Robot

Abstract

The present invention is provided with an external attachment part 4 to which a string-like member So can be attached. The external attachment part 4 has a base attachment part 40 that faces a base part 11, a first attachment part 41 that faces a first work arm 21, and a second attachment part 42 that faces a second work arm 22, and the string-like member So can be attached to the base attachment part 40, the first attachment part 41, and the second attachment part 42. The base attachment part 40 is provided offset from a first rotation axis A1, the first attachment part 41 is provided between the first rotation axis A1 and a second rotation axis A2, and the second attachment part 42 is provided between the second rotation axis A2 and a shaft support position Ps.

Description

robot

[0001] The present invention relates to a technique for attaching external wiring and piping to a robot equipped with multiple arms.

[0002] As shown in Patent Documents 1 to 3, there are known robots that use two rotatably attached arms (first and second arms) to move an end effector and have the end effector perform a task at a predetermined position. In Patent Document 1, wiring is provided in an arm with built-in wiring and in a flexible pipe for additional wiring.

[0003] Patent No. 5187182 Patent No. 6601187 Patent No. 6887581

[0004] However, even with a robot equipped with such a wiring arm, the string-like member may run short depending on the user's usage situation. Therefore, some users have attempted to connect additional string-like members to the end effector. In this case, the string-like member may be attached to a wiring arm or arm to support the string-like member while connecting the string-like member to the end effector. However, these rotate with the rotation of the first axis or second axis. Therefore, if the position at which the string-like member is attached to the wiring arm is inappropriate, the string-like member may bend sharply as the robot moves, resulting in a shortened service life of the string-like member. Therefore, it is not always easy for users to accurately determine the appropriate attachment position of the string-like member.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to make it easy for a user to attach a string-like member to an appropriate position on a wiring arm or a robot equipped with an arm, thereby making it possible to prevent the attached string-like member from being bent sharply.

[0006] The robot according to the present invention comprises a base, a first arm supported on the base so as to be rotatable about a first rotation axis, a second arm supported on the first arm so as to be rotatable about a second rotation axis parallel to the first rotation axis, a shaft supported on the second arm at a shaft support position and having an end effector detachably attached thereto, an external attachment part to which an external string-like member including wiring or piping having a tip connected to the end effector attached to the shaft can be attached, and a wiring arm provided opposite an opposing arm of at least one of the first arm and the second arm and for storing a stored string-like member including wiring or piping, wherein the portion of the wiring arm facing the opposing arm rotates following the rotation of the opposing arm, and the external attachment part comprises a base attachment part provided on the base part offset from the first rotation axis, and a first attachment part provided on the first arm between the first rotation axis and the second rotation axis. and a second mounting portion provided on the second arm between the second rotation axis and the shaft support position, and an external string-like member can be attached to each of the base mounting portion, the first mounting portion and the second mounting portion, the position of the base mounting portion relative to the base portion is fixed, the position of the first mounting portion relative to the first arm is fixed, the first mounting portion rotates in accordance with the rotation of the first arm about the first rotation axis, the position of the second mounting portion relative to the second arm is fixed, and the second mounting portion rotates in accordance with the rotation of the second arm about the second rotation axis, an external string-like member extending from the tip is attached to the second mounting portion, an external string-like member extending from the second mounting portion to the opposite side to the tip is attached to the first mounting portion, and an external string-like member extending from the first mounting portion to the opposite side to the second mounting portion is attached to the base mounting portion, and any of the base mounting portion, the first mounting portion and the second mounting portion is provided on the wiring arm.

[0007] The present invention (robot) configured as described above includes an external mounting portion to which an external string-like member including a wire or pipe having a tip connected to the end effector can be attached. Specifically, the external mounting portion includes a base mounting portion provided to the base portion, a first mounting portion provided to the first arm, and a second mounting portion provided to the second arm, and the external string-like member can be attached to each of the base mounting portion, the first mounting portion, and the second mounting portion. The robot also includes a wiring arm facing at least one of the first and second arms, and the portion of the wiring arm facing the facing arm rotates in accordance with the rotation of the facing arm. One of the base mounting portion, the first mounting portion, and the second mounting portion is provided on the wiring arm. In this case, if the external string-like member is attached at a position overlapping the first or second rotation axis, for example, the external string-like member may bend sharply at the first or second rotation axis. In contrast, in the present invention, the base mounting portion is located offset from the first rotation axis, the first mounting portion is located between the first rotation axis and the second rotation axis, and the second mounting portion is located between the second rotation axis and the shaft support position. In other words, the base mounting portion, the first mounting portion, and the second mounting portion are located in appropriate positions that prevent the external string-like member attached thereto from bending sharply. Therefore, a user can attach the external string-like member used in a robot to an appropriate position by attaching the external string-like member to each of the base mounting portion, the first mounting portion, and the second mounting portion. This makes it easy for a user to attach the string-like member to an appropriate position on a robot equipped with a wiring arm, thereby preventing the attached string-like member from bending sharply.

[0008] The robot may also be configured such that the wiring arm includes a base wiring arm fixed to the base portion and facing the base portion, and a first wiring arm supported by the base wiring arm rotatably about a first rotation axis and facing the first arm, the first wiring arm rotates following the rotation of the first arm about the first rotation axis, the first wiring arm is supported by the second arm rotatably about a second rotation axis, the string-like member to be stored is stored inside the base wiring arm and the first wiring arm, the base mounting portion is fixed to the base wiring arm, the first mounting portion is fixed to the first wiring arm, and the second mounting portion is fixed to the second arm. With this configuration, a user can easily attach a string-like member to an appropriate position on a robot including a base wiring arm and a first wiring arm facing the base portion and the first arm, respectively, and it is possible to prevent the attached string-like member from being bent sharply.

[0009] The robot may also be configured so that the first wiring arm includes a first rotating member supported on the base wiring arm so as to be rotatable about a first rotation axis, a second rotating member supported on the second arm so as to be rotatable about a second rotation axis, and a connecting member provided between the first rotating member and the second rotating member and connecting the first rotating member and the second rotating member. In this configuration, the length of the first wiring arm can be changed by changing the length of the connecting member. This makes it possible to easily accommodate various robots with different first arm lengths.

[0010] The robot may be configured so that the connecting member is flexible. In this configuration, the first wiring arm can bend in response to a force applied to the first wiring arm, and the external string-like member can be appropriately supported by the first attachment portion fixed to the first wiring arm.

[0011] The robot may also be configured so that the wiring arm includes a base wiring arm fixed to the base portion and facing the base portion, and a first wiring arm fixed to the first arm and facing the first arm, the first wiring arm rotates following the rotation of the first arm about a first rotation axis, the first wiring arm is supported by the second arm so as to be rotatable about a second rotation axis, the string-like member to be stored inside the base wiring arm and the first wiring arm, the base mounting portion is fixed to the base wiring arm, the first mounting portion is fixed to the first wiring arm, and the second mounting portion is fixed to the second arm. With this configuration, a user can easily attach a string-like member to an appropriate position on a robot having a base wiring arm and a first wiring arm facing the base portion and the first arm, respectively, and it is possible to prevent the attached string-like member from being bent sharply.

[0012] The robot may also be configured such that the base mounting portion includes a base clamp fixed to the base wiring arm, and the external string-like member is attached to the base clamp; the first mounting portion includes at least one first clamp fixed to the first wiring arm, and the external string-like member is attached to the at least one first clamp; and the second mounting portion includes a second clamp fixed to the second arm, and the external string-like member is attached to the second clamp. With this configuration, a user can attach the external string-like member to the robot in an appropriate position by attaching the external string-like member to each of the base clamp, the at least one first clamp, and the second clamp. This facilitates the user's attachment of the string-like member to an appropriate position on a robot equipped with a wiring arm, and prevents the attached string-like member from being bent sharply.

[0013] The robot may be configured such that the base wiring arm faces the base portion from above in the vertical direction, the first wiring arm faces the first arm from above in the vertical direction, the base clamp is fixed to an upper surface of the base wiring arm, at least one first clamp is fixed to an upper surface of the first wiring arm aligned in the direction in which the first wiring arm extends, the second clamp is fixed to an upper surface of the second arm, the second clamp laterally supports an external string-like member extending from a tip, the at least one first clamp laterally supports an external string-like member extending laterally from the second clamp on a side opposite to the tip, and the base clamp laterally supports an external string-like member extending laterally from the at least one first clamp on a side opposite to the second clamp. With this configuration, it is possible to prevent the external string-like member from being attached in a convex shape upward from the base portion to the second arm, thereby suppressing vibration of the external string-like member and interference with other equipment, and reducing the inertia and weight of the external string-like member.

[0014] Further, the wiring arm is supported on the base portion rotatably around a first rotation axis and has a first wiring arm facing the first arm, the first wiring arm has one wiring portion supported on the base portion rotatably around the first rotation axis and fixed to the first arm, and the other wiring portion fixed to the first arm, the other wiring portion is supported on the second arm rotatably around a second rotation axis, a stored string-like member is stored inside the one wiring portion and the other wiring portion, the one wiring portion faces the first arm from below and the other wiring portion faces the first arm from above, the base attachment portion has a base clamp fixed to the base portion and an external string-like member is attached to the base clamp, the first attachment portion has two first clamps fixed to the first wiring arm, an external string-like member is attached to each of the two first clamps, and the second attachment portion is the second clamp is fixed to the arm, an external string-like member is attached to the second clamp, the base clamp is fixed to the underside of the base portion, one of the two first clamps is fixed to the underside of one wiring portion and the other first clamp is fixed to the upper surface of the other wiring portion, the second clamp is fixed to the upper surface of the second arm, the second clamp laterally supports the external string-like member extending from the tip, the other first clamp laterally supports the external string-like member extending laterally from the second clamp on the side opposite to the tip, one first clamp laterally supports the external string-like member extending downward from the other first clamp on the side opposite to the tip, and the base clamp laterally supports the external string-like member extending laterally from one first clamp on the side opposite to the other first clamp. With this configuration, the external string-like member extending from the base portion to the second arm can be prevented from being attached in a convex shape on the upward side, thereby suppressing vibration of the external string-like member and interference with other equipment, and reducing the inertia and weight of the external string-like member.

[0015] The robot may also be configured so that the wiring arm includes a base wiring arm fixed to the base portion and facing the base portion, and a second wiring arm supported by the first arm rotatably about a second rotation axis and facing the second arm, the second wiring arm rotates following the rotation of the second arm about the second rotation axis, the base wiring arm is connected to the first arm coaxially with the first rotation axis, the string-like member to be stored is stored inside the base wiring arm and the second wiring arm, the base mounting portion is fixed to the base wiring arm, the first mounting portion is fixed to the first arm, and the second mounting portion is fixed to the second wiring arm or the second arm. With this configuration, the robot has a base wiring arm and a second wiring arm facing the base portion and the second arm, respectively, making it easy for a user to attach a string-like member to an appropriate position, and it is possible to prevent the attached string-like member from being bent sharply.

[0016] The robot may also be configured such that the base mounting portion includes a base clamp fixed to the base wiring arm, and the external string-like member is attached to the base clamp, the first mounting portion includes a first clamp fixed to the first arm, and the external string-like member is attached to the first clamp, and the second mounting portion includes a second clamp fixed to the second arm, and the external string-like member is attached to the second clamp. With this configuration, a user can attach the external string-like member used by the robot to an appropriate position by attaching the external string-like member to each of the base clamp, the first clamp, and the second clamp. This facilitates the user's attachment of the string-like member to an appropriate position on a robot equipped with a wiring arm, and prevents the attached string-like member from being bent sharply.

[0017] The robot may also be configured so that the base wiring arm faces the base portion from above in the vertical direction, the second wiring arm faces the second arm from below in the vertical direction, the base clamp is fixed to an upper surface of the base wiring arm, the first clamp is fixed to an upper surface of the first arm, the second clamp is fixed to an upper surface of the second arm, the second clamp laterally supports an external string-like member extending from a tip end of the base wiring arm, the first clamp laterally supports an external string-like member extending laterally from the second clamp on the opposite side to the tip end of the base clamp, and the base clamp laterally supports an external string-like member extending laterally from the first clamp on the opposite side to the second clamp. With this configuration, it is possible to prevent the external string-like member from being attached in a convex shape upward from the base portion to the second arm, thereby suppressing vibration of the external string-like member and interference with other equipment, and reducing the inertia and weight of the external string-like member.

[0018] The robot may also be configured so that the base mounting portion, the first mounting portion, and the second mounting portion support the external string member at the same height. With this configuration, the external string member from the base portion to the second arm can be prevented from being attached with a convex shape on the upper side, thereby suppressing vibration of the external string member and interference with other equipment, and reducing the inertia and weight of the external string member.

[0019] The robot may also be configured such that the base mounting portion includes a base clamp fixed to the base wiring arm and supports the external string-like member via the base clamp, the first mounting portion includes two first clamps fixed to the first arm and supports the external string-like member via the two first clamps, and the second mounting portion includes a second clamp fixed to the second wiring arm and supports the external string-like member via the second clamp. With this configuration, a user can attach an external string-like member to the robot in an appropriate position by attaching the external string-like member to each of the base clamp, the two first clamps, and the second clamp. This facilitates the user's attachment of the string-like member to an appropriate position on a robot equipped with a wiring arm, and prevents the attached string-like member from being bent sharply.

[0020] The robot may also be configured so that the base wiring arm faces the base portion from above in the vertical direction, the second wiring arm faces the second arm from below in the vertical direction, the base clamp is fixed to the upper surface of the base wiring arm, of the two first clamps, one first clamp is fixed to the upper surface of the first arm, the other first clamp is fixed to the underside of the first arm, and the second clamp is fixed to the underside of the second wiring arm, the second clamp laterally supports an external string-like member extending from the tip, the other first clamp laterally supports an external string-like member extending laterally from the second clamp on the opposite side to the tip, one first clamp laterally supports an external string-like member extending upward from the other first clamp on the opposite side to the tip, and the base clamp laterally supports an external string-like member extending laterally from one first clamp on the opposite side to the other first clamp. With this configuration, the external string-like member extending from the base portion to the second arm can be prevented from being attached in a convex shape on the upward side, thereby suppressing vibration of the external string-like member and interference with other equipment, and reducing the inertia and weight of the external string-like member.

[0021] The robot may also be configured such that the wiring arm is supported on the base portion rotatably about a first rotation axis and includes a first wiring arm fixed to the first arm and facing the first arm, and a second wiring arm is supported on the first arm rotatably about a second rotation axis and fixed to the second arm and facing the second arm, the first wiring arm rotates following the rotation of the first arm about the first rotation axis, the second wiring arm rotates following the rotation of the second arm about the second rotation axis, the string-like member to be stored inside the first wiring arm and the second wiring arm, the base mounting portion is fixed to the base portion, the first mounting portion is fixed to the first wiring arm, and the second mounting portion is fixed to the second wiring arm. With this configuration, a user can easily attach a string-like member to an appropriate position on a robot having the first wiring arm and the second wiring arm facing the first arm and the second arm, respectively, and it is possible to prevent the attached string-like member from being bent sharply.

[0022] The robot may also be configured such that the base mounting portion includes a base clamp fixed to the base portion and supports the external string-like member by the base clamp, the first mounting portion includes two first clamps fixed to the first wiring arm and supports the external string-like member by the two first clamps, and the second mounting portion includes a second clamp fixed to the second wiring arm and supports the external string-like member by the second clamp. In this configuration, a user can attach the external string-like member to the robot in an appropriate position by attaching the external string-like member to each of the base clamp, the two first clamps, and the second clamp. This makes it easy for the user to attach the string-like member to an appropriate position on a robot equipped with a wiring arm, and prevents the attached string-like member from being bent sharply.

[0023] The robot may also be configured so that the first wiring arm faces the first arm from below in the vertical direction, the second wiring arm faces the second arm from below in the vertical direction, the base clamp is fixed to the underside of the base, the two first clamps are fixed to the underside of the first wiring arm, one of the two first clamps is located lower than the other first clamp, the second clamp is fixed to the underside of the second wiring arm, the second clamp laterally supports an external string-like member extending from its tip, the other first clamp laterally supports an external string-like member extending laterally from the second clamp on the opposite side to the tip, one first clamp laterally supports an external string-like member extending downward from the other first clamp on the opposite side to the second clamp, and the base clamp laterally supports an external string-like member extending laterally from one first clamp on the opposite side to the other first clamp. With this configuration, the external string-like member extending from the base portion to the second arm can be prevented from being attached in a convex shape on the upward side, thereby suppressing vibration of the external string-like member and interference with other equipment, and reducing the inertia and weight of the external string-like member.

[0024] The robot may also be configured to further include a shaft clamp facing the upper end of the shaft from above and an intermediate clamp provided on the upper surface of the second arm between the shaft support position and the second mounting portion, wherein the external string member passes through the interior of the shaft from the upper end of the shaft and is connected to the end effector, the shaft clamp supports the external string member that passes from the end effector through the interior of the shaft and exits the upper end of the shaft, and the intermediate clamp supports the external string member that extends from the shaft clamp to the opposite side of the upper end of the shaft. With this configuration, a user can attach the external string member used by the robot to an appropriate position by attaching additional external string members to each of the intermediate clamp and the shaft clamp.

[0025] The robot may further include a bearing provided on the shaft, the shaft being rotatable about a shaft rotation axis, and the bearing supporting the shaft clamp rotatably on the shaft. In this configuration, twisting of the external string-like member due to rotation of the shaft can be suppressed.

[0026] The robot may also be configured to further include a shaft spring, which is a coil spring, provided between the intermediate clamp and the shaft clamp, and the external string-like member between the intermediate clamp and the shaft clamp is provided inside the shaft spring. In this configuration, the external string-like member can be supported by the shaft spring.

[0027] The robot may further include a first spring, which is a coil spring, provided between the base mounting portion and the first mounting portion, and the external string-like member between the base mounting portion and the first mounting portion is provided inside the first spring. In this configuration, the external string-like member can be supported by the first spring.

[0028] The robot may further include a second spring, which is a coil spring, provided between the first and second mounting parts, and the external string-like member between the first and second mounting parts is provided inside the second spring. In this configuration, the external string-like member can be supported by the second spring.

[0029] The robot may further include a first tubular member that is a flexible tubular member provided between the base mounting portion and the first mounting portion, and the external string member between the base mounting portion and the first mounting portion is provided inside the first tubular member. In this configuration, the external string member can be supported by the first tubular member.

[0030] The robot may further include a second tubular member that is a flexible tubular member provided between the first and second attachment parts, and the external string member between the first and second attachment parts is provided inside the second tubular member. In this configuration, the external string member can be supported by the second tubular member.

[0031] The robot may further include a joint attached to the upper surface of the second arm and through which an external string member extends from the second attachment portion through the interior of the second arm, and a storage tube provided between the upper end of the shaft and the joint for storing the external string member extending from the joint to the upper end of the shaft, the external string member passing through the interior of the shaft from the upper end to be connected to the end effector. In this configuration, the external string member can be supported by the storage tube.

[0032] The robot may also be configured so that the base mounting portion, the first mounting portion, and the second mounting portion each support an external string-like member via a clamp, and that mounting plates having smooth surfaces are provided on the base portion, the first arm, the second arm, and the wiring arm at the locations where the clamps are attached, and the upper surfaces of the mounting plates are smooth surfaces on which the clamps are attached. Specifically, the robot may be configured so that taps are provided on the smooth surfaces of the mounting plates, and the clamps are attached to the smooth surfaces by screws threaded into the taps. In this configuration, the clamps of the base mounting portion, the first mounting portion, and the second mounting portion can be attached by the simple task of screwing screws into the taps. Alternatively, the robot may be configured so that the clamps are attached to the smooth surfaces of the mounting plates by adhesive bonding. In this configuration, the clamps of the base mounting portion, the first mounting portion, and the second mounting portion can be attached by the simple task of adhesive bonding.

[0033] According to the present invention, it is possible to make it easier for a user to attach a string-like member to an appropriate position on a robot equipped with a wiring arm, thereby preventing the attached string-like member from being bent sharply.

[0034] 7C is a side view schematically showing a multi-joint robot according to a first embodiment. FIG. 1B is a plan view schematically showing the multi-joint robot of FIG. 1A. FIG. 1C is a plan view schematically showing the multi-joint robot of FIG. 1A. FIG. 1D is a rear view schematically showing the back of the multi-joint robot of FIG. 1A. FIG. 7C is a view schematically showing the basic configuration of a clamp used in the first embodiment. FIG. 7D is a view schematically showing the basic configuration of a clamp used in the first embodiment. FIG. 7E is a view schematically showing a modified example of the basic configuration of the clamp. FIG. 7F is a view schematically showing an example of a tap plate. FIG. 7G is a view schematically showing an example of a tap plate. FIG. 7H is a view schematically showing a configuration for fixing a clamp using an L-shaped stay. FIG. 7H is a side view schematically showing a multi-joint robot according to a second embodiment. FIG. 7I is a plan view schematically showing a modified example of the multi-joint robot according to the second embodiment. FIG. 7I is a view schematically showing a first modified example of a joint unit. FIG. 7J is a view schematically showing a second modified example of a joint unit. FIG. 7J is a view schematically showing a third modified example of a joint unit. FIG. 7J is a view schematically showing a collar used in the joint unit of FIG. 7C. 7E is a diagram showing a fourth modified example of the joint unit; FIG. 7F is a diagram showing a collar used in the joint unit of FIG. 7E; FIG. 7G is a side view showing a multi-joint robot according to a third embodiment; FIG. 7H is a side view showing a multi-joint robot according to a fourth embodiment; FIG. 7I is a side view showing a multi-joint robot according to a fifth embodiment; FIG. 7J is a side view showing a multi-joint robot according to a sixth embodiment; FIG. 7K is a side view showing a multi-joint robot according to a seventh embodiment; FIG. 7L is a side view showing a multi-joint robot according to an eighth embodiment; FIG. 7J is a side view showing a multi-joint robot according to a ninth embodiment; FIG. 7L is a side view showing a multi-joint robot according to a tenth embodiment; FIG. 7L is a side view showing a multi-joint robot according to an eleventh embodiment; FIG. 7L is a side view showing a multi-joint robot according to a twelfth embodiment; FIG. 7L is a side view showing a multi-joint robot according to a thirteenth embodiment.

[0035] FIG. 1A is a side view schematically illustrating a multi-joint robot according to a first embodiment, FIGS. 1B and 1C are plan views schematically illustrating the multi-joint robot of FIG. 1A, and FIG. 1D is a rear view schematically illustrating the rear of the multi-joint robot of FIG. 1A. FIGS. 1A and 1B show a state in which the working arm 2 of the multi-joint robot 1 extends parallel to the X direction, while FIG. 1C shows a state in which the working arm 2 of the multi-joint robot 1 is bent. In this specification, the horizontal X direction, the horizontal Y direction perpendicular to the X direction, and the vertical Z direction are appropriately indicated. Furthermore, the side along the multi-joint robot facing the end effector (the side indicated by the X arrow in FIGS. 1A and 1B) is referred to as the distal end side, and the side opposite the distal end side is referred to as the proximal end side.

[0036] 1A is a so-called SCARA (Selective Compliance Assembly Robot Arm) robot, and is set up on a horizontal installation surface G. This articulated robot 1 comprises a base 11, a working arm 2 supported by the base 11, and a spline shaft 13 supported by the working arm 2, with an end effector 15 detachably attached to the lower end of the spline shaft 13.

[0037] The base portion 11 has a base housing 111, which is placed on an installation surface G and fixed to the installation surface G. Inside the base housing 111, a storage space 112 is provided in which string-like members such as wiring or piping can be stored.

[0038] The work arm 2 has a first work arm 21 supported on the base portion 11 so as to be rotatable about a first rotation axis A1 parallel to the Z direction. This first work arm 21 has a work arm housing 211 that extends horizontally. The base end portion of the work arm housing 211 faces the base housing 111 from above and is rotatable about the first rotation axis A1 relative to the base housing 111. In other words, the articulated robot 1 is equipped with a first motor M1 and a first reducer D1 connected to the output shaft of the first motor M1. The first motor M1 is stored in a storage space 112 inside the base housing 111, and the first reducer D1 protrudes upward from the top surface of the base housing 111 and is connected to the base end portion of the work arm housing 211. When the first motor M1 rotates the output shaft, the rotation of the output shaft is transmitted to the work arm housing 211 via the first reducer D1. The rotation thus transmitted to the working arm housing 211 causes the working arm housing 211 to rotate about the first rotation axis A1.

[0039] The work arm 2 has a second work arm 22 that is supported by the first work arm 21 and is rotatable around a second rotation axis A2 that is parallel to the Z direction. This second work arm 22 has a work arm housing 221 that extends horizontally. The base end portion of the work arm housing 221 faces the tip portion of the work arm housing 211 from above and is rotatable around the second rotation axis A2 relative to the work arm housing 211. In other words, the articulated robot 1 is equipped with a second motor M2 and a second reducer D2 connected to the output shaft of the second motor M2. The second motor M2 is stored in a storage space 222 inside the work arm housing 221, and the second reducer D2 protrudes downward from the underside of the work arm housing 221 and is connected to the tip portion of the work arm housing 211. When the second motor M2 rotates the output shaft, the rotation of the output shaft is transmitted to the work arm housing 221 via the second reducer D2. The reaction to the rotation thus transmitted to the working arm housing 211 causes the working arm housing 221 to rotate about the second rotation axis A2.

[0040] The spline shaft 13 is supported by the work arm housing 221 at a shaft support position Ps provided at the tip portion of the work arm housing 221. The spline shaft 13 is supported relative to the work arm housing 221 so as to be rotatable about a shaft rotation axis As parallel to the Z direction. In other words, the articulated robot 1 has a shaft rotation motor Ms, a shaft rotation reducer Ds attached to the output shaft of the shaft rotation motor Ms, and a shaft rotation mechanism 17 connected to the shaft rotation reducer Ds. The shaft rotation reducer Ds has a pulley and a belt wound around the pulley, and transmits the rotation of the output shaft of the shaft rotation motor Ms to the shaft rotation mechanism 17. The shaft rotation mechanism 17 has a spline nut and a support bearing, and rotates the spline shaft 13 about the shaft rotation axis As by the rotational force transmitted by the shaft rotation reducer Ds. The shaft rotation motor Ms and the shaft rotation reducer Ds are stored in a storage space 222 inside the work arm housing 221.

[0041] The spline shaft 13 is supported so as to be movable up and down in the Z direction relative to the work arm housing 221. That is, the articulated robot 1 has a shaft lifting motor Ml, a shaft lifting reducer Dl attached to the output shaft of the shaft lifting motor Ml, and a shaft lifting mechanism 19 connected to the shaft lifting reducer Dl. The shaft lifting reducer Dl has a pulley and a belt wound around the pulley, and transmits the rotation of the output shaft of the shaft lifting motor Ml to the shaft lifting mechanism 19. The shaft lifting mechanism 19 has a ball screw nut and a support bearing, and raises and lowers the spline shaft 13 parallel to the Z direction by the rotational force transmitted by the shaft lifting reducer Dl. The shaft lifting motor Ml and the shaft lifting reducer Dl are stored in a storage space 222 inside the work arm housing 221.

[0042] The lower end of the spline shaft 13 protrudes downward from the working arm housing 221 of the second working arm 22, and an end effector 15 is attached to the lower end of the spline shaft 13. The articulated robot 1 moves the end effector 15 in the X and Y directions using the first motor M1, second motor M2, and shaft rotation motor Ms, and moves the end effector 15 in the Z direction using the shaft lifting motor Ml.

[0043] Furthermore, the articulated robot 1 includes a wiring arm 3 that is provided in parallel to the base portion 11 and the work arm 2. In the first embodiment, the wiring arm 3 includes a base wiring arm 30 that faces the base portion 11 from above in the Z direction, and a first wiring arm 31 that faces the first work arm 21 from above in the Z direction.

[0044] The base wiring arm 30 has a wiring arm housing 301, and inside the wiring arm housing 301, a storage space 302 is provided that communicates with the storage space 112 of the base housing 111. The wiring arm housing 301 has a vertical frame 303 and a horizontal frame 304. The vertical frame 303 is a columnar frame that is provided on the base end side of the first rotation axis A1 and extends upward from the base unit 11 in parallel to the Z direction. The horizontal frame 304 is a beam-shaped frame that extends from the vertical frame 303 to the tip end side in parallel to the X direction and faces the base unit 11 from above in the Z direction.

[0045] The first wiring arm 31 has a wiring arm housing 311, and inside the wiring arm housing 311 is provided a storage space 312 that communicates with the storage space 302 of the wiring arm housing 301. The wiring arm housing 311 is provided to be rotatable relative to the wiring arm housing 301 about a first rotation axis A1. That is, the wiring arm housing 311 of the first wiring arm 31 has a horizontal frame 313 that is a beam-shaped frame extending horizontally, and a base end portion of the horizontal frame 313 faces from above the tip portion of the wiring arm housing 301 of the base wiring arm 30. In addition, a cylindrical protrusion 314 that protrudes downward from the horizontal frame 313 is provided at the base end portion of the wiring arm housing 311. Meanwhile, a bearing hole 305 is opened at the tip portion of the wiring arm housing 301, and the protrusion 314 is located inside the bearing hole 305. Furthermore, a ball bearing B1 is disposed between the protrusion 314 and the bearing hole 305, with the inner ring of the ball bearing B1 fixed to the protrusion 314 and the outer ring of the ball bearing B1 fixed to the bearing hole 305. Therefore, the wiring arm housing 311 of the first wiring arm 31 is rotatable about the first rotation axis A1 relative to the wiring arm housing 301 of the base wiring arm 30. Therefore, the first wiring arm 31 rotates about the first rotation axis A1 in response to the rotation of the first work arm 21 about the first rotation axis A1.

[0046] Furthermore, the wiring arm housing 311 of the first wiring arm 31 is provided rotatably relative to the work arm housing 221 of the second work arm 22, centered on the second rotation axis A2. That is, the tip portion of the horizontal frame 313 of the wiring arm housing 311 faces from above the base end portion of the work arm housing 221 of the second work arm 22. Furthermore, a cylindrical protrusion 315 that protrudes downward from the horizontal frame 313 is provided at the tip portion of the wiring arm housing 311. Meanwhile, a bearing hole 223 opens at the base end portion of the work arm housing 221, and the protrusion 315 is located inside the bearing hole 223. Furthermore, a ball bearing B2 is arranged between the protrusion 315 and the bearing hole 223, with the inner ring of the ball bearing B2 fixed to the protrusion 315 and the outer ring of the ball bearing B2 fixed to the bearing hole 223. Therefore, the wiring arm housing 311 of the first wiring arm 31 is rotatable relative to the working arm housing 221 of the second working arm 22 around the second rotation axis A2.

[0047] The articulated robot 1 also includes internal wiring Wi that supplies power and control signals to the first motor M1, the second motor M2, the shaft rotation motor Ms, and the shaft lifting motor Ml. Specifically, a robot cable Ti is fixed to the back surface of the base housing 111 of the base unit 11. This internal wiring Wi includes a wiring Wi1 that extends from the robot cable Ti to the first motor M1 within the storage space 112 of the base housing 111. The internal wiring Wi also includes a wiring Wi2 that extends from the robot cable Ti through the storage space 112, the storage space 302, and the storage space 312 in this order to the storage space 222. The internal wiring Wi also includes four wirings Wi3 to Wi6 that are stored in the storage space 222 and branch off from the tip of the wiring Wi2. The wiring Wi3 extends from the tip of the wiring Wi2 to the second motor M2. The wiring Wi4 is connected from the tip of the wiring Wi2 to the shaft rotation motor Ms. The wire Wi5 is connected from the tip of the wire Wi2 to the shaft lifting motor M1. The wire Wi6 is connected from the tip of the wire Wi2 to the end effector input / output terminal To. This end effector input / output terminal To is fixed to the top surface of the working arm housing 221 of the second working arm 22.

[0048] In addition to the internal wiring Wi, the articulated robot 1 has an external mounting part 4 for supporting a string-like member So such as wiring or piping. The external mounting part 4 supports the string-like member So at positions offset from the first rotation axis A1 and the second rotation axis A2, and does not support the string-like member So at a position overlapping the first rotation axis A1 or the second rotation axis A2 (in other words, it releases the string-like member So).

[0049] This external mounting portion 4 has a base mounting portion 40 that faces the base portion 11 in the Z direction, a first mounting portion 41 that faces the first work arm 21 in the Z direction, and a second mounting portion 42 that faces the second work arm 22 in the Z direction. In the first embodiment, the base mounting portion 40 faces the base portion 11 from above, the first mounting portion 41 faces the first work arm 21 from above, and the second mounting portion 42 faces the second work arm 22 from above.

[0050] The base mounting portion 40 has a clamp 401 fixed to the horizontal upper surface of the wiring arm housing 301, particularly to the upper surface of the vertical frame 303. This clamp 401 is disposed off to the base end side with respect to the first rotation axis A1 (in other words, on the opposite side from the second rotation axis A2). The first mounting portion 41 has two clamps 411, 412 fixed to the horizontal upper surface of the wiring arm housing 311. The two clamps 411, 412 are arranged side by side in the direction in which the wiring arm housing 311 extends (in other words, in the direction of the horizontal straight line connecting the first rotation axis A1 and the second rotation axis A2) and are disposed between the first rotation axis A1 and the second rotation axis A2. The second mounting portion 42 has a clamp 421 fixed to the horizontal upper surface of the working arm housing 221.

[0051] The external mounting portion 4 also has a tip mounting portion 43 provided on the tip side of the second mounting portion 42 (in other words, on the opposite side of the second rotation axis A2). The tip mounting portion 43 has a clamp 431 provided on the working arm housing 221 and a clamp 432 provided on the spline shaft 13. In other words, the tip mounting portion 43 has an L-shaped stay 433 attached to the upper surface of the working arm housing 221. This L-shaped stay 433 has a bottom plate fixed to the horizontal upper surface of the working arm housing 221 and an upright plate extending upward from the bottom plate in parallel with the Z direction, with the clamp 431 fixed to the side of the upright plate. In this way, the clamp 431 is positioned between the clamp 421 and the shaft support position Ps. The tip mounting portion 43 also has a ball bearing Bs, an annular stay 434, and an L-shaped stay 435 for supporting the clamp 432 on the spline shaft 13. The spline shaft 13 is inserted into a central hole in the annular stay 434, and a ball bearing Bs is disposed between the spline shaft 13 and the annular stay 434. The inner ring of the ball bearing Bs is fixed to the outer wall of the spline shaft 13, and the outer ring of the ball bearing Bs is fixed to the inner wall of the annular stay 434. The L-shaped stay 435 has a bottom plate fixed to the horizontal upper surface of the annular stay 434 and an upright plate extending upward from the bottom plate parallel to the Z direction, with a clamp 432 fixed to the side of the upright plate. The spline shaft 13 has an insertion hole 131 penetrating in the Z direction, and the clamp 432 faces the insertion hole 131 of the spline shaft 13 from above in the Z direction. As described above, due to the provision of the ball bearing Bs, the spline shaft 13 is rotatable relative to the annular stay 434, the L-shaped stay 435, and the clamp 432 around the shaft rotation axis As.

[0052] The external mounting portion 4 also has a base end mounting portion 45 provided on the back surface of the base wiring arm 30. The base end mounting portion 45 has two clamps 451 and 452 fixed to the vertical back surface of the vertical frame 303.

[0053] That is, the external attachment unit 4 has a plurality of clamps 432, 431, 421, 412, 411, 401, 452, and 451 that are arranged in order along a path along which the string-shaped member So is arranged. A user can detachably attach the string-shaped member So to each of the clamps 432, 431, 421, 412, 411, 401, 452, and 451, and the clamps 432, 431, 421, 412, 411, 401, 452, and 451 support the attached string-shaped member So, respectively.

[0054] The tip of the string-like member So is inserted from above into the insertion hole 131 of the spline shaft 13 and connected to the end effector 15 at the lower end of the spline shaft 13. In other words, the string-like member So, whose tip is connected to the end effector 15, extends upward from the end effector 15 along the insertion hole 131 and exits from the upper end of the insertion hole 131. A clamp 432 faces the upper end of the insertion hole 131 from above and vertically supports the string-like member So extending from the upper end of the insertion hole 131. The string-like member So extending upward from the clamp 432 is bent in an inverted U shape toward the base end and extends downward. The string-like member So extending downward in this manner is supported vertically by the clamp 431.

[0055] The string-like member So extending downward from the clamp 431 is bent laterally toward the base end and is supported laterally by the clamp 421. The string-like member So extending laterally from the clamp 421 toward the base end is supported laterally by the clamp 412. The string-like member So extending laterally from the clamp 412 toward the base end is supported laterally by the clamp 411. The string-like member So extending laterally from the clamp 411 toward the base end is supported laterally by the clamp 401. Incidentally, the horizontal upper surfaces of the vertical frame 303 of the wiring arm housing 301, the wiring arm housing 311, and the working arm housing 221 are all positioned at the same height, and the clamps 421, 412, 411, and 401 support the string-like member So at the same height.

[0056] The string-like member So, which extends laterally from the clamp 401 toward the base end, is bent downward and supported vertically by the clamp 452. The string-like member So, which extends downward from the clamp 452, is supported vertically by the clamp 451. In this way, the string-like member So, which extends from the end effector 15 toward the base end of the articulated robot 1, is supported by the external mounting part 4.

[0057] Incidentally, an external wiring Wo, which is short-circuited to the internal wiring Wi, is connected to the end effector input / output terminal To. The tip of this external wiring Wo is inserted from above into the insertion hole 131 of the spline shaft 13 and connected to the end effector 15 at the lower end of the spline shaft 13. In other words, the external wiring Wo, whose tip is connected to the end effector 15, extends upward from the end effector 15 along the insertion hole 131 and exits from the upper end of the insertion hole 131. A clamp 432 faces the upper end of the insertion hole 131 from above and vertically supports the external wiring Wo extending from the upper end of the insertion hole 131. The external wiring Wo extending upward from the clamp 432 is bent in an inverted U shape toward the base end and directed downward. The external wiring Wo extending downward is vertically supported by the clamp 431. The external wiring Wo protruding downward from the clamp 431 is connected to the end effector input / output terminal To.

[0058] In the first embodiment described above, an external attachment portion 4 is provided to which a string-like member So (external string-like member) having a tip connected to the end effector 15 can be attached. Specifically, the external attachment portion 4 has a base attachment portion 40 provided to the base portion 11, a first attachment portion 41 provided to the first work arm 21 (first arm), and a second attachment portion 42 provided to the second work arm 22 (second arm), and the string-like member So can be attached to each of the base attachment portion 40, the first attachment portion 41, and the second attachment portion 42. In addition, a first wiring arm 31 (wiring arm) is provided that faces the first work arm 21 (facing arm), and the first wiring arm 31 rotates following the rotation of the first work arm 21. The first attachment portion 41 is provided to the first wiring arm 31. In this case, if the string member So is attached at a position overlapping the first rotation axis A1 or the second rotation axis A2, for example, the string member So may bend sharply at the first rotation axis A1 or the second rotation axis A2. In contrast, in the first embodiment, the base attachment portion 40 is positioned offset from the first rotation axis A1, the first attachment portion 41 is positioned between the first rotation axis A1 and the second rotation axis A2, and the second attachment portion 42 is positioned between the second rotation axis A2 and the shaft support position Ps. In other words, the base attachment portion 40, the first attachment portion 41, and the second attachment portion 42 are positioned appropriately to prevent the attached string member So from bending sharply. Therefore, by attaching the string member So to the base attachment portion 40, the first attachment portion 41, and the second attachment portion 42, respectively, the user can attach the string member So used in the articulated robot 1 (robot) to an appropriate position. In this way, it is possible for the user to easily attach the string-like member So to an appropriate position on the articulated robot 1 equipped with the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0059] The wiring arm 3 has a base wiring arm 30 fixed to the base portion 11 and facing the base portion 11, and a first wiring arm 31 supported by the base wiring arm 30 so as to be rotatable about a first rotation axis A1 and facing the first work arm 21. The first wiring arm 31 rotates following the rotation of the first work arm 21 about the first rotation axis A1. The first wiring arm 31 is supported by the second work arm 22 so as to be rotatable about a second rotation axis A2, and the internal wiring Wi (string-like member to be stored) is stored inside the base wiring arm 30 and the first wiring arm 31. The base mounting portion 40 is fixed to the base wiring arm 30, the first mounting portion 41 is fixed to the first wiring arm 31, and the second mounting portion 42 is fixed to the second work arm 22. With this configuration, it is easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1, which has a base wiring arm 30 and a first work arm 21 facing the base portion 11 and the first work arm 21, respectively, and it is possible to prevent the attached string-like member So from being bent sharply.

[0060] The base mounting portion 40 has a clamp 401 (base clamp) fixed to the base wiring arm 30, and the string-like member So is attached to the clamp 401. The first mounting portion 41 has two clamps 411 and 412 (first clamps) fixed to the first wiring arm 31, and the string-like member So is attached to each of the two clamps 411 and 412. The second mounting portion 42 has a clamp 421 (second clamp) fixed to the second work arm 22, and the string-like member So is attached to the clamp 421. With this configuration, the user can attach the string-like member So used in the articulated robot 1 to an appropriate position by attaching the string-like member So to each of the clamps 401, 411, 412, and 421. This makes it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 equipped with the first wiring arm 31, and makes it possible to prevent the attached string-like member So from being bent sharply.

[0061] Furthermore, of the two clamps 401 and 411 arranged adjacent to each other along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. In this manner, the two clamps 401 and 411 are arranged at positions offset on either side of the first rotation axis A1. As a result, the string-like member So is prevented from being sharply bent as it rotates around the first rotation axis A1. In addition, of the two clamps 412 and 421 arranged adjacent to each other along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. In this manner, the two clamps 412 and 421 are arranged at positions offset on either side of the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply as it rotates about the second rotation axis A2. Note that two adjacent clamps refer to two clamps with no other clamps between them.

[0062] The base wiring arm 30 faces the base portion 11 from above in the Z direction (vertical direction), and the first wiring arm 31 faces the first work arm 21 from above in the Z direction. A clamp 401 (base clamp) is fixed to the upper surface of the base wiring arm 30, two clamps 411 and 412 (first clamps) are fixed to the upper surface of the first wiring arm 31 aligned in the direction in which the first wiring arm 31 extends, and a clamp 421 (second clamp) is fixed to the upper surface of the second work arm 22. The clamp 421 laterally supports the string-like member So extending from the tip, the two clamps 412 and 411 laterally support the string-like member So extending laterally from the clamp 421 on the side opposite the tip, and the clamp 401 laterally supports the string-like member So extending laterally from the two clamps 412 and 411 on the side opposite the clamp 421. In this configuration in which the string-like member So is extended and supported laterally, the string-like member So extending from the base portion 11 to the second work arm 22 can be prevented from being attached in a convex shape on the upward side, thereby suppressing vibration of the string-like member So and interference with other equipment, and reducing the inertia and weight of the string-like member So.

[0063] Furthermore, the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42 support the string member So at the same height. With this configuration, the string member So extending from the base mounting portion 40 to the second work arm 22 can be prevented from bulging out in an upwardly convex manner, which makes it possible to suppress vibration of the string member So and interference with other equipment, as well as reduce the inertia and weight of the string member So.

[0064] Also provided are a clamp 432 (shaft clamp) facing the upper end of the spline shaft 13 (shaft) from above, and a clamp 431 (intermediate clamp) provided on the upper surface (front surface) of the second work arm 22 (second arm) between the shaft support position Ps and the second mounting portion 42. Meanwhile, the string member So passes through the interior of the spline shaft 13 (insertion hole 131) from the upper end of the spline shaft 13 and is connected to the end effector 15. The clamp 432 supports the string member So that passes from the end effector 15 through the insertion hole 131 of the spline shaft 13 and exits the upper end of the spline shaft 13, and the clamp 431 supports the string member So that extends from the clamp 432 to the opposite side of the upper end of the spline shaft 13. With this configuration, a user can attach the string member So used in the articulated robot 1 to an appropriate position by further attaching the string member So to each of the clamps 431 and 432.

[0065] Furthermore, a ball bearing Bs (bearing) is provided for the spline shaft 13, and the spline shaft 13 is rotatable around the shaft rotation axis As, and the ball bearing Bs rotatably supports the clamp 432 with respect to the spline shaft 13. With this configuration, it is possible to prevent the string-like member So from twisting in response to the rotation of the spline shaft 13.

[0066] Furthermore, the base mounting portion 40, the first mounting portion 41, and the second mounting portion 42 support the string member So at the same height. With this configuration, the string member So extending from the base portion 11 to the second work arm 22 can be prevented from being attached in a convex shape on the upward side, which makes it possible to suppress vibration of the string member So and interference with other equipment, as well as reduce the inertia and weight of the string member So.

[0067] As described above, the external attachment unit 4 supports the string-like member So using a clamp. The configuration of the clamp will now be described with reference to FIGS. 2A and 2B. FIGS. 2A and 2B are diagrams that schematically show the basic configuration of a clamp used in the first embodiment. While these diagrams illustrate clamps (such as clamp 411) that support the string-like member So in the horizontal direction, clamps (such as clamp 432) that support the string-like member So in the vertical direction also have the same basic configuration.

[0068] The clamp 51 has a pair of clamp units 511 arranged adjacently in the X direction. The clamp unit 511 includes a spacer 512, a flat plate 513, a ring clamp 514, and a screw 515. The flat plate 513 and the ring clamp 514 are integrally configured. The spacer 512 is placed on a smooth surface F to which the clamp 51 is fixed, and the flat plate 513 is fixed to the upper surface of the spacer 512. This surface F is a smooth plane. The flat plate 513 has a protrusion that protrudes from the spacer 512 in the Y direction, and the ring clamp 514 is fixed to this protrusion. Screws 515 are inserted from above into vertical holes formed in the spacer 512 and the flat plate 513, respectively, and are threaded into taps formed in the surface F, thereby fixing the clamp unit 511 to the surface F. The ring clamp 514 has an insertion hole formed horizontally and supports (clamps) the string-like member So inserted into the insertion hole.

[0069] However, the basic configuration of the clamp is not limited to the example shown in FIGS. 2A and 2B , and a clamp shown in FIG. 3A may also be used. FIG. 3A is a schematic diagram illustrating a modified example of the basic configuration of the clamp. The clamp 52 shown in FIG. 3A has a pair of clamp units 521 arranged adjacent to each other in the X direction. The clamp unit 521 has an insulation lock base 522. The insulation lock base 522 has an insertion hole 523 penetrating in the Y direction and a bridge 524 spanning the insertion hole 523, and is placed on the surface F to which the clamp 51 is fixed. The clamp unit 521 also has an insulation lock 525. The insulation lock 525 is inserted into the insertion hole 523, and the bridge 524 is positioned inside the insulation lock 525. The clamp unit 521 also has a screw 526. The screw 526 is inserted from above into a vertical hole provided in the insulation lock base 522 and threaded into a tap 591 provided on the surface F, thereby fixing the clamp unit 521 to the surface F. The string-shaped member So inserted inside the insulation lock 525 is fastened to the bridge 524 by the insulation lock 525, whereby the string-shaped member So is supported by the insulation lock 525.

[0070] The location of the tap 591 is not limited to the surface F. Therefore, the tap plate shown in FIGS. 3B and 3C may also be used. FIGS. 3B and 3C are schematic diagrams illustrating an example of a tap plate. The tap plate 59 has a flat body plate 592 having a smooth surface 593. The body plate 592 protrudes from the flat surface F and is integrally formed with the surface F. Meanwhile, a plurality of taps 591 are formed in the smooth surface 593 of the body plate 592. The clamp unit 521 can be fixed to the surface F by placing the cable lock base 522 of the clamp unit 521 on the smooth surface 593 of the body plate 592 and fastening the cable lock base 522 with the screws 526 threaded into the taps 591. This allows the clamp unit 521 to be attached by the simple task of threading the screws 526 into the taps 591.

[0071] Furthermore, the clamp unit 521 may be fixed to the smooth surface 593 of the tap plate 59 without using the tap 591 and the screw 526. For example, the bottom surface of the insulation lock base 522 of the clamp unit 521 may be formed of an adhesive surface having adhesiveness, and the bottom surface may be adhesively bonded to the smooth surface 593, thereby fixing the clamp unit 521 to the smooth surface 593. Alternatively, the bottom surface of the insulation lock base 522 and the smooth surface 593 may be bonded to each other using tape having adhesive properties on both sides, i.e., double-sided tape. This allows the clamp unit 521 to be attached by the simple task of gluing.

[0072] The basic configuration of the clamp may have other variations. For example, a robot cable holder as disclosed in Japanese Patent Application Laid-Open No. 2023-016720 may be used as the clamp, or a nylon or metal cable clip may be used as the clamp.

[0073] Furthermore, the specific configuration for securing each clamp may be modified as appropriate. For example, the clamp may be secured via an L-shaped stay as shown in FIG. 4 . FIG. 4 is a diagram schematically illustrating a configuration for securing a clamp using an L-shaped stay. In the example of FIG. 4 , an L-shaped clamp 461 includes a standing plate 462 extending in the Z direction and a top plate 463 extending from the upper end of the standing plate 462 toward the tip in the X direction. The standing plate 462 is fixed to the rear surface of the vertical frame 303 by screws 464, and the upper end of the standing plate 462 protrudes above the vertical frame 303. The top plate 463 faces the upper surface of the vertical frame 303 from above with a gap therebetween, and the clamp 401 is secured to the upper surface of the top plate 463.

[0074] 5 is a side view schematically showing an articulated robot according to a second embodiment. The second embodiment differs from the first embodiment in that a first wiring arm 32 is provided instead of the first wiring arm 31. The first wiring arm 32 has a rotatable housing 33 that is rotatable about a first rotation axis A1, a rotatable housing 34 that is rotatable about a second rotation axis A2, and a joint unit 35 that connects the rotatable housing 33 and the rotatable housing 34.

[0075] The base end portion of the rotatable housing 33 faces the tip portion of the wiring arm housing 301 of the base wiring arm 30 from above. The base end portion of the rotatable housing 33 is provided with a cylindrical protrusion 331 that protrudes downward. A bearing hole 305 is formed at the tip portion of the wiring arm housing 301, with the protrusion 331 positioned inside the bearing hole 305. A ball bearing B1 is disposed between the protrusion 331 and the bearing hole 305, with the inner ring of the ball bearing B1 fixed to the protrusion 331 and the outer ring of the ball bearing B1 fixed to the bearing hole 305. Therefore, the rotatable housing 33 is rotatable relative to the wiring arm housing 301 of the base wiring arm 30 around the first rotation axis A1.

[0076] The tip portion of the rotatable housing 34 faces from above against the base end portion of the working arm housing 221 of the second working arm 22. In addition, a cylindrical protrusion 341 that protrudes downward is provided at the tip portion of the rotatable housing 34. In contrast, a bearing hole 223 opens at the base end portion of the working arm housing 221, and the protrusion 341 is located inside the bearing hole 223. Furthermore, a ball bearing B2 is arranged between the protrusion 341 and the bearing hole 223, with the inner ring of the ball bearing B2 fixed to the protrusion 341 and the outer ring of the ball bearing B2 fixed to the bearing hole 223. Therefore, the rotatable housing 34 is rotatable relative to the working arm housing 221 of the second working arm 22 about the second rotation axis A2.

[0077] A hollow section 332 is provided inside the rotating housing 33, and the hollow section 332 communicates with the storage space 302 of the base wiring arm 30. The distal end of the hollow section 332 is open. A hollow section 342 is provided inside the rotating housing 34, and the hollow section 342 communicates with the storage space 222 of the second working arm 22. The proximal end of the hollow section 342 is open.

[0078] The coupling unit 35 has a flexible hose 351. The hose 351 is provided to connect the distal end of the rotatable housing 33 and the proximal end of the rotatable housing 34, and a hollow portion 352 of the hose 351 communicates with the hollow portion 332 of the rotatable housing 33 and the hollow portion 342 of the rotatable housing 34. The coupling unit 35 also has a pair of hose bands 353 for fixing the hose 351 to the rotatable housing 33 and the rotatable housing 34. The distal end of the rotatable housing 33 is fitted into the hollow portion 352 of the proximal end of the hose 351; in other words, the proximal end of the hose 351 surrounds the distal end of the rotatable housing 33 from the outside. On the other hand, of the pair of hose bands 353, the proximal hose band 353 surrounds the proximal end of the hose 351 from the outside and fastens it to the distal end of the rotatable housing 33. The base end of the rotatable housing 34 fits into the hollow portion 352 of the tip end of the hose 351. In other words, the tip end of the hose 351 surrounds the base end of the rotatable housing 34 from the outside. On the other hand, of the pair of hose bands 353, the tip-side hose band 353 surrounds the tip end of the hose 351 from the outside and fastens it to the base end of the rotatable housing 34.

[0079] With this configuration, the first wiring arm 32 rotates about the first rotation axis A1 in response to the rotation of the first work arm 21 about the first rotation axis A1. Furthermore, the work arm housing 221 of the second work arm 22 rotates relative to the first wiring arm 32 about the second rotation axis A2. The clamp 411 is fixed to the horizontal upper surface of the rotatable housing 33, and the clamp 412 is fixed to the horizontal upper surface of the rotatable housing 34. The upper surfaces of the rotatable housing 33 and the rotatable housing 34 are located at the same height as the upper surface of the vertical frame 303 and the upper surface of the work arm housing 221, and the clamps 401, 411, 412, and 421 support the string-like member So at the same height.

[0080] 5, the length of the hose 351 is adjusted according to the distance between the rotatable housing 33 and the rotatable housing 34, and the rotatable housing 33, the hose 351, and the rotatable housing 34 are aligned in a straight line to form the first wiring arm 32. However, the hose 351 may be made longer than the distance between the rotatable housing 33 and the rotatable housing 34 to cause the first wiring arm 32 to bend (FIG. 6). FIG. 6 is a plan view schematically illustrating a modified example of the articulated robot according to the second embodiment. In the example shown in FIG. 6, the hose 351 is adjusted to be long, so that the hose 351 bends laterally, and the first wiring arm 32 has a bent shape.

[0081] In the second embodiment as well, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamps 411 and 412 of the first mounting portion 41 are provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible to make it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0082] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation around the first rotation axis A1. Furthermore, of the two clamps 412 and 421 arranged adjacently along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation around the second rotation axis A2.

[0083] The configuration of the coupling unit can be modified as appropriate. Fig. 7A is a diagram schematically illustrating a first modified example of the coupling unit. The only difference between the example of Fig. 7A and the example of Fig. 6 is the configuration of the coupling unit; the other configurations are the same. The coupling unit 36 ​​of Fig. 7A has a flexible pipe 361 and a pair of couplings 362, 363 provided on both ends of the flexible pipe 361. Of the pair of couplings 362, 363, the distal coupling 362 connects the distal end of the flexible pipe 361 to the proximal end of the rotating housing 34.

[0084] Furthermore, the joint unit 36 ​​has a bolt pipe 364 having a threaded outer surface, a pair of lock nuts 365, 366 that fit onto the bolt pipe 364 from the outside, and a pair of nuts 367, 368 that fit onto the bolt pipe 364 from the outside. These are provided further proximal than the proximal joint 363 of the pair of joints 362, 363. Of the pair of lock nuts 365, 366, the lock nut 365 is provided on the tip side, and the lock nut 366 is provided on the base side. Also, of the pair of nuts 367, 368, the nut 367 is provided on the tip side, and the nut 368 is provided on the base side.

[0085] The coupling 363 connects the base end of the flexible pipe 361 to a nut 367. The nut 367 is threaded onto the tip end of the bolt pipe 364, distal to the lock nut 365. The nut 368 is fixed to the tip end of the rotating housing 33 and threaded onto the base end of the bolt pipe 364, proximal to the lock nut 366. The thread direction of the tip end of the bolt pipe 364 is opposite to that of the base end. Correspondingly, the thread direction of the nut 367 is opposite to that of the nut 368. Therefore, when the bolt pipe 364 is rotated in one direction, the nuts 367 and 368 move closer to each other, and when the bolt pipe 364 is rotated in the other direction, the nuts 367 and 368 move farther apart. In this way, the length of the coupling unit 36 ​​can be adjusted. Incidentally, holes penetrating laterally are provided in the centers of the joints 362, 363 and the nuts 367, 368, and a storage space is formed inside the joint unit 36 ​​through which the string-like member So can pass laterally.

[0086] Figure 7B is a schematic diagram showing a second modified example of a coupling unit. The only difference between the example of Figure 7B and the example of Figure 6 is the configuration of the coupling unit; the other configurations are the same. The coupling unit 37 of Figure 7B has a nut pipe 371 with a threaded inner surface and a pair of lock nuts 372, 373 provided on both sides of the nut pipe 371. A bolt 343 is formed at the base end of the rotating housing 34, and the lock nut 372 and nut pipe 371 are threaded onto the bolt 343 from the outside. A bolt 333 is formed at the tip end of the rotating housing 33, and the lock nut 373 and nut pipe 371 are threaded onto the bolt 333 from the outside.

[0087] The thread direction of the distal end of the nut piping 371 is opposite to that of the proximal end. Correspondingly, the thread direction of the bolt 343 of the rotatable housing 34 is opposite to that of the bolt 333 of the rotatable housing 33. Therefore, when the nut piping 371 is rotated in one direction, the rotatable housing 34 and the rotatable housing 33 move closer to each other, and when the nut piping 371 is rotated in the other direction, the rotatable housing 34 and the rotatable housing 33 move away from each other. In this way, the length of the coupling unit 37 can be adjusted.

[0088] Fig. 7C is a schematic diagram showing a third modified example of the coupling unit, and Fig. 7D is a schematic diagram showing a collar used in the coupling unit of Fig. 7C. The only difference between the example of Fig. 7C and the example of Fig. 6 is the configuration of the coupling unit; the other configurations are the same. The coupling unit 38 of Fig. 7C has a pipe 381 that is not flexible, i.e., inflexible. The pipe 381 is provided to connect the distal end of the rotating housing 33 and the proximal end of the rotating housing 34, and the hollow portion 382 of the pipe 381 communicates with the hollow portion 332 of the rotating housing 33 and the hollow portion 342 of the rotating housing 34.

[0089] The distal end of the rotatable housing 33 fits into the hollow portion 382 at the proximal end of the pipe 381; in other words, the proximal end of the pipe 381 surrounds the distal end of the rotatable housing 33 from the outside. Similarly, the proximal end of the rotatable housing 34 fits into the hollow portion 382 at the distal end of the pipe 381; in other words, the distal end of the pipe 381 surrounds the distal end of the rotatable housing 34 from the outside. Two D-shaped cuts 334 are provided at a 90-degree interval at the distal end of the rotatable housing 33. Similarly, two D-shaped cuts 344 are provided at a 90-degree interval at the proximal end of the rotatable housing 34.

[0090] On the other hand, the pipe 381 has threaded holes that open opposite the D-cuts 334 and 344, and the joint unit 37 has bolts 383 that screw into the respective threaded holes. In this way, by bringing the tip of the bolt 383 screwed into the pipe 381 into contact with the D-cuts 334 and 344, the pipe 381 is fastened and fixed to the rotating housing 33 and the rotating housing 34.

[0091] Fig. 7E is a schematic diagram showing a fourth modified example of the coupling unit, and Fig. 7F is a schematic diagram showing a collar used in the coupling unit of Fig. 7E. The only difference between the example of Fig. 7E and the example of Fig. 6 is the configuration of the coupling unit; the other configurations are the same. The coupling unit 39 of Fig. 7E has a pipe 391 that is not flexible, i.e., inflexible. The pipe 391 is provided to connect the distal end of the rotating housing 33 and the proximal end of the rotating housing 34, and a hollow portion 392 of the pipe 391 communicates with the hollow portion 332 of the rotating housing 33 and the hollow portion 342 of the rotating housing 34.

[0092] The distal end of the rotatable housing 33 fits into the hollow portion 392382 at the proximal end of the pipe 391, in other words, the proximal end of the pipe 391 surrounds the distal end of the rotatable housing 33 from the outside. The proximal end of the rotatable housing 34 fits into the hollow portion 392 at the distal end of the pipe 391, in other words, the distal end of the pipe 391 surrounds the distal end of the rotatable housing 34 from the outside.

[0093] The pipe 391 also has a slit 393. The pipe 391 also has an insertion hole 394 and a screw hole 395 that face each other with the slit 393 interposed therebetween. The joint unit 39 has a bolt 396, and the bolt 396 is inserted into the insertion hole 394 and screwed into the screw hole 395, thereby fastening and fixing the pipe 391 to the rotatable housings 33 and 34. In other words, the pipe 391 functions like a slit-type set collar and is fixed to the rotatable housings 33 and 34.

[0094] 8 is a side view showing a schematic diagram of an articulated robot according to Example 3. Example 3 and Example 2 differ in the configurations of the base wiring arm 30, the first motor M1, and the first reducer D1, but share the other configurations.

[0095] In other words, the wiring arm housing 301 of the base wiring arm 30 has a vertical frame 306 further towards the tip side than the vertical frame 303. The vertical frame 306 is provided parallel to the Z direction so as to overlap the first rotation axis A1, and extends downward from the underside of the tip end of the horizontal frame 304. Meanwhile, a bearing hole 212 is opened at the base end end of the working arm housing 211 of the first work arm 21 so as to overlap the first rotation axis A1, and the lower end portion of the vertical frame 306 is located inside the bearing hole 212. Furthermore, a ball bearing B3 is arranged between the lower end portion of the vertical frame 306 and the bearing hole 212, with the inner ring of the ball bearing B3 fixed to the vertical frame 306 and the outer ring of the ball bearing B3 fixed to the bearing hole 212. Therefore, the vertical frame 306 of the base wiring arm 30 is connected coaxially with the first rotation axis A1 to the working arm housing 211 of the first work arm 21.

[0096] In contrast, the first motor M1 is housed within the vertical frame 306 and the working arm housing 211 so as to overlap the first rotation axis A1, and the first reducer D1 connected to the first motor M1 protrudes downward from the underside of the working arm housing 211 and is connected to the tip portion of the base housing 111. When the first motor M1 rotates the output shaft, the rotation of the output shaft is transmitted to the base housing 111 via the first reducer D1. The reaction to the rotation transmitted to the base housing 111 in this way causes the working arm housing 211 to rotate around the first rotation axis A1.

[0097] Fig. 9 is a side view showing a schematic diagram of an articulated robot according to a fourth embodiment. The fourth embodiment and the third embodiment differ in the configuration of the coupling unit of the first wiring arm 32, but share other configurations in common. The coupling unit 36 ​​in Fig. 9 has a general configuration similar to that of the coupling unit 36 ​​in Fig. 7A, but includes a flexible pipe 361, a coupling 362, and a coupling 363, and excludes the rest.

[0098] 9 has a flexible pipe 361 and a pair of joints 362, 363 provided on both ends of the flexible pipe 361. Of the pair of joints 362, 363, the joint 362 on the tip side connects the tip end of the flexible pipe 361 to the base end end of the rotating housing 34. Furthermore, of the pair of joints 362, 363, the joint 363 on the base end side connects the base end end of the flexible pipe 361 to the tip end end of the rotating housing 33. As described above, holes penetrating laterally are provided at the centers of the joints 362, 363, and a storage space is formed inside the joint unit 36 ​​through which the string-like member So can pass laterally.

[0099] FIG. 10 is a side view schematically showing an articulated robot according to a fifth embodiment. The fifth embodiment and the fourth embodiment differ in the arrangement of the clamps 411 and 412, but have the other configurations in common. That is, in the fourth embodiment ( FIG. 9 ), the clamp 411 is fixed to the upper surface of the rotating housing 33, and the clamp 412 is fixed to the upper surface of the rotating housing 34. In contrast, in the fifth embodiment ( FIG. 10 ), the clamp 411 is fixed to the upper surface of the end portion on the base end side of the flexible pipe 361, and the clamp 412 is fixed to the upper surface of the end portion on the tip end side of the flexible pipe 361.

[0100] In the fifth embodiment as well, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamps 411 and 412 of the first mounting portion 41 are provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible to make it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0101] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation around the first rotation axis A1. Furthermore, of the two clamps 412 and 421 arranged adjacently along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation around the second rotation axis A2.

[0102] 5 to 10, the first wiring arm 31 has a rotatable housing 33 (one rotating member) supported on the base wiring arm 30 so as to be rotatable about the first rotation axis A1, a rotatable housing 34 (the other rotating member) supported on the second work arm 22 so as to be rotatable about the second rotation axis A2, and a joint unit 36 ​​(connecting member) provided between the rotatable housing 33 and the rotatable housing 34 to connect the rotatable housing 33 and the rotatable housing 34. With this configuration, the length of the joint unit 36 ​​can be changed by changing the length of the joint unit 36. This makes it possible to easily accommodate various articulated robots 1 having first work arms 21 of different lengths.

[0103] Furthermore, in a configuration in which the rotating housing 33 and the rotating housing 34 are connected by a coupling unit 36, as in the example shown in Figures 5 to 10 above, the rotating housing 33 and the rotating housing 34 can be made into common parts so that they have the same configuration.

[0104] 5 and 6, the joint unit 36 ​​is flexible. In this configuration, the first wiring arm 31 can bend in response to a force applied to the first wiring arm 31, and the string-like member So can be appropriately supported by the first attachment portion 41 fixed to the first wiring arm 31.

[0105] FIG. 11 is a side view schematically showing an articulated robot according to a sixth embodiment. The sixth embodiment and the first embodiment differ in the configuration for supporting the first wiring arm 31, but share other configurations in common. Specifically, in the sixth embodiment ( FIG. 11 ), ball bearings B1 and B2 are not provided, and the first wiring arm 31 is supported by the base wiring arm 30 and the second work arm 22 with the protrusion 314 fitted in the bearing hole 305 and the protrusion 315 fitted in the bearing hole 223. Furthermore, a support 316 is provided connecting the lower surface of the wiring arm housing 311 of the first wiring arm 31 to the upper surface of the work arm housing 211 of the first work arm 21. With this configuration, the wiring arm housing 311 of the first wiring arm 31 rotates about the first rotation axis A1, following the work arm housing 211 of the first work arm 21. In addition, the work arm housing 221 of the second work arm 22 is rotatable relative to the work arm housing 211 of the first work arm 21 around the second rotation axis A2, and supports the wiring arm housing 311 of the first wiring arm 31 so that it can rotate around the second rotation axis A2.

[0106] Incidentally, a seal such as a labyrinth seal or an oil seal may be provided between the protrusion 314 and the bearing hole 305, and between the protrusion 315 and the bearing hole 223. This makes it possible to seal the protrusion 314 from the bearing hole 305, and the protrusion 315 from the bearing hole 223. However, providing such a seal is not essential.

[0107] 12 is a side view showing a schematic diagram of an articulated robot according to Example 7. Example 7 is different from Example 1 in the configurations of the base wiring arm 30 and the first wiring arm 31 and the route of the internal wiring Wi, but has the other configurations in common.

[0108] The tip end of a horizontal frame 304 of the wiring arm housing 301 of the base wiring arm 30 faces from above the base end end of the working arm housing 211 of the first work arm 21. A protruding part 307 that protrudes downward is provided at the tip end of this horizontal frame 304, while a bearing hole 213 that opens upward is provided at the base end end of the working arm housing 211, with the protruding part 307 located inside the bearing hole 213. Furthermore, a ball bearing B1 is arranged between the protruding part 307 and the bearing hole 213, with the inner ring of the ball bearing B1 fixed to the protruding part 307 and the outer ring of the ball bearing B1 fixed to the bearing hole 213. Therefore, the wiring arm housing 301 of the base wiring arm 30 is connected to the working arm housing 211 of the first work arm 21 coaxially with the first rotation axis A1.

[0109] Furthermore, the wiring arm housing 311 of the first wiring arm 31 has a support pillar 316 extending parallel to the Z direction. The support pillar 316 extends downward from the underside of the base end of the horizontal frame 313, and the interiors of the horizontal frame 313 and the support pillar 316 are connected to form a storage space 312. This support pillar 316 connects the underside of the base end of the horizontal frame 313 to the upper surface of the work arm housing 211 of the first work arm 21. In other words, the support pillar 316 is fixed to the work arm housing 211. Therefore, the wiring arm housing 311 of the first wiring arm 31 rotates about the first rotation axis A1, following the work arm housing 211 of the first work arm 21. The internal wiring Wi extends from the storage space 302 of the base wiring arm 30 through the storage space 214 inside the working arm housing 211 of the first working arm 21 to the storage space 312 of the first wiring arm 31 .

[0110] In the seventh embodiment as well, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamps 411 and 412 of the first mounting portion 41 are provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible to make it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0111] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation around the first rotation axis A1. Furthermore, of the two clamps 412 and 421 arranged adjacently along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation around the second rotation axis A2.

[0112] In the seventh embodiment, the wiring arm 3 includes a base wiring arm 30 supported by the base portion 11 and facing the base portion 11, and a first wiring arm 31 fixed to the first work arm 21 (first arm) and facing the first work arm 21. The first wiring arm 31 rotates following the rotation of the first work arm 21 about the first rotation axis A1, and the second work arm 22 supports the first wiring arm 31 so that it can rotate about the second rotation axis A2. The internal wiring Wi (string-like member to be stored) is stored inside the base wiring arm 30 and the first wiring arm 31. The base mounting portion 40 (clamp 401) is fixed to the base wiring arm 30, the first mounting portion 41 (clamps 411, 412) is fixed to the first wiring arm 31, and the second mounting portion 42 (clamp 421) is fixed to the second work arm 22. In this configuration, it is easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1, which has a base wiring arm 30 and a first wiring arm 31 facing the base portion 11 and the first work arm 21, respectively, and it is possible to prevent the attached string-like member So from being bent sharply.

[0113] The base mounting portion 40 has a clamp 401 (base clamp) fixed to the base wiring arm 30, and the string-like member So is attached to the clamp 401. The first mounting portion 41 has two clamps 411 and 412 (first clamps) fixed to the first wiring arm 31, and the string-like member So is attached to each of the two clamps 411 and 412. The second mounting portion 42 has a clamp 421 (second clamp) fixed to the second work arm 22, and the string-like member So is attached to the clamp 421. With this configuration, the user can attach the string-like member So used in the articulated robot 1 to an appropriate position by attaching the string-like member So to each of the clamps 401, 411, 412, and 421. This makes it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 equipped with the wiring arm 3, and makes it possible to prevent the attached string-like member So from being bent sharply.

[0114] 13 is a side view schematically showing an articulated robot according to Example 8. Example 8 is different from Example 7 in that the wiring arm 3 does not have a first wiring arm 31 but has a second wiring arm 61 and in the path of the internal wiring Wi, but has the other configurations in common.

[0115] The second wiring arm 61 faces the second work arm 22 of the work arm 2 from below in the Z direction. The second wiring arm 61 has a wiring arm housing 611, and a storage space 612 is provided inside the wiring arm housing 611, and the storage space 612 communicates with the storage space 214 inside the work arm housing 211 of the first work arm 21 and the storage space 222 of the work arm housing 221 of the second work arm 22. This wiring arm housing 611 is supported on the work arm housing 211 so as to be rotatable around the second rotation axis A2. In other words, the wiring arm housing 611 of the second wiring arm 61 has a horizontal frame 613 which is a beam-shaped frame extending horizontally, and the base end portion of this horizontal frame 613 faces the tip portion of the work arm housing 211 of the first work arm 21 from below. In addition, the base end portion of the wiring arm housing 611 is provided with a cylindrical protrusion 614 that protrudes upward from the horizontal frame 613. Meanwhile, a bearing hole 215 opens downwards at the tip of the working arm housing 211, and a protrusion 614 is located inside the bearing hole 215. Furthermore, a ball bearing B2 is arranged between the protrusion 614 and the bearing hole 215, with the inner ring of the ball bearing B2 fixed to the protrusion 614 and the outer ring of the ball bearing B2 fixed to the bearing hole 215. Therefore, the wiring arm housing 611 of the second wiring arm 61 is supported on the working arm housing 211 of the first working arm 21 so as to be rotatable around the second rotation axis A2.

[0116] Furthermore, the wiring arm housing 611 of the second wiring arm 61 has a support pillar 615 extending parallel to the Z direction. The support pillar 615 extends upward from the upper surface of the tip end of the horizontal frame 613, and the interiors of the horizontal frame 613 and the support pillar 615 are connected to form a storage space 612. This support pillar 615 connects the upper surface of the tip end of the horizontal frame 613 to the lower surface of the work arm housing 221 of the second work arm 22. In other words, the support pillar 615 is fixed to the work arm housing 221. Therefore, the wiring arm housing 611 of the second wiring arm 61 rotates about the second rotation axis A2, following the work arm housing 221 of the second work arm 22. The internal wiring Wi extends from the storage space 214 of the first work arm 21 through the storage space 612 inside the wiring arm housing 611 of the second wiring arm 61 to the storage space 222 of the second work arm 22 .

[0117] The base mounting portion 40 has a clamp 401 fixed to the horizontal upper surface of the wiring arm housing 301, particularly to the upper surface of the vertical frame 303. This clamp 401 is arranged offset to the base end side with respect to the first rotation axis A1 (in other words, the opposite side of the second rotation axis A2). The first mounting portion 41 has a clamp 411 fixed to the horizontal upper surface of the working arm housing 211. This clamp 411 is fixed to the upper end of a stay 413 that extends upward from the upper surface of the working arm housing 211. Furthermore, the first mounting portion 41 has a clamp 412 fixed to the horizontal lower surface of the working arm housing 211. This clamp 412 is fixed to the upper end of a stay 414 that extends downward from the lower surface of the working arm housing 211. The two clamps 411, 412 are disposed between the first rotation axis A1 and the second rotation axis A2 in the direction in which the working arm housing 211 extends (in other words, in the direction of the horizontal line connecting the first rotation axis A1 and the second rotation axis A2). The second attachment portion 42 also has a clamp 421 fixed to the horizontal lower surface of the wiring arm housing 611.

[0118] Furthermore, the second attachment portion 42 has a clamp 422 fixed to the side surface of the tip end of the wiring arm housing 611 and a clamp 423 fixed to the top surface of the working arm housing 221 .

[0119] That is, the external attachment unit 4 has a plurality of clamps 432, 431, 423, 422, 421, 412, 411, 401, and 451 that are arranged in order along a path along which the string-like member So is arranged. A user can detachably attach the string-like member So to each of the clamps 432, 431, 423, 422, 421, 412, 411, 401, and 451, and the clamps 432, 431, 423, 422, 421, 412, 411, 401, and 451 support the attached string-like member So, respectively.

[0120] The string-like member So extending downward from the clamp 431 is bent laterally toward the base end and is supported laterally by the clamp 423. The string-like member So protruding from the clamp 423 toward the base end extends downward to the clamp 422 and is supported vertically by the clamp 422. The string-like member So extending downward from the clamp 422 to the clamp 421 is supported laterally toward the base end by the clamp 421. The string-like member So extending laterally from the clamp 421 toward the base end is supported laterally by the clamp 412. The string-like member So protruding from the clamp 412 toward the base end extends upward to the clamp 411 and is supported laterally by the clamp 411. The string-like member So extending laterally from the clamp 411 toward the base end is supported laterally by the clamp 401. The clamps 421 and 412 support the string-like member So at the same height, and the clamps 411 and 401 support the string-like member So at the same height.

[0121] The string-like member So, which extends laterally from the clamp 401 toward the base end, is bent downward and supported vertically by the clamp 451. In this way, the string-like member So, which extends from the end effector 15 toward the base end of the articulated robot 1, is supported by the external mounting portion 4.

[0122] In the eighth embodiment as well, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamps 411 and 412 of the first mounting portion 41 are provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible to make it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0123] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation around the first rotation axis A1. Furthermore, of the two clamps 412 and 421 arranged adjacently along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation around the second rotation axis A2.

[0124] In the eighth embodiment, the wiring arm 3 includes a base wiring arm 30 fixed to the base portion 11 and facing the base portion 11, and a second wiring arm 61 supported by the first work arm 21 (first arm) rotatably about the second rotation axis A2 and facing the second work arm 22 (second arm). The second wiring arm 61 rotates following the rotation of the second work arm 22 about the second rotation axis A2, and the base wiring arm 30 is connected to the first work arm 21 coaxially with the first rotation axis A1. The internal wiring Wi (string-like member to be stored) is stored inside the base wiring arm 30 and the second wiring arm 61. The base mounting portion 40 (clamp 401) is fixed to the base wiring arm 30, the first mounting portion 41 (clamps 411, 412) is fixed to the first work arm 21, and the second mounting portion 42 (clamp 421) is fixed to the second wiring arm 61. In this configuration, it is easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1, which has a base wiring arm 30 and a second wiring arm 61 facing the base portion 11 and the second work arm 22, respectively, and it is possible to prevent the attached string-like member So from being bent sharply.

[0125] The base mounting portion 40 has a clamp 401 (base clamp) fixed to the base wiring arm 30 and supports the string-like member So by the clamp 401. The first mounting portion 41 has two clamps 411 and 412 (first clamps) fixed to the first work arm 21 and supports the string-like member So by the two clamps 411 and 412. The second mounting portion 42 has a clamp 421 (second clamp) fixed to the second wiring arm 61 and supports the string-like member So by the clamp 421. With this configuration, the user can attach the string-like member So to the clamps 401, 411, 412, and 421, respectively, to an appropriate position for use with the articulated robot 1. This makes it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 equipped with the wiring arm 3, and prevents the attached string-like member So from being bent sharply.

[0126] Furthermore, the base wiring arm 30 faces the base portion 11 from above in the Z direction, and the second wiring arm 61 faces the second work arm 22 (second arm) from below in the Z direction. Clamp 401 (base clamp) is fixed to the upper surface of the base wiring arm 30, and of the two clamps 411, 412 (first clamps), one clamp 411 is fixed to the upper surface of the first work arm 21, the other clamp 412 is fixed to the lower surface of the first work arm 21, and clamp 421 (second clamp) is fixed to the lower surface of the second wiring arm 61. Clamp 421 laterally supports the string-like member So extending from the tip attached to end effector 15, clamp 412 laterally supports the string-like member So extending laterally from clamp 421 on the opposite side to the tip, clamp 411 laterally supports the string-like member So extending upward from clamp 412 on the opposite side to the tip, and clamp 401 laterally supports the string-like member So extending laterally from clamp 411 on the opposite side to clamp 412. With this configuration, it is possible to prevent the string-like member So extending from base unit 11 to second work arm 22 from being attached in a convex shape upward, which makes it possible to suppress vibration of the string-like member So and interference with other equipment, as well as reduce the inertia and weight of the string-like member So.

[0127] 14 is a side view showing a schematic diagram of an articulated robot according to Example 9. Example 9 and Example 8 differ in the configuration of the first mounting portion 41 and the second mounting portion 42, but share the other configurations.

[0128] In other words, the first mounting portion 41 has only one clamp 411 attached to the upper surface of the working arm housing 211 via a stay 413, and does not have a clamp 412. In addition, the second mounting portion 42 has a clamp 421 fixed to the upper surface of the working arm housing 221.

[0129] That is, the external attachment unit 4 has a plurality of clamps 432, 431, 421, 411, 401, and 451 that are arranged in order along a path along which the string-shaped member So is arranged. A user can detachably attach the string-shaped member So to each of the clamps 432, 431, 421, 411, 401, and 451, and the clamps 432, 431, 421, 411, 401, and 451 support the attached string-shaped member So, respectively.

[0130] The clamp 421 supports the string-like member So laterally toward the base end. The string-like member So extending laterally from the clamp 421 toward the base end is supported laterally by the clamp 411. The string-like member So extending laterally from the clamp 411 toward the base end is supported laterally by the clamp 401. The clamps 421, 411, and 401 support the string-like member So at the same height.

[0131] In the ninth embodiment, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamp 411 of the first mounting portion 41 is provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible for the user to easily attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0132] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation about the first rotation axis A1. Furthermore, of the two clamps 411 and 421 arranged adjacently along the path of the string-like member So, one clamp 411 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation about the second rotation axis A2.

[0133] In the ninth embodiment, the wiring arm 3 includes a base wiring arm 30 fixed to the base portion 11 and facing the base portion 11, and a second wiring arm 61 supported by the first work arm 21 (first arm) rotatably about the second rotation axis A2 and facing the second work arm 22 (second arm). The second wiring arm 61 rotates following the rotation of the second work arm 22 about the second rotation axis A2, and the base wiring arm 30 is connected to the first work arm 21 coaxially with the first rotation axis A1. The internal wiring Wi (string-like member to be stored) is stored inside the base wiring arm 30 and the second wiring arm 61. The base mounting portion 40 (clamp 401) is fixed to the base wiring arm 30, the first mounting portion 41 (clamp 411) is fixed to the first work arm 21, and the second mounting portion 42 (clamp 421) is fixed to the second work arm 22. In this configuration, it is easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1, which has a base wiring arm 30 and a second wiring arm 61 facing the base portion 11 and the second work arm 22, respectively, and it is possible to prevent the attached string-like member So from being bent sharply.

[0134] The base mounting portion 40 has a clamp 401 (base clamp) fixed to the base wiring arm 30, and the string-like member So is attached to the clamp 401. The first mounting portion 41 has a clamp 411 (first clamp) fixed to the first work arm 21 (first arm), and the string-like member So is attached to the first mounting portion 41. The second mounting portion 42 has a clamp 421 (second clamp) fixed to the second work arm 22 (second arm), and the string-like member So is attached to the clamp 421. With this configuration, a user can attach the string-like member So used in the articulated robot 1 to an appropriate position by attaching the string-like member So to each of the clamps 401, 411, and 421. This makes it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 equipped with the wiring arm 3, and makes it possible to prevent the attached string-like member So from being bent sharply.

[0135] The base wiring arm 30 faces the base portion 11 from above in the Z direction, and the second wiring arm 61 faces the second work arm 22 (second arm) from below in the Z direction. The clamp 401 (base clamp) is fixed to the upper surface of the base wiring arm 30, the clamp 411 (first clamp) is fixed to the upper surface of the first work arm 21 (first arm), and the clamp 421 (second clamp) is fixed to the upper surface of the second work arm 22 (second arm). The clamp 421 laterally supports the string-like member So extending from the tip connected to the end effector 15, the clamp 411 laterally supports the string-like member So extending laterally from the clamp 421 on the side opposite the tip, and the clamp 401 laterally supports the string-like member So extending laterally from the clamp 411 on the side opposite the clamp 421. With this configuration, the string-like member So extending from the base portion 11 to the second work arm 22 can be prevented from being attached in a convex shape on the upward side, thereby suppressing vibration of the string-like member So and interference with other equipment, and reducing the inertia and weight of the string-like member So.

[0136] 15 is a side view showing a schematic diagram of an articulated robot according to Example 10. Example 10 is different from Example 7 in that it does not include a base wiring arm 30 and in the configurations of the base portion 11 and the first wiring arm 31, but has the other configurations in common.

[0137] In the articulated robot 1 of the tenth embodiment, the side surface of the base housing 111 of the base unit 11 on the base end side is fixed to a vertical installation surface G. The robot cable Ti is fixed to the bottom surface of the base housing 111.

[0138] The wiring arm housing 311 of the first wiring arm 31 has a horizontal frame 317 that extends horizontally. This horizontal frame 317 faces the working arm housing 211 of the first work arm 21 from below. Furthermore, the wiring arm housing 311 of the first wiring arm 31 has a support pillar 318 that extends parallel to the Z direction. The support pillar 318 extends upward from the upper surface of the tip end of the horizontal frame 317, and connects the upper surface of the tip end of the horizontal frame 317 with the lower surface of the working arm housing 211 of the first work arm 21. Furthermore, the support pillar 318 and the support pillar 316 are aligned in a straight line along the Z direction, and the interiors of the horizontal frame 317, the support pillar 318, the support pillar 316 and the horizontal frame 313 are connected to each other, forming a storage space 312.

[0139] Furthermore, a cylindrical protrusion 319 that protrudes upward from the horizontal frame 313 is provided at the base end portion of the horizontal frame 317. In contrast, a bearing hole 113 is open downward at the tip portion of the base housing 111, and the protrusion 319 is located inside the bearing hole 113. Furthermore, a ball bearing B1 is disposed between the protrusion 319 and the bearing hole 113, with the inner ring of the ball bearing B1 fixed to the protrusion 319 and the outer ring of the ball bearing B1 fixed to the bearing hole 113. Therefore, the wiring arm housing 311 of the first wiring arm 31 is rotatable relative to the base housing 111 of the base unit 11, about the first rotation axis A1. Therefore, the first wiring arm 31 rotates about the first rotation axis A1 in response to the rotation of the first working arm 21 about the first rotation axis A1. Furthermore, the wiring Wi2 extends from the storage space 112 of the base housing 111 through the inside of the horizontal frame 317 and the support column 318 to the storage space 312 .

[0140] The base mounting portion 40 has a clamp 401 fixed to the horizontal lower surface of the base housing 111. This clamp 401 is disposed off to the base end side with respect to the first rotation axis A1 (in other words, on the opposite side from the second rotation axis A2) and is fixed to the lower end of a stay 402 that extends downward from the lower surface of the base housing 111.

[0141] The first mounting portion 41 has a clamp 411 fixed to the horizontal lower surface of the horizontal frame 317 of the first wiring arm 31. Furthermore, the first mounting portion 41 has a clamp 412 fixed to the horizontal upper surface of the horizontal frame 313 of the first wiring arm 31. The two clamps 411, 412 are arranged between the first rotation axis A1 and the second rotation axis A2 in the direction in which the working arm housing 211 extends. Furthermore, the first mounting portion 41 has a clamp 415 fixed to the horizontal upper surface of the horizontal frame 313 on the base end side of the clamp 412.

[0142] That is, the external attachment unit 4 has a plurality of clamps 432, 431, 421, 412, 415, 411, and 401 that are arranged in order along a path along which the string-shaped member So is arranged. A user can detachably attach the string-shaped member So to each of the clamps 432, 431, 421, 412, 415, 411, and 401, and the clamps 432, 431, 421, 412, 415, 411, and 401 support the attached string-shaped member So, respectively.

[0143] The string-like member So extending laterally from the clamp 431 extends laterally toward the proximal end and is supported laterally by the clamp 421. The string-like member So extending laterally from the clamp 421 toward the proximal end is supported by the clamp 412, and the string-like member So extending laterally from the clamp 412 toward the proximal end is supported laterally by the clamp 415. The string-like member So protruding from the clamp 415 toward the proximal end extends downward to the clamp 411 and is supported laterally toward the proximal end by the clamp 411. The string-like member So extending laterally from the clamp 411 toward the proximal end is supported laterally by the clamp 401.

[0144] In the tenth embodiment as well, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamps 411 and 412 of the first mounting portion 41 are provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible to make it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0145] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation around the first rotation axis A1. Furthermore, of the two clamps 412 and 421 arranged adjacently along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation around the second rotation axis A2.

[0146] The robot may also be configured such that the base mounting portion includes a base clamp fixed to the base wiring arm, and the external string-like member is attached to the base clamp; the first mounting portion includes two first clamps fixed to the first wiring arm, and the external string-like member is attached to each of the two first clamps; and the second mounting portion includes a second clamp fixed to the second arm, and the external string-like member is attached to each of the second clamps. With this configuration, a user can attach the external string-like member used by the robot to an appropriate position by attaching the external string-like member to each of the base clamp, the two first clamps, and the second clamp. This makes it easy for a user to attach the string-like member to an appropriate position on a robot equipped with a wiring arm, and prevents the attached string-like member from being bent sharply.

[0147] In the tenth embodiment, the wiring arm 3 is supported by the base 11 so as to be rotatable about the first rotation axis A1, and has a first wiring arm 31 facing the first work arm 21 (first arm). The first wiring arm 31 is supported by the base 11 so as to be rotatable about the first rotation axis A1, and has a horizontal frame 317 (one wiring portion) fixed to the first work arm 21, and a horizontal frame 313 (the other wiring portion) fixed to the first work arm 21. The second work arm 22 (second arm) supports the horizontal frame 313 so as to be rotatable about the second rotation axis A2, and the internal wiring Wi is stored inside the horizontal frames 317, 313. The horizontal frame 317 faces the first work arm 21 from below, and the horizontal frame 313 faces the first work arm 21 from above. The base mounting portion 40 has a clamp 401 (base clamp) fixed to the base portion 11, and a string-like member So (external string-like member) is attached to the clamp 401, the first mounting portion 41 has two clamps 411, 412 (first clamps) fixed to the first work arm 21, and a string-like member So is attached to each of the two clamps 411, 412, and the second mounting portion 42 has a clamp 421 (second clamp) fixed to the second work arm 22, and the string-like member So is attached to the clamp 421. The clamp 401 is fixed to the underside of the base portion 11, the clamp 411 is fixed to the underside of the horizontal frame 317, the clamp 412 is fixed to the upper surface of the horizontal frame 313, and the clamp 421 is fixed to the upper surface of the second work arm 22. Clamp 421 laterally supports the string-like member So extending from the tip connected to the end effector 15, clamp 412 laterally supports the string-like member So extending laterally from clamp 421 on the opposite side to the tip, clamp 411 laterally supports the string-like member So extending downward from clamp 412 on the opposite side to the tip, and clamp 401 laterally supports the string-like member So extending laterally from clamp 411 on the opposite side to clamp 412. With this configuration, it is possible to prevent the string-like member So extending from base unit 11 to second work arm 22 from being attached in a convex shape upward, which makes it possible to suppress vibration of the string-like member So and interference with other equipment, as well as reduce the inertia and weight of the string-like member So.

[0148] 16 is a side view schematically showing an articulated robot according to Example 11. Example 11 differs from Example 10 in the configuration of first wiring arm 31 and in the inclusion of second wiring arm 61, but has the other configurations in common.

[0149] That is, in the eleventh embodiment, the first wiring arm 31 does not have the horizontal frame 313 and the support 316. The first wiring arm 31 also has a protruding portion 310 that protrudes from the support 318 toward the tip end, above the horizontal frame 317.

[0150] The wiring arm 3 also has a second wiring arm 61. The second wiring arm 61 faces the second work arm 22 of the work arm 2 from below in the Z direction. The second wiring arm 61 has a wiring arm housing 611, and a storage space 612 is provided inside the wiring arm housing 611, and the storage space 612 communicates with the storage space 214 inside the work arm housing 211 of the first work arm 21 and the storage space 222 in the work arm housing 221 of the second work arm 22. The wiring arm housing 611 is provided so as to be rotatable relative to the work arm housing 211 around the second rotation axis A2. In other words, the wiring arm housing 611 of the second wiring arm 61 has a horizontal frame 613 which is a beam-shaped frame extending horizontally, and the base end portion of the horizontal frame 613 faces the tip portion of the work arm housing 211 of the first work arm 21 from below. Furthermore, a cylindrical protrusion 614 that protrudes upward from the horizontal frame 613 is provided at the base end portion of the wiring arm housing 611. Conversely, a bearing hole 215 opens downward at the tip portion of the working arm housing 211, with the protrusion 614 located inside the bearing hole 215. Furthermore, a ball bearing B2 is arranged between the protrusion 614 and the bearing hole 215, with the inner ring of the ball bearing B2 fixed to the protrusion 614 and the outer ring of the ball bearing B2 fixed to the bearing hole 215. Therefore, the wiring arm housing 611 of the second wiring arm 61 is rotatable relative to the working arm housing 211 of the first working arm 21, around the second rotation axis A2.

[0151] Furthermore, the wiring arm housing 611 of the second wiring arm 61 has a support pillar 615 extending parallel to the Z direction. The support pillar 615 extends upward from the upper surface of the tip end of the horizontal frame 613, and the interiors of the horizontal frame 613 and the support pillar 615 are connected to form a storage space 612. This support pillar 615 connects the upper surface of the tip end of the horizontal frame 613 to the lower surface of the work arm housing 221 of the second work arm 22. In other words, the support pillar 615 is fixed to the work arm housing 221. Therefore, the wiring arm housing 611 of the second wiring arm 61 rotates about the second rotation axis A2, following the work arm housing 221 of the second work arm 22. The internal wiring Wi extends from the storage space 214 of the first work arm 21 through the storage space 612 inside the wiring arm housing 611 of the second wiring arm 61 to the storage space 222 of the second work arm 22 .

[0152] The base mounting portion 40 has a clamp 401 fixed to the horizontal lower surface of the base housing 111. This clamp 401 is disposed off to the base end side with respect to the first rotation axis A1 (in other words, on the opposite side from the second rotation axis A2) and is fixed to the lower end of a stay 402 that extends downward from the lower surface of the base housing 111.

[0153] The first mounting portion 41 has a clamp 411 fixed to the horizontal lower surface of the horizontal frame 317 of the first wiring arm 31. Furthermore, the first mounting portion 41 has a clamp 412 fixed to the horizontal lower surface of the protruding portion 310. The two clamps 411, 412 are disposed between the first rotation axis A1 and the second rotation axis A2 in the direction in which the working arm housing 211 extends.

[0154] Furthermore, the second mounting portion 42 has a clamp 421 fixed to the bottom surface of the wiring arm housing 611 on the tip side of the second rotation axis A2, a clamp 422 fixed to the side surface on the tip side of the wiring arm housing 611, and a clamp 423 fixed to the top surface of the working arm housing 221.

[0155] That is, the external attachment unit 4 has a plurality of clamps 432, 431, 423, 422, 421, 412, 411, 411, and 401 that are arranged in order along a path along which the string-like member So is arranged. A user can detachably attach the string-like member So to each of 432, 431, 423, 422, 421, 412, 411, 411, and 401, and the clamps 432, 431, 423, 422, 421, 412, 411, 411, and 401 support the attached string-like member So, respectively.

[0156] The string-like member So extending downward from the clamp 431 is bent laterally toward the base end and is supported laterally by the clamp 423. The string-like member So protruding from the clamp 423 toward the base end extends downward to the clamp 422 and is supported vertically by the clamp 422. The string-like member So extending downward from the clamp 422 to the clamp 421 is supported laterally toward the base end by the clamp 421. The string-like member So extending laterally from the clamp 421 toward the base end is supported laterally by the clamp 412. The string-like member So protruding from the clamp 412 toward the base end extends downward to the clamp 411 and is supported laterally by the clamp 411. The string-like member So extending laterally from the clamp 411 toward the base end is supported laterally by the clamp 401. The clamps 421 and 412 support the string-like member So at the same height, and the clamps 411 and 401 support the string-like member So at the same height.

[0157] In the eleventh embodiment as well, the clamp 401 of the base mounting portion 40 is provided offset from the first rotation axis A1, the clamps 411 and 412 of the first mounting portion 41 are provided between the first rotation axis A1 and the second rotation axis A2, and the clamp 421 of the second mounting portion 42 is provided between the second rotation axis A2 and the shaft support position Ps. As a result, it is possible to make it easy for the user to attach the string-like member So to an appropriate position on the articulated robot 1 including the first wiring arm 31, and to prevent the attached string-like member So from being bent sharply.

[0158] In other words, of the two clamps 401 and 411 arranged adjacently along the path of the string-like member So, one clamp 401 is arranged proximal to the first rotation axis A1, and the other clamp 411 is arranged distal to the first rotation axis A1. As a result, the string-like member So is prevented from being bent sharply during rotation around the first rotation axis A1. Furthermore, of the two clamps 412 and 421 arranged adjacently along the path of the string-like member So, one clamp 412 is arranged proximal to the second rotation axis A2, and the other clamp 421 is arranged distal to the second rotation axis A2. As a result, the string-like member So is prevented from being bent sharply during rotation around the second rotation axis A2.

[0159] In the eleventh embodiment, the wiring arm 3 is supported by the base portion 11 rotatably about the first rotation axis A1, and has a first wiring arm 31 fixed to the first work arm 21 (first arm) and facing the first work arm 21, and a second wiring arm 61 supported by the first work arm 21 rotatably about the second rotation axis A2 and fixed to the second work arm 22 and facing the second work arm 22. The first wiring arm 31 rotates following the rotation of the first work arm 21 about the first rotation axis A1, and the second wiring arm 61 rotates following the rotation of the second work arm 22 about the second rotation axis A2. The internal wiring Wi (string-like member to be stored) is stored inside the first wiring arm 31 and the second wiring arm 61. The base mounting portion 40 (clamp 401) is fixed to the base portion 11, the first mounting portion 41 (clamps 411, 412) is fixed to the first wiring arm 31, and the second mounting portion 42 (clamp 421) is fixed to the second wiring arm 61. With this configuration, it becomes easy for a user to attach the string-like member So to an appropriate position on the articulated robot 1, which is equipped with the first wiring arm 31 and the second wiring arm 61 facing the first work arm 21 and the second work arm 22, respectively, and it becomes possible to prevent the attached string-like member So from being bent sharply.

[0160] The base mounting portion 40 has a clamp 401 (base clamp) fixed to the base portion 11 and supports the string-like member So by the clamp 401. The first mounting portion 41 has two clamps 411 and 412 (first clamps) fixed to the first wiring arm 31 and supports the string-like member So by the two clamps 411 and 412. The second mounting portion 42 has a clamp 421 (second clamp) fixed to the second wiring arm 61 and supports the string-like member So by the clamp 421. With this configuration, a user can attach the string-like member So to the appropriate position for use with the articulated robot 1 by attaching the string-like member So to each of the clamps 401, 411, 412, and 421. This makes it easy for the user to attach the string-like member So to the appropriate position on the articulated robot 1 equipped with the wiring arm 3, and prevents the attached string-like member So from being bent sharply.

[0161] Furthermore, the first wiring arm 31 faces the first work arm 21 (first arm) from below in the Z direction, and the second wiring arm 61 faces the second work arm 22 (second arm) from below in the Z direction. Clamp 401 (base clamp) is fixed to the underside of the base portion 11, two clamps 411 and 412 (first clamps) are fixed to the underside of the first wiring arm 31, clamp 411 is located below clamp 412, and clamp 421 is fixed to the underside of the second wiring arm 61. Clamp 421 laterally supports the string-like member So extending from the tip connected to the end effector 15, clamp 412 laterally supports the string-like member So extending laterally from clamp 421 on the opposite side to the tip, clamp 411 laterally supports the string-like member So extending downward on the opposite side to clamp 412, and clamp 401 laterally supports the string-like member So extending laterally from clamp 411 on the opposite side to clamp 412. With this configuration, it is possible to prevent the string-like member So extending from base unit 11 to second work arm 22 from being attached in a convex shape upward, which makes it possible to suppress vibration of the string-like member So and interference with other equipment, as well as reduce the inertia and weight of the string-like member So.

[0162] 17 is a side view showing a schematic diagram of an articulated robot according to Example 12. Example 12 differs from Example 1 in that a support spring 7 is provided to support the string member So, but the other configurations are the same.

[0163] That is, the support spring 7 has a spring 71, which is a coil spring, provided along the string-shaped member So and the external wiring Wo between the clamp 432 and the clamp 431. The distal end of the spring 71 is connected to the clamp 432, and the proximal end of the spring 71 is connected to the clamp 431. The string-shaped member So and the external wiring Wo between the clamp 432 and the clamp 431 are inserted inside the spring 71 (in other words, the spring 71 fits over the string-shaped member So and the external wiring Wo). In this way, the string-shaped member So between the clamp 432 and the clamp 431 is supported by the spring 71.

[0164] The support spring 7 has a spring 72, which is a coil spring, provided along the string-shaped member So and the external wiring Wo between the clamp 421 and the clamp 412. The distal end of the spring 72 is connected to the clamp 421, and the proximal end of the spring 72 is connected to the clamp 412. The string-shaped member So and the external wiring Wo between the clamp 421 and the clamp 412 are inserted inside the spring 72 (in other words, the spring 72 fits over the string-shaped member So and the external wiring Wo). In this way, the string-shaped member So between the clamp 421 and the clamp 412 is supported by the spring 72.

[0165] The support spring 7 has a spring 73, which is a coil spring, provided between the clamp 412 and the clamp 411 along the string-shaped member So and the external wiring Wo. The distal end of the spring 73 is connected to the clamp 412, and the proximal end of the spring 73 is connected to the clamp 411. The string-shaped member So and the external wiring Wo between the clamp 412 and the clamp 411 are inserted inside the spring 73 (in other words, the spring 73 fits over the string-shaped member So and the external wiring Wo). In this way, the string-shaped member So between the clamp 412 and the clamp 411 is supported by the spring 73.

[0166] The support spring 7 has a spring 74, which is a coil spring, provided along the string-shaped member So and the external wiring Wo between the clamp 411 and the clamp 401. The distal end of the spring 74 is connected to the clamp 411, and the proximal end of the spring 74 is connected to the clamp 401. The string-shaped member So and the external wiring Wo between the clamp 411 and the clamp 401 are inserted inside the spring 74 (in other words, the spring 74 fits over the string-shaped member So and the external wiring Wo). In this way, the string-shaped member So between the clamp 411 and the clamp 401 is supported by the spring 74.

[0167] As described above, the twelfth embodiment is provided with spring 71 (shaft spring), which is a coil spring provided between clamp 431 (intermediate clamp) and clamp 432 (shaft clamp). The string-like member So (external string-like member) between clamp 431 and clamp 432 is provided inside spring 71. With this configuration, the string-like member So can be supported by spring 71.

[0168] Also provided is a spring 74 (first spring), which is a coil spring provided between the base mounting portion 40 and the first mounting portion 41. The string-shaped member So between the base mounting portion 40 and the first mounting portion 41 is provided inside the spring 74. In this configuration, the string-shaped member So can be supported by the spring 74.

[0169] Also provided is a spring 72 (second spring), which is a coil spring, provided between the first mounting portion 41 and the second mounting portion 42. The string-shaped member So between the first mounting portion 41 and the second mounting portion 42 is provided inside the spring 72. In this configuration, the string-shaped member So can be supported by the spring 72.

[0170] 18 is a side view showing a schematic diagram of an articulated robot according to the thirteenth embodiment. The thirteenth embodiment is different from the first embodiment in that a flexible tube 8 is provided to support the string-like member So, that the first attachment portion 41 is provided with only one clamp 411, and that a joint J is fixed to the top surface of the working arm housing 221 of the second working arm 22 instead of the end effector input / output terminal To, but is otherwise identical in configuration to the first embodiment.

[0171] That is, the string-like member So is housed within the flexible tube 8. The first mounting portion 41 also has a clamp 411 fixed to the upper surface of the wiring arm housing 311 between the first rotation axis A1 and the second rotation axis A2. The clamp 411 supports the string-like member So. The string-like member So and the external wiring Wo extending from the upper end of the spline shaft 13 are connected to a joint J and then to a connector Cs and a connector Cw in the storage space 222, respectively. The connector Cw is connected to the wiring Wi6. The connector Cs is connected to the string-like member So supported by the clamp 421. The string-like member So supported by the clamp 421 extends laterally toward the base end to the clamp 411. The string-like member So supported by the clamp 411 extends laterally toward the base end to the clamp 401. The string-like member So protruding laterally from the clamp 401 toward the base end extends downward to the clamp 451 and is supported by the clamp 451 .

[0172] In contrast, the flexible tube 8 has a support tube 81, which is a flexible tube provided along the string-like member So and the external wiring Wo between the annular stay 434 and the joint J. The distal end of the support tube 81 is connected to the annular stay 434 by the joint J, and the proximal end of the support tube 81 is connected to the joint J. The string-like member So and the external wiring Wo between the annular stay 434 and the joint J are inserted inside the support tube 81 (in other words, the support tube 81 fits over the string-like member So and the external wiring Wo). In this way, the string-like member So between the annular stay 434 and the joint J is supported by the support tube 81.

[0173] The flexible tube 8 has a support tube 82, which is a flexible tube provided along the string-shaped member So and the external wiring Wo, between the clamp 421 and the clamp 411. The distal end of the support tube 82 is connected to the clamp 421 by a joint J, and the proximal end of the support tube 82 is connected to the clamp 411 by a joint J. The string-shaped member So and the external wiring Wo between the clamp 421 and the clamp 411 are inserted inside the support tube 82 (in other words, the support tube 82 fits over the string-shaped member So and the external wiring Wo). In this way, the string-shaped member So between the clamp 421 and the clamp 411 is supported by the support tube 82.

[0174] The flexible tube 8 has a support tube 84, which is a flexible tube provided along the string-like member So and the external wiring Wo, between the clamp 411 and the clamp 401. The distal end of the support tube 84 is connected to the clamp 411 by a joint J, and the proximal end of the support tube 84 is connected to the clamp 401 by a joint J. The string-like member So and the external wiring Wo between the clamp 411 and the clamp 401 are inserted inside the support tube 84 (in other words, the support tube 84 fits over the string-like member So and the external wiring Wo). In this way, the string-like member So between the clamp 411 and the clamp 401 is supported by the support tube 84.

[0175] The flexible tube 8 has a support tube 85, which is a flexible tube provided along the string-like member So and the external wiring Wo, between the clamp 401 and the clamp 451. The distal end of the support tube 85 is connected to the clamp 401 by a joint J, and the proximal end of the support tube 85 is connected to the clamp 451 by a joint J. The string-like member So and the external wiring Wo between the clamp 401 and the clamp 451 are inserted inside the support tube 85 (in other words, the support tube 85 fits over the string-like member So and the external wiring Wo). In this way, the string-like member So between the clamp 401 and the clamp 451 is supported by the support tube 85.

[0176] As described above, the thirteenth embodiment is provided with a support tube 84 (first tubular member) that is a flexible tubular member provided between the base mounting portion 40 and the first mounting portion 41, and the string-like member So between the base mounting portion 40 and the first mounting portion 41 is provided inside the support tube 84. In this configuration, the string-like member So can be supported by the support tube 84.

[0177] Furthermore, a support tube 82 (second tubular member) that is a flexible tubular member provided between the first attachment portion 41 and the second attachment portion 42 is provided, and the string-like member So between the first attachment portion 41 and the second attachment portion 42 is provided inside the support tube 82. In this configuration, the string-like member So can be supported by the support tube 82.

[0178] As described above, in the above embodiment, the articulated robot 1 corresponds to an example of the "robot" of the present invention, the base portion 11 corresponds to an example of the "base portion" of the present invention, the spline shaft 13 corresponds to an example of the "shaft" of the present invention, the end effector 15 corresponds to an example of the "end effector" of the present invention, the first work arm 21 corresponds to an example of the "first arm" of the present invention, the second work arm 22 corresponds to an example of the "second arm" of the present invention, the wiring arm 3 corresponds to an example of the "wiring arm" of the present invention, and the external mounting portion 4 corresponds to an example of an "external mounting portion" of the present invention, base mounting portion 40 corresponds to an example of a "base mounting portion" of the present invention, first mounting portion 41 corresponds to an example of a "first mounting portion" of the present invention, second mounting portion 42 corresponds to an example of a "second mounting portion" of the present invention, first rotation axis A1 corresponds to an example of a "first rotation axis" of the present invention, second rotation axis A2 corresponds to an example of a "second rotation axis" of the present invention, shaft support position Ps corresponds to an example of a "shaft support position" of the present invention, and string-shaped member So corresponds to an example of an "external string-shaped member" of the present invention.

[0179] The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described embodiment without departing from the spirit of the present invention. For example, the specific configuration of each clamp, such as clamps 401, 411, 412, and 421, can be modified as appropriate. That is, the clamps may be configured using insulation ties or various cable clips. Furthermore, various clamp materials, such as metal or resin, can be envisioned. Alternatively, the robot arm cable holder described in Japanese Patent Application Laid-Open No. 2023-016720 may be used as the clamp. Furthermore, the fastening of these clamps is not limited to fastening with screws, and they may be fastened with adhesive or glue. Furthermore, the number of clamps may be changed as appropriate.

[0180] Furthermore, it is possible to change the route of the internal wiring Wi as appropriate, change the number of degrees of freedom possessed by the articulated robot 1 as appropriate, or provide a clamp 432 on the spline shaft 13 without using a ball bearing Bs.

[0181] DESCRIPTION OF SYMBOLS 1... Articulated robot 11... Base portion 13... Spline shaft 15... End effector 21... First work arm 22... Second work arm 3... Wiring arm 4... External mounting portion 40... Base mounting portion 41... First mounting portion 42... Second mounting portion A1... First rotation axis A2... Second rotation axis Ps... Shaft support position So... String-like member

Claims

1. A device comprising: a base portion; a first arm supported on the base portion so as to be rotatable about a first rotation axis; a second arm supported by the first arm so as to be rotatable about a second rotation axis parallel to the first rotation axis; a shaft supported by the second arm at a shaft support position, to which an end effector is detachably attached; an external attachment portion to which an external string-like member including wiring or piping having an end connected to the end effector attached to the shaft can be attached; and a wiring arm provided opposite at least one of the opposing arms of the first arm and the second arm, for storing a stored string-like member including wiring or piping, wherein a portion of the wiring arm facing the opposing arm rotates following the rotation of the opposing arm, the external mounting portion has a base mounting portion provided on the base portion offset from the first rotation axis, a first mounting portion provided on the first arm between the first rotation axis and the second rotation axis, and a second mounting portion provided on the second arm between the second rotation axis and the shaft support position, and the external string-like member can be attached to each of the base mounting portion, the first mounting portion and the second mounting portion; a position of the base mounting portion relative to the base portion is fixed; a position of the first mounting portion relative to the first arm is fixed, and the first mounting portion rotates with the rotation of the first arm about the first rotation axis; a position of the second mounting portion relative to the second arm is fixed, and the second mounting portion rotates with the rotation of the second arm about the second rotation axis; the external string-like member extended from the tip is attached to the second mounting portion; and the external string-like member extended from the second mounting portion to the opposite side to the tip is attached to the first mounting portion, The robot has an external string-like member that extends from the first mounting portion to the opposite side of the second mounting portion and is attached to the base mounting portion, and any one of the base mounting portion, the first mounting portion, and the second mounting portion is provided on the wiring arm.

2. The robot described in claim 1, wherein the wiring arm has a base wiring arm fixed to the base portion and facing the base portion, and a first wiring arm supported by the base wiring arm so as to be rotatable about the first rotation axis and facing the first arm, the first wiring arm rotates following the rotation of the first arm about the first rotation axis, the first wiring arm is supported by the second arm so as to be rotatable about the second rotation axis, the string-like member to be stored is stored inside the base wiring arm and the first wiring arm, the base mounting portion is fixed to the base wiring arm, the first mounting portion is fixed to the first wiring arm, and the second mounting portion is fixed to the second arm.

3. The robot described in claim 2, wherein the first wiring arm has one rotating member supported by the base wiring arm so as to be rotatable around the first rotation axis, another rotating member supported by the second arm so as to be rotatable around the second rotation axis, and a connecting member provided between the one rotating member and the other rotating member to connect the one rotating member and the other rotating member.

4. The robot according to claim 3, wherein the connecting member is flexible.

5. The robot described in claim 1, wherein the wiring arm has a base wiring arm fixed to the base portion and facing the base portion, and a first wiring arm fixed to the first arm and facing the first arm, the first wiring arm rotates following the rotation of the first arm about the first rotation axis, the first wiring arm is supported by the second arm so as to be rotatable about the second rotation axis, the stored string-like member is stored inside the base wiring arm and the first wiring arm, the base mounting portion is fixed to the base wiring arm, the first mounting portion is fixed to the first wiring arm, and the second mounting portion is fixed to the second arm.

6. A robot as described in any one of claims 2 to 5, wherein the base mounting portion has a base clamp fixed to the base wiring arm, and the external string-like member is attached to the base clamp, the first mounting portion has at least one first clamp fixed to the first wiring arm, and the external string-like member is attached to the at least one first clamp, and the second mounting portion has a second clamp fixed to the second arm, and the external string-like member is attached to the second clamp.

7. The robot described in claim 6, wherein the base wiring arm faces the base portion from above in the vertical direction, the first wiring arm faces the first arm from above in the vertical direction, the base clamp is fixed to an upper surface of the base wiring arm, the at least one first clamp is fixed to an upper surface of the first wiring arm aligned in the direction in which the first wiring arm extends, the second clamp is fixed to an upper surface of the second arm, the second clamp laterally supports the external string-like member extending from the tip, the at least one first clamp laterally supports the external string-like member extending laterally from the second clamp on the side opposite the tip, and the base clamp laterally supports the external string-like member extending laterally from the at least one first clamp on the side opposite the second clamp.

8. The wiring arm has a first wiring arm supported on the base portion rotatably around the first rotation axis and facing the first arm, the first wiring arm has one wiring portion supported on the base portion rotatably around the first rotation axis and fixed to the first arm, and the other wiring portion fixed to the first arm, the other wiring portion is supported on the second arm rotatably around the second rotation axis, the stored string-like member is stored inside the one wiring portion and the other wiring portion, the one wiring portion faces the first arm from below, and the other wiring portion faces the first arm from above, the base mounting portion has a base clamp fixed to the base portion, and the external string-like member is attached to the base clamp, the first mounting portion has two first clamps fixed to the first wiring arm, and the external string-like member is attached to each of the two first clamps, 2. The robot according to claim 1, wherein the second mounting portion has a second clamp fixed to the second arm, and the external string-like member is attached to the second clamp; the base clamp is fixed to an underside of the base portion; of the two first clamps, one first clamp is fixed to an underside of the one wiring portion and the other first clamp is fixed to an upper surface of the other wiring portion; the second clamp is fixed to an upper surface of the second arm; the second clamp laterally supports the external string-like member extending from the tip; the other first clamp laterally supports the external string-like member extending laterally from the second clamp on the side opposite the tip; the one first clamp laterally supports the external string-like member extending downward from the other first clamp on the side opposite the tip; and the base clamp laterally supports the external string-like member extending laterally from the one first clamp on the side opposite the other first clamp.

9. The robot described in claim 1, wherein the wiring arm has a base wiring arm fixed to the base portion and facing the base portion, and a second wiring arm supported by the first arm so as to be rotatable about the second rotation axis and facing the second arm, the second wiring arm rotates following the rotation of the second arm about the second rotation axis, the base wiring arm is connected to the first arm coaxially with the first rotation axis, the stored string-like member is stored inside the base wiring arm and the second wiring arm, the base mounting portion is fixed to the base wiring arm, the first mounting portion is fixed to the first arm, and the second mounting portion is fixed to the second wiring arm or the second arm.

10. The robot described in claim 9, wherein the base mounting portion has a base clamp fixed to the base wiring arm, and the external string-like member is attached to the base clamp; the first mounting portion has a first clamp fixed to the first arm, and the external string-like member is attached to the first clamp; and the second mounting portion has a second clamp fixed to the second arm, and the external string-like member is attached to the second clamp.

11. The robot described in claim 10, wherein the base wiring arm faces the base portion from above in the vertical direction, the second wiring arm faces the second arm from below in the vertical direction, the base clamp is fixed to the upper surface of the base wiring arm, the first clamp is fixed to the upper surface of the first arm, the second clamp is fixed to the upper surface of the second arm, the second clamp laterally supports the external string-like member extending from the tip, the first clamp laterally supports the external string-like member extending laterally from the second clamp on the side opposite the tip, and the base clamp laterally supports the external string-like member extending laterally from the first clamp on the side opposite the second clamp.

12. A robot as described in any one of claims 1 to 11, wherein the base mounting portion, the first mounting portion and the second mounting portion support the external string-like member at the same height.

13. The robot described in claim 9, wherein the base mounting portion has a base clamp fixed to the base wiring arm and supports the external string-like member by the base clamp; the first mounting portion has two first clamps fixed to the first arm and supports the external string-like member by the two first clamps; and the second mounting portion has a second clamp fixed to the second wiring arm and supports the external string-like member by the second clamps.

14. The robot described in claim 13, wherein the base wiring arm faces the base portion from above in the vertical direction, the second wiring arm faces the second arm from below in the vertical direction, the base clamp is fixed to an upper surface of the base wiring arm, one of the two first clamps is fixed to an upper surface of the first arm and the other first clamp is fixed to an underside of the first arm, the second clamp is fixed to an underside of the second wiring arm, the second clamp laterally supports the external string-like member extending from the tip, the other first clamp laterally supports the external string-like member extending laterally from the second clamp to the side opposite the tip, the one first clamp laterally supports the external string-like member extending upward from the other first clamp to the side opposite the tip, and the base clamp laterally supports the external string-like member extending laterally from the one first clamp to the side opposite the other first clamp.

15. The robot described in claim 1, wherein the wiring arm has a first wiring arm supported on the base portion rotatably about the first rotation axis and fixed to the first arm and facing the first arm, and a second wiring arm supported on the first arm rotatably about the second rotation axis and fixed to the second arm and facing the second arm, the first wiring arm rotates following the rotation of the first arm about the first rotation axis, and the second wiring arm rotates following the rotation of the second arm about the second rotation axis, the string-like member to be stored is stored inside the first wiring arm and the second wiring arm, the base mounting portion is fixed to the base portion, the first mounting portion is fixed to the first wiring arm, and the second mounting portion is fixed to the second wiring arm.

16. The robot described in claim 15, wherein the base mounting portion has a base clamp fixed to the base portion and supports the external string-like member by the base clamp; the first mounting portion has two first clamps fixed to the first wiring arm and supports the external string-like member by the two first clamps; and the second mounting portion has a second clamp fixed to the second wiring arm and supports the external string-like member by the second clamps.

17. The robot described in claim 16, wherein the first wiring arm faces the first arm from below in the vertical direction, the second wiring arm faces the second arm from below in the vertical direction, the base clamp is fixed to the underside of the base portion, the two first clamps are fixed to the underside of the first wiring arm, one of the two first clamps is located lower than the other first clamp, the second clamp is fixed to the underside of the second wiring arm, the second clamp laterally supports the external string-like member extending from the tip, the other first clamp laterally supports the external string-like member extending laterally from the second clamp to the side opposite the tip, the one first clamp laterally supports the external string-like member extending downward from the other first clamp to the side opposite the second clamp, and the base clamp laterally supports the external string-like member extending laterally from the one first clamp to the side opposite the other first clamp.

18. A robot as described in any one of claims 1 to 17, further comprising: a shaft clamp facing the upper end of the shaft from above; and an intermediate clamp provided on the upper surface of the second arm between the shaft support position and the second mounting portion, wherein the external string-like member passes through the inside of the shaft from the upper end of the shaft and is connected to the end effector, the shaft clamp supports the external string-like member passing from the end effector through the inside of the shaft and coming out from the upper end of the shaft, and the intermediate clamp supports the external string-like member extending from the shaft clamp to the opposite side of the upper end of the shaft.

19. The robot according to claim 18, further comprising a bearing provided for the shaft, the shaft being rotatable about a shaft rotation axis, the bearing rotatably supporting the shaft clamp with respect to the shaft.

20. A robot as described in claim 18 or 19, further comprising a shaft spring which is a coil spring provided between the intermediate clamp and the shaft clamp, and the external string-like member between the intermediate clamp and the shaft clamp is provided inside the shaft spring.

21. A robot as described in any one of claims 1 to 20, further comprising a first spring which is a coil spring provided between the base mounting portion and the first mounting portion, wherein the external string-like member between the base mounting portion and the first mounting portion is provided inside the first spring.

22. A robot as described in any one of claims 1 to 21, further comprising a second spring which is a coil spring provided between the first mounting portion and the second mounting portion, and the external string-like member between the first mounting portion and the second mounting portion is provided inside the second spring.

23. A robot as described in any one of claims 1 to 19, further comprising a first tubular member which is a flexible tubular member provided between the base mounting portion and the first mounting portion, wherein the external string-like member between the base mounting portion and the first mounting portion is provided inside the first tubular member.

24. A robot as described in any one of claims 1 to 19, further comprising a second tubular member which is a flexible tubular member provided between the first mounting portion and the second mounting portion, and the external string-like member between the first mounting portion and the second mounting portion is provided inside the second tubular member.

25. A robot as described in any one of claims 1 to 24, further comprising: a joint attached to the upper surface of the second arm and through which the external string-like member reaches from the second mounting portion via the inside of the second arm; and a storage tube provided between the upper end of the shaft and the joint and for storing the external string-like member that reaches the upper end of the shaft from the joint, wherein the external string-like member passes through the inside of the shaft from the upper end of the shaft to be connected to the end effector.

26. A robot as described in any one of claims 1 to 25, wherein each of the base mounting portion, the first mounting portion and the second mounting portion supports the external string-like member by a clamp, and a mounting plate having a smooth surface is provided on the portion of the base portion, the first arm, the second arm and the wiring arm to which the clamp is attached, the upper surface of the mounting plate is smooth, and the clamp is attached to the smooth surface.

27. The robot of claim 26, wherein the smooth surface of the mounting plate is provided with a tap, and the clamp is attached to the smooth surface by a screw threaded into the tap.

28. The robot of claim 26, wherein the clamp is adhesively attached to the smooth surface of the mounting plate.

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