatively close to the end effector (27). The valve unit (31) can improve the control responsiveness of the end effector (27).

[0075] (Aspect 9) The valve unit (31) is built into the arm (2), An industrial robot (1) as described in embodiment 7 or 8.

[0076] If the valve unit (31) is built into the arm (2), the size of the arm (2) can be further reduced. Interference between the arm (2) and the workpiece (9) can be further suppressed. Note that when the valve unit (31) is built into the arm (2), it means that at least the main body of the valve unit (31), including the control valve, is located inside the outer casing of the arm (2). The connection port of the tube of the valve unit (31) may be exposed outside the outer casing of the arm (2).

[0077] (Aspect 10) The valve unit (41) is mounted on the support portion (10). An industrial robot (1) according to any one of the embodiments 1 to 9.

[0078] The valve unit (41) mounted on the support (10) does not affect the shape of the arm (2) of the industrial robot (1). The size of the arm (2) can be reduced. Also, the size of the valve unit (41) mounted on the support (10) can be made relatively large. The valve unit (41) can have a large number of control valves.

[0079] (Aspect 11) The support portion (10) includes a base (11) fixed to a fixed surface (12), The valve unit (41) is mounted on the base (11). An industrial robot (1) as described in embodiment 10.

[0080] Once the valve unit (41) is mounted on the base (11), the valve unit (41) can be properly installed near the industrial robot (1).

[0081] (Aspect 12) The support section (10) includes a relay box (13) that relays the harness (130), The valve unit (41) is mounted on the relay box (13), An industrial robot (1) as described in Embodiment 11.

[0082] By mounting the valve unit (41) to the relay box (13), the increase in the installation area of ​​the industrial robot (1) is suppressed.

[0083] The main body of the valve unit (41) may be built into the relay box (13) or mounted outside the relay box (13).

[0084] (Aspect 13) The support portion (10) includes a base (11) fixed to a fixed surface (12), and a rotor (15) that rotates relative to the base (11) about an axis (Ax1) perpendicular to the fixed surface (12). The valve unit (41) is mounted on the rotor (15), An industrial robot (1) as described in embodiment 10.

[0085] Once the valve unit (41) is mounted on the rotor (15), the valve unit (41) can be properly installed near the industrial robot (1). [Explanation of symbols]

[0086] 1. Industrial robots 10 Support part 11 Bass 12 Fixed surface 13. Relay box 130 Harness 15 rotors 2 Arms 21 Lower Arm 22 Middle Arm 23 Upper Arm 25 Wrist 27 End Effector 31 Valve Unit 32. Valve No. 1 33. Second valve 41 Valve Unit 9 Work Ax1 Axis perpendicular to the fixed surface

Claims

1. End effectors and, The wrist supporting the end effector, The arm that supports the wrist, A support portion that supports the aforementioned arm, A first valve unit connected to the end effector, comprising a first valve unit supported by the arm, A second valve unit, which is larger than the first valve unit and connected to the end effector, and which is located further away from the end effector than the first valve unit, Equipped with, Industrial robots.

2. In the industrial robot according to claim 1, The second valve unit has a greater number of control valves than the first valve unit. Industrial robots.

3. In the industrial robot according to claim 2, The first valve unit has two or more control valves. Industrial robots.

4. In the industrial robot according to claim 2 or 3, The aforementioned control valve is an electromagnetic valve that opens and closes in response to an electrical signal. Industrial robots.

5. In the industrial robot according to claim 1, The end effector paints the workpiece, The first valve unit includes a first valve for switching the painting by the end effector on and off, and a second valve for controlling the atomization of the paint in the end effector. Industrial robots.

6. In the industrial robot according to claim 5, The second valve unit is connected to a color change valve that changes the color of the paint applied from the end effector to the workpiece. Industrial robots.

7. In the industrial robot according to claim 1, The arm includes an upper arm to which the wrist is connected and a lower arm connected to the support portion. The first valve unit is supported by the upper arm, Industrial robots.

8. In the industrial robot according to claim 7, The arm further includes a middle arm that connects the upper arm and the lower arm. The first valve unit is supported by the middle arm, Industrial robots.

9. In the industrial robot according to claim 7 or 8, The first valve unit is built into the arm, Industrial robots.

10. In the industrial robot according to claim 1, The second valve unit is mounted on the support portion, Industrial robots.

11. In the industrial robot according to claim 10, The support portion includes a base fixed to a fixed surface. The second valve unit is mounted on the base, Industrial robots.

12. In the industrial robot according to claim 11, The support section includes a relay box that relays the harness, The second valve unit is mounted in the relay box. Industrial robots.

13. In the industrial robot according to claim 10, The support portion includes a base fixed to a fixed surface and a rotor that rotates relative to the base about an axis perpendicular to the fixed surface. The second valve unit is mounted on the rotor, Industrial robots.

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