robot

Abstract

To provide a robot in which it is possible to inhibit biting or bending of wiring or piping from occurring when assembling a tip arm.SOLUTION: A plurality of arms provided on a robot include: a bottomed cylindrical sixth arm 17 to which a hand 18 is attached; and a fifth arm 16 adjacent to the sixth arm 17. The sixth arm 17 has: a cylindrical body 21 connected to the fifth arm 16; and a lid part 22, which is provided in a state where a tip opening of the cylindrical body 21 is closed and to which the hand 18 is attached. The cylindrical body 21 is provided with a wiring connector 31 and a piping connector 32. The connectors 31, 32 are configured to be connectable respectively with wiring 51 and piping 53 extending from the hand 18, as well as, to be connected respectively with an internal wiring section 55 and an internal piping section 56 extend from the inside of the fifth arm 16 to the inside of the sixth arm 17. Moreover, the cylindrical body 21 and the lid part 22 are formed separately from each other, and are fixed to each other via bolts.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a robot.

Background Art

[0002] In an articulated robot including a plurality of arms connected to each other, an end effector such as a gripping part (hand) is attached to a tip arm located at the tip of the plurality of arms (see, for example, Patent Document 1). The tip arm has a bottomed cylindrical shape (container shape), and an end effector is attached to the bottom on the tip side thereof. Further, the tip arm is integrally formed of, for example, a metal material.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A robot is provided with a connector to which wiring and piping extending from an end effector (hereinafter referred to as wiring and piping for the end effector) are connected. Since the wiring and piping for the end effector are arranged through the outside of the robot, for example, in a collaborative robot that collaborates with a human, there is a risk of interference with the human if the wiring and piping are long. Therefore, it is desirable to make the wiring and piping for the end effector as short as possible.

[0005] Therefore, it is conceivable to shorten the wiring and piping for the end effector by installing the above-mentioned connector on the end arm to which the end effector is attached. In this case, the robot would be equipped with internal wiring and piping that extends from within each arm to the inside of the end arm, and this internal wiring and piping would be connected to the connector from inside the end arm. In this case, the internal wiring would be connected to the wiring for the end effector, and the internal piping would be connected to the piping for the end effector via the connector.

[0006] In the above configuration, when attaching the end arm to the adjacent arm, the internal wiring and piping are first connected to the connector of the end arm, and then the end arm is attached to the adjacent arm. However, with this attachment method, it is difficult to visually check the condition of the internal wiring and piping when attaching the end arm to the adjacent arm. As a result, there is a risk that the internal wiring and piping may get caught or bent between the end arm and the adjacent arm.

[0007] Furthermore, when connecting internal wiring and piping to the connector on the tip arm, it is necessary to keep the tip arm a certain distance away from the adjacent arm. Therefore, the length of the internal wiring and piping needs to be set to a certain length. However, if the length of the internal wiring and piping is long, it is likely that the internal wiring and piping will bend significantly when assembling the tip arm to the adjacent arm, and thus pinching is likely to occur.

[0008] This invention has been made in view of the above circumstances, and its main objective is to provide a robot that can suppress the occurrence of pinching or breaking of wiring and piping when assembling the end arm. [Means for solving the problem]

[0009] To solve the above problems, the first invention provides a robot comprising a plurality of arms connected to each other, wherein the plurality of arms include a bottomed cylindrical tip arm to which an end effector is attached, and an adjacent arm adjacent to the tip arm, the tip arm is provided with a connection part to which a linear part which is either a wiring part or a piping part is connected, the linear part extending from the end effector side can be connected to the connection part, and the linear part extending from the inside of the adjacent arm to the inside of the tip arm is connected as an internal linear part, the tip arm is connected to the adjacent arm and has a cylindrical body to which the connection part is provided, and a lid part which closes the tip opening of the cylindrical body and to which the end effector is attached, the cylindrical body and the lid part are formed separately from each other and are fixed to each other using fasteners.

[0010] According to the first invention, the tip arm has a cylindrical body connected to an adjacent arm adjacent to the tip arm, and a lid that closes the tip opening of the cylindrical body. An end effector is attached to the lid, and the cylindrical body is provided with a connection part to which a linear part (wiring part or piping part) extending from the end effector side can be connected. In addition, an internal linear part extending from the inside of the adjacent arm to the inside of the tip arm is connected to the connection part. Note that the "linear part extending from the end effector side" includes not only the linear part extending from the end effector, but also the linear part extending from equipment attached to the end effector.

[0011] The cylindrical body and the lid are formed as separate parts and are fixed to each other using fasteners. In this configuration, when assembling the tip arm, the cylindrical body is first connected to the adjacent arm, and then the internal linear part can be connected to the connection part provided on the cylindrical body. In this case, the connection work can be performed while visually confirming the arrangement of the internal linear part from the tip opening of the cylindrical body. Therefore, it is possible to suppress the occurrence of breakage in the internal linear part.

[0012] Subsequently, the lid is fixed to the cylindrical body using a fastener. In this case, the lid can be fixed while checking the arrangement of the internal wires. Therefore, it is possible to prevent the internal wires from getting caught between the lid and the cylindrical body. Thus, as described above, it is possible to prevent the internal wires (wiring and piping) from getting caught or broken during the assembly work of the tip arm.

[0013] In the second invention, the cylindrical body is divided in its axial direction and has a first cylindrical portion and a second cylindrical portion that are joined together, and of the first cylindrical portion and the second cylindrical portion, the connecting portion is provided only in the first cylindrical portion.

[0014] When a user moves the end-effector arm to teach the robot, the user will move the end-effector arm while gripping it. However, since the end-effector arm has a connection point, it is anticipated that it will be difficult to grip the end-effector arm around the connection point. Therefore, in the second invention, taking this into consideration, the cylindrical body of the end-effector arm is constructed having a first cylindrical part and a second cylindrical part divided in the axial direction, and a connection point is provided only in the first cylindrical part, while the second cylindrical part does not have a connection point. In this case, the second cylindrical part can be suitably used as a gripping part for the user to grasp.

[0015] Furthermore, when a user grasps the tip arm, the position that is easiest to grasp (or operate) may vary from user to user. In this regard, with the above configuration, since each cylindrical part is divided, the position of the gripping part can be set to either the lid side or the opposite side of the first cylindrical part by positioning the second cylindrical part on the lid side or the opposite side of the lid. Therefore, it is possible to set the position of the gripping part relatively easily according to the user.

[0016] According to the second invention, the cylindrical body of the tip arm has a first cylindrical part and a second cylindrical part that are divided in the axial direction. Of the cylindrical parts, only the first cylindrical part is provided with a connecting part, while the second cylindrical part is not. In this case, when a user moves the tip arm to teach the robot, the second cylindrical part can be used as a gripping part for the user to grasp. Furthermore, the position of the gripping part can be changed by positioning the second cylindrical part on the lid side or the opposite side of the lid. Therefore, the position of the gripping part can be set to an appropriate position according to the user.

[0017] In the third invention, an anti-slip structure is provided on the outer circumferential surface of the second cylindrical portion.

[0018] According to the third invention, since an anti-slip structure is provided on the outer circumferential surface of the second cylindrical portion, it is possible to prevent the hand from slipping when gripping the second cylindrical portion and moving the tip arm.

[0019] In the fourth invention, the cylindrical body is provided with a plurality of wiring connection parts for wiring connection as connection parts, and internal wiring parts as internal linear parts are connected to these plurality of wiring connection parts, and a substrate is provided in the inner space of the cylindrical body so as to partition the inner space in the axial direction of the cylindrical body, and the internal wiring part has a first wiring that enters the inner space from inside the adjacent arm and is connected to the substrate, and a plurality of second wirings provided for each wiring connection part and connected to the substrate and the wiring connection part respectively, and the plurality of wiring connection parts are arranged on the lid side of the substrate in the axial direction.

[0020] According to the fourth invention, a cylindrical body is provided with multiple wiring connection sections for wiring connections, and internal wiring sections extending from the inside of adjacent arms to the inside of the tip arm are connected to these multiple wiring connection sections. A substrate is also provided in the inner space of the cylindrical body. Each wiring connection section has a first wire extending from the inside of adjacent arms and connected to the substrate, and a plurality of second wires connected to the substrate and the wiring connection section, respectively. In this case, power is distributed and supplied from the first wire to each wiring connection section via the substrate and each of the second wires. With this configuration, the number of wires arranged in the arms on the base end side of the tip arm (for example, in adjacent arms) can be reduced when supplying power to multiple wiring connection sections. Therefore, space for wiring within the arms can be suitably secured, and as a result, the risk of wire breakage can be reduced.

[0021] Furthermore, all of the multiple wiring connection points are located on the lid side of the circuit board. In this configuration, where the circuit board is provided inside the cylindrical body, the connection status of the second wiring to the wiring connection points can be easily visually confirmed from the opening at the tip of the cylindrical body. Therefore, connection failures between the wiring connection points and the second wiring can be effectively suppressed. In particular, the significance of obtaining this effect is great in configurations where multiple wiring connection points are provided.

[0022] In the fifth invention, the substrate has an insertion portion for inserting the first wiring, and the first wiring is guided through the insertion portion to the lid side of the substrate and connected to the substrate from the lid side.

[0023] According to the fifth invention, the first wiring extending from inside the adjacent arm is guided to the lid side of the substrate through an insertion portion formed in the substrate and connected to the substrate from the lid side. In this case, the connection state between the substrate and the first wiring can be easily visually confirmed through the opening at the tip of the cylindrical body. Therefore, connection defects at the connection portion between the substrate and the first wiring can be effectively suppressed.

[0024] In the sixth invention, the lid is detachably fixed to the cylindrical body.

[0025] When it is necessary to replace the tip arm to which the end effector is attached due to the replacement of the end effector or the like, in the sixth invention, since the lid portion of the tip arm is detachably fixed to the cylindrical body, in such a case, it is possible to easily cope by replacing only the lid portion. Also, even when the lid portion is damaged, only the lid portion can be replaced.

Brief Description of the Drawings

[0026] [Figure 1] Side view of the robot. [Figure 2] Perspective view showing the sixth arm. [Figure 3] Perspective view showing the sixth arm with the lid portion removed. [Figure 4] Side view showing the state where a hand is attached to the sixth arm.

Mode for Carrying Out the Invention

[0027] Hereinafter, an embodiment embodied in a robot that cooperates with a human will be described with reference to the drawings.

[0028] As shown in FIG. 1, the robot 10 is a vertically articulated robot (so-called 6-axis robot) including a plurality of arms connected to each other. The robot 10 is, for example, small and lightweight enough to be carried by a single person. [[ID=:34]]

[0029] The robot 10 includes a base 11 installed on a predetermined installation surface (for example, a floor surface or the upper surface of a desk), and a plurality (specifically, six) of arms 12 to 17 supported by the base 11. The base 11 may be fixed to the installation surface or may not be fixed.

[0030] The multiple arms 12-17 include a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17. The first arm 12 is rotatably connected to the base 11, the second arm 13 is rotatably connected to the first arm 12, and the third arm 14 is rotatably connected to the second arm 13. In addition, the fourth arm 15 is rotatably connected to the third arm 14, the fifth arm 16 is rotatably connected to the fourth arm 15, and the sixth arm 17 is rotatably connected to the fifth arm 16.

[0031] Robot 10 is equipped with a motor (not shown) for each of its arms 12-17. Each of these motors drives each of the arms 12-17 into a rotational motion. The driving of each motor is controlled by a control device (not shown) built into robot 10.

[0032] An end effector is attached to the tip of the sixth arm 17 (corresponding to the end arm). In this embodiment, a hand 18 (gripping part) capable of gripping objects is attached as the end effector. Other end effectors besides the hand 18 can also be attached to the sixth arm 17, so the robot 10 can change the end effector depending on the work content, etc. The sixth arm 17 is also called a flange.

[0033] Furthermore, this robot 10 is capable of direct teaching. During teaching, for example, the user grasps the sixth arm 17 and moves the robot 10 to perform the teaching.

[0034] Next, the configuration of the sixth arm 17 will be explained based on Figures 2 to 4.

[0035] As shown in Figures 2 to 4, the sixth arm 17 is formed in a bottomed cylindrical shape and has a cylindrical body 21 and a disc-shaped lid 22. The cylindrical body 21 and the lid 22 are formed as separate parts and are both made of metal. The cylindrical body 21 is connected to the fifth arm 16, and its inner space 28 (in other words, the inside of the sixth arm 17) is in communication with the inside of the fifth arm 16. The lid 22 is positioned on the opposite side of the fifth arm 16, with the cylindrical body 21 in between. The lid 22 closes the tip opening 21a of the cylindrical body 21 and is fixed to the cylindrical body 21. The fifth arm 16 corresponds to the adjacent arm to the sixth arm 17 (tip arm).

[0036] The cylindrical body 21 has a first cylindrical portion 25 and a second cylindrical portion 26, which are divided in the axial direction. Both cylindrical portions 25 and 26 are formed in a cylindrical shape and have the same outer diameter. The cylindrical portions 25 and 26 are joined (fixed) to each other using fasteners such as bolts (not shown). Of the cylindrical portions 25 and 26, the first cylindrical portion 25 is located on the lid portion 22 side, and the second cylindrical portion 26 is located on the fifth arm 16 side.

[0037] The first cylindrical section 25 is provided with multiple connectors 31, 32 (corresponding to connection sections). Each connector 31, 32 includes a wiring connector 31 (corresponding to a wiring connection section) for wiring connections and a piping connector 32 (corresponding to a piping connection section) for piping connections. Multiple wiring connectors 31 are provided.

[0038] These connectors 31 and 32 are provided on the peripheral wall portion 25a of the first cylindrical portion 25 and are arranged at predetermined intervals in the circumferential direction of the first cylindrical portion 25. Each connector 31 and 32 is attached so as to penetrate the peripheral wall portion 25a and has an external connecting portion 31a and 32a that protrudes to the outside of the first cylindrical portion 25 and an internal connecting portion 31b and 32b that protrudes to the inside of the first cylindrical portion 25. Note that the connectors 31 and 32 are provided only on the first cylindrical portion 25 and not on the second cylindrical portion 26.

[0039] The outer circumferential surface of the second cylindrical portion 26 is provided with a knurled section 34 (corresponding to an anti-slip structure). The knurled section 34 is the part of the outer circumferential surface of the second cylindrical portion 26 that has been knurled. In the knurled section 34, the outer circumferential surface of the second cylindrical portion 26 is made uneven. Furthermore, the knurled section 34 is provided over the entire outer circumferential surface of the second cylindrical portion 26. In addition, in this robot 10, when the sixth arm 17 is moved to perform direct teaching, the outer circumferential surface of the second cylindrical portion 26 (i.e., the knurled section 34) is gripped.

[0040] The lid portion 22 is fixed to the first cylindrical portion 25 using bolts 36 (corresponding to fasteners). Multiple bolts 36 are arranged on the outer circumference of the lid portion 22. Each bolt 36 is screwed into a hole 38 formed in the first cylindrical portion 25 through a hole 37 formed in the lid portion 22. In this way, the lid portion 22 is detachably fixed to the first cylindrical portion 25.

[0041] A hand 18 is attached to the lid 22. The hand 18 is positioned on the opposite side of the lid 22 from the cylindrical body 21. The lid 22 has an annular projection 42 that protrudes toward the hand 18. This projection 42 is formed on the inner circumference side of each hole 37. The hand 18 is fixed to the lid 22 using bolts (not shown) with the projection 42 inserted into a recess 43 formed at its bottom. Multiple screw holes 45 are formed in the projection 42 into which the bolts are tightened. The projection 42 also has a pin hole 46 into which a knock pin (not shown) for positioning the hand 18 is inserted.

[0042] Next, the wiring and piping connected to the connectors 31 and 32 provided on the cylindrical body 21 (first cylindrical portion 25) will be described.

[0043] Each connector 31 and 32 can be connected to wiring and piping extending from an end effector attached to the sixth arm 17, or from equipment associated with the end effector. In this embodiment, of the wiring connectors 31, the wiring 51 of the hand 18 (corresponding to the "linear part extending from the end effector side") is connected to wiring connector 31A, and the wiring 52 of the camera 23 (corresponding to the "equipment associated with the end effector"), which is gripped by the hand 18 (corresponding to the "linear part extending from the end effector side") is connected to wiring connector 31B. These wirings 51 and 52 are connected to the external connection parts 31a of wiring connectors 31A and 31B. In addition, an air supply pipe 53 (corresponding to the "linear part extending from the end effector side") that supplies air to the hand 18 is connected to the piping connector 32. One end of the pipe 53 is connected to the hand 18, and the other end is connected to the external connection part 32a of the piping connector 32.

[0044] An internal wiring section 55 (corresponding to an internal linear section) extending from the inside of the fifth arm 16 to the inside of the sixth arm 17 is connected to the internal connection section 31b of each wiring connector 31. In addition, an internal piping section 56 (corresponding to an internal linear section) extending from the inside of the fifth arm 16 to the inside of the sixth arm 17 is connected to the internal connection section 32b of the piping connector 32. These internal wiring sections 55 and internal piping sections 56 will be described in order below.

[0045] The internal wiring section 55 has a first wire 58 extending from inside the fifth arm 16 to inside the sixth arm 17 (in other words, the inner space 28 of the cylindrical body 21), and a plurality of second wires 59 connected to the first wire 58 via the circuit board 61. The first wire 58 enters the first arm 12 from inside the base 11, and then extends through each of the arms 12 to 17 to the inside of the sixth arm 17. The plurality of second wires 59 are each connected to the internal connection section 31b of each wiring connector 31.

[0046] The substrate 61 is located inside the sixth arm 17 (cylindrical body 21), and its thickness direction is oriented in the axial direction of the cylindrical body 21. Therefore, the substrate 61 is positioned to partition the inner space 28 of the cylindrical body 21 in the axial direction. The substrate 61 is formed in a disc shape, and its central axis is positioned on the same line as the central axis of the cylindrical body 21. In this arrangement, the outer edge of the substrate 61 and the inner surface of the cylindrical body 21 are in close proximity.

[0047] The substrate 61 is positioned near the boundary between the cylindrical portions 25 and 26 of the cylindrical body 21. Therefore, in the axial direction of the cylindrical body 21, the substrate 61 is positioned on the side opposite the cover portion 22 than the connectors 31 and 32 provided on the cylindrical body 21 (first cylindrical portion 25). In other words, in this case, the connectors 31 and 32 are positioned on the side opposite the cover portion 22 than the substrate 61 in the axial direction. Furthermore, the substrate 61 is attached to a substrate mounting portion (not shown) provided on the second cylindrical portion 26 at its outer circumference. However, the substrate mounting portion may also be provided on the first cylindrical portion 25.

[0048] The substrate 61 has a through-hole 62 formed in its center that penetrates in the thickness direction. This through-hole 62 is located in the center of the cylindrical body 21 when viewed from the axial direction of the cylindrical body 21 and is circular in shape. The first wiring 58 is inserted through the through-hole 62 (corresponding to an insertion hole). The first wiring 58 extends from the substrate 61 toward the lid portion 22 through the through-hole 62, and the end of the extended wiring is connected to the substrate 61 from the lid portion 22 side. More specifically, a connector portion 65a is mounted on the substrate surface 61a of the substrate 61 that faces the lid portion 22, and a connector portion 65b attached to the above end of the first wiring 58 is connected to the connector portion 65a. Thus, the first wiring 58 is connected to the substrate 61 via the respective connector portions 65a and 65b.

[0049] The second wiring 59 is provided for each wiring connector 31 and is connected to the circuit board 61 and the wiring connector 31 (internal connection part 31b), respectively. Specifically, connector parts 66a and 67a are attached to both ends of the second wiring 59, and connector part 66a is connected to connector part 66b mounted on the circuit board 61. Therefore, the second wiring 59 and the circuit board 61 are connected via the respective connector parts 66a and 66b. In addition, connector part 67a is connected to the internal connection part 31b of the wiring connector 31.

[0050] According to the above configuration, power is supplied to the first wiring 58 from a power supply unit (not shown), and this power is distributed from the first wiring 58 to each wiring connector 31 via the circuit board 61 and each second wiring 59. Power is then supplied to the hand 18 from wiring connector 31A via wiring 51, and power is supplied to the camera 23 from wiring connector 31B via wiring 52.

[0051] Next, the internal piping section 56 will be described. The internal piping section 56 is an air supply pipe (hereinafter referred to as pipe 56), which enters the first arm 12 from inside the base 11 and extends through each of the arms 12 to 17 to the inside of the sixth arm 17. Inside the sixth arm 17, pipe 56 is inserted through a through hole 62 in the substrate 61. In this case, pipe 56 is inserted together with the first wiring 58 into the through hole 62. Pipe 56 is guided through the through hole 62 towards the lid 22 side of the substrate 61, and the end of the guided pipe is connected to the internal connection part 32b of the pipe connector 32. In this case, air is supplied to the pipe connector 32 via pipe 56 from an air supply source (not shown). Then, that air is supplied from the pipe connector 32 to the hand 18 via pipe 53.

[0052] Next, we will explain the procedure for attaching the sixth arm 17 to the fifth arm 16.

[0053] When assembling the sixth arm 17 to the fifth arm 16, first the second cylindrical portion 26 of the sixth arm 17 is connected to the fifth arm 16, and then the circuit board 61 is attached to the circuit board mounting portion (not shown) of the second cylindrical portion 26. When attaching the circuit board 61, the first wiring 58 and the piping 56 are inserted through the through holes 62 of the circuit board 61, and the circuit board 61 is attached with them inserted. After attaching the circuit board 61, the first wiring 58 is connected to the circuit board 61. Specifically, the connector portion 65b of the first wiring 58 is connected to the connector portion 65a of the circuit board 61.

[0054] Next, the first cylindrical portion 25 is assembled to the second cylindrical portion 26 using a fastener (not shown). This forms the cylindrical body 21. The connectors 31 and 32 are pre-assembled to the first cylindrical portion 25.

[0055] Next, each second wire 59 is connected to the circuit board 61 and the wiring connector 31, respectively. Specifically, the connector portion 66a of the second wire 59 is connected to the connector portion 66b of the circuit board 61, and the connector portion 67a of the second wire 59 is connected to the internal connection portion 31b of the wiring connector 31. In addition, the pipe 56 is connected to the internal connection portion 32b of the pipe connector 32.

[0056] Here, the connection work of the first wiring 58 and the second wiring 59, and the connection work of the piping 56 are performed with the cover 22 removed. Therefore, the connection work can be performed while visually checking the connection status and arrangement of the wiring 58, 59 and the piping 56 through the tip opening 21a of the cylindrical body 21.

[0057] Next, the lid portion 22 is fixed to the cylindrical body 21 using bolts 36. This completes the assembly of the sixth arm 17 to the fifth arm 16.

[0058] As described in detail above, the configuration of this embodiment provides the following excellent effects.

[0059] The sixth arm 17 has a cylindrical body 21 connected to the fifth arm 16 and a lid 22 that closes the tip opening 21a of the cylindrical body 21. Connectors 31 and 32 are provided on the cylindrical body 21, and a hand 18 is attached to the lid 22. The cylindrical body 21 and the lid 22 are formed as separate parts and are fixed to each other using bolts 36. With this configuration, as described above, when assembling the sixth arm 17, the cylindrical body 21 is first connected to the fifth arm 16, and then the second wiring 59 (and thus the internal wiring section 55) is connected to each wiring connector 31 of the cylindrical body 21, and the pipe 56 is connected to the pipe connector 32. In this case, the connection work can be performed while visually checking the arrangement of each wiring 58, 59 (internal wiring section 55) and pipe 56 through the tip opening 21a of the cylindrical body 21. Therefore, it is possible to suppress the occurrence of kinks in the wiring 58, 59 and pipe 56.

[0060] Subsequently, the lid 22 is fixed to the cylindrical body 21 using bolts 36. In this case, the lid 22 can be fixed while checking the arrangement of the wiring 58, 59 and the piping 56. Therefore, it is possible to prevent the wiring 58, 59 and the piping 56 from getting caught between the lid 22 and the cylindrical body 21. Thus, as described above, it is possible to prevent the wiring 58, 59 and the piping 56 from getting caught or broken during the assembly work of the sixth arm 17.

[0061] The cylindrical body 21 has a first cylindrical portion 25 and a second cylindrical portion 26 that are divided in the axial direction. Connectors 31 and 32 are provided only on the first cylindrical portion 25 of each cylindrical portion 25 and 26, while connectors 31 and 32 are not provided on the second cylindrical portion 26. In this case, the second cylindrical portion 26 can be suitably used as a gripping portion for the user to grasp when the user moves the sixth arm 17 to teach the robot 10, etc. Furthermore, since each cylindrical portion 25 and 26 is divided in the axial direction, the position of the gripping portion can be set to the side of the lid portion 22 or the side opposite the lid portion 22 by positioning the second cylindrical portion 26 on the side opposite the lid portion 22 relative to the first cylindrical portion 25. Therefore, the position of the gripping portion can be set relatively easily according to the user.

[0062] Furthermore, since the connectors 31 and 32 have external connection portions 31a and 32a that protrude to the outside of the first cylindrical portion 25, if the hand 18 is moved to a narrow area for use, for example, the connectors 31 and 32 of the sixth arm 17 may interfere with the narrow area. In this respect, with the above configuration, in such cases, by setting the first cylindrical portion 25 on the side opposite the cover portion 22, the connectors 31 and 32 can be made less likely to interfere with the narrow area.

[0063] The outer circumferential surface of the second cylindrical portion 26 is provided with a knurled section 34. This helps to prevent the hand from slipping when gripping the second cylindrical portion 26 and moving the sixth arm 17.

[0064] Multiple wiring connectors 31 for wiring connections are provided in the cylindrical body 21. Internal wiring sections 55 extending from the inside of the fifth arm 16 to the inside of the sixth arm 17 are connected to these wiring connectors 31. A circuit board 61 is provided inside the sixth arm 17 (the inner space 28 of the cylindrical body 21). The internal wiring section 55 has a first wire 58 extending from the inside of the sixth arm 17 and connected to the circuit board 61, and multiple second wires 59 connected to the circuit board 61 and the wiring connectors 31, respectively. In this configuration, power is distributed and supplied from the first wire 58 to each wiring connector 31 via the circuit board 61 and each second wire 59. With this configuration, the number of wires arranged in the arms 12 to 16 on the base end side of the sixth arm 17 can be reduced when supplying power to multiple wiring connectors 31. Therefore, space for wiring can be suitably secured within the arms, and as a result, the risk of wire breakage can be reduced.

[0065] Furthermore, all of the wiring connectors 31 are positioned on the lid portion 22 side of the circuit board 61. In this configuration, with the circuit board 61 provided inside the cylindrical body 21, the connection status of the second wiring 59 to the wiring connectors 31 can be easily visually confirmed from the tip opening 21a of the cylindrical body 21. Therefore, connection failures at the connection portion between the wiring connectors 31 and the second wiring 59 can be effectively suppressed. In particular, the significance of obtaining this effect is great in configurations where multiple wiring connectors 31 are provided.

[0066] The first wiring 58, extending from inside the fifth arm 16, is guided through a through hole 62 formed in the substrate 61 towards the lid portion 22, and connected to the substrate 61 from the lid portion 22 side. In this case, the connection state between the substrate 61 and the first wiring 58 can be easily visually confirmed through the tip opening 21a of the cylindrical body 21. Therefore, connection failures at the connection portion between the substrate 61 and the first wiring 58 (more specifically, the connection between each connector 65a, 65b) can be effectively suppressed.

[0067] The pipe connector 32 is positioned on the lid portion 22 side of the substrate 61. Furthermore, a pipe 56 extending from the inside of the fifth arm 16 to the inside of the sixth arm 17 is guided through a through-hole 62 in the substrate 61 to the lid portion 22 side of the substrate 61 and connected to the pipe connector 32. In this configuration, with the substrate 61 provided inside the cylindrical body 21, the connection status of the pipe 56 to the pipe connector 32 can be easily visually confirmed from the tip opening 21a of the cylindrical body 21. Therefore, connection failures between the pipe connector 32 and the pipe 56 can be effectively suppressed.

[0068] When replacing an end effector, it may be necessary to replace the sixth arm 17 to which the end effector is attached. For example, if the end effector is replaced frequently, the screw holes 45 of the bolts that secure the end effector may wear out, or the knock pins may seize, in which case the sixth arm 17 will need to be replaced. In this regard, in the above embodiment, the cover portion 22 to which the end effector is attached on the sixth arm 17 is detachably fixed to the cylindrical body 21 using bolts 36. This makes it easy to address issues such as wear in the screw holes 45 by simply replacing the cover portion 22.

[0069] Furthermore, it is possible to replace the cover portion 22 with another cover portion formed to different dimensions. For example, some end effectors have dimensions other than those specified in the ISO standard. In such cases, it is possible to mount the end effector by preparing a cover portion that can accommodate the end effector and replacing the cover portion 22 with that cover portion.

[0070] Furthermore, it is possible to interpose a disc-shaped member between the lid portion 22 and the cylindrical body 21. For example, a force sensor that detects external forces acting on the end effector could be interposed as the disc-shaped member.

[0071] The present invention is not limited to the embodiments described above, and may be implemented, for example, as follows.

[0072] In the above embodiment, the cylindrical body 21 is divided into two cylindrical parts 25 and 26, but the cylindrical body 21 may be divided into three or more cylindrical parts. Also, the cylindrical body 21 does not necessarily need to be divided and may be formed as a single component.

[0073] • Instead of the knurled section 34, a blasted section or an etched section may be provided on the outer surface of the second cylindrical section 26 as an anti-slip structure. The blasted section is the part of the outer surface of the second cylindrical section 26 that has been blasted, and the etched section is the part of the outer surface of the second cylindrical section 26 that has been etched. Alternatively, the anti-slip structure may not be provided on the outer surface of the second cylindrical section 26.

[0074] The lid portion 22 does not necessarily have to be disc-shaped. For example, the lid portion 22 may be formed having a disc portion and a cylindrical portion extending from the peripheral edge of the disc portion toward the cylindrical body 21. In this case, the cylindrical portion is arranged coaxially with the cylindrical body 21. In this configuration, the end effector is attached to the disc portion of the lid portion 22.

[0075] • It is not necessary to use a bolt 36 as a fastener to secure the lid 22 to the cylindrical body 21. For example, a fixing pin may be used as a fastener to securely fix the lid 22 to the cylindrical body 21 in a way that prevents it from being detached.

[0076] • Instead of the through-hole 62, a notch may be provided in the substrate 61 as an insertion portion. In this case, a notch is provided on the outer periphery of the substrate 61, and the first wiring 58 and the piping 56 are inserted through the notch.

[0077] - The circuit board 61 may not be provided inside the sixth arm 17. In this case, the internal wiring section will consist of wiring that extends from inside the fifth arm 16 to inside the sixth arm 17 and is connected to the wiring connector 31.

[0078] In the above embodiment, a wiring connector 31 and a piping connector 32 were provided, but the present invention may also be applied to a configuration in which only one of these connectors 31 or 32 is provided.

[0079] The cylindrical body 21 may be configured so that the first cylindrical portion 25 and the second cylindrical portion 26 are interchangeable. Specifically, the cylindrical body 21 may be switchable between a first state in which the first cylindrical portion 25 is positioned on the lid portion 22 side and the second cylindrical portion 26 is positioned on the fifth arm 16 side, with the cylindrical portions 25 and 26 joined together, and a second state in which the second cylindrical portion 26 is positioned on the lid portion 22 side and the first cylindrical portion 25 is positioned on the fifth arm 16 side, with the cylindrical portions 25 and 26 joined together. In this case, the second cylindrical portion 26 also needs to have a hole for inserting the bolt 36 that fixes the lid portion 22.

[0080] Robot 10 is not limited to a vertically articulated robot, but may also be a horizontally articulated robot. Furthermore, robot 10 is not limited to a 6-axis robot, but may also be a robot with 5 or fewer axes or 7 or more axes. In addition, robot 10 may be a robot other than a collaborative robot. [Explanation of Symbols]

[0081] 10...Robot, 16...Fifth arm (adjacent arm), 17...Sixth arm (end arm), 18...Hand (end effector), 21...Cylindrical body, 21a...End opening, 22...Lid, 25...First cylindrical part, 26...Second cylindrical part, 28...Inner space, 31...Wiring connector (connection part, wiring connection part), 32...Piping connector (connection part), 34...Knurled part (anti-slip structure), 36...Bolt (fixing device), 55...Internal wiring part (internal wire part), 58...First wiring, 59...Second wiring, 61...Circuit board, 62...Through hole (insertion part).

Claims

1. Equipped with multiple arms connected to one another, The plurality of arms include a bottomed cylindrical tip arm to which an end effector is attached, and adjacent arms adjacent to the tip arm. The aforementioned tip arm is provided with a connection part to which a linear part, which is either a wiring section or a piping section, is connected. The robot is configured such that the linear portion extending from the end effector side can be connected to the connection portion, and the linear portion extending from the inside of the adjacent arm to the inside of the tip arm is connected as an internal linear portion. The aforementioned tip arm is A cylindrical body connected to the adjacent arm and having the connecting portion provided, The cylindrical body has a lid portion that closes the tip opening and to which the end effector is attached, The cylindrical body and the lid are formed as separate parts and are fixed to each other using fasteners. The cylindrical body is divided in its axial direction and has a first cylindrical portion and a second cylindrical portion that are joined together. A robot in which the connecting portion is provided only in the first cylindrical portion of the first cylindrical portion and the second cylindrical portion.

2. The robot according to claim 1, wherein an anti-slip structure is provided on the outer circumferential surface of the second cylindrical portion.

3. Equipped with multiple arms connected to one another, The plurality of arms include a bottomed cylindrical tip arm to which an end effector is attached, and adjacent arms adjacent to the tip arm. The aforementioned tip arm is provided with a connection part to which a linear part, which is either a wiring section or a piping section, is connected. The robot is configured such that the linear portion extending from the end effector side can be connected to the connection portion, and the linear portion extending from the inside of the adjacent arm to the inside of the tip arm is connected as an internal linear portion. The aforementioned tip arm is A cylindrical body connected to the adjacent arm and having the connecting portion provided, The cylindrical body has a lid portion that closes the tip opening and to which the end effector is attached, The cylindrical body and the lid are formed as separate parts and are fixed to each other using fasteners. The cylindrical body is provided with a plurality of wiring connection parts for connecting wiring, The internal wiring section, which serves as the internal linear section, is connected to these multiple wiring connection points. A substrate is provided in the inner space of the cylindrical body so as to partition the inner space in the axial direction of the cylindrical body. The aforementioned internal wiring section is The first wiring, which enters the inner space from inside the adjacent arm and is connected to the substrate, Each of the aforementioned wiring connection sections is provided with a plurality of second wires connected to the circuit board and the wiring connection section, respectively. The plurality of wiring connection points are located on the lid side of the substrate in the axial direction of the robot.

4. The substrate has an insertion portion formed therein for inserting the first wiring. The robot according to claim 3, wherein the first wiring is led through the insertion portion to the lid side of the substrate and connected to the substrate from the lid side.

5. The robot according to any one of claims 1 to 4, wherein the lid is detachably fixed to the cylindrical body.

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