Horizontal articulated robot

Abstract

This horizontal articulated robot (100) comprises a base (10), a first arm (1), a second arm (2), and a cable unit (4). An opening (10d) is formed in the base (10). The cable unit (4) includes: a blocking member (5) removably attached to the base (10) to block the opening (10d); an attachment member (6) removably attached to the second arm (2); a hose member (7) having one end rotatably attached to the blocking member (5) via a first rotary connector (44) and the other end rotatably attached to the attachment member (6) via a second rotary connector (46), with wiring (42), including a ground wire , and piping (43) inserted therein; and a ground connection member (8) which is attachable / detachable to / from the blocking member (5) and to which the ground wire is connected.

Description

Horizontal articulated robot

[0001] The present disclosure relates to a horizontal articulated robot.

[0002] Conventionally, horizontal articulated robots have been known for use in processes such as assembly, transportation, and inspection in factories. For example, the horizontal articulated robot disclosed in Patent Document 1 includes a base, a first arm, a second arm, a third arm, and a cable unit connected to the base and the second arm. The first arm is rotatably supported on the base. The second arm is rotatably supported on the first arm. The third arm is a shaft-shaped member supported on the second arm so as to be movable in the vertical direction and rotatable about an axis extending in the vertical direction. A first-axis motor that rotates the first arm is provided inside the base. A second-axis motor that rotates the second arm, a third-axis motor that moves the third arm in the vertical direction, and a fourth-axis motor that rotates the third arm about its axis are provided inside the second arm. In such a horizontal articulated robot, in order to provide protective grounding for each motor, for example, the earth wiring of the first axis motor is connected to the earth connection part of the base, and the earth wiring of the second, third and fourth axis motors is connected to the earth connection part of the second arm.

[0003] Patent No. 6923489

[0004] Generally, the earth wire of each motor is connected to the earth connection part using a tool. However, when connecting the earth wire to the earth connection part, the earth connection part may interfere with other components, making the connection work difficult. To solve this problem, it is possible to place the earth connection part in a position away from the other components, but since it is necessary to secure space for placing the earth connection part, there is a risk that the entire robot will become larger.

[0005] The present disclosure has been made in view of the above, and aims to provide a horizontal articulated robot that can prevent the robot from becoming too large.

[0006] In order to solve the above-mentioned problems and achieve the object, the present disclosure provides a horizontally articulated robot including a box-shaped base, a first arm supported by the base so as to protrude forward from a front side of the base and rotatable about a first axis, a second arm supported by the first arm so as to protrude forward from the first arm and rotatable about a second axis, and a cable unit having one end attached to the base and the other end attached to the second arm. The base has an opening extending from its top surface to its back surface, where the cable unit is attached. The cable unit includes: a closing member detachably attached to the base and closing the opening; an attachment member detachably attached to the second arm; a hose member having one end rotatably attached to the closing member via a first rotary connector and the other end rotatably attached to the attachment member via a second rotary connector, with wiring and piping, including an earth wire, inserted therethrough; and an earth connection member detachably attached to the closing member and to which the earth wire is connected. The blocking member is provided with a connector to which at least some of the wiring and piping are connected, and a cylindrical fixing member used to pull at least some of the wiring to the outside of the base. When attached to the blocking member, the earth connection member is arranged at least in one of a position overlapping with the first rotary connector when viewed from the axial direction of the rotation shaft of the first rotary connector, and a position overlapping with the connecting connector or the fixing member when viewed from a direction perpendicular to one surface of the blocking member on which the connecting connector and the fixing member are provided.

[0007] The horizontal articulated robot according to the present disclosure has the advantage of being able to prevent the robot from becoming too large.

[0008] 1 is a perspective view of a horizontal articulated robot according to an embodiment; FIG. 2 is an explanatory diagram showing a schematic representation of a portion of the internal structure of the horizontal articulated robot according to an embodiment; FIG. 3 is a perspective view of a cable unit of the horizontal articulated robot according to an embodiment; FIG. 4 is an explanatory diagram showing the second surface of the blocking member of the cable unit of the horizontal articulated robot according to an embodiment, viewed from the rear side; FIG. 5 is an explanatory diagram showing a schematic representation of a portion of the internal structure of the horizontal articulated robot according to an embodiment;

[0009] Hereinafter, a horizontal articulated robot according to an embodiment of the present disclosure will be described in detail with reference to the drawings.

[0010] 1 is a perspective view showing a horizontal articulated robot according to an embodiment. FIG. 2 is an explanatory diagram showing a part of the internal structure of the horizontal articulated robot according to an embodiment. As shown in FIG. 1, the horizontal articulated robot 100 according to this embodiment includes a base 10, a first arm 1, a second arm 2, a third arm 3, and a cable unit 4. Note that "horizontal" does not necessarily mean "strictly horizontal."

[0011] As shown in FIG. 1 , the base 10 has a hollow box shape. The base 10 is fixed to the floor or other surface where the base 10 is installed. A first arm 1 is attached to the upper surface 10 a of the base 10. An opening 10 d is formed in the base 10 from the upper surface 10 a, where the cable unit 4 is attached, to the rear surface 10 c. For example, the opening 10 d is formed in a portion of the upper surface 10 a of the base 10 and in the entire rear surface 10 c of the base 10. As shown in FIG. 2 , a first motor 11 is provided inside the base 10 to rotate the first arm 1 about a first axis AX1. In this embodiment, the first axis AX1 is perpendicular to the direction in which the first arm 1 extends. The first motor 11 is controlled by a control device (not shown). The first motor 11 is equipped with an earth wiring (not shown) for protective grounding. An output shaft 11 a of the first motor 11 protrudes from the upper surface 10 a of the base 10 toward the first arm 1.

[0012] As shown in FIG. 1 , the base end of the first arm 1 is supported by the base 10 so as to protrude forward from the front surface 10b of the base 10, and is rotatable in forward and reverse directions about a first axis AX1. Here, the forward and reverse directions refer to clockwise and counterclockwise directions. A second arm 2 is attached to the upper surface of the first arm 1. As shown in FIG. 2 , a first reducer 12 and a second reducer 13 are provided inside the first arm 1. The first reducer 12 is connected to an output shaft 11a of a first motor 11. Driven by the first motor 11, the first arm 1 rotates in forward and reverse directions about the first axis AX1, which is the axial direction of the output shaft 11a.

[0013] As shown in FIG. 1 , the base end of the second arm 2 is supported by the first arm 1 so as to protrude forward from the tip end of the first arm 1 and is rotatable in forward and reverse directions about a second axis AX2. In this embodiment, the second axis AX2 is perpendicular to the direction in which the second arm 2 extends. As shown in FIG. 2 , a second motor 14 is provided inside the second arm 2 to rotate the second arm 2 about the second axis AX2. The second motor 14 is controlled by a control device (not shown). The second motor 14 is provided with an earth wiring (not shown) for protective grounding. The output shaft 14 a of the second motor 14 is connected to a second reducer 13 provided inside the first arm 1. Driven by the second motor 14, the second arm 2 rotates in forward and reverse directions about the second axis AX2, which is the axial direction of the output shaft 14 a.

[0014] Also provided inside the second arm 2 are a third motor 15 that moves the third arm 3 along the axial direction of the third axis AX3, and a fourth motor 16 that rotates the third arm 3 about the third axis AX3. The third axis AX3 is, for example, in the vertical direction. Note that the vertical direction does not necessarily have to be strictly vertical, but may also be approximately vertical. The third motor 15 and the fourth motor 16 are controlled by a control device (not shown). The third motor 15 and the fourth motor 16 are provided with earth wiring (not shown) for protective grounding.

[0015] As shown in FIGS. 1 and 2 , the third arm 3 is a shaft-shaped member extending in the vertical direction. The third arm 3 is supported at the tip end of the second arm 2 so as to be movable along the axial direction of the third axis AX3 and rotatable in forward and reverse directions about the third axis AX3. As shown in FIG. 2 , a ball screw nut 30 and a ball spline nut 31 are attached to the third arm 3 inside the second arm 2. The ball screw nut 30 is attached above the ball spline nut 31. A timing pulley 30a and a timing pulley 31a are attached between the ball screw nut 30 and the ball spline nut 31 and are aligned in the axial direction of the third axis AX3. One timing pulley 30a attached to the third arm 3 is connected to a timing pulley 30b fixed to the output shaft of the third motor 15 via a timing belt 30c. The rotational force of the third motor 15 is transmitted to the ball screw nut 30 via timing pulleys 30a, 30b and timing belt 30c, and as the ball screw nut 30 rotates, the third arm 3 moves up and down along the axial direction of the third axis AX3.

[0016] The other timing pulley 31a attached to the third arm 3 is connected to a timing pulley 31b via a timing belt 31c. The timing pulley 31b is connected to a timing pulley 31d fixed to the output shaft of the fourth motor 16 via a timing belt 31e. The rotational force of the fourth motor 16 is transmitted to the ball spline nut 31 via the timing pulleys 31a, 31b, and 31d and the timing belts 31c and 31e, and as the ball spline nut 31 rotates, the third arm 3 rotates in the forward and reverse directions about the third axis AX3.

[0017] A tool such as a hand for gripping a transported object or a hand for processing a workpiece can be attached to the lower end of the third arm 3. The horizontal articulated robot 100 can transport or process parts using the tool attached to the lower end of the third arm 3.

[0018] Fig. 3 is a perspective view showing a cable unit of the horizontal articulated robot according to the embodiment. Fig. 4 is an explanatory diagram showing the cable unit of the horizontal articulated robot according to the embodiment, in which the second surface of the closing member is viewed from the rear side. Fig. 5 is an explanatory diagram schematically showing a part of the internal structure of the horizontal articulated robot according to the embodiment.

[0019] As shown in FIG. 3 , the cable unit 4 includes a blocking member 5, an attachment member 6, a hose member 7, and an earth connection member 8. The blocking member 5 is detachably attached to the base 10. When attached to the base 10, the blocking member 5 blocks an opening 10d formed from the top surface 10a to the back surface 10c of the base 10. That is, when attached to the base 10, the blocking member 5 constitutes a portion of the top surface 10a and the back surface 10c of the base 10. The blocking member 5 is configured as a single L-shaped component, with a first surface 50 that blocks the opening on the top surface 10a of the base 10 and a second surface 51 that blocks the opening on the back surface 10c of the base 10 integrally formed. One end of the hose member 7 is connected to the first surface 50 via a first rotary connector 44. The first surface 50 and the second surface 51 of the blocking member 5 are each attached to the base 10 by a fastening member such as a screw. For example, if the first surface 50 and the second surface 51 were separate bodies, the hose member 7 would swing around, making it difficult to determine the attachment position of the first surface 50 and making it difficult to attach the first surface 50 to the base 10. However, with the horizontal articulated robot 100 according to this embodiment, when attaching the blocking member 5 to the base 10, the bending first surface 50 and second surface 51 are fitted to the outer surface of the base 10, and the second surface 51 is attached to the base 10, thereby determining the attachment position of the first surface 50 and improving the workability of the attachment work.

[0020] As shown in FIG. 3 , the closing member 5 has a flat support portion 52 attached to the second surface 51 and facing the first surface 50. The control board 40 and the battery 41 are installed on the upper surface of the support portion 52. The control board 40 and the battery 41 are housed inside the base 10 when the closing member 5 is attached to the base 10. The closing member 5 also has a flat fixing portion 53 attached to the second surface 51 and disposed between the first surface 50 and the support portion 52. Wirings 42 or piping 43 housed inside the base 10 are fixed to the fixing portion 53. The control board 40 and the battery 41 do not necessarily have to be provided inside the base 10 and may be provided outside the base 10. The battery 41 does not necessarily have to be installed on the upper surface of the support portion 52 and may be fixed to the second surface 51, for example. Furthermore, the shape, size and installation position of the support portion 52 and the fixing portion 53 are not limited to the configuration shown in the figure, and may be changed as appropriate depending on the relationship with other components.

[0021] As shown in FIGS. 2 to 5 , the second surface 51 of the blocking member 5 is provided with a plurality of connectors 54 to which at least some of the wiring 42 and piping 43 passing through the interior of the base 10 are connected, and a cylindrical fixing member 55 used to pull at least some of the wiring 42 passing through the interior of the base 10 to the outside of the base 10. The connectors 54 shown in FIGS. 3 and 4 include, for example, one connector 54a that connects tool wiring 42c for sending signals to a separate tool, and three connectors 54b that connect air piping, which is the piping 43. For example, the tool may be a hand that grips a transported object or a hand that processes a workpiece, which is installed at the lower end of the third arm 3. Note that the types, arrangements, and number of connectors 54 shown in the drawings are merely examples and are not limited thereto. The connectors 54 may be connectors that connect things other than the tool wiring 42c and the air piping, which is the piping 43.

[0022] The fixing member 55 shown in FIGS. 2 to 4 is a cable gland, for example. As an example, two fixing members 55 are provided side by side, one above the other. The fixing member 55 is used to extend the signal wiring 42a for sending control signals to each motor and the power wiring 42b for supplying power to each motor, which is a driving device, to the outside of the base 10. The signal wiring 42a includes internal wiring connected to each motor and external wiring extended to the outside of the base 10. The internal wiring and external wiring constituting the signal wiring 42a are connected within the base 10 via a connector (not shown). The power supply wiring 42b also includes internal wiring connected to each motor and external wiring extended to the outside of the base 10. The internal wiring and external wiring constituting the power supply wiring 42b are connected within the base 10 via a connector (not shown). Each external wiring passes through the cylindrical interior of the fixing member 55, which is made up of a cable gland, and is extended to the outside of the base 10 and connected to a control device (not shown). The fixing member 55 may be provided to pull either the signal wiring 42a or the power supply wiring 42b out of the base 10. The types, arrangements, and numbers of the fixing members 55 shown in the figures are merely examples and are not limited thereto. The fixing member 55 and the connector 54 may be provided on different surfaces constituting the blocking member 5, for example, one on the second surface 51 and the other on the first surface 50. The fixing member 55 may also be configured to fix wiring other than the signal wiring 42a and the power supply wiring 42b. The means for connecting the internal wiring and external wiring constituting the signal wiring 42a is not limited to a connector (not shown) and may be other means. Similarly, the means for connecting the internal wiring and external wiring constituting the power supply wiring 42b is not limited to a connector (not shown) and may be other means.

[0023] The mounting member 6 is detachably attached to the second arm 2. As shown in FIG. 3 , the mounting member 6 has a first flat surface 60 attached to the upper surface of the second arm 2, a second flat surface 61 attached to the back surface of the second arm 2, and a third flat surface 62 disposed inside the second arm 2. The first flat surface 60 and the second flat surface 61 form an L-shape. The third flat surface 62 is formed by bending from a portion of the edge of the second flat surface 61 along the first flat surface 60. The first flat surface 60 and the second flat surface 61 are each attached to the second arm 2 with fastening members such as screws. Furthermore, as shown in FIGS. 3 and 5 , the first flat surface 60 is provided with a plurality of connectors 60a for connecting air pipes, which are the piping 43, and a connector 60b for connecting tool wiring 42c, which is the wiring 42. The third flat surface 62 also has a fixing hole 62a formed therein for passing a cable tie or the like (not shown) for bundling the tool wiring 42c and the air piping, which is the piping 43. The tool wiring 42c is connected to the connector 60b while being fixed to the third flat surface 62 with a cable tie or the like passed through the fixing hole 62a. The air piping, which is the piping 43, is connected to the connector 60a while being fixed to the third flat surface 62 with a cable tie or the like passed through the fixing hole 62a. Note that the shape of the mounting member 6 is not limited to the one shown in the figure, as long as it can be attached to the second arm 2. For example, the mounting member 6 may be configured without the third flat surface 62.

[0024] The hose member 7 is a flexible hose. As shown in FIG. 1 , one end of the hose member 7 is rotatably attached to the first surface portion 50 of the blocking member 5 via a first rotary connector 44. One end of an L-shaped second rotary connector 46 is connected to the other end of the hose member 7. The other end of the hose member 7 is rotatably attached to the first flat surface portion 60 of the mounting member 6 via a connecting member 45 connected to the other end of the second rotary connector 46. The second rotary connector 46 is, for example, an elbow rotary connector. By including the first rotary connector 44 and the second rotary connector 46, the hose member 7 can suppress twisting caused by rotation of the first arm 1 and the second arm 2. Furthermore, because the other end of the hose member 7 is connected to the L-shaped second rotary connector 46, the hose member 7 does not extend upward but extends from the other end toward the one end connected to the blocking member 5, thereby suppressing the overall height of the horizontal articulated robot 100. The connecting member 45 is provided to ensure the wiring length of the wires 42 and pipes 43 inserted inside the hose member 7. If the wiring length of the wires 42 and pipes 43 is short, a torsional load will act on the wires 42 and pipes 43 when the first arm 1 or the second arm 2 rotates. The second rotary connector 46 does not necessarily have to be L-shaped and may have another shape. The connecting member 45 is not necessarily required and may be omitted.

[0025] As shown in FIGS. 2 and 5 , wiring 42 and piping 43 are inserted inside the hose member 7. As shown in FIG. 2 , the wiring 42 includes, for example, a signal wiring 42a for transmitting signals from an external control device (not shown) to each motor, a power wiring 42b for supplying power to each motor, and, as shown in FIG. 5 , a tool wiring 42c for transmitting signals to a separate tool, and an earth wiring (not shown) for protective grounding each motor. As shown in FIG. 5 , the piping 43 is, for example, an air pipe. The wiring 42 is integrally formed as a cab-tire cable. The cab-tire cable is formed into a single cable by covering the outer periphery of the wiring 42 with a polyvinyl chloride sheath. By forming the wiring 42 integrally as a cab-tire cable, wear resistance is improved and the wiring 42 can be directly disposed inside the hose member 7.

[0026] For example, when wiring 42 is routed inside the hose member 7 without using a cabtire cable, a braided sleeve may be used to protect the wires from wear during operation. By first passing the wires 42 through the braided sleeve and then passing the wires 42 inside the braided sleeve through the hose member 7, it is possible to prevent the wires from breaking due to wear. However, the task of passing the wires 42 through the hose member 7 is difficult and the workability is poor. On the other hand, if the wiring 42 is formed integrally as a cabtire cable, as in the horizontal articulated robot 100 according to this embodiment, the task of passing the wiring 42 through the hose member 7 becomes easier when manufacturing the cable unit 4.

[0027] In the horizontal articulated robot 100 of this embodiment, it is not necessary to use a cab tire cable, but a braided sleeve may be used, or only a portion of the wiring 42 may be integrally formed as a cab tire cable. Furthermore, the wiring 42 and piping 43 are not limited to the wiring and piping described above, and other wiring and piping may be used.

[0028] The earth connection member 8 is detachably attached to the blocking member 5, and earth wiring for each motor is connected thereto. That is, the earth wiring for each motor is collectively connected to the earth connection member 8 attached to the blocking member 5. As shown in FIG. 3 , the earth connection member 8 includes a base 80 having two flat surfaces and a plurality of earth connection portions 81 provided on the base 80 to which earth wiring is connected. The base 80 is a steel member having an L-shaped cross section and includes a first flat surface 80a and a second flat surface 80b bent from an edge of the first flat surface 80a. A flange portion is provided on the first flat surface 80a along the fixing portion 53 of the blocking member 5. The earth connection member 8 is attached to the blocking member 5 by fixing the flange portion to the fixing portion 53 with fixing members such as bolts. Note that the base 80 is not limited to being attached to the fixing portion 53. The base 80 may be attached to, for example, the first surface 50, the second surface 51, or the support portion 52, or may be attached to another location. Furthermore, the base 80 is not limited to the steel material having an L-shaped cross section as shown in the drawing, but may be steel material having other shapes, such as flat steel, channel steel having a concave cross section, or steel material having a stepped cross section.

[0029] The earth connection parts 81 are provided on each of the first plane 80a and the second plane 80b of the base 80. The number of earth connection parts 81 provided corresponds to the number of motors that drive each arm and the number of frame grounds, etc. In the case shown in Fig. 3, five earth connection parts 81 are provided on the first plane 80a, and three earth connection parts 81 are provided on the second plane 80b.

[0030] When the earth connection member 8 is removed from the blocking member 5, an earth wire is connected to the earth connection portion 81. The earth wire has an earth terminal made of a round terminal, and the earth terminal is attached to the earth connection portion 81 using a tool, thereby connecting the earth connection member 8. After the earth terminal is attached to the earth connection portion 81, the earth connection member 8 is attached to the fixing portion 53 of the blocking member 5. The earth connection member 8 is disposed inside the base 10 when the blocking member 5 is attached to the base 10.

[0031] For example, there are cases where the earth connection member 8 is not detachable from the blocking member 5, but is fixed to the blocking member 5 in advance, and the earth terminal of the earth wiring is attached to the earth connection portion 81. In this case, the earth connection member 8 may interfere with other components such as the control board 40, the battery 41, and the wiring 42, making it difficult to attach the earth terminal to the earth connection portion 81. Therefore, it is possible to arrange the earth connection member 8 in a position away from the other components. However, since it is necessary to secure space to arrange the earth connection member 8, the base 10 and the blocking member 5 must be enlarged, which may increase the size of the entire robot.

[0032] On the other hand, in the horizontal articulated robot 100 according to this embodiment, the earth terminal of the earth wire is attached to the earth connection portion 81, and then the earth connection member 8 is attached to the fixing portion 53 of the closing member 5, so there is no need to position the earth connection member 8 in a location that avoids other components such as the control board 40, battery 41, and wiring 42. Therefore, in the horizontal articulated robot 100 according to this embodiment, the base 10 and closing member 5 can be made smaller, and the size of the entire robot can be prevented from increasing.

[0033] Furthermore, in the horizontal articulated robot 100 according to this embodiment, a ground terminal is attached to the ground connection portion 81 with the ground connection member 8 removed from the blocking member 5. This prevents the ground connection portion 81 from interfering with other components, allowing for efficient connection work, resulting in excellent workability in assembling the robot. Furthermore, in the horizontal articulated robot 100 according to this embodiment, the ground wiring of each motor is connected collectively to the ground connection member 8 attached to the blocking member 5, simplifying the robot assembly work compared to conventional techniques in which ground wiring is connected to the ground connection portion at two locations, the base and the second arm.

[0034] 3 , when attached to the blocking member 5, the ground connection member 8 is positioned so as to overlap the first rotary connector 44 when viewed from the axial direction of the rotation axis AX4 of the first rotary connector 44. Typically, the position where the ground connection member 8 overlaps the first rotary connector 44 when viewed from the axial direction of the rotation axis AX4 of the first rotary connector 44 is a narrow space where multiple components, such as the control board 40, the battery 41, and the wiring 42, overlap. On the other hand, the ground connection member 8 can be installed in a narrow space where multiple components overlap, as long as electrical continuity is ensured by attaching a ground terminal of the ground wiring to the ground connection portion 81. In other words, in the horizontal articulated robot 100 according to this embodiment, by arranging the ground connection member 8 in a narrow space where the ground connection member 8 overlaps the first rotary connector 44 when viewed from the axial direction of the rotation axis AX4 of the first rotary connector 44, the base 10 and the blocking member 5 can be made smaller, thereby preventing the robot from becoming larger overall.

[0035] Fig. 6 is a perspective view showing a first modified example of the cable unit of the horizontal articulated robot according to the embodiment. Fig. 7 is a perspective view showing a second modified example of the cable unit of the horizontal articulated robot according to the embodiment. As shown in Figs. 6 and 7 , when attached to the blocking member 5, the earth connection member 8 may be disposed in a position overlapping the connector 54 or the fixing member 55 when viewed from a direction perpendicular to the second surface 51 of the blocking member 5 on which the connector 54 and the fixing member 55 are provided.

[0036] The earth connection member 8 shown in Figure 6 is positioned so as to overlap the fixing member 55 when attached to the blocking member 5. The earth connection member 8 shown in Figure 7 is positioned so as to overlap the connector 54 when attached to the blocking member 5. Typically, the position overlapping with the connector 54 or the fixing member 55 when viewed from a direction perpendicular to the second surface 51 of the blocking member 5 is a narrow space around which components such as the control board 40, the battery 41, and the wiring 42 overlap. Therefore, in the horizontal articulated robot 100 according to this embodiment, by arranging the earth connection member 8 in a narrow space overlapping with the connector 54 or the fixing member 55 when viewed from a direction perpendicular to the second surface 51 of the blocking member 5, the base 10 and the blocking member 5 can be made smaller, and the size of the entire robot can be prevented from increasing.

[0037] In short, in this embodiment, when attached to the blocking member 5, the earth connection member 8 should be positioned at at least one of the following positions: a position overlapping with the first rotating connector 44 when viewed from the axial direction of the rotation axis AX4 of the first rotating connector 44, and a position overlapping with the connecting connector 54 or the fixing member 55 when viewed from a direction perpendicular to one surface of the blocking member 5 on which the connecting connector 54 and the fixing member 55 are provided.

[0038] Furthermore, in the horizontal articulated robot 100 according to this embodiment, the length and specifications of the wiring 42 may be changed depending on the location or application of use, and there may be cases where an already connected ground wiring needs to be replaced with a new ground wiring. Therefore, as shown in FIG. 3 , the ground connection member 8 is provided in a position where a ground terminal can be attached to the ground connection portion 81 when the cable unit 4 is detached from the base 10 and the ground connection member 8 is attached to the blocking member 5. The ground connection member 8 shown in FIG. 3 is provided in a position where a tool can be inserted from a direction perpendicular to the rotation axis AX4 of the first rotary connector 44 and along the plane of the second surface 51 to attach the ground terminal of the ground wiring to the ground connection portion 81 provided on the second flat surface 80b of the base 80. This allows the work of connecting only the ground wiring that needs to be replaced to be performed while the ground connection member 8 is attached to the blocking member 5. This eliminates the need to remove the ground connection member 8 from the blocking member 5, thereby improving the workability of maintenance work on the wiring 42. In addition, the earth connection member 8 may be positioned so that an earth wiring can be connected to the earth connection portion 81 provided on the first plane 80a of the base 80 by inserting a tool from a direction along the rotation axis AX4 of the first rotating connector 44.

[0039] 6 and 7 is provided at a position where a tool can be inserted from a direction orthogonal to the rotation axis AX4 of the first rotary connector 44 and orthogonal to the plane of the second surface 51 to attach a ground terminal of the ground wiring to the ground connection portion 81 provided on the first surface 80a of the base 80. Furthermore, the ground connection member 8 shown in Figures 6 and 7 is provided at a position where a tool can be inserted from a direction orthogonal to the rotation axis AX4 of the first rotary connector 44 and along the plane of the second surface 51 to attach a ground terminal of the ground wiring to the ground connection portion 81 provided on the second surface 80b of the base 80.

[0040] In the horizontal articulated robot 100 of this embodiment, when replacing an already connected earth wiring with a new earth wiring, it is not necessary to perform the connection work with the earth connection member 8 attached to the blocking member 5; the connection work can also be performed with the earth connection member 8 removed from the blocking member 5.

[0041] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, and parts of the configurations may be omitted or modified without departing from the spirit of the invention.

[0042] 1 First arm, 2 Second arm, 3 Third arm, 4 Cable unit, 5 Blocking member, 6 Mounting member, 7 Hose member, 8 Ground connection member, 10 Base, 10a Top surface, 10b Front surface, 10c Back surface, 10d Opening, 11 First motor, 11a, 14a Output shaft, 12 First reducer, 13 Second reducer, 14 Second motor, 15 Third motor, 16 Fourth motor, 30 Ball screw nut, 31 Ball spline nut, 30a, 30b, 31a, 31b, 31d Timing pulley, 30c, 31c, 31e Timing belt, 40 Control board, 41 Battery, 42 Wiring, 42a Signal wiring, 42b Power supply wiring, 42c Tool wiring, 43 Piping, 44 First rotary connector, 45 Connecting member, 46 Second rotary connector, 50 First surface portion, 51 Second surface portion, 52 Support portion, 53 Fixing portion, 54 Connection connector, 54a, 54b, 60a, 60b Connector, 55 Fixing member, 60 First flat portion, 61 Second flat portion, 62 Third flat portion, 62a Fixing hole, 80 Base portion, 80a First flat surface, 80b Second flat surface, 81 Earth connection portion, 100 Horizontal articulated robot, AX1 First axis, AX2 Second axis, AX3 Third axis, AX4 Rotation axis.

Claims

1. A device comprising: a box-shaped base; a first arm supported on the base so as to protrude forward from a front side of the base and rotatable about a first axis; a second arm supported on the first arm so as to protrude forward from the first arm and rotatable about a second axis; and a cable unit having one end attached to the base and the other end attached to the second arm, wherein the base has an opening extending from the top surface to which the cable unit is attached to the back surface, the cable unit having: a blocking member detachably attached to the base and closing the opening; an attachment member detachably attached to the second arm; a hose member having one end rotatably attached to the blocking member via a first rotating connector and the other end rotatably attached to the attachment member via a second rotating connector, with wiring and piping including an earth wiring inserted therein; and an earth connection member detachably attached to the blocking member and to which the earth wiring is connected, a connecting connector to which at least some of the wiring and piping are connected, and a cylindrical fixing member used to pull at least some of the wiring to the outside of the base; and when attached to the blocking member, the earth connection member is arranged in at least one of a position overlapping with the first rotating connector when viewed from the axial direction of the rotation shaft of the first rotating connector, and a position overlapping with the connecting connector or the fixing member when viewed from a direction perpendicular to one surface of the blocking member on which the connecting connector and the fixing member are provided.

2. The horizontal articulated robot according to claim 1, characterized in that the fixing member is used to pull out at least one of a signal wiring for sending a control signal to a drive device that drives the first arm and the second arm and a power supply wiring for supplying power to the drive device to the outside of the base, and the connection connector is a connector for tool wiring for sending a signal to a tool which is a separate component and a connector for connecting an air pipe.

3. A horizontally articulated robot as described in claim 1 or 2, characterized in that the other end of the hose member is rotatably attached to the attachment member via an L-shaped second rotating connector.

4. A horizontal articulated robot as claimed in any one of claims 1 to 3, characterized in that the earth connection member has a base having at least two flat surfaces, and a plurality of earth connection portions provided on the flat surfaces of the base and to which earth terminals of the earth wiring are attached, and is provided in a position where the earth terminals can be attached to the earth connection portions when the cable unit is removed from the base and the earth connection member is attached to the blocking member.

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