industrial robots

Abstract

To eliminate a possibility that an excessive load acts on a nut runner when a robot body is operated to replace a tool unit from the nut runner.SOLUTION: An industrial robot includes: a fixed bracket 60 detachably attached to a tip of a robot body 2 through a first coupling tool; a nut runner 40 fixed to the fixed bracket 60; and a tool unit 50 which is detachably attached to the nut runner 40 and engages with a fastener M. The industrial robot has a second coupling tool 70 which detachably connects the tool unit 50 to the fixed bracket 60 in a state that a rotary rod 51 engages with a socket at a position deviated from a rotation axis JA of the rotary rod 51 of the tool unit 50.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an industrial robot in which a tool unit and a nut runner are mounted on a robot body. [Background technology]

[0002] For example, Patent Document 1 discloses an industrial robot that includes a robot body consisting of an articulated robot, a nut runner attached via a support to a support arm at the tip of the robot body, a rotating shaft that is rotated by the nut runner, and a bit attached to the rotating shaft.

[0003] The support arm rotates around the longitudinal direction of the arm as a rotation axis (sixth axis), and the rotation coincides with the rotation of the rotation axis. A connector for detachably connecting the bit is provided at the axis center of the rotation axis. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-209960 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the industrial robot of Patent Document 1, a connector for attaching a tool unit such as a bit is provided at the axis of the rotation shaft of the nut runner, so there is a risk that an excessive load will be applied to the nut runner when the robot body is operated to replace the tool unit from the nut runner.

[0006] The present invention has been made in view of the above points, and an object of the present invention is to provide an industrial robot that can reduce the excessive load acting on a nut runner when replacing a tool unit from the nut runner. [Means for solving the problem]

[0007] In view of the above problems, the present invention provides an industrial robot comprising: a robot body consisting of an articulated robot; a fixed bracket detachably attached to the tip of the robot body via a first connector; a nut runner fixed to the fixed bracket; and a tool unit detachably attached to the nut runner and engaging with a fastener, wherein the tool unit has a rotating rod that is rotated by the nut runner in at least the tightening direction of the fastener, and the nut runner has a socket that engages with the rotating rod in the rotational direction, and a second connector that detachably connects the tool unit to the fixed bracket at a position offset from the rotation axis of the rotating rod with the rotating rod engaged with the socket.

[0008] According to the present invention, the tool unit and the fixed bracket can be detachably connected by the second connector with the rotating rod engaged in the socket at a position away from the rotation axis of the rotating rod (i.e., at a position offset from the rotation axis). Because the second connector is provided on the fixed bracket that fixes the nut runner, the force exerted when replacing the tool unit does not act on the nut runner, but acts on the fixed bracket. As a result, excessive load on the nut runner can be reduced when replacing the tool unit from the nut runner.

[0009] In a more preferred embodiment, a pair of the second connectors are provided on either side of the rotation shaft. According to this embodiment, since the second connectors are provided as a pair (two connectors) on either side of the rotation shaft, the rotation rod can be stably supported via the support base.

[0010] In a more preferred embodiment, the fixed bracket comprises a base plate extending in a direction along the rotation axis, a first end plate fixed to the base plate on the base end side of the nut runner and fixing the nut runner, a second end plate fixed to the base plate on the tip end side of the nut runner and having a notch through which the rotating rod is inserted while engaged with the socket of the nut runner, and a pair of reinforcing ribs fixed to the second end plate and the base plate so as to sandwich the nut runner and extend in a direction along the rotation axis, and the second connector is provided at a position where the reinforcing ribs are located, sandwiching the second end plate.

[0011] According to this aspect, when replacing the tool unit from the nut runner, even if an impact load acts on the fixed bracket when the robot main body connects the first connector to the second connector, deformation of the fixed bracket can be suppressed by satisfying this arrangement relationship.

[0012] In a more preferred embodiment, the second coupling device is connected by a first connector and a second connector connected to the first connector, the first connector being provided on the second end plate, and the second connector being provided on a support base of the tool unit that supports the rotating rod, the tool unit being provided with a cylindrical sheath that covers the rotating rod, and the fastener engaged with the rotating rod is attracted to the tip of the tool unit by sucking air from within the sheath, the second end plate being provided with a first connection part having a suction part for sucking the air, and the support base being provided with a second connection part that is connected to the first connection part and communicates with the suction part, and the first connection part being fixed to the second end plate closer to the base plate.

[0013] According to this aspect, when the first connector and the second connector of the second coupler are connected, the first connection portion and the second connection portion for sucking air come into contact, and the suction portion communicates with the second connection portion. Because the first connection portion is fixed to the second end plate closer to the base plate, the rigidity in the direction along the rotation axis JA of the fixed bracket 60 is high. This allows the connection plugs to be stably maintained in contact with each other. As a result, air can be stably sucked from the relay plug 7, and the fastener can be adsorbed to the tip of the tool unit. [Effects of the Invention]

[0014] According to the present invention, it is possible to reduce the excessive load acting on the nut runner when replacing a tool unit from the nut runner. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a perspective view of an industrial robot according to an embodiment of the present invention, as viewed from the front side. FIG. [Figure 2] FIG. 2 is a perspective view of the industrial robot shown in FIG. 1 as viewed from the rear side. [Figure 3] FIG. 2 is a side view of the nut runner and the fixing bracket. [Figure 4] FIG. 4 is a schematic perspective view of the nut runner and the fixing bracket shown in FIG. 3 as viewed from the front side. [Figure 5] FIG. 5 is a schematic perspective view of the nut runner and the fixing bracket shown in FIG. 4 as viewed from the rear side. [Figure 6] FIG. 2 is a schematic perspective view of a tool unit. [Figure 7] FIG. 10 is an enlarged view of the state in which the tool unit is arranged in the magazine shown in FIG. 9, and is a schematic perspective view for explaining a second coupling tool (first connector) of the nut runner. [Figure 8] 10 is an enlarged view of the state in which the tool unit is arranged in the magazine shown in FIG. 9, and is a schematic perspective view for explaining a second coupler (second connector) of the tool unit. FIG. [Figure 9]FIG. 2 is a schematic perspective view of a plurality of types of tool units attached to a magazine. DETAILED DESCRIPTION OF THE INVENTION

[0016] An industrial robot 1 (hereinafter referred to as robot 1) according to an embodiment of the present invention will be described in detail below with reference to FIGS.

[0017] As shown in Figures 1 and 2, the robot 1 includes a robot body 2 consisting of an articulated robot, and a nut runner 40 and a tool unit 50 are attached to the tip of the robot body 2 via a first connector 30, etc.

[0018] 1. About the robot body 2 The robot body 2 is a manipulator. The base 10 is installed on an installation surface and includes a fixed base 11 fixed to the installation surface and a swivel base 12 that rotates around a first axis J1 that is perpendicular to the installation surface. The swivel base 12 is connected to an output shaft (not shown) of a first motor 21 fixed to the fixed base 11. This allows the swivel base 12 (base 10) to rotate around the first axis J1 relative to the fixed base 11 by driving the first motor 21.

[0019] The robot main body 2 has a lower arm 13 whose base end is pivotally attached to a swivel base 12, an upper arm 14 pivotally attached to the tip of the lower arm 13, and a support arm 15 pivotally attached to the tip of the upper arm 14. These arms are made of metal, such as cast iron or aluminum alloy casting.

[0020] The base end of the lower arm 13 is journaled on the swivel base 12 of the base 10, and is pivotally attached to the swivel base 12 via a second motor 22 so as to be rotatable about a second axis J2. The second axis J2 is an axis parallel to a direction perpendicular to the first axis J1. The power of the second motor 22 causes the lower arm 13 to rotate about the second axis J2 relative to the swivel base 12.

[0021] The tip of the lower arm 13 is journalled to the upper arm 14, and the upper arm 14 is pivotally mounted to the lower arm 13 via a third motor 23 on a third axis J3 that is parallel to the second axis J2 so as to be freely rotatable.

[0022] The upper arm 14 corresponds to the arm of the robot body 2, is connected to a fourth motor 24, and rotates about a fourth axis J4 along its longitudinal direction when driven by the fourth motor 24. The tip of the upper arm 14 corresponds to the wrist of the robot body 2, and is fitted with a support arm 15 that supports a nut runner 40 and the like that corresponds to an end effector.

[0023] In this embodiment, a fifth motor (not shown) is built into the upper arm 14 to pivot the support arm 15 relative to the upper arm 14. The fifth motor is connected to the support arm 15 via a power transmission belt or the like built into the upper arm 14.

[0024] As a result, the power of the fifth motor is transmitted to a power transmission belt (not shown) built into the upper arm 14, causing the support arm 15 to rotate (swing) about the fifth axis J5 relative to the upper arm 14. Furthermore, a sixth motor (not shown) is built into the upper arm 14, which rotates the tip end (main body) of the support arm 15 around the axis of the support arm 15 (specifically, the sixth axis J6). In this embodiment, the sixth axis J6 and the rotation axis JA are on the same imaginary plane.

[0025] In this embodiment, the robot 1 comprises a fixed bracket 60 removably attached to the support arm 15 via a first connector 30, a nut runner 40 fixed to the fixed bracket 60, and a tool unit 50 removably attached to the nut runner 40 and adapted to engage with a fastener.

[0026] 2. About Nutrunner 40 The nut runner 40 is a device that fastens, for example, hexagon socket head bolts, hexagon bolts, screws, nuts, etc. by rotating the rotating rod 51 of the tool unit 50 about the rotation axis JA. Although not shown, the nut runner 40 has a casing 41 that houses a motor connected to a power cable, a reducer connected to the output shaft of the motor, a biasing member that biases the rotating rod 51 of the tool unit 50 toward the tool unit 50, a clutch that transmits rotation from the motor to a socket 43 (described later), and other components. The nut runner 40 is a commonly known device, so a detailed description thereof will be omitted.

[0027] In this embodiment, the nut runner 40 has a socket 43 attached to the tip side of the tool unit 50, and the socket 43 is connected to the spindle 42 that rotates by the built-in motor (not shown) described above.

[0028] 7, a through hole (not shown) is formed in the tip of the spindle 42 and the socket 43 in a direction perpendicular to the rotation axis JA, and a pin (not shown) is inserted into this through hole to connect the socket 43 to the spindle 42. Furthermore, grooves are formed in the outer circumferential surface of the socket 43 at positions where both ends of the pin are exposed, and O-rings 44 are disposed in these grooves to prevent the pin from falling off. In this way, the socket 43 rotates around the rotation axis JA together with the spindle 42.

[0029] A hexagonal hole 43a is formed in the socket 43, and by inserting the base end 51a of the rotating rod 51, it is locked around the rotation axis JA (specifically, in the direction of tightening and loosening the fastener M). In this way, by driving the motor (not shown) of the nut runner 40 and rotating the spindle 42, the rotating rod 51 (the tip of the hexagonal column) of the tool unit 50 shown in Figure 6 can be engaged with the fastener M, and the fastener M can be tightened.

[0030] 3. Tool Unit 50 6, the tool unit 50 includes a rotating rod 51 that is formed along the direction of the rotation axis JA. The rotating rod 51 is supported by a support base 52, and its tip is inserted through a spline 53, a suction ring 55, and a sheath 56, with its tip exposed from the sheath 56.

[0031] The sheath 56 is cylindrical, and the rotating rod 51 is inserted through it so as to cover the rotating rod 51. A small gap is formed between the rotating rod 51 and the sheath 56. Air is sucked in from the tip of the sheath 56 by suction from the suction ring 55 and flows into this gap.

[0032] Here, when the fastener M is engaged with the tip of the rotating rod 51, specifically when the hexagonal column-shaped tip of the fastener M is engaged with the hexagonal hole of the fastener M, the tip of the sheath 56 abuts against the end face of the fastener M. Therefore, at this time, negative pressure is generated between the rotating rod 51 and the sheath 56, and the fastener M can be attracted to the tip portion 50a of the tool unit 50. A suction plug 55a is attached to the suction ring 55, and this suction plug 55a is connected via a tube (not shown) to a relay plug 76d of a relay valve 76, which will be described later.

[0033] 1 , in this embodiment, the rotation axis JA of the rotation rod 51 of the tool unit 50 is inclined with respect to the sixth axis J6 of the support arm 15. Because the rotation axis JA of the rotation rod 51 is inclined with respect to the sixth axis J6 in this way, even if a load acts on the tip of the tool unit 50 along the longitudinal direction of the rotation rod 51, it is possible to reduce the load from acting along the axial direction of the support arm 15. This makes it possible to reduce the load acting on the support arm 15 of the robot body 2, for example, during automatic replacement of the tool unit 50 by the robot 1 and during a process of tightening a fastener M using the tool unit 50.

[0034] 4. About the fixed bracket 60 1 to 3, the fixed bracket 60 is detachably attached to the support arm 15 via the first connector 30. Here, between the first connector 30 and the support arm 15, there are attached auxiliary devices such as solenoid valves, sensors, and air pressure regulating valves for driving the nut runner 40 and automatically replacing the tool unit 50, but these devices are generally known and therefore will not be described in detail.

[0035] 3 to 5, the fixed bracket 60 includes a base plate 63 extending in a direction along the rotation axis JA, and first and second end plates 61, 62 fixed to both ends of the base plate 63. As shown in the drawings, the base plate 63 may be provided with a circular recessed portion.

[0036] The first end plate 61 is fixed to a base plate 63 on the base end side of the nut runner 40, and fixes the nut runner 40. The second end plate 62 is fixed to the base plate 63 on the tip end side of the nut runner 40, and a notch (insertion portion) 62a through which the rotating rod 51 is inserted is formed in the socket 43 of the nut runner 40.

[0037] Furthermore, the fixing bracket 60 is provided with an edge of the first end plate 61 and a reinforcing plate 63 of the base plate 63, with the nut runner 40 sandwiched between them. a The fixed bracket 60 is provided with a pair of first reinforcing ribs 64, 64 fixed to the edge of the second end plate 62 and the reinforcing plate 63 of the base plate so as to sandwich the nut runner 40 therebetween. b The second reinforcing ribs 65 are fixed to the edge of the shaft 61 and extend in the direction along the rotation axis JA.

[0038] The reinforcing plate 63a reinforces the portion where the pair of first reinforcing ribs 64, 64 are fixed, and the reinforcing plate 63b reinforces the portion where the pair of second reinforcing ribs 65, 65 are fixed. Specifically, the reinforcing plates 63a, 63b increase the thickness of the base plate 63 on both sides along the rotation axis JA, and the main body of the base plate 63 between the reinforcing plates 63a, 63b is hollowed out.

[0039] In this embodiment, the pair of first reinforcing ribs 64, 64 and the pair of second reinforcing ribs 65, 65 of the base plate 63 can increase the rigidity along the longitudinal direction of the rotating rod 51. The load acting on the nut runner 40 can be reduced, and automatic tool unit replacement and the process of tightening the fastener M using the tool unit 50 can be performed with high precision.

[0040] The first coupler 30 includes a first connector 31 attached to the fixed bracket 60 and a second connector 32 attached to the support arm 15 and connected to the first connector 31. The first connector 31 and the second connector 32 may be a commonly known mechanism that can automatically connect or disconnect them to each other using air, as will be described later with reference to the second coupler 70, and the mechanism is not particularly limited as long as it can be freely connected and disconnected. In addition, a connection mechanism (not shown) may be provided that can automatically supply power and air from the robot main body 2 to the nut runner 40 when the first connector 31 and the second connector 32 are connected.

[0041] The fixed bracket 60 includes a mounting plate 69 to which the first connector 31 is attached. The fixed bracket 60 further includes a connecting rib 67 that extends on an imaginary plane including the sixth axis J6 and the rotation axis JA of the rotation rod 51 and connects the mounting plate 69 to the base plate 63. The mounting plate 69 is inclined with respect to the base plate 63, and the normal direction of the mounting plate 69 coincides with the connection direction A of the first connector 31 and the second connector 32. Here, the connection direction A is the direction in which the tip of the robot main body 2 (specifically, the support arm 15) is moved to connect and disconnect them.

[0042] When the first connector 31 and the second connector 32 are connected, a force acts on the fixed bracket 60 in the connection direction A that connects them. Here, as shown in FIGS. 1 and 2, the connecting rib 67 extends on an imaginary plane that includes the sixth axis J6 of the robot main body 20 and the rotation axis JA of the rotation rod 51, and connects the mounting plate 69 and the base plate 63. Therefore, the force acting at this time can be stably received, and the rigidity of the fixed bracket 60 can be increased. This allows automatic replacement of the tool unit 50 and the process of tightening the fastener M using the tool unit 50 to be performed with high precision.

[0043] Of the edges of the connecting rib 67, the edge opposite the edge facing the base plate 63 is composed of a first edge 67a extending from the mounting plate 69 and formed along the connection direction A, and a second edge 67b continuing from the first edge 67a and formed along the direction in which the base plate 63 extends. By providing such first and second edges 67a, 67b, the portion including the first edge 67a can withstand a load along the connection direction A, and the portion including the second edge 67b can withstand a load along the direction of the rotation axis JA.

[0044] Furthermore, as shown in FIG. 5, the fixed bracket 60 further includes a pair of third reinforcing ribs 68, 68 that rise from the connecting rib 67 and are fixed to the mounting plate 69 and the base plate 63, with the connecting rib 67 sandwiched therebetween.

[0045] Here, when the first connector 31 and the second connector 32 are connected, bending stress is likely to act on the connecting rib 67, but in this embodiment, the pair of third reinforcing ribs 68, 68 are provided, which can further increase the rigidity of the connecting rib 67. This allows the first connector 31 and the second connector 32 to be positioned more accurately and to be connected (joined) together.

[0046] 5. Second connector 70 7 and 8 , the present embodiment includes a second coupler 70 that detachably couples the tool unit 50 and the fixed bracket 60 at a position offset from the rotation axis JA of the rotation rod 51 while the rotation rod 51 is engaged with the socket 43. Here, in the present embodiment, a pair (two) of second couplers 70 are provided, with the rotation axis JA sandwiched between them. Note that, when the second coupler 70 is coupled, a gap is formed between the base end 51a of the rotation rod 51 and the hexagonal hole (engagement hole) 43a of the socket 43 in the direction along the rotation axis JA. Therefore, when the tool unit 50 is attached, the rotation rod 51 is out of contact with the socket 43 in the direction of the rotation axis JA.

[0047] The second coupler 70 is connected by a first connector 71 and a second connector 75 connected to the first connector 71, and connection and disconnection are performed using air as a drive source. A connection direction B between the first connector 71 and the second connector 75 coincides with the direction of the rotation axis JA, and they are constrained to the connection direction B when connected. Therefore, the second coupler 70 constrains the nut runner 40 and the tool unit 50 in a direction along the rotation axis JA. In this embodiment, as shown in FIG. 7, the first connector 71 is provided on the second end plate 62, and as shown in FIG. 8, the second connector 75 is provided on the support base 52 of the tool unit 50 that supports the rotation rod 51.

[0048] The first connector 71 has a main body 71a to which an air supply plug 71b is connected, and a protruding portion 71c that protrudes from the main body 71a toward the support base 52. Through holes 71d are formed at equal intervals in the circumferential direction on the outer peripheral surface of the protruding portion 71c, and locking balls (not shown) are provided that move toward the through holes 71d due to air pressure when air is supplied and are locked in the through holes 71d. In this embodiment, the locking balls are locked in the through holes 71d by air pressure, but if the first connector 71 and the second connector 75 are detachable, for example, the locking balls may be biased toward the through holes 71d by a spring or the like; these structures are commonly known.

[0049] The second connector 75 is a ring-shaped member, and is formed with a through-hole 75b into which the protrusion 71c of the first connector 71 is inserted. An engagement groove 75a is formed in the inner peripheral wall that forms the through-hole 75b, and engages with the through-hole 71d of the protrusion 71c when air is supplied.

[0050] As a result, the operation of the robot body 2 of By controlling the pressure, the protrusion 71c of the first connector 71 is inserted into the through hole 75 of the second connector 75. 5b Then, using air pressure or the like as a driving source, the locking balls of the first connector 71 are engaged with the locking grooves 75a of the second connector 75.

[0051] Furthermore, the air pressure is released, and the protrusion 71c of the first connector 71 is inserted into the through-hole 71 of the second connector 75. 5b When the locking ball is pulled out from the locking groove 75a, the locking ball is disengaged from the locking groove 75a, and the connection between them can be easily released.

[0052] In this embodiment, as shown in Fig. 7, the first connector 71 of the second coupler 70 is provided at a position where the second reinforcing rib 65 is arranged, sandwiching the second end plate 62. Even if an impact load acts on the fixed bracket 60 when the robot main body 2 couples the first connector 71 to the second connector 75 for a magazine 91 in which tool units 50 are arranged side by side as shown in Fig. 9, by satisfying this arrangement relationship, deformation of the fixed bracket 60 can be suppressed.

[0053] Furthermore, in this embodiment, as shown in Fig. 7, the second end plate 62 of the fixed bracket 60 is provided with a first connection part 72 having a suction part 72a for suctioning air. Furthermore, as shown in Figs. 6 and 8, the support base 52 of the tool unit 50 is provided with a second connection part (relay valve) 76 that is connected to the first connection part 72 and communicates with the suction part 72a. The first connection part 72 and the second connection part 76 are disposed at positions where valve bodies 72c and 76c, which will be described later, come into contact with each other when the first connector 71 and the second connector 75 of the second coupler 70 are coupled.

[0054] The suction part 72a is provided with a suction port 72d, which is connected to a suction pump (not shown) via piping (not shown), etc. Furthermore, the first connecting part 72 is provided with a connection plug 72b, which is provided with a spherical valve body 72c that seals a suction passage (not shown) formed inside the suction part 72a.

[0055] The valve body 72c is biased by a spring or the like from inside the suction part 72a, sealing the suction passage, and is in communication with the internal space of the second connection part 76 by abutting against a spherical valve body 76c provided on a connection plug 76a of the second connection part (relay valve) 76. The structure of the second connection part 76 is also the same as that of the first connection part 72. of In this embodiment, the first connecting portion 72 is fixed to the second end plate 62 closer to the base plate 63.

[0056] In this embodiment, when the first connector 71 and the second connector 75 of the second coupler 70 are connected, the valve body 72c of the connection plug 72b and the valve body 76c of the connection plug 76a come into contact with each other, and the valve bodies 72c and 76c, which are biased by springs or the like, are pushed into the respective connection plugs 72b and 76a. Here, the first connection portion 72 is fixed to the second end plate 62 closer to the base plate 63, so rigidity in the direction along the rotation axis JA of the fixed bracket 60 is high. This allows stable contact between the connection plugs 72b and 76a to be maintained. As a result, air can be sucked from the relay plug 76d of the second connection portion (relay valve) 76 via the first connection portion 72 and the second connection portion 76. As a result, the fastener M can be attracted to the tip end 50a of the tool unit 50, as described above.

[0057] Here, the tool unit 50 and the nut runner 40 to which it is attached are placed on an installation stand 90 equipped with a magazine 91 shown in Fig. 9. The magazine 91 is attached to a base 93 of the installation stand 90, and the base 93 is supported by support legs 94.

[0058] According to this embodiment, the operation of the robot body 2 is controlled by providing the first connector 30. For example, by connecting the second connector 32 of the support arm 15 of the robot body 2 to the first connector 31 installed in the magazine 91 shown in FIG. 9 , the nut runner 40 equipped with the tool unit 50 can be attached to the robot body 2. In this way, even nut runners 40 of different specifications can be connected via the first connector 30 attached to the fixing bracket 60. Furthermore, by providing the second connector 70 to the fixing bracket 60, tool units 50A, 50B, 50C, etc. of different specifications can be easily replaced.

[0059] In this manner, in this embodiment, the tool unit 50 and the fixed bracket 60 can be detachably connected by the second connector 70 with the rotating rod 51 engaged with the socket 43 at a position away from the rotation axis JA of the rotating rod 51. Because the second connector 70 is provided on the fixed bracket 60 that fixes the nut runner 40, the force generated when replacing the tool unit 50 does not act on the nut runner 40, but acts on the fixed bracket 60. Because a pair (two) of second connectors 70 are provided on either side of the rotation axis JA, the rotating rod 51 can be stably supported via the support base 52.

[0060] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various design modifications can be made without departing from the spirit of the present invention as set forth in the claims. [Explanation of symbols]

[0061] 1: industrial robot, 2: robot body, 10: base, 13: lower arm, 14: upper arm, 15: support arm, 30: first coupling tool, 31: first connector, 32: second connector, 40: nut runner, 43: socket, 50: tool unit, 51: rotating rod, 52: support base, 56: sheath, 60: fixing bracket, 61: first end plate, 62: second end plate, 62a: notch portion (insertion portion), 63: base plate, 64: first reinforcing rib, 65: second reinforcing rib, 67: connecting rib, 68: third reinforcing rib, 69: mounting plate, 70: second coupling tool, 71: first connector, 72a: suction portion, 75: second connector, 76: second connection portion, M: fastener

Claims

1. a robot body consisting of an articulated robot; a fixed bracket detachably attached to the tip of the robot body via a first connector; a nut runner fixed to the fixing bracket; a tool unit removably attached to the nut runner and adapted to engage with a fastener, The tool unit has a rotating rod that is rotated by the nut runner in at least a tightening direction of the fastener, The nut runner has a socket that engages with the rotating rod in a rotational direction, a second connector that detachably connects the tool unit and the fixed bracket at a position away from the rotation axis of the rotation rod while the rotation rod is engaged with the socket, A pair of the second connectors are provided on either side of the rotation axis, The fixing bracket is a base plate extending in a direction along the rotation axis; a first end plate fixed to the base plate on the base end side of the nut runner to fix the nut runner; a second end plate fixed to the base plate at a tip end side of the nut runner and having a notch formed therein through which the rotation rod is inserted in a state where the second end plate is engaged with the socket of the nut runner; a pair of reinforcing ribs fixed to the second end plate and the base plate so as to sandwich the nut runner and extending in a direction along the rotation shaft, The second connector is provided at a position where the reinforcing rib is disposed, sandwiching the second end plate.

2. the second connector is connected by a first connector and a second connector connected to the first connector, the first connector is provided on the second end plate, and the second connector is provided on a support base of the tool unit that supports the rotating rod; the tool unit is provided with a cylindrical sheath that covers the rotating rod, and the fastener engaged with the rotating rod is attracted to the tip of the tool unit by sucking air from within the sheath; the second end plate is provided with a first connection portion having a suction portion formed therein for suctioning the air, and the support base is provided with a second connection portion connected to the first connection portion and communicating with the suction portion, 2. The industrial robot according to claim 1, wherein the first connection portion is fixed to the second end plate closer to the base plate.

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