Industrial robots

Abstract

To improve the responsiveness of the end effector's operation to the pump's starting and stopping. [Solution] The industrial robot 1 comprises an end effector 27, a wrist 25 that supports the end effector, an upper arm 23 that supports the wrist at its tip, a middle arm 22 whose tip is connected to the base of the upper arm, a lower arm 21 whose tip is connected to the base of the middle arm, a pump 31 for the end effector mounted on the upper arm, and a motor 32 for driving the pump, which has a body 321 and a shaft 322, and at least the body of the motor is built into the upper arm.

Description

Technical Field

[0004] , , , , ,

[0005] , , , , , , ,

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

Background Art

[0002] Patent Document 1 describes a conventional painting robot. The conventional painting robot includes a base, a swivel base, a lower arm, a first upper arm, a second upper arm, and a wrist. The first upper arm is located closer to the proximal end side than the second upper arm. A painting end effector is attached to the wrist. The first upper arm includes a pump for the end effector on the inner surface side. The pump for the end effector is provided in a space sandwiched between the distal end side of the lower arm and the proximal end side of the second upper arm. The conventional painting robot can expand the effective operating range for avoiding interference with the workpiece, and the accessibility to the workpiece is improved.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

[0006] In the aforementioned industrial robot, the pump is located close to the end effector, resulting in high responsiveness of the end effector's operation to the pump's operation and stopping. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is a perspective view of an industrial robot. [Figure 2] Figure 2 is a cross-sectional view taken along line II-II in Figure 1. [Figure 3] Figure 3 shows an industrial robot performing a task. [Modes for carrying out the invention]

[0008] The following describes an embodiment of an industrial robot with reference to the drawings. The industrial robot described here is an example.

[0009] Figure 1 shows industrial robot 1. Hereafter, it will simply be referred to as robot 1. Figure 2 is a cross-sectional view taken along line II-II of Figure 1. Figure 3 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. When robot 1 paints the inside of the workpiece 9, the tip of robot 1's manipulator may be inserted into the inside of the workpiece 9 through the opening 91. Note that workpiece 9 is not limited to a specific workpiece. Robot 1 can be used for painting 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 for manufacturing various industrial products. Industrial products include, in addition to the aforementioned automobiles, aircraft, or railway vehicles, home appliances, electronic devices, industrial machinery, or medical equipment.

[0010] 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.

[0011] 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.

[0012] The support section 10 includes a relay box 13. The relay box 13 relays the harness 130 connected to the robot 1 (see Figure 3). 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.

[0013] 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 first axis Ax1 is a swivel axis. The support unit 10 has a joint JT1.

[0014] 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 first end of the lower arm 21 is the base end of the lower arm 21. 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.

[0015] 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 first end of the middle arm 22 is the base end of the middle arm 22. The second end of the lower arm 21 is the tip end of the lower arm 21. The middle arm 22 rotates relative to the lower arm 21 around the third axis Ax3. In other words, 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 bend axis parallel to the second axis Ax2.

[0016] 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 first end of the upper arm 23 is the base end of the upper arm 23. The second end of the middle arm 22 is the tip end of the middle arm 22. The middle arm 22 connects the upper arm 23 and the lower arm 21. With respect to the third axis Ax3 and the fourth axis Ax4 described later, the upper arm 23 and the lower arm 21 are located on the same side relative to the middle arm 22.

[0017] 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 joint JT4 is a joint between the upper arm 23 and the middle arm 22. The fourth axis Ax4 is an axis between the upper arm 23 and the middle arm 22. The fourth axis Ax4 is also a bent axis parallel to the third axis Ax3.

[0018] The robot 1 includes a wrist 25. The wrist 25 is supported by the second end of the upper arm 23. The second end of the upper arm 23 is the tip of 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.

[0019] 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.

[0020] 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.

[0021] Note that the structure of the wrist 25 of the robot 1 is not limited to the above structure. The fifth axis Ax5 of the joint JT5 may be a bent axis parallel to the fourth axis Ax4.

[0022] 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. A first tube 35 is connected to the end effector 27. The first tube 35 is one tube or a bundle of multiple tubes. Air is supplied to the valve or air motor of the end effector 27 through the first tube 35. Note that 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.

[0023] (Planning of pumps and motors) Robot 1 is equipped with a pump 31. The pump 31 supplies paint to the end effector 27. The pump 31 may be, for example, a flashable gear pump (FGP). However, the pump 31 is not limited to a flashable gear pump. The second tube 36 connects the pump 31 and the end effector 27 to each other. The second tube 36 is a tube for the paint.

[0024] The pump 31 is attached to the upper arm 23. More specifically, the pump 31 is attached to the base end of the upper arm 23. Here, the base end of the upper arm 23 corresponds to the base end when the upper arm 23, which extends in a direction perpendicular to the fourth axis Ax4, is divided into a tip end and a base end. The tip end of the upper arm 23 is the side that supports the wrist 25, as described above, and the base end of the upper arm 23 is the side that connects to the middle arm 22, as described above.

[0025] The base end of the upper arm 23 illustrated in Figure 1 is wider than the tip end. Here, width refers to the length in the direction along the fourth axis Ax4. The upper arm 23 has a step 24 between its base end and tip end. The step 24 is located on the side closer to the middle arm 22 in the direction along the fourth axis Ax4. The upper arm 23 has a mounting surface 241 at the step 24 that faces towards the tip of the upper arm 23.

[0026] The pump 31 is located on the step 24 of the upper arm 23. As shown in Figure 2, the pump 31 is mounted on the mounting surface 241. The pump 31 protrudes from the mounting surface 241 toward the tip of the upper arm 23. Note that in Figure 1 or Figure 2, the pump 31 is depicted schematically, and Figure 1 or Figure 2 does not necessarily show the exact shape of the pump 31.

[0027] As shown in Figure 1, the second tube 36 connected to the pump 31 is routed along the relatively narrower end side of the upper arm 23 to the tip of the upper arm 23. The second tube 36 passes through the hollow wrist 25 to the end effector 27.

[0028] Robot 1 is equipped with a motor 32. The motor 32 drives the pump 31. The motor 32 is, for example, an AC servo motor.

[0029] The motor 32 has a body 321 and a shaft 322. The shaft 322 protrudes from the body 321. The body 321 is built into the upper arm 23, as shown in Figure 2.

[0030] The main body 321 is located relative to the pump 31, on the base end side of the upper arm 23. The main body 321 and the pump 31 are adjacent to each other, with the cover 230 (described later) in between.

[0031] The shaft 322 extends in the direction of the fifth axis Ax5 of joint JT5. In other words, the shaft 322 extends from the proximal end to the distal end of the upper arm 23.

[0032] The shaft 322 protrudes from inside the upper arm 23 outwards, passing through the cover 230 of the upper arm 23. The cover 230 is a cover having a mounting surface 241. The shaft 322 protrudes from the mounting surface 241 toward the tip side of the upper arm 23.

[0033] The shaft 322 is directly connected to the pump 31. The rotation axis Px of the pump 31 is parallel to the shaft 322, as shown in Figure 2. Note that "parallel" here also includes the rotation axis Px of the pump 31 coinciding with the central axis of the shaft 322.

[0034] The main body 321 of the motor 32 is connected to the harness. The motor 32 is driven and stopped in response to control signals from the robot controller 16. When the motor 32 is driven, the pump 31 supplies paint to the end effector 27. When the motor 32 is stopped, the pump 31 stops supplying paint to the end effector 27.

[0035] (Effects and Benefits) The pump 31 is mounted outside the upper arm 23. Because the pump 31 is mounted on the upper arm 23, the distance between the end effector 27 and the pump 31 is short, resulting in high responsiveness of the end effector 27 to the operation of the pump 31 when it is driven and stopped. In other words, there is high responsiveness in the spraying and stopping of paint from the end effector 27 in conjunction with the driving and stopping of the pump 31. This high responsiveness in the painting robot 1 is advantageous for improving painting quality and saving paint.

[0036] Because the distance between the end effector 27 and the pump 31 is short, the length of the second tube 36 connecting the end effector 27 and the pump 31 is short. The short length of the second tube 36 is advantageous for routing the second tube 36.

[0037] Furthermore, as the pump 31 is mounted outside the upper arm 23, the second tube 36 is routed along the outer surface of the upper arm 23, from the base end to the tip end. Routing the second tube 36 is straightforward.

[0038] While the pump 31 is mounted outside the upper arm 23, the motor 32's body 321 is built into the upper arm 23. The industrial robot 1 can be made explosion-proof.

[0039] The shaft 322 of the motor 32 extends in the direction of axis Ax5 and passes through the cover 230, protruding outside the upper arm 23. The pump 31 and the motor 32 are adjacent to each other with the cover 230 in between, and the shaft 322 is directly connected to the pump 31. The rotation axis Px of the pump 31 is parallel to the shaft 322. The motor 32 and the pump 31 are compactly arranged on the upper arm 23. The compact arrangement of the motor 32 and the pump 31 is advantageous in suppressing interference between the arm 2 and the workpiece 9.

[0040] More specifically, the pump 31 is located on the step 24 in the upper arm 23. The pump 31 is located on the side of the upper arm 23 closer to the middle arm 22 in the direction along the fourth axis Ax4. The pump 31 is substantially located between the upper arm 23 and the middle arm 22 in the direction along the fourth axis Ax4. More specifically, the pump 31 is located between the side surface 231 of the upper arm 23 and the side surface 221 of the middle arm 22 in the direction along the fourth axis Ax4. Side surface 231 is the outer surface in the direction along the fourth axis Ax4. Side surface 221 is the side surface away from side surface 231 in the direction along the fourth axis Ax4. Positioning the pump 31 in this location suppresses interference with the workpiece 9. Because interference between the pump 31 and the workpiece 9 is suppressed, the range of motion of the robot arm 2 is increased. The work efficiency of the robot 1 is improved.

[0041] The shaft 322 protrudes from the base end of the upper arm 23 toward the tip end. The pump 31 is mounted on the mounting surface 241 facing toward the tip end of the upper arm 23 and is directly connected to the shaft 322. The pump 31 is located toward the tip end of the upper arm 23 than the motor 32. The distance between the pump 31 and the end effector 27 can be further shortened.

[0042] The motor 32 and pump 31 are located on the base end side of the upper arm 23. This allows for a smaller tip size for the upper arm 23. In other words, the tip of the upper arm 23 is thin. A thin tip for the upper arm 23 means that the length of the tip is short in the direction perpendicular to the direction in which the upper arm 23 extends. That is, in the configuration example in Figure 1, the width of the tip is shorter than the width of the base end. For example, as shown in Figure 3, when the robot 1 paints the inside of the workpiece 9, the end effector 27 is inserted into the workpiece 9 through the opening 91. Because the tip of 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 workpiece 9 through the opening 91. This reduces the constraints on the movement of the robot's arm 2, improving the robot's work efficiency.

[0043] (modified version) The mounting position of the pump 31 is not limited to the position shown in Figure 1. The pump 31 may be mounted on the side of the upper arm 23 that is away from the middle arm 22. The pump 31 may also be mounted on the top or bottom surface of the upper arm 23. The top surface of the upper arm 23 is the surface facing upwards in the robot 1 in the posture shown in Figure 1, and the bottom surface of the upper arm 23 is the surface opposite to the top surface.

[0044] The shaft 322 extending in the direction of the fifth axis Ax5 may protrude from the cover of the upper arm 23 in the opposite direction to the direction toward the tip of the upper arm 23.

[0045] Furthermore, the shaft 322 of the motor 32 may extend in a direction perpendicular to the fifth axis Ax5. The orientation of the motor 32 in the upper arm 23 is not limited to the orientation described above.

[0046] The shaft 322 of the motor 32 and the rotation axis Px of the pump 31 are not necessarily parallel. The rotation axis Px of the pump 31 may be oriented perpendicular to the shaft 322 of the motor 32. A power transmission member may be interposed between the shaft 322 of the motor 32 and the pump 31.

[0047] The motor 32 and pump 31 are not limited to being located on the base end side of the upper arm 23. They may also be located on the tip side of the upper arm 23. If the motor 32 and pump 31 are located on the tip side of the upper arm 23, the motor 32 will be closer to the end effector 27.

[0048] Robot 1 is not limited to comprising only a pump 31 and a motor 32 mounted on the upper arm 23. Robot 1 may also comprise at least one of a pump and a motor in addition to the pump 31 and motor 32 mounted on the upper arm 23.

[0049] For example, robot 1 may be equipped with a pump with a larger capacity or a larger pump than pump 31. A pump with a larger capacity may be defined as having a higher maximum flow rate than a pump with a smaller capacity. A large pump may be defined as having a larger size than a small pump.

[0050] The aforementioned pump and motor are not limited to being mounted on the upper arm 23. They may also be mounted on arm 2.

[0051] More specifically, the pump and motor may be mounted on the lower arm 21. Mounting a large-capacity or large-sized pump on the lower arm 21 does not adversely affect the size of the upper arm 23. In other words, the size of the upper arm 23 can be reduced.

[0052] In the pump and motor mounted on the lower arm 21, the motor shaft may be directly connected to the pump. The direct connection structure between the motor and the pump may conform to the structure shown in Figure 2.

[0053] In accordance with the structure shown in Figure 2, the rotation axis of the pump mounted on the lower arm 21 may be parallel to the motor shaft.

[0054] The pump, which is mounted on the lower arm 21 in accordance with the structure shown in Figure 2, may be mounted on the lower arm 21 outside of the lower arm 21.

[0055] Furthermore, a pump and motor other than pump 31 and motor 32 may be mounted on the middle arm 22. Mounting a larger capacity or larger pump on the middle arm 22 does not adversely affect the size of the upper arm 23. In other words, the size of the upper arm 23 can be reduced.

[0056] In the pump and motor mounted on the middle arm 22, the motor shaft may be directly connected to the pump. The direct connection structure between the motor and the pump may conform to the structure shown in Figure 2.

[0057] In accordance with the structure shown in Figure 2, the rotating shaft of the pump mounted on the middle arm 22 may be parallel to the motor shaft.

[0058] In accordance with the structure shown in Figure 2, the pump to be mounted on the middle arm 22 may be mounted on the middle arm 22 outside of the middle arm 22.

[0059] Furthermore, mounting the pump and motor on the lower arm 21 is an independent configuration, unrelated to the pump 31 and motor 32 mounted on the upper arm 23. Even if the pump 31 and motor 32 are not mounted on the upper arm 23, the pump and motor can still be mounted on the lower arm 21.

[0060] Similarly, mounting the pump and motor on the middle arm 22 is an independent configuration, unrelated to the pump 31 and motor 32 mounted on the upper arm 23. Even if the pump 31 and motor 32 are not mounted on the upper arm 23, the pump and motor can still be mounted on the middle arm 22.

[0061] A separate pump and motor may be mounted on the support section 10, in addition to the pump 31 and motor 32.

[0062] (Aspect) The embodiments described above are specific examples of the following embodiments.

[0063] (Aspect 1) End effector (27), The wrist (25) supporting the end effector (27), An upper arm (23) that supports the wrist (25) at the tip, A middle arm (22) whose tip is connected to the base end of the upper arm (23), A lower arm (21) whose tip is connected to the base end of the middle arm (22), A pump (31) for the end effector (27) is mounted on the upper arm (23), A motor (32) that drives the pump (31), having a body (321) and a shaft (322), and at least the body (321) being built into the upper arm (23), Equipped with, Industrial robot (1).

[0064] The pump (31) for the end effector (27) is mounted on the upper arm (23). Because the distance between the end effector (27) and the pump (31) is short, the end effector (27) has high responsiveness to the operation of the pump (31) when it is driven and stopped.

[0065] Furthermore, because the distance between the end effector (27) and the pump (31) is short, the length of the filament (36) connecting the end effector (27) and the pump (31) is short. The short length of the filament (36) is advantageous for routing the filament (36).

[0066] (Aspect 2) The device further includes a joint (JT5) interposed between the upper arm (23) and the wrist (25), which rotates the wrist (25) relative to the upper arm (23) around a swivel axis (Ax5), The shaft (322) of the motor (32) extends in the direction of the swivel axis (Ax5), An industrial robot (1) as described in Embodiment 1.

[0067] The orientation of the motor (32) can be appropriately set within the upper arm (23).

[0068] (Aspect 3) The shaft (322) protrudes outward from inside the upper arm (23), passing through the cover (230) of the upper arm (23). An industrial robot (1) according to embodiment 1 or 2.

[0069] Since the motor (32) body (321) is built into the upper arm (23), the industrial robot (1) can be made explosion-proof.

[0070] (Aspect 4) The shaft (322) protrudes from the base end of the upper arm (23) toward the tip end, The industrial robot (1) described in Embodiment 3.

[0071] If the motor (32) shaft (322) protrudes from the base end to the tip end of the upper arm (23), the pump (31) will be positioned closer to the tip end of the upper arm (23) than the motor (32). The distance between the pump (31) and the end effector (27) will be further shortened.

[0072] (Aspect 5) The cover (230) through which the shaft (322) passes has a surface (241) perpendicular to the shaft (322), The pump (31) is mounted on the surface (241), The industrial robot (1) described in Embodiment 4.

[0073] Since the pump (31) and motor (32) are adjacent to each other with the cover (230) in between, the pump (31) and motor (32) installed on the arm of the industrial robot (1) become compact.

[0074] (Aspect 6) The end effector (27) paints the workpiece (9), The pump (31) supplies paint to the end effector (27) through a tube (36) connecting the pump (31) and the end effector (27). An industrial robot (1) according to any one of embodiments 1 to 5.

[0075] Because the distance between the end effector (27) and the pump (31) is short, the response of paint spraying and stopping from the end effector (27) in conjunction with the driving and stopping of the pump (31) is high. High responsiveness in the painting robot (1) is advantageous for improving painting quality and saving paint.

[0076] Furthermore, since the pump (31) is attached to the upper arm (23), the tube (36) can be routed along the upper arm (23). This makes it easy to route the tube (36) in the painting robot (1) and allows the length of the tube (36) to be kept as short as possible.

[0077] (Aspect 7) The shaft (322) of the motor (32) is directly connected to the pump (31). An industrial robot (1) as described in Embodiment 6.

[0078] When the shaft (322) is directly connected to the pump (31), the pump (31) and the motor (32) can be connected compactly. This compact connection between the pump (31) and the motor (32) is advantageous in suppressing interference between the pump (31) and motor (32) mounted on the upper arm (23) and the workpiece (9) to be painted.

[0079] (Pattern 8) The rotation axis (Px) of the pump (31) is parallel to the shaft (322). An industrial robot (1) as described in Embodiment 7.

[0080] If the rotation axis (Px) of the pump (31) is parallel to the shaft (322), the pump (31) and motor (32) can be compactly mounted on the upper arm (23). Compact mounting of the pump (31) and motor (32) relative to the upper arm (23) is advantageous in suppressing interference between the pump (31) and motor (32) and the workpiece (9) to be painted.

[0081] (Aspect 9) The pump (31) is mounted on the upper arm (23) outside the upper arm (23), An industrial robot (1) according to any one of embodiments 6 to 8.

[0082] If the pump (31) is mounted on the upper arm (23) outside the upper arm (23), the tube (36) connected to the pump (31) is routed outside the upper arm (23). Routing of the tube (36) is easy.

[0083] (Aspect 10) The motor (32) and the pump (31) are located on the base end side when the upper arm (23) is divided into two equal parts, the tip end side and the base end side. The industrial robot (1) described in aspect 9.

[0084] If the motor (32) and pump (31) are located on the base end side of the upper arm (23), the size of the tip of the upper arm (23) can be reduced. An upper arm (23) with a smaller tip is easier to insert into the workpiece (9) through the opening (91) of the workpiece (9). This is because interference between the upper arm (23) and the workpiece (9) is suppressed. Reducing the size of the tip of the upper arm (23) improves the work efficiency of the industrial robot (1).

[0085] (Aspect 11) A rotor (15) that supports the base end of the lower arm (21), further comprising a rotor (15) that is rotatably supported with respect to the base (11), An industrial robot (1) according to any one of the embodiments 1 to 10.

[0086] (Aspect 12) It is a 7-axis robot. An industrial robot (1) according to any one of embodiments 1 to 11.

[0087] (Aspect 13) End effector (27), The wrist (25) supporting the end effector (27), The arm (2) that supports the wrist (25), A pump for the end effector (27), A motor for driving the pump, having a body and a shaft, wherein the shaft is directly connected to the pump, Equipped with, Industrial robot (1).

[0088] (Aspect 14) The rotating shaft of the pump is parallel to the shaft. An industrial robot (1) as described in Embodiment 13.

[0089] (Aspect 15) The pump is located outside the arm (2) and is mounted on the arm (2). An industrial robot (1) according to the description in embodiment 13 or 14.

[0090] (Aspect 16) End effector (27), The wrist (25) supporting the end effector (27), An upper arm (23) that supports the wrist (25) at the tip, A middle arm (22) whose tip is connected to the base end of the upper arm (23), A lower arm (21) whose tip is connected to the base end of the middle arm (22), A pump for the end effector (27) is mounted on the middle arm (23), A motor for driving the pump, comprising a body and a shaft, wherein at least the body is built into the middle arm (22) and the shaft is directly connected to the pump, Industrial robot (1).

[0091] (Aspect 17) The rotating shaft of the pump is parallel to the shaft. An industrial robot (1) as described in embodiment 16.

[0092] (Aspect 18) The pump is located outside the middle arm (22) and is mounted on the middle arm (22). Industrial robot (1). [Explanation of Symbols]

[0093] 1. Robots (Industrial Robots) 21 Lower Arm 22 Middle Arm 23 Upper Arm 230 Cover 241 Mounting surface 25 Wrist 27 End Effector 31 pumps 32 motors 321 Main Unit 322 Shaft 36. Second tube JT5 joint Ax5 axis (swivel axis)

Claims

1. End effectors and, The wrist supporting the end effector, An upper arm that supports the wrist at the tip, A middle arm whose tip is connected to the base end of the upper arm, A lower arm whose tip is connected to the base end of the middle arm, A pump for the end effector, mounted on the upper arm, A motor for driving the pump, having a body and a shaft, and at least the body being built into the upper arm, Equipped with, Industrial robots.

2. In the industrial robot according to claim 1, The device further comprises a joint interposed between the upper arm and the wrist, which rotates the wrist relative to the upper arm around a swivel axis, The shaft of the motor extends in the direction of the swivel axis. Industrial robots.

3. In the industrial robot according to claim 2, The shaft protrudes from inside the upper arm outwards, passing through the cover of the upper arm. Industrial robots.

4. In the industrial robot according to claim 3, The shaft protrudes in the direction from the base end to the tip of the upper arm, Industrial robots.

5. In the industrial robot according to claim 4, The cover through which the shaft passes has a surface perpendicular to the shaft, The pump is mounted on the surface, Industrial robots.

6. In the industrial robot according to claim 1, The end effector paints the workpiece, The pump supplies paint to the end effector through a tube connecting the pump and the end effector. Industrial robots.

7. In the industrial robot according to claim 6, The shaft of the motor is directly connected to the pump. Industrial robots.

8. In the industrial robot according to claim 7, The rotating shaft of the pump is parallel to the shaft. Industrial robots.

9. In the industrial robot according to any one of claims 6 to 8, The pump is mounted on the upper arm, outside the upper arm. Industrial robots.

10. In the industrial robot described in claim 9, The motor and the pump are located on the base end side when the upper arm is divided into two equal parts, the tip end side and the base end side. Industrial robots.

11. In the industrial robot according to claim 1, A rotor supporting the base end of the lower arm, further comprising a rotor rotatably supported with respect to a base, Industrial robots.

12. In the industrial robot according to claim 11, It is a 7-axis robot. Industrial robots.

Images