Industrial robot

Abstract

An industrial robot has a wrist (7) with an oscillating element (8) configured for supporting an end effector (9). A rear end (20) of the wrist (7) includes a closing wall (21), having a first passage (23) in a substantially 5 central position, and a plurality of second passages (27) in a peripheral position with respect to the first passage (23). Through the first passage (23) there extends a first line (24) extends for supplying the end effector (9), the first line (24) also extending along the wrist (7) and the oscillating element (8). Through the second passages (27) there extend lines (28a, 29a) for 10 electrical supply of two motors (15', 16') that cause movements of the oscillating element (8), and lines (28b, 29b) for position control signals provided by two corresponding position transducers.

Description

[0001] Industrial Robot'

[0002] DESCRIPTION

[0003] Field of invention

[0004] The present invention refers to industrial robots and has been developed with particular reference being paid to multi-axis robots with implementations for arc welding and handling.

[0005] Background art

[0006] As is well known, multi-axis industrial robots can be variously set up, i.e., they can be equipped with different work-tools or end effectors depending on the intended use. The work-tool, such as a gripper, a welding torch, a spray gun, is typically connected to an end flange of the robot. Depending on the type of tool, the tool must be supplied, for example, with electrical energy, compressed air, an auxiliary gas, a welding wire, etc., for example, and possibly controlled by means of suitable control signals.

[0007] Electrical wirings and / or pipes or conduits are therefore used for the purpose of supplying and / or controlling the work-tool. Electrical wirings are also used to supply the motors that cause the movements of the various movable parts of the robot, and to control their position through signals provided by suitable transducers.

[0008] The portions of these wirings or pipes or ducts that extend between a wrist of the robot and an oscillating body bearing the tool are generally subject to particular stresses and wear, considering that the wrist is mounted rotating around a first axis, and the oscillating body is arranged so that it can rotate in turn according to two respective axes, differing from the first axis.

[0009] The operations required for the set-up, installation and maintenance of the traditional robots can also often be complicated, in particular depending on the type of work-tool used.

[0010] Aim and summary of the invention

[0011] In accordance with a first aspect, the present invention essentially aims to obtain an industrial robot in which the portions of the electrical wirings and / or of the on-board pipes or ducts that extend at the wrist and the oscillating body are subject to more predictable and controlled i movements, during the operation of the robot, to the benefit of their useful life.

[0012] In accordance with a second aspect, the present invention aims to obtain an industrial robot whose set-up, installation and maintenance operations are simplified.

[0013] These and other aims, which will become clear later, are attained according to the present invention by an industrial robot having the characteristics indicated in the claims that follow. The claims form an integral part of the technical teaching provided herein in connection with the invention.

[0014] Brief description of the drawings

[0015] Further aims, characteristics and advantages of the present invention will be clear from the description that follows and from the attached drawings, provided purely as an explanatory and non-limiting example, wherein:

[0016] - Figures 1 and 2 are elevational view, from different angles, of an industrial robot according to possible forms embodiments of the invention;

[0017] - Figure 3 is an elevational view of a lower portion of the robot of Figures 1 -2, from a different angle;

[0018] - Figure 4 is a front perspective view of a portion of the robot of Figures 1 -2;

[0019] - Figure 5 is a bottom view of the portion of the robot of Figure 4, wherein representation of a work-tool has been omitted;

[0020] - Figure 6 is a rear perspective view of the portion of the robot of Figures 4-5;

[0021] - Figure 7 is a sectioned perspective view of the portion of the robot of Figures 4-6;

[0022] - Figure 8 is a cross-sectional view of the portion of the robot of Figures 4-7, with some components removed; and

[0023] - Figure 9 is a sectioned perspective view of a lower portion of the robot according to possible embodiments.

[0024] Description of embodiments of the invention

[0025] The reference to "an embodiment" within this description indicates that a particular configuration, structure, or characteristic described in relation to the embodiment is included in at least one embodiment. Therefore, the indication "in an embodiment" and the like, present in different parts within this description, are not necessarily all referred to the same embodiment. In addition, the particular configurations, structures or characteristics can be combined in any appropriate way in one or more embodiments. The references used below are for convenience only and do not define the scope of protection or the scope of the embodiments.

[0026] It should also be noted that in the continuation of this description only the elements useful for understanding the invention will be described, taking for granted - for example - that the industrial robot according to the invention comprises all the elements known in itself for its operation. Unless otherwise specified or evident from the context, the term "wiring" or "line" is meant to indicate at least electrical cable, or at least one conduit or pipe, or combinations thereof.

[0027] Figures 1 and 2 schematically represent an industrial robot according to an embodiment of the invention, comprising a mechanical structure or manipulator 2 having multiple degrees of freedom, which includes a plurality of movable parts. In the example illustrated, the robot is an anthropomorphic robot having six degrees of freedom, comprising a stationary base 3 and a column 4 (sometimes referred to as a shoulder) mounted rotating on the base 3 around a first axis A1 directed substantially vertically. Reference 5 designates an arm mounted on the column to oscillate on the column 4 around a second axis A2 directed substantially horizontally. Reference 6 designates an elbow, mounted on the arm 5 to rotate around a third axis A3, also directed substantially horizontally, which elbow 6 supports a wrist 7 (sometimes referred to as a forearm), capable of rotating around its axis A4, which therefore constitutes a fourth axis of movement. The wrist 7 is equipped at the front end thereof with an oscillating body 8, configured for movement according to two axes A5 and A6.

[0028] In various embodiments, the axis A1 is substantially orthogonal to the axes A2 and A3, the axes A2 and A3 being substantially parallel to each other. The axes A4 and A6 are both substantially orthogonal to the axis A5, and - in at least one position of the oscillating body 8 - the axes A4 and A6 are substantially aligned.

[0029] A work-tool or end effector, designated by 9, is associated at the free end or flange of the oscillating body 8, which in the example consists of an arc-welding torch. It should be noted, however, that the end effector 9 could be of a different type and function known in the field, for example a welding gun, a paint gun, a gun for applying a sealant, a gripping hand, etc.

[0030] Figure 3 shows a further side of the base 3, having a connection interface 10 associated thereto, provided with connectors for connecting electrical lines, and possibly other lines (such as pneumatic and / or fluidic lines), required for the operation of the robot, depending on its set-up. As far as of interest here, the interface 10 comprises three connectors 10a, 10b and 10c. The connector 10a is an electrical connector intended for the connection of an electrical wiring required for the power supply of the motors used to manage the displacements of the movable parts 3-8 of the structure 2; the connector 10B is an electrical connector intended for the connection of an electrical wiring required for the position control of the aforementioned motors; the connector 10C, which is not necessarily an electrical connector, is instead intended for connecting a cable or a conduit or a set-up tube, particularly for supplying the work-tool 9.

[0031] As can be seen in Figures 4-8, in various embodiments, the wrist 7 has a generally hollow rear portion 7a and a front portion 7b. In the example, the front portion of the wrist is generally fork-like shaped, including two longitudinally extended wrist portions 7b', also generally hollow and substantially parallel to each other, with the axis A4 extending in an intermediate position therebetween. The oscillating body 8 is constrained between end regions - which face each other - of the two wrist portions 7b, in order to be able to rotate around the axis A5.

[0032] It should be noted that, in possible variant embodiments, the specific structure of the wrist 7 and the oscillating body 8 could be different from the one exemplified in the figures. For example, the wrist 7 might have a single misaligned arm portion (that is, one that generally extends parallel to the axis A4) instead of a fork-like front portion, such as described in any of documents EP2492058A1 , EP2492059A1 , and EP2492060A1. The presence of the front fork-like portion 7a in the wrist 7 is however considered preferable, for reasons that will become clear later.

[0033] The preferential shape illustrated for the wrist 7, distinguished by the internally hollow portions 7a, 7b and by the absence of cavities facing outwards, avoids the possible accumulation of dirt and foreign materials in general.

[0034] As can be seen, for example, in Figures 7 and 8, the oscillating body 8a comprises two parts 8a and 8b, and in particular a first body part 8a constrained between the wrist portions 7b' for rotating around the axis A5, and a second body part 8b, mounted for turning on the first body part 8a so as to be able to rotate with respect thereto according to the axis A6. The two body parts 8a and 8b are provided with respective axial cavities 8a' and 8b' (Figure 8), aligned with each other, so as to enable passage of a connecting line, towards the end effector 9, as further explained below.

[0035] Again with reference to Figures 1 -2, the movable parts 4-7 of the structure 2 are connected to each other by means of rotary joints 11 -14, to which there are associated respective means for controlling rotation, represented by electric motors 11', 12', 13' and 14' with corresponding transmission arrangements, of a conception known in itself. In Figure 6, reference 15 schematically designates the joints operating between the two wrist portions 7b' of the fork-like portion 7b of the wrist 7, on the one hand, and the body part 8a, on the other hand, while in Figure 7, reference 8c schematically designates the joint operating between the body part 8a, on the one hand, and the body part 8b, on the other hand.

[0036] The means for controlling the rotations of the oscillating body 8, i.e. , of its two parts 8a and 8b, are supported by the wrist 7. Referring in particular to Figures 7 and 8, these control means of the body parts 8a and 8b comprise a first moto 15' and a second motor 16', preferably located inside the wrist 7, in particular in a side area of the rear portion 7a thereof. Each motor 15' and 16' has a respective transmission arrangement associated thereto, according to a technique known in itself, to transmit the rotation of the output shaft 15a' of the motor 15' (Figure 7) to the body part 8a and to transmit the rotation of the output shaft 16a' of the motor 16' (Figure 7) to the body part 8b.

[0037] In order to control the joints 11 -16 of the movable parts of the structure 2 in position, corresponding transducers are provided, of a type and operation known in itself, for example of the encoder type or the resolver type. The aforementioned transducers can be associated with the motors 11 '-16', or with the corresponding transmission systems, or directly with the joints 11 -16. The transducers relating to the joints 15, 16, i.e., to the motors 15', 16', are schematically designated by the references 15" and 16" in Figure 8.

[0038] The movements of the structure 2 and the operations that can be performed by the tool 9 are controlled by a control unit, schematically designated by CU in Figure 2, which is preferably located in a remote position with respect to the structure 2 and is connected in signal communication to the electrical / electronic parts of the structure 2 via a respective wiring 18. In the non-limiting example shown in the drawings, since the tool 9 is an arc-welding torch, the latter must be supplied by a suitable current generator or welding unit, schematically designated by Wil in Figure 2, also preferably located in a remote position with respect to the structure 2 and connected to the robot 1 via a respective set-up wiring 19 (an electric cable or a conduit or a pipe). The practical implementation of the hardware and software relating to the control unit CU, provided with a corresponding microprocessor-based control system, is beyond the purposes of the present description. The type of construction and operation of the welding unit WU can also be of any type known in the field.

[0039] In accordance with the invention, and as can be seen for example in Figure 6, the portion 7a of wrist 7 has a rear end 20 including a closing wall 21 , which lies in a plane generally transverse with respect to the direction of longitudinal extension (substantially corresponding to axis A4) of the two wrist portions 7b'.

[0040] The closing wall 21 is preferably configured as a separate part that is removably fastened to the rear end 20 of the wrist 7; removable fastening can be carried out, for example, by means of threaded fixing members 22, such as screws arranged according to a circumference. The wall 21 preferably has a substantially circular peripheral profile, and closes an opening having a similar profile which is defined at the rear end 20 of the wrist 7.

[0041] The closing wall 21 defines a first passage, designated by 23 in Figure 6, in a substantially central position of the same wall and substantially coaxial to the axis A4.

[0042] Through the first passage 23 there extends a first connection line of the end effector 9, which - depending on the type of tool 9, i.e. on the setup of the robot 1 - can comprise one or more electrical cables and one or more conduits or pipes. In the case shown, this connection line is identified by a sheath or tube 24, within which at least one electrical wiring 25 extends, for example for electrical supply of the welding torch, as well as a conduit 26 for feeding a welding wire to the same torch (a wire feeder for the welding wire, of a type known in itself, is schematized only in Figure 7, designated by WS).

[0043] As can also be seen from Figure 7, the connection line 24 also extends through the hollow rear portion 7a of the wrist 7, to continue in an intermediate position to the two wrist portions 7b', and finally crosses the axial cavities of the two body parts 8a, 8b of the oscillating body 8 (see also Figure 5, where the representation of the welding torch has been omitted for a clearer representation).

[0044] The closing wall 21 also has a plurality of second passages, in a peripheral position with respect to the first passage 23. In the figures, the aforementioned second passages are identified by respective sealed cable glands, designated by 27, mounted at respective through openings of the wall 21.

[0045] Through the second passages embodied by the cable glands 27, the respective lines for the power supply and the position control of the means for controlling rotation of the oscillating body 8 extend, and more particularly a first supply wiring 28a connected to the motor 15' and a first signal wiring 28b connected to the corresponding transducer 15", as well as a second supply wiring 29a connected to the motor 16' and a second signal wiring 29b connected to the corresponding transducer 16".

[0046] As can be seen, according to the invention, the connecting line for the tool 9 extends almost entirely through the wrist 7 and the oscillating body 8, in a central and substantially straight position, at least partly according to the axes A4 and A5. In this way, the movements of the line 24 following the rotations of the wrist 7 and the parts 8a and 8b of the oscillating body 8 are more controlled, thus enabling allowing to avoid stresses such as excessive torsions or unpredictable twisting. However, it is preferable, for this reason, that the line 24 extends in a condition that is at least slightly loose between the wrist 7 and the oscillating body 8, as shown in Figure 7, i.e. not taut.

[0047] This solution also makes it possible to simplify the set-up of the robot, i.e., the prearrangement of connection lines 24 which are differentiated according to the type of tool 9 used, in particular when the corresponding wiring 25 and / or conduits 26 are housed in a sheath or tube that extends through the wrist 7 and the oscillating body 8. The same applies in case it is necessary a replacement of a wiring 25 or a conduit 26.

[0048] Also the provision of separate passages, corresponding to the cable glands 27, for the power supply cables 28a, 29a of the motors 15', 16' and the signal cables 28b, 29b of the transducers 15", 16" makes it possible to keep them in better determined and separate positions with respect to the line 24, and thus reduce the stresses on them during robot operation, to the benefit of their useful life.

[0049] The provision of the separate passages represented by the cable glands 27 for the cables 28a, 28b, 29a, 29b also helps to simplify the setup of the robot and, above all, significantly simplifies maintenance, replacement and troubleshooting operations. The use of sealed cable glands 27 is particularly advantageous, for example compared to electrical connectors, as they increase the degree of protection against dust and water, thereby increasing the safety and reliability of the connections. The cable glands 27 allow in particular to obtain an IP68 degree of protection in accordance with I EC 60529.

[0050] The use of sealed cable glands is also advantageous and safer with regard to robot maintenance operations, as the risk of accidentally disconnecting any electrical connectors is eliminated, even during robot washing operations, while eliminating the risk of introducing water inside the wrist, with the ensuing possible damages to the electrical components.

[0051] In preferential embodiments, such as the one illustrated, at least four peripheral passages equipped with cable glands are provided, as this maximizes the advantages indicated. However, in principle, both a power supply wiring 28a or 29a and signal wiring 28a or 29b could extend through one and the same cable gland 27.

[0052] Preferably, the second passages equipped with cable glands 27 are arranged according to an arc of a circumference which is generally coaxial to the axis A4 or to the opening 23, in particular in an upper half of the closing wall 21. This arrangement improves the separation of the wirings 28a, 28b, 29a, 29b from the line 24, thus reducing the risk of damage and further facilitating robot set-up operations, as well as any maintenance, replacement and troubleshooting operations.

[0053] From Figures 7 and 8 it can be seen how, in various embodiments, the hollow rear portion 7a of the wrist 7 internally defines a tubular portion 30 which is generally coaxial to the axis A4, through which the first line 24 extends.

[0054] In embodiments of this type, a tubular element, designated by 31 , which is also generally coaxial to the A4 axis and substantially coaxial to the first opening 23, can extend from the inner side of the closing wall 21 . The tubular element 31 can be fastened to the inner side of the wall 21 by means of threaded fixing member 32, arranged around the passage 23.

[0055] As can be seen, the tubular element 31 extends between the passage 23 of the wall and the rear mouth of the tubular portion 30, which is preferably integrally defined by the metal body of the hollow rear portion 7a of the wrist 7. This solution further improves guiding of the connection line 24, in particular inside the wrist 7.

[0056] From Figure 9 it can be seen how, in possible embodiments, according to a second aspect, the base 3 and the column 4 of the structure 2 of the robot have respective cavities 3a and 4a substantially coaxial to axis A1 . In these embodiments, through the cavities 3a, 4a, there extend corresponding parts of at least one of a robot control wiring, comprising cables for the power supply of the motors 1 T-16' and cables for the associated position transducers, and a bundle of cables and / or tubes relating to the end effector 9, for example comprising at least one cable of the electrical supply of the end effector, a tube for a cooling fluid, a cable for transporting control signal for the end effector 9. In the figure, for simplicity, a wiring has been schematized, designated by 40, which is assumed to be the one relating to the control of the robot 1 .

[0057] From the same figure 9 it can be seen how, in accordance with the second aspect mentioned above, the connection interface 10 comprises a first external plate 10' and a second external plate 10", which are fastened in a removable way in order to close a side opening of the base 3, and an electrical distribution box 10d, from which the wiring 40 extends and which contains the elements for electrical connection to the connectors 10a and 10b mounted on the outer side of the plate 10'. The connectors 10a and 10b are mounted on the first plate 10' and, as already mentioned, are intended for mating with respective external complementary connectors, to which the wirings 18 (Figure 2) from the control unit of the CU robot are connected. The connector 10c, which is mounted on the second plate 10", is instead intended for coupling with a respective external complementary connector, to which the electrical wiring 19 (Figure 2) from the electrical power supply unit Wil of the torch is connected, which torch in the example shown embodies the end effector 9. The connectors 10a, 10b and 10c can be connectors with male pins, for example, and the external connectors can be with female pins.

[0058] The on-board wiring of the robot for connection to the motors 1 T-16' is connected to the connector 10a, while the on-board wiring of the robot for transport of signals relating to the corresponding position transducers is connected to the connector 10b. The on-board wiring of the robot required for the electrical supply of end effector 9, i.e. , the arc-welding torch in the example shown, is connected to the connector 10c.

[0059] Advantageously, connection fittings are also provided on the second 10" plate of the interface 10, such as those designated by 10e and 10f in Figures 3 and 9, for additional conduits and pipes that may be possibly required for the operation of the end effector (for example, a tube for a cooling fluid and a tube for a gas designed to assist welding).

[0060] The solution of providing the connection interface 10 with two different plates 10' and 10" is particularly advantageous in the case of robots which are set up for arc welding, as in the preferential case represented herein.

[0061] Traditionally, the welding torch is electrically powered via a wiring harness that extends directly from the external welding unit to the torch mounted on the robot's terminal oscillating member. However, this traditional approach has practical drawbacks, such as material procurement or ceiling installations. In the traditional technology, the arc-welding robot can only be fully set up if the external welding unit is available, and in the event of unavailability of this unit or delays in the delivery thereof, the setup of the robot is necessarily delayed. By contrast, even in these unfavourable situations, the solution of providing the second plate 10", separate from the first plate 10', allows the robot to be completely prearranged with the on-board equipment and bundles of cables and / or tubes and / or conduits, even in the absence of the external welding unit. The solution also makes it possible to simplify the possible replacement of the wiring for the power supply of the welding torch, with this wiring now constituting an on-board equipment of the robot, which is separate and independent from the welding unit Wil and its output wiring 19 (Figure 2), resulting in advantages in terms of maintenance and troubleshooting. The provision of the second plate 10" for the electrical power supply of the welding torch then has the clear effect of significantly simplifying the installation of the robot on a ceiling.

[0062] It will be appreciated that it is possible to prepare second plates 10" of different types, that is, distinguished by the presence of different electrical connectors and / or different connection fittings, depending on the type of work-tool of the robot, thus simplifying the differentiated set-up of robots which have the same basic structure.

[0063] From the given description, the characteristics of the present invention are clear, as are its advantages.

[0064] A further significant advantage of the proposed solution, for the application of arc welding, is the possibility of passing the power wiring for the torch internally to the robot mechanics, so offering greater protection for the wiring itself and reducing the overall dimensions to the outside.

[0065] The preferential design of the wrist 7 as shown makes it particularly compatible with applications where a high level of hygiene is required, both in relation to the IP68 degree of protection and in relation to the absence of outward-facing cavities, which could constitute possible receptacles for the accumulation of external material.

[0066] It is clear that numerous variants are possible for the person skilled in the art to the industrial robot and the control method described as an example, without departing from the scope of the invention as defined by the claims that follow.

Claims

CLAIMS1. An industrial robot (1 , CU, Wil) having a mechanical structure (2) that comprises a plurality of movable parts (4-8) and connecting joints (11 - 16) between the movable parts (4-8), driven by electric motors (11'-16') with associated corresponding position transducers (15", 16"), wherein the movable parts (4-8) comprise a wrist (7) susceptible of rotating about a first axis (A4), the wrist (7) having a hollow rear portion (7a) and a front portion (7b) that includes at least one wrist portion (7b1), the anterior portion (7b) comprising preferably two wrist portions (7b) generally parallel to each other, wherein an oscillating body (8) is constrained to the at least one wrist portion (7b1), which includes a first body part (8a) and a second body part (8b) each having an axial through-cavity (8a1, 8b'), wherein the first body part (8a) is susceptible of rotating with respect to the wrist (7) about a second axis (A5) which is inclined with respect to the first axis (A4), and the second body part (8b) is mounted with respect to the first body part (8a) for rotating about a third axis (A6) which is inclined with respect to the second axis (A5), the second body part (8b) being configured for supporting an end effector (9), wherein the first axis (A4) and the third axis (A6) are both substantially orthogonal to the second axis (A5), wherein the wrist (7) supports means for controlling rotation of the first body part (8a) and the second body part (8b), about the second axis (A5) and the third axis (A6), respectively, the means for controlling rotation comprising a first motor (15') and a second motor (16'), each having a respective transmission arrangement (15a", 16a") associated thereto, for transmitting rotation of an output shaft (15a) of the first motor (15') to the first body part (8a) and rotation of an output shaft (15b) of the second motor (16') to the second body part (8b), wherein the means for controlling rotation further comprise a first position transducer (15") and a second position transducer (16"), for controlling control of the first motor (15') and the second motor (16'), respectively, wherein the rear portion (7a) of the wrist (7) has a rear end (20)including a closing wall (21 ), which is generally transverse with respect to the first axis (A4), wherein the closing wall (21 ) has a first passage (23) in a substantially central position and substantially coaxial to the first axis (A4), and a plurality of second passages (27) in a peripheral position with respect to the first passage (23), wherein through the first passage (23) there extends a first line (24) for operation of the end effector (9), the first line (24) also extending through the rear portion (7a) of the wrist (7) and in a position alongside the at least one wrist portion (7b1), and through the axial cavities (8a1, 8b') of the first body part (8a) and the second body part (8b) of the oscillating body (8), and wherein through the second passages (27) there extend respective lines (28a, 28b, 29a, 29b) for supply and position control of the means for controlling rotation, connected to the first motor (15'), the second motor (16'), the first position transducer (15") and the second position transducer (16").

2. The industrial robot according to claim 1 , wherein the plurality of second passages (27) comprises at least four passages.

3. The industrial robot according to claim 1 or claim 2, wherein the second passages (27) are arranged according to an arc of a circumference that is generally coaxial to the first axis (A4).

4. The industrial robot according to any of claims 1 -3, wherein the second passages (27) are arranged in an upper half of the closing wall (21 ).

5. The industrial robot according to any of claims 1 -4, wherein the closing wall (21 ) is configured as a separate part which is fixed to the rear end (20) of the wrist (7), in particular by means of threaded fixing members (22).

6. The industrial robot according to any of claims 1 -5, wherein:- inside the rear portion (7a) of the wrist (7) there is defined an axial tubular portion (30) which is generally coaxial to the first axis (A4),- from an inner side of the closing wall (21 ) there extends a tubular element (31 ), which is generally coaxial to the first axis (A4), the tubular element (31 ) extending between the first passage (23) and a mouth of the axial tubular portion (30).

7. The industrial robot according to any of claims 1 -6, wherein the firstline (24) comprises an outer sheath or tube, in which one or more cables and / or conduits extend.

8. The industrial robot according to any of claims 1 to 7, wherein the end effector (9) is a welding torch and the first line (24) comprises at least:- a wiring (25) for power electric supply of the welding torch, and- at least one conduit (26) for a medium required for operation of the welding torch, such as a conduit for supplying a welding wire and / or a conduit for a cooling fluid and / or a conduit for a welding assist gas.

9. The industrial robot according to any of claims 1 -8, wherein the movable parts (4-8) comprise a column (4) mounted on a stationary base (3) for rotating about a further axis (A1 ), the stationary base (3) having a connection interface (10) associated thereto, which comprises a plurality of connectors, from a first electrical connector (10a) there extending a first wiring for the power supply of motors (1 T-161) of the industrial robot (1 ), from a second electrical connector (10b) there extending a second wiring for control signals generated by position transducers (15", 16") of the industrial robot (1 ), and from a third connector (10c) there extending a third wiring for operation of the end effector (9), the first electrical connector (10a) and the second electrical connector (10b) being configured for coupling with respective complementary electrical connectors of corresponding wirings(18) of a control unit (CU) of the robot (1 ), and the third connector (10c) being configured for coupling with a complementary connector of a wiring(19) of a unit for operation (Wil) of the end effector (9).

10. The industrial robot according to claim 9, wherein the stationary base (3) and the column (4) have respective cavities (3a, 4a) which are substantially coaxial to the further axis (A1 ), through which there extends a corresponding part of at least one of the first wiring, the second wiring and the third wiring.

11. The industrial robot according to claim 9, wherein the connection interface (10) comprises a first interface plate (10') and a second interface plate (10"), fixed in a removable way at an opening defined in the stationary base (3), wherein the first electrical connector (10a) and the second electrical connector (10b) are mounted on the first interface plate (10') and the third connector (10c) is mounted on the second interface plate (10").

12. The industrial robot according to claim 11 , wherein the secondinterface plate (10") comprises a plurality of connectors and / or connection fittings whose type depends on the type of the end effectors (9).

13. An industrial robot (1 , CU, Wil) having a mechanical structure (2) that comprises a plurality of movable parts (4-8) and connection joints (11 - 16) between the movable parts (4-8), driven by electric motors (11'-16') with associated corresponding position transducers (15", 16"),Wherein the movable parts (4-8) comprise a wrist (7) susceptible of rotating about a first axis (A4), and an oscillating body (8) constrained to the wrist (7), the oscillating body (8) comprising a first body part (8a) and a second body part (8b), the first body part (8a) being susceptible of rotating with respect to the wrist (7) about a second axis (A5) which is inclined with respect to the first axis (A4), and the second body part (8b) being mounted with respect to the first body part (8a) for rotating about a third axis (A6) which is inclined with respect to the second axis (A5), the second body part (8b) being configured for supporting a welding torch (9), wherein the movable parts (4-8) also comprise a column (4) mounted on a stationary base (3) for rotating about a further axis (A1 ), the stationary base (3) having a connection interface (10) associated thereto, which comprises a plurality of electrical connectors, among which at least:- a first electrical connector (10a) for a first on-board wiring, for supply of the electric motors (11 '-16'),- a second electrical connector (10b) for a second on-board wiring, for control signals generated by the position transducers (15", 16"), and- a third connector (10c) for a third on-board wiring, for operation of the welding torch (9), wherein the first electrical connector (10a) and the second electrical connector (10b) are configured for coupling with respective complementary connectors of corresponding wirings (18) of a control unit (CU) of the robot (1 ), and the third connector (10c) is configured for coupling with a complementary connector of a wiring (19) of an electrical supply unit (WU) of the welding torch (9), wherein the connection interface (10) comprises a first interface plate (10') and a second interface plate (10"), which are fixed in a removable way at an opening defined in the stationary base (3), wherein the first connector (10a) and the second connector (10b) are mounted on the first interfaceplate (10') and the third connector (10c) is mounted on the second interface plate (10").

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