Support device

Abstract

To provide a support device that can be easily mounted on a multi-axis robot and adjust degrees of flabbiness of a linear body connected to the multi-axis robot.SOLUTION: A support device supports a linear body, which transmits light or an electric signal or supplies electric power or fluid, to an end effector mounted on a tip of a multi-axis robot, on the multi-axis robot. The support device comprises: a length adjustment device that adjusts a length of the linear body by bending and stretching the linear body in accordance with motion of the multi-axis robot; at least one guide that supports the linear body slidably; and a mounting device that mounts the length adjustment device and the guide on the outside of the multi-axis robot.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a support device that supports, on a multi-axis robot, a linear body that transmits an electric signal or supplies power or fluid to an end effector attached to the tip of the multi-axis robot. [Background technology]

[0002] A linear object, such as a cable used to transmit optical or electrical signals or supply power, or a hose for supplying air or other fluids, is connected to an end effector, such as a sensor, attached to the tip of the robot arm of a multi-axis robot. The linear object moves in response to the movement of the end effector of the multi-axis robot. This can cause the linear object to sag excessively and get caught on the multi-axis robot, interfering with the operation of the multi-axis robot. Conversely, the linear object can lose slack and become stretched in the longitudinal direction, resulting in breakage or deterioration.

[0003] Therefore, technologies for adjusting the degree of slack in a linear object have been disclosed. For example, in the technology disclosed in Patent Document 1, the degree of slack in a cable can be adjusted by a rotating part that winds up the cable and a rotating support part that supports the cable, both of which are provided in the internal space of the arm of an articulated robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-22570 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology described in Patent Document 1, the rotating part and rotation support part that wind up the cable are located in the internal space of the arm, so there was a problem in that it was not easy to apply the technology described in Patent Document 1 to a multi-axis robot that does not have a rotating part and rotation support part that wind up the cable.

[0006] An object of the present invention is to provide a support device that can be easily attached to a multi-axis robot and that can adjust the degree of slack in a linear object connected to the multi-axis robot. [Means for solving the problem]

[0007] One aspect of the support device of the present invention for solving the above problem is a support device that supports a linear body on a multi-axis robot, the linear body transmitting optical or electrical signals or supplying power or fluid to an end effector attached to the tip of the multi-axis robot, the support device comprising: a length adjustment device that adjusts the length of the linear body by bending and extending the linear body in accordance with the operation of the multi-axis robot; at least one guide that slidably supports the linear body; and an attachment device that attaches the length adjustment device and the guide to the outside of the multi-axis robot. [Effects of the Invention]

[0008] According to the present invention, it is possible to easily attach a linear object to a multi-axis robot, and to adjust the degree of slack in the linear object connected to the multi-axis robot. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of a state in which a support device according to a first embodiment is attached to a multi-axis robot. [Figure 2] FIG. 2 is an example of a schematic side view of the winding device and the mounting device in the first embodiment. [Figure 3] FIG. 3 is an example of a schematic top view of the guide and the mounting device in the first embodiment. [Figure 4] FIG. 4 is an example of a schematic side view of the guide and the mounting device in the first embodiment. [Figure 5] FIG. 5 is a diagram showing an example of a state in which the multi-axis robot of FIG. 1 is bent at a joint portion. [Figure 6] FIG. 6 is an example of a schematic side view of a winding device and an attachment device in the second modification. [Figure 7] FIG. 7 is an example of a schematic top view of a guide and an attachment device in the second modification. [Figure 8] FIG. 8 is an example of a schematic side view of a guide and an attachment device in the second modification. [Figure 9] FIG. 9 is an example of a schematic top view of a winding device and an attachment device in the third modification. [Figure 10] FIG. 10 is an example of a schematic side view of a guide and an attachment device in the third modification. [Figure 11] FIG. 11 is a diagram showing an example of a state in which a support device according to the fourth modification is attached to a multi-axis robot. [Figure 12] FIG. 12 is a diagram illustrating a modification of the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings. Although the same reference numerals are used to denote the same parts in the drawings and descriptions of the examples and modifications, the present invention is not limited to the examples and modifications, and all application examples consistent with the concept of the present invention are included within the technical scope of the present invention. Furthermore, the position, size, shape, range, number, etc. of each element shown in the drawings are merely examples to facilitate understanding of the invention, and the position, size, shape, range, and number of each element are not limited to those disclosed in this specification and the drawings. [Example]

[0011] <Configuration> 1 is a diagram showing an example of a state in which a support device 10 according to this embodiment is attached to a multi-axis robot 500. As shown in FIG. 1, the multi-axis robot 500 is, for example, a single-arm multi-axis robot, and has a base unit 501, a first arm 510, a joint unit 520, a second arm 530, an end effector 540, and a linear body 550. The multi-axis robot 500 may be, for example, a multi-axis industrial robot (single-arm, double-arm, horizontal multi-joint robot, the number of joints, and the number of rotations are not limited).

[0012] The multi-axis robot 500 is placed on a ground surface 600 via a base 501. The end effector 540 is attached to the tip of the moving part of the multi-axis robot 500. The end effector 540 is, for example, a camera, a gripper, or an air cylinder. The linear body 550 is a cable that transmits light or an electric signal, a cable that supplies power, or a hose that supplies fluid to the end effector 540. The tip 551 of the linear body 550 is connected to the end effector 540.

[0013] As shown in FIG. 1, the support device 10 includes a winding device 100a, three guides 200, an attachment device 300a, and three attachment devices 300b. The winding device 100a is a type of length adjustment device. As described below, the length adjustment device adjusts the length of the linear body 550 by bending and stretching the linear body 550 in accordance with the operation of the multi-axis robot 500. The winding device 100a is attached to the outer circumferential surface (outside) of the first arm 510 of the multi-axis robot 500 via the attachment device 300a. The guide 200 slidably supports the linear body 550. The guide 200 is attached to the outer circumferential surface (outside) of the multi-axis robot 500 via the attachment device 300b. In the example of FIG. 1, three guides 200 are attached to the outer circumferential surface of the multi-axis robot 500 at intervals. There is no limitation on the number and positions of the winding devices 100a and the guides 200.

[0014] Fig. 2 is an example of a schematic side view of the winding device 100a and the attachment device 300a in Example 1. As illustrated in Fig. 2, the winding device 100a has a winding drum 110 that can wind and unwind the linear body 550, and a winding attachment biasing section 120 that biases the winding drum 110 in a direction in which the linear body 550 is wound.

[0015] The winding attachment biasing unit 120 includes, for example, a coil spring (not shown). One end of the coil spring is attached to the winding drum 110, and the other end is fixed to the base 310 of the attachment device 300a, and biases the winding drum 110 in the direction of winding the linear body 550. Instead of the coil spring, the winding attachment biasing unit 120 may use a motor connected to the winding drum 110 via a gear.

[0016] The winding device 100a bends the linear body 550 when winding the linear body 550 onto the winding drum 110, and stretches the linear body 550 wound around the winding drum 110 when unwinding the winding drum 110. The winding device 100a is a type of length adjustment device. When the degree of slack in the linear body 550 changes in response to the operation of the multi-axis robot 500, the winding device 100a winds or unwinds the linear body 550, thereby bending and stretching the linear body 550 in response to the operation of the multi-axis robot 500, and adjusting the length of the linear body 550 from the winding device 100a to the tip end 551. In this way, the winding device 100a can reliably adjust the length of the linear body 550 by including the winding drum 110.

[0017] Note that the winding device 100a only needs to be attached to the outside of the multi-axis robot 500, and may also be provided on the ground surface 600 (see FIG. 1) on which the multi-axis robot 500 is placed. Furthermore, the winding device 100a of this embodiment winds up the front end side of the linear body 550. The winding device 100a may be a winding device that can wind up both the front end side and the rear end side of the linear body 550, or may be a winding device that winds up the rear end side of the linear body 550 depending on the position where the winding device 100a is attached.

[0018] As shown in FIG. 2, the mounting device 300a includes a base 310, a holding portion 320a, and a first fastening means 330a.

[0019] The base 310 is formed in a plate shape and abuts against a first arm 510 (see FIG. 1) of the multi-axis robot 500. A first screw hole 311 is formed in the base 310. Furthermore, a second screw hole 511 is formed in the first arm 510 of the multi-axis robot 500 at a position corresponding to the first screw hole 311.

[0020] The holding portion 320a holds the winding device (length adjustment device) 100a on a surface 313 of the base 310 opposite to the abutment surface 312 of the multi-axis robot 500. The holding portion 320a is, for example, an adhesive that bonds the winding attachment portion 120 of the winding device 100a to the opposite surface 313 of the base 310.

[0021] The first fixing means 330a has a first screw hole 311 provided in the base 310, a second screw hole 511 provided in the multi-axis robot 500 corresponding to the first screw hole 311, and a screw 331 that is inserted into the first screw hole 311 in the base 310 and threadedly engages with the second screw hole 511 in the multi-axis robot 500. Here, the screw 331 is inserted into the first screw hole 311 in the base 310 and threadedly engages with the second screw hole 511 in the multi-axis robot 500, thereby screwing the base 310 to the multi-axis robot 500. In this way, the first fixing means 330a fixes the base 310 to the multi-axis robot 500. Here, the winding device 100a is held on the base 310 by the holding part 320a, and therefore the winding device 100a is held on the multi-axis robot 500 via the base 310. As described above, the mounting device 300a can mount the winding device (length adjustment device) 100a on the outside (outer peripheral surface) of the multi-axis robot 500 by screwing the base 310 into the second screw hole 511 of the multi-axis robot 500.

[0022] The material of the base 310 may be resin, metal, rubber, or elastomer. The base 310 is formed in a plate shape, but the shape can be changed as appropriate. For example, if the outer peripheral surface of the multi-axis robot 500 facing the contact surface 312 of the base 310 is curved, the base 310 may be curved so that the contact surface 312 of the base 310 can be in close contact with the outer peripheral surface of the multi-axis robot 500.

[0023] FIG. 3 is an example of a schematic top view of the guide 200 and the mounting device 300b. FIG. 4 is an example of a schematic side view of the guide 200 and the mounting device 300b. As shown in FIG. 3, the guide 200 has two rollers 210 adjacent to each other. As shown in FIG. 4, the rollers 210 have grooves 211 on their sides, a rotation shaft 212, and a bearing 213 that rotatably holds the rotation shaft 212. As will be described later, the bearing 213 is fixed to the multi-axis robot 500 via the mounting device 300b, and the rollers 210 rotatably held by the bearing 213 can rotate around the rotation shaft 212.

[0024] Guide 200 slidably supports linear body 550 by sandwiching linear body 550 between grooves 211 of two adjacent rollers 210 (see FIG. 1). When linear body 550 is pulled toward the front or rear end, two rollers 210 can rotate in accordance with linear body 550. Note that guide 200 may be made of a material such as resin, metal, rubber, or elastomer.

[0025] 4, the mounting device 300b is configured similarly to the mounting device 300a described above with reference to FIG. 2 for mounting the winding device 100a to the multi-axis robot 500, and includes a base 310, a holder 320b, and a first fixing means 330a. The mounting device 300b differs from the mounting device 300a in that the base 310 has a groove 314 as the holder 320b. The bearing 213 of the roller 210 is fitted into the groove 314 of the base 310 to hold the bearing 213. The base 310, which holds the bearing 213 of the roller 210, is screwed to the multi-axis robot 500 by a screw 331 of the first fixing means 330a. As a result, the roller 210 is rotatably held by the multi-axis robot 500 via the base 310.

[0026] As described above, the mounting device 300b can attach the guide 200 (two rollers 210) to the outside (outer surface) of the multi-axis robot 500 by screwing the base 310 into the second screw hole 511 of the multi-axis robot 500.

[0027] Note that guide 200 only needs to be able to slidably support linear body 550, and instead of guide 200, for example, a ring, hook, or Snell guide, which is a spiral ring-shaped wire held by base 310, may be used.

[0028] <Action and effect> Fig. 5 is a diagram showing an example of a state in which the multi-axis robot 500 of Fig. 1 is bent at the joint 520. In Fig. 5, the multi-axis robot 500, the guide 200, and the linear body 550 shown in Fig. 1 in a state before the multi-axis robot 500 is bent at the joint 520 are indicated by two-dot chain lines.

[0029] As shown in Fig. 5, as multi-axis robot 500 bends and stretches at joint 520, tip 551 of linear body 550 moves together with end effector 540. If the slack in linear body 550 begins to increase as tip 551 moves, winding device 100a winds linear body 550 due to the biasing force of winding attachment forcer 120 (see Fig. 2), thereby suppressing the slack in linear body 550. Conversely, if the slack in linear body 550 begins to decrease as tip 551 moves, winding device 100a unwinds linear body 550, thereby suppressing the decrease in slack in linear body 550. Here, guide 200 slidably supports linear body 550, allowing winding device 100a to stably wind or unwind linear body 550.

[0030] According to the support device 10 of the first embodiment, the support device 10 can be attached to the outside of the multi-axis robot 500. This allows the support device 10 to be easily attached to the multi-axis robot 500, and makes it possible to adjust the degree of slack in the linear body 550 connected to the multi-axis robot 500.

[0031] Furthermore, the mounting device 300a and the mounting device 300b each have a first fixing means 330a. The first fixing means 330a uses screws 331 to fasten the base 310 to second screw holes 511 of the multi-axis robot 500. This allows the winding device 100a (see FIG. 2) and the guide 200 (see FIG. 4) to be attached to the multi-axis robot 500 via the base 310. The support device 10 can be attached to the multi-axis robot 500 simply by providing the second screw holes 511 in the multi-axis robot 500. Therefore, the first fixing means 330a allows the support device 10 to be easily attached to the multi-axis robot 500.

[0032] Furthermore, when linear body 550 is bent in guide 200 (see guide 200 of joint portion 520 in Figure 5), guide 200 bends linear body 550 along roller 210, thereby preventing linear body 550 from being excessively bent in guide 200 and being damaged.

[0033] It is preferable that winding device 100a and guide 200 are provided on the outer circumferential surface of joint 520 of multi-axis robot 500. That is, because multi-axis robot 500 bends and stretches at joint 520, it is thought that linear body 550 is likely to sag near joint 520. In response to this, winding device 100a is provided on the outer circumferential surface of joint 520 of multi-axis robot 500, and winding device 100a takes up or unwinds linear body 550 to adjust the degree of sag of linear body 550, thereby preventing linear body 550 from separating from joint 520 and interfering with the surroundings. Furthermore, by providing guide 200 on the outer circumferential surface of joint 520 of multi-axis robot 500 to support linear body 550, it is possible to prevent linear body 550 from separating from joint 520 and interfering with the surroundings.

[0034] <Variation 1> The stand device 10 of the first modification example differs from the stand device 10 of the first embodiment in that it includes a second fixing means b having a band 332. In the following modifications, the same components as those of the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0035] Fig. 6 is an example of a schematic side view of the winding device 100a and the attachment device 300c of Modification 1. Fig. 7 is an example of a schematic top view of the guide 200 and the attachment device 300d of Modification 1. Fig. 8 is an example of a schematic side view of the guide 200 and the attachment device 300d of Modification 1.

[0036] The attachment device 300c of this modified example attaches the winding device 100a to the multi-axis robot 500. The attachment device 300d of this modified example attaches the guide 200 (see FIG. 1) attached to the second arm (arm) 530 to the multi-axis robot 500. In this modified example, the guide 200 attached to the joint portion 520 (see FIG. 1) is attached to the multi-axis robot 500 by the attachment device 300b of the first embodiment.

[0037] 6 to 8, the second fixing means 330b provided on the mounting device 300c and the mounting device 300d has a band 332 that is wound around the arm (first arm 510 or second arm 530) and the base 310 of the multi-axis robot 500, and fixes the base 310 to the arm (first arm 510 or second arm 530) of the multi-axis robot 500. The band 332 is, for example, a hook-and-loop fastener or an adhesive tape.

[0038] The support device 10 of variant example 1 can easily attach the winding device 100a or the guide 200 to the outside of the multi-axis robot 500 by simply wrapping the band 332 around the arm (first arm 510 or second arm 530) of the multi-axis robot 500 and the base 310 using the second fixing means 330b.

[0039] <Variation 2> The support device 10 of the second modification example differs from the support device 10 of the first embodiment in that it includes a third fixing means 330c having a base 310a formed of a magnet. Here, the multi-axis robot 500 can attach a magnet.

[0040] FIG. 9 is a diagram showing an example of a schematic side view of the winding device 100a and the attachment device 300e of Modification 2. FIG. 10 is a diagram showing an example of a schematic side view of the guide 200 and the attachment device 300f of Modification 2. As shown in FIGS. 9 and 10, the attachment device 300e and the attachment device 300f include a base 310a formed by a magnet as a third fixing means 330c. The attachment device 300e and the attachment device 300f are held by the multi-axis robot 500 by the magnetic force of the base 310a formed by the magnet. As a result, the winding device 100a and the guide 200 are held by the multi-axis robot 500 via the attachment device 300e or the attachment device 300f.

[0041] According to the support device 10 of the second modification, the support device 10 can be attached to the multi-axis robot 500 simply by attaching the winding device 100a together with the attachment device 300e to the outer circumferential surface of the multi-axis robot 500 using the base 310a formed by the magnet of the third fixing means 330c. Similarly, the support device 10 can be attached to the multi-axis robot 500 simply by attaching the guide 200 together with the attachment device 300f to the outer circumferential surface of the multi-axis robot 500. Therefore, the support device 10 can be easily attached to the outside of the multi-axis robot 500.

[0042] <Variation 3> The stand device 10 of Modification 3 differs from the stand device 10 of Example 1 in that it includes a fourth fixing means 330d having an adhesive. The mounting device 300g of Modification 3 mounts the winding device 100a to the multi-axis robot 500 and includes a fourth fixing means 330d (adhesive). An example of a schematic side view of the winding device 100a and the mounting device 300g is similar to FIG. 9 and therefore not shown. The mounting device 300h of Modification 3 mounts the guide 200 to the multi-axis robot 500 and includes a fourth fixing means 330d (adhesive). An example of a schematic side view of the guide 200 and the mounting device 300h is similar to FIG. 10 and therefore not shown.

[0043] The fourth fixing means 330d provided in the mounting device 300g and the mounting device 300h has an adhesive that bonds the abutment surface 312 of the multi-axis robot 500 of the base 310 (see FIGS. 9 and 10) and the multi-axis robot 500 together.

[0044] In the support device 10 of the third modified example, the winding device 100a or the guide 200 can be attached to the multi-axis robot 500 simply by adhesively adhering the base 310 to the outer circumferential surface of the multi-axis robot 500 using the fourth fixing means 330d. Therefore, the support device 10 can be easily attached to the outside of the multi-axis robot 500.

[0045] <Variation 4> The supporting device 10 of the modified example 4 has a pushing and bending device 100b instead of the winding device 100a of the supporting device 10 of the embodiment 1. The pushing and bending device 100b is a type of length adjusting device.

[0046] Fig. 11 is a diagram showing an example of a state in which the support device 10 according to this modified example is attached to a multi-axis robot 500. As shown in Fig. 11, the pushing and bending device 100b is attached to the multi-axis robot 500 via an attachment device 300i.

[0047] The bending device 100b also includes two support parts 130 that slidably support the linear body 550, a contact part 141 that is provided between the two support parts 130 and that contacts the linear body 550, and a pressing part 142 that presses the contact part 141 in a direction that presses it against the linear body 550.

[0048] The support portion 130 is configured similarly to the roller 210 (see FIG. 4) and is held by the base portion 310 of the mounting device 300i.

[0049] The pressing biasing portion 142 has a spring 143 having one end fixed to the contact portion 141, and a spring holding portion 144 that holds the other end of the spring 143. The spring holding portion 144 is held by the multi-axis robot 500 via an attachment device 300i.

[0050] 11, spring 143 is compressed and biases linear body 550 toward linear body 550 via contact portion 141. Note that instead of spring 143, pressing biasing portion 142 may be configured such that, for example, a rod attached to contact portion 141 is biased toward linear body 550 by a gear attached to the rotating shaft of a motor.

[0051] Similar to the mounting devices 300a and 300b, the mounting device 300i includes a base 310, a holding portion c (adhesive) similar to the holding portion 320a (see FIG. 2), two holding portions 320b (see grooves 314 in FIG. 4), and a first fixing means 330a (see FIG. 2, a first screw hole 311 in the base 310, a second screw hole 511 in the multi-axis robot 500, and screws 331). Here, the holding portion c is an adhesive that bonds the surface 313 (see FIG. 2) of the base 310 opposite the abutment surface 312 of the multi-axis robot 500 to the spring holding portion 144. The two holding portions 320b hold the two supports 130 to the base 310 via the grooves 314 (see FIG. 4).

[0052] As multi-axis robot 500 bends and stretches at joint 520, tip 551 of linear body 550 moves together with end effector 540. If slack in linear body 550 begins to increase as tip 551 moves, pressing biasing unit 142 causes pushing / bending device 100b to bend linear body 550 between two support parts 130, thereby shortening the length of linear body 550 from tip 551 to pushing / bending device 100b, thereby suppressing slack in linear body 550. Conversely, if slack in linear body 550 begins to decrease as tip 551 of linear body 550 moves, linear body 550 between two support parts 130 stretches, thereby suppressing the reduction in slack in linear body 550. Here, since guide 200 slidably supports linear body 550, pushing and bending device 100b can bend and stretch linear body 550 stably.

[0053] In this way, pressing and bending device 100b can bend and stretch linear body 550, and reliably adjust the length from tip end 551 of linear body 550 to pressing and bending device 100b.

[0054] Furthermore, the pushing and bending device 100b can be attached to the multi-axis robot 500 by the attachment device 300i, as long as the multi-axis robot 500 is provided with a second screw hole 511. Therefore, the support device 10 of the fourth modification can also be easily attached to the multi-axis robot 500.

[0055] In the example of the bending device 100b shown in Fig. 11, the contact portion 141 presses the linear body 550 in the horizontal direction (left in Fig. 11), but there is no limit to the direction in which the bending device 100b presses the linear body 550, and the orientation of the bending device 100b can be changed. For example, the bending device 100b may be provided in an orientation in which the bending device 100b presses the linear body 550 downward.

[0056] The present invention is not limited to the above-described embodiments, but includes various modifications and equivalent configurations within the spirit and scope of the appended claims. For example, the above-described embodiments and modifications have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, other configurations may be added, deleted, or replaced with part of the configuration of each embodiment.

[0057] 12, in the configuration of the above-described first embodiment, linear body 550 may be wound around multi-axis robot 500. This allows linear body 550 to be stably supported around multi-axis robot 500. [Explanation of symbols]

[0058] 10: Support device 100a: Winding device (length adjustment device) 110: Winding drum 120: Winding attachment part 100b: Pressing device (length adjustment device) 130: Support part 141: Contact part 142: Pressurizing section 143: Spring 144: Spring holding part 200: Guide 210: Roller 211: Groove 212: Rotation axis 213: Bearing 300a~300i: Mounting device 310: Base 310a: Base (magnet) 311: First screw hole 312: Contact surface 313: Opposite side 314: Groove 320a, 320b: Holding part 330a: First fixing means 330b: Second fixing means 330c: Third fixing means 330d: Fourth fixing means 331: Screw 332: Band 500: Multi-axis robot 501: Base section 510: First arm 511: Second screw hole 520: Joints 530: Second Arm 540: End effector 550: Linear body 551:Tip 600: Ground plane

Claims

1. A support device for supporting a linear object on a multi-axis robot, the linear object transmitting an optical or electrical signal or supplying power or fluid to an end effector attached to the tip of a moving arm of the multi-axis robot, comprising: The support device includes: a length adjusting device that bends and stretches the linear body in accordance with the operation of the multi-axis robot to adjust the length of the linear body; a guide that slidably supports the linear object by sandwiching the linear object between grooves of two rotating rollers adjacent to each other; a mounting device for mounting the length adjustment device on the outside of another arm of the multi-axis robot; an attachment device that attaches the guide to the outside of a joint that bends and stretches the moving arm and the other arm of the multi-axis robot; A support device comprising:

2. 2. The support device of claim 1, Each of the mounting devices comprises: a base portion that abuts against the multi-axis robot; a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to the contact surface of the multi-axis robot; a first fixing means for fixing the base to the multi-axis robot; The first fixing means comprises: a first screw hole provided in the base; a second screw hole provided in the multi-axis robot corresponding to the first screw hole; and a screw that is inserted into the first screw hole of the base and threadedly engages with the second screw hole of the multi-axis robot; A support device having:

3. 2. The support device of claim 1, A mounting device attached to the outside of the other arm, a base portion that abuts against the other arm of the multi-axis robot; a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to the contact surface of the multi-axis robot; a second fixing means for fixing the base to the other arm of the multi-axis robot; The second fixing means includes: A support device having a band that wraps around the other arm and the base of the multi-axis robot and secures the base to the other arm of the multi-axis robot.

4. 2. The support device of claim 1, Each of the mounting devices comprises: a base portion formed of a magnet and in contact with the multi-axis robot; a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to the contact surface of the multi-axis robot; and a third fixing means for fixing the base to the multi-axis robot, The third fixing means is the base formed by the magnet.

5. 2. The support device of claim 1, Each of the mounting devices comprises: a base portion that abuts against the multi-axis robot; a holding portion that holds the length adjustment device or the guide on a surface of the base opposite to a contact surface of the multi-axis robot, and a fourth fixing means for fixing the base to the multi-axis robot, The fourth fixing means is a support device having an adhesive that bonds the abutment surface of the multi-axis robot of the base to the multi-axis robot.

6. 2. The support device of claim 1, The length adjustment device is a winding drum that winds the linear body; a winding attachment biasing portion that biases the winding drum in a direction in which the linear body is wound; A support device that is a winding device comprising:

7. 2. The support device of claim 1, The length adjustment device is two support portions that slidably support the linear body; a contact portion provided between the two support portions and in contact with the linear body; a pressing biasing portion that biases the contact portion in a direction pressing the contact portion against the linear body; A support device that is a bending device comprising:

Images