Articulated robot

Abstract

An articulated robot includes: a robot arm; an end effector disposed at a tip of the robot arm; a head attachment for attaching the end effector to the tip of the robot arm; and electric wires connecting the end effector and a control panel to each other, the control panel being disposed in a fixed manner on ground. A connector unit for connecting an electric wire led out from the end effector among the electric wires and an electric wire led out from the control panel among the electric wires to each other is integrated with the head attachment.

Description

[DESCRIPTION][Title of Invention]ARTICULATED ROBOT[Technical Field]

[0001] The present disclosure relates to an articulated robot.[Background Art]

[0002] For example, as described in PTL 1 and PTL 2, articulated robots for work having an end effector (e.g., a paint spray gun or a spot welding gun) attached to a tip thereof are frequently used in many industrial fields. An end-effector-side electric wire led out from the end effector is connected to a robot-side electric wire extending from the robot. These electric wires receive large stress (of bending or pulling) during operation of the robot. Therefore, in an articulated robot described in PTL 1, an end-effector-side electric wire and a robot-side electric wire are connected to each other by a terminal on an end effector side with respect to a wrist portion (also referred to as an attachment portion).[Citation List][Patent Literature]

[0003] [PTL 1] lapanese Unexamined Patent Application Publication No. 2015-58515[PTL 2] apanese Unexamined Patent Application Publication No. 2004-1177[Summary of Invention][Technical Problem]

[0004] When the end effector is an inkjet head or the like for painting, the number of end-effector- side electric wires and the number of robot-side electric wires increase. Thus, connection by terminals takes time, making it difficult to ensure ease of replacement of the inkjet head or the like.[Solution to Problem]

[0005] According to an embodiment of the present disclosure, an articulated robot includes a robot arm, an end effector, a head attachment, and electric wires. The end effector is disposed at a tip of the robot arm. The head attachment is for attaching the end effector to the tip of the robot arm. The electric wires connect the end effector and a control panel to each other, the control panel being disposed in a fixed manner on ground. A connector unit for connecting an electric wire led out from the end effector among the electric wires and an electric wire ledout from the control panel among the electric wires to each other is integrated with the head attachment.[Advantageous Effects of Invention]

[0006] An articulated robot according to an embodiment of the present disclosure can ensure ease of replacement even for an end effector having many led-out electric wires.[Brief Description of Drawings]

[0007] A more complete appreciation of embodiments of the present disclosure and many of the attendant advantages and features thereof can be readily obtained and understood from the following detailed description with reference to the accompanying drawings.[FIG. 1] FIG. 1 is a schematic diagram of an articulated robot according to a first embodiment of the present disclosure.[FIG. 2] FIG. 2 is a cross-sectional view of an example of an inkjet head.[FIG. 3 A] FIG. 3 A is an assembled perspective view of an example of a junction box and a head attachment from which a front wall is omitted to present the inside.[FIG. 3B] FIG. 3B is a diagram illustrating an example of how head array units are attached to the head attachment.[FIG. 4A] FIG. 4A is a perspective view of an example of the head array unit. [FIG. 4B] FIG. 4B is a perspective view of an example of the head array unit. [FIG. 5] FIG. 5 is a perspective view of an example of the junction box.[FIG. 6] FIG. 6 is a schematic diagram of an articulated robot according to a second embodiment of the present disclosure.[FIG. 7] FIG. 7 is a schematic diagram of an articulated robot according to a third embodiment of the present disclosure.[FIG. 8] FIG. 8 is a schematic diagram of an articulated robot according to a fourth embodiment of the present disclosure.[FIG. 9A] FIG. 9A is a perspective view of an example of forceps attached to a distal end of an arm of a surgical robot.[FIG. 9B] FIG. 9B is an enlarged view of an example of the forceps illustrated in FIG. 9A. The accompanying drawings are intended to depict embodiments of the present disclosure and should not be interpreted to limit the scope thereof. The accompanying drawings are not to be considered as drawn to scale unless explicitly noted. Also, identical or similar reference numerals designate identical or similar components throughout the several views.[Description of Embodiments]

[0008] In describing embodiments illustrated in the drawings, specific terminology is employed for the sake of clarity. However, the disclosure of this specification is not intended to be limited to the specific terminology so selected and it is to be understood that each specific elementincludes all technical equivalents that have a similar function, operate in a similar manner, and achieve a similar result.Referring now to the drawings, embodiments of the present disclosure are described below.As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.An articulated robot according to a first embodiment of the present disclosure will be described below sequentially with reference to the drawings.In an articulated robot 1, a terminal block 51 that serves as a connector unit for connecting electric wires 24a and 24b led out from an inkjet head 20, which serves as an end effector, and electric wires 13B led out from an end effector control panel 14 to each other is integrated with a head attachment 3 for attaching the inkjet head 20 to a tip of a robot arm.

[0009] First EmbodimentFIG. l is a schematic diagram of an articulated robot according to a first embodiment of the present disclosure. As illustrated in FIG. 1, the articulated robot 1 (6-axis vertically articulated robot) has a plurality links and a plurality of rotation shafts JI to J6 that connect the links to each other.

[0010] The articulated robot 1 includes a base 10. On the base 10, a swivel base (basic first axis) 9 is disposed via the vertical rotation shaft J6 to swivel horizontally. On the swivel base (basic first axis) 9, a lower arm (basic second axis) 8 is disposed via the horizontal rotation shaft J5 to move forward and backward.

[0011] At an upper end portion of the lower arm (basic second axis) 8, a swivel portion 7 is disposed via the horizontal rotation shaft J4. At the swivel portion 7, an upper arm (basic third axis) 6 is disposed via the rotation shaft J3. The upper arm (basic third axis) 6 moves up and down about the rotation shaft J4 and swivels about the rotation shaft J3. The upper arm 6 and the lower arm 8 may be collectively referred to as a robot arm or arm.

[0012] At a tip of the upper arm (basic third axis) 6, a wrist portion (wrist first axis to wrist third axis) 5 is disposed via the rotation shaft J2. To the wrist portion 5, an end effector 2 is attached via the head attachment 3. The head attachment 3 rotates about the rotation shaft JI.

[0013] The rotation shafts J2, J4, and J5 enable rotation in a clockwise or counterclockwise direction when viewed from the front surface of FIG. 1. The rotation shafts JI, J3, and J6 enable rotation thereabout in a near or distal direction in FIG. 1.

[0014] The end effector 2 and a junction box 4 are attached to the head attachment 3. The junction box 4 is equipped with a member to which a connector or terminal block for connecting aplurality of electric wires led out from the end effector 2 to electric wires 13 (13 A and 13B) arranged from the robot is attached. The junction box 4 allows the connection therein.

[0015] The electric wires 13 are led out from the junction box 4. The electric wires 13 are fixed at an electric wire lead-out portion 11 of the junction box 4. The electric wires 13 are connected to the end effector control panel 14 disposed in a fixed manner on ground, via an electric wire fixing member 12A standing on an upper surface of the swivel portion 7. Since a movement (swing amount) of the swivel portion 7 is less than those of the upper arm 6 and the lower arm 8, a movement (swing amount) of the electric wire fixing member 12A is also small.

[0016] As for rotation control at the rotation shafts, servo motors are commonly installed at the respective shafts and are controlled by a robot control apparatus, so that the end effector 2 is moved. When the end effector 2 is a discharge device that discharges a paint, the end effector 2 is moved along a to-be-painted surface of a paint target, so that painting is performed.

[0017] The life of the electric wires 13 ends at a break of the electric wires 13 caused by bending. A large number of times of bending of the electric wires 13 and a small bending radius adversely influence the break of the electric wires 13. Conversely, reducing the number of times of bending and increasing the bending radius can extend the life of the electric wires 13.

[0018] In the articulated robot 1 according to the present embodiment, the electric wires 13 are fixed at a position not causing adverse influences on the number of times of bending and the bending radius. This thus implements a reduced number of times of bending and an increased bending radius. Specifically, the electric wires 13 are not fixed to an arm that is parallel to the rotation shaft of the wrist portion (wrist first axis to wrist third axis) 5 to which the head attachment 3 is attached. The electric wires 13 are not fixed to an arm that has the rotation shaft on the same straight line as the rotation shaft of the wrist portion (wrist first axis to wrist third axis) 5 and is rotatable in a direction opposite to the rotation direction of the wrist portion 5. The electric wires 13 are not fixed to an arm that has the rotation shaft on the same straight line as the rotation shaft of the wrist portion (wrist first axis to wrist third axis) 5 and that causes a phase difference even if a rotation direction of the arm is the same as the rotation direction of the wrist portion 5.

[0019] If the electric wires 13 are fixed to the aforementioned arms, the number of times of bending of the electric wires 13 increases and the bending radius of the electric wires 13 decreases. This leads to a break of the electric wires 13. Therefore, a middle portion of the electric wires 13 is fixed or supported at a point other than the upper arm 6 and the lower arm 8 of the articulated robot 1 (apart from the upper arm 6 and the lower arm 8) to implement a reducednumber of times of bending and an increased bending radius and thus extend the life of the electric wires 13.

[0020] Inkjet HeadIn the present embodiment, for example, the inkjet head 20 illustrated in FIG. 2 is usable as the end effector 2. An overview of the commonly known inkjet head 20 using piezoelectric elements will be described with reference to FIG. 2. The inkjet head 20 includes piezoelectric elements 22. The piezoelectric elements 22 each have a needle 21 attached thereto via a driving mechanism 23.

[0021] The inkjet head 20 is equipped with eight needles 21. Each of the needles 21 uses a corresponding one of the piezoelectric elements 22 as a driving source. Expanding / contracting vibration of the piezoelectric element 22 is transmitted to the needle 21 via the driving mechanism 23 as a movement in a left-right direction in FIG. 2.

[0022] Two electric wires, i.e., the electric wire 24a for a positive electrode and the electric wire 24b for a negative electrode, for applying a voltage are attached to each of the piezoelectric elements 22. When a voltage is applied to each of the piezoelectric elements 22 via the electric wires 24a and 24b, the piezoelectric element 22 contracts or expands. As a result of the contraction or expansion, the attached needle 21 moves in the direction of the contraction or expansion.

[0023] The needles 21 are accommodated in a liquid chamber 26. The liquid chamber 26 has one end to which a high-pressure paint is supplied from an inlet pipe 25a. The paint supplied to the liquid chamber 26 exits from an outlet pipe 25b at an other end of the liquid chamber 26 opposite to the one end.

[0024] On a surface of the liquid chamber 26 where tips of the needles 21 touch, nozzle-shaped discharge ports 27 of a paint are formed. The discharge ports 27 open or close as a result of the respective needles 21 being driven (reciprocating) in the left-right direction in FIG. 2. When the discharge ports 27 are open, the high-pressure paint in the liquid chamber 26 is discharged to outside from the discharge ports 27.

[0025] The inkjet head 20 has an electric wire lead-out port 28. The electric wires 24a and 24b are led out through the electric wire lead-out port 28.

[0026] The electric wire lead-out port 28 is filled with a sealing material 29. The sealing material 29 shields the inside of the inkjet head 20 from outside. This thus ensures the pressure-resistant explosion-proof property of the inkjet head 20.

[0027] To meet the standards of the pressure-resistant explosion-proof property, passing the electric wires 24a and 24b through a metal conduit 24d which is an electric wire protection tube is requested in some cases. In this case, one end of the conduit 24d is fixed to the electric wire lead-out port 28 by a conduit fitting 24c that is attached to the electric wire lead-out port 28 of the inkjet head 20.

[0028] The use of the conduit 24d increases the weight of the end effector 2, and thus affects the operability of the articulated robot 1. The conduit 24d also reduces the flexibility of the electric wires 24a and 24b, and thus reduces the electric wire connectivity.

[0029] When the conduit 24d is not used, the electric wires 24a and 24b are desirably protected from outside damage in some way other than the conduit 24d. An amount of paint to be discharged from one of the discharge ports 27 of the inkjet head 20 in one open period is about several nanoliters (nl) and thus is small. For this reason, to cope with an area to be painted per unit time, which is requested in painting of a vehicle body of an automobile or the like, for example, the number of discharge ports 27 is increased.

[0030] Although details are omitted, to meet the area to be painted per unit time commonly requested in painting, six or more inkjet heads 20 illustrated in FIG. 2 are commonly used. That is, if six inkjet heads 20 are installed as the end effector 2, 96 electric wires (two electric wires x eight piezoelectric elements x six inkjet heads) are led out from the inkjet heads 20. This number of led-out electric wires is much greater than the number of electric wires (two to three electric wires) led out from a commonly known painting gun for electrostatic painting.

[0031] Since the painting gun for electrostatic painting has a small number of electric wires, the replacement workability of the painting gun is not problematic. Even if the electric wires of the painting gun are about eight meters long, the replacement workability does not decrease markedly since the electric wires weigh light.

[0032] However, the number of electric wires led out from the inkjet heads 20 is much greater. Therefore, the number of electric wires serves as a cause of markedly decreasing the head replacement workability. The present embodiment improves the head replacement workability in the case of a large number of electric wires.

[0033] Head Attachment and Junction BoxFIG. 3 A is an assembled perspective view of the head attachment 3 and the junction box 4. FIG. 3B illustrates how head array units illustrated in FIG. 4A are attached to the headattachment 3. The term "head array unit" refers to the plurality of inkjet heads 20 integrated together as illustrated in FIGs. 4 A and 4B.

[0034] The head attachment 3 has a box-shaped housing. FIGs. 3 A and 3B omit a front wall of the housing to present the inside of the head attachment 3.

[0035] The head attachment 3 is attached to the wrist portion 5 at the tip of the upper arm 6 via a columnar attachment part 3a fixed to a side surface of the housing. The junction box 4 is disposed on an upper surface of the head attachment 3.

[0036] In the head attachment 3, the plurality of inkjet heads 20 are installed. The inkjet heads 20 are integrated together on a nozzle-side thereof on a head array holder 3b to form a head array unit as illustrated in FIGs. 4 A and 4B.

[0037] FIGs. 4A and 4B each illustrate an example of the head array unit according to the embodiment. The plurality of (six in the illustrated example) inkjet heads 20 are integrated together in line (in array) on the plate-like head array holder 3b.

[0038] The sets of electric wires led out from the respective inkjet heads 20 are inserted to and supported by corresponding pod portions 41a rising from an upper surface of a faceplate 41. The faceplate 41 is disposed in parallel to the head array holder 3b above the inkjet heads 20.

[0039] The positions of the individual inkjet heads 20 are adjustable when the inkjet heads 20 are attached to the head array holder 3b. After the inkjet heads 20 are installed in the junction box 4, the head array holder 3b is fixed to a lower opening of the head attachment 3 and serves as a part of the head attachment 3.

[0040] In FIG. 4A, the large faceplate 41 having the six pod portions 41a is used. In another embodiment, six small faceplates 42 each having one pod portion 42a are used for the respective inkjet heads 20 as illustrated in FIG. 4B. When the small faceplates 42 are used, a plurality of small cutout holes (openings) having a size corresponding to the small faceplates 42 can be formed in a bottom plate 4b of the junction box 4. Forming the small cutout holes can improve the pressure-resistant explosion-proof property of the junction box 4.

[0041] In accordance with the number of inkjet heads 20, a single head array holder 3b may be used as illustrated in FIG. 3 A or two or more head array holders 3b may be used as illustrated in FIG. 3B. The head array holder 3b is fixed to the edge of the lower opening of the head attachment 3 with the head array units being accommodated in the head attachment 3 from thelower opening of the head attachment 3. In this state, the head array holder 3b serves as a part of the head attachment 3.

[0042] The electric wires (integrated electric wires) 13 A which are six divisional portions of the electric wires (integrated electric wires) 13 routed from the end effector control panel 14 on the robot side are connected to a top plate 4a of the junction box 4. The junction box 4 has a din rail 50 therein that is disposed across left and right side plates 4c.

[0043] The din rail 50 has a plurality of push-type two-stage terminal blocks 51 of the related art attached thereto. Each of the electric wires (integrated electric wires) 13 A is detachably connected to upper terminals of the terminal block 51 as many individual electric wires 13B.

[0044] Note that the electric wires extending from the end effector control panel 14 are not just the electric wires 13 (13 A and 13B) alone. FIGs. 3 A and 3B illustrate the electric wires 13 A and 13B as the electric wires extending from the end effector control panel 14. However, in practice, other electric wire are also present.

[0045] On the other hand, upper ends of the electric wires 24a and 24b rising from the pod portions 41a are detachably connected to lower terminals of the terminal block 51 in the junction box 4. The terminal block 51 allows connection between the individual electric wires 13B of the electric wires 13A extending from the end effector control panel 14 and the head-side electric wires 24a and 24b.

[0046] The bottom plate 4b of the junction box 4 located below the din rail 50 or the terminal block 51 has a pair of left and right rectangular cutout holes 4d each of which serves as an opening. Through the cutout holes 4d, the upper ends of the electric wires 24a and 24b rising from the pod portions 41a are inserted into the junction box 4 and detachably connected to the lower terminals of the terminal block 51.

[0047] Attachment of Head Array UnitThe entire head array units are lifted in a direction of arrows in FIG. 3B. In this way, the head array units are attached to the head attachment 3. The faceplates 41 are detachably attached to the junction box 4 to close cutout holes 4d of the junction box 4. Integrating the faceplates 41 to the junction box 4 can improve the pressure-resistant explosion-proof property of the junction box 4.

[0048] Then, the head array holders 3b are detachably attached to close the lower-end opening of the head attachment 3. The attachment order of the faceplates 41 and the head array holders 3bmay be reversed. Then, rod terminals (or ferrule terminals) 43 attached to the upper ends of the head-side electric wires 24a and 24b are inserted to the terminal block 51.

[0049] The junction box 4 and the terminal block 51 that meet a predetermined explosion-proof standard (e.g., Constructional Requirements for Electrical Equipment for Explosive Atmospheres according to Recommended Practices for Explosion-Protected Electrical Installations) may be used. When the explosion-proof property of the junction box 4 and the terminal block 51 is not requested, the faceplates 41 may be omitted or the terminal block 51 may be replaced with a common industrial connector which is an alternative.

[0050] The electric wires 24a and 24b of the inkjet heads 20 are connected to the terminal block 51 in the junction box 4. This can omit work for rigging the upper arm 6 and the lower arm 8 of the articulated robot 1 with the electric wires 24a and 24b. When the connector unit (the terminal block 51) for the electric wires 24a and 24b is disposed inside the junction box 4 of an increased safety type, the predetermined explosion-proof standard can be met. Components (the faceplates 41 and the rod terminals 43) that meet a predetermined explosion-proof standard together with a part (the cutout holes 4d and the terminal block 51) of the junction box 4 are included in a replacement unit (head array unit) of the end effector 2. This can increase ease of replacement of the end effector 2.

[0051] Detachment of Head Array UnitsTo detach the head array units from the head attachment 3, first, the front plate of the housing of the head attachment 3 is detached as in FIG. 3B. Then, all the rod terminals 43 are pulled out from the terminal block 51. Subsequently, the faceplates 41 are detached from the junction box 4.

[0052] Then, the head array holders 3b are detached from the head attachment 3. In this way, the head array units can be detached from the head attachment 3.

[0053] Fixed State of Faceplates to Junction BoxA fixed state of the faceplates 41 to the junction box 4 will be described with reference to FIG. 5. The faceplates 41 each have six lead-in holes 41b for leading, into the junction box 4, the electric wires 24a and 24b led out from the inkjet heads 20.

[0054] Each of the lead-in holes 41b communicates with a hole of the corresponding pod portion 41a that protrudes from the inner surface of the faceplate 41 toward the junction box 4. The faceplates 41 are detachably fixed to the bottom plate 4b of the junction box 4 to close the cutout holes 4d illustrated in FIG. 3B.

[0055] FIG. 5 is a diagram of two faceplates 41 each with the (six) lead-in holes 41b attached to the junction box 4. FIG. 5 illustrates a configuration that one faceplate 41 has six lead-in holes 41b. However, any number of lead-in holes 41b may be formed in one faceplate 41.

[0056] The shape of the faceplates 41 may be any (plate-like) shape that form a face and does not have to be rectangular. The shape of the faceplates 41 does not affect the present disclosure and thus may be circular or the like.

[0057] In the head array unit illustrated in FIG. 4A, the electric wires 24a and 24b led out from the inkjet heads 20 are led into the pod portions 41a formed on the faceplate 41. To meet the explosion-proof standard, the pod portions 41a are filled with a sealing material. The sealing material shields the inside of the junction box 4 from the outside, and blocks an inflow of explosive atmosphere into the junction box 4 from the outside.

[0058] The rod terminals 43 are attached to the tips (upper ends) of the electric wires 24a and 24b. The rod terminals 43 are connected to the terminal block 51 in the junction box 4.

[0059] Adopting the configuration of the head array unit illustrated in FIG. 4A or 4B allows works that occurs at independent head replacement, such as work of passing electric wires through holes, work of sealing, and work of attaching the conduit 24d and the conduit fitting 24c, to be finished in advance. This can decrease the head replacement time and improve the workability. Note that the work of attaching the conduit 24d and the conduit fitting 24c may be omitted when the electric wires 24a and 24b are protected in some way.

[0060] Second EmbodimentFIG. 6 is a schematic diagram of an articulated robot 1 according to a second embodiment of the present disclosure. In FIG. 6, an electric wire fixing member 12B is added instead of the electric wire fixing member 12A and a stretchable member 15 is added to the configuration illustrated in FIG. 1.

[0061] The electric wire fixing member 12B has an L-shape as a whole and stands on the upper surface of the swivel portion 7. An upper portion of the electric wire fixing member 12B projects horizontally in a direction in which the upper arm 6 extends.

[0062] A tip of the horizontally projecting upper portion is coupled to an upper end portion of the stretchable member 15. A lower end portion of the stretchable member 15 is coupled to a slack portion 13a such that the slack portion 13a at a middle portion of the electric wires 13 does not touch a painting-target object 16.

[0063] An amount of slack of the slack portion 13a at the middle portion of the electric wires 13 depends on a distance between the electric wire fixing member 12B and the electric wire lead- out portion 11. This distance varies depending on motions at the rotation shafts JI , J2, and J3. The length of the stretchable member 15 and the height of the electric wire fixing member 12B are settable in accordance with a maximum change in the distance.

[0064] When the distance between the electric wire fixing member 12B and the electric wire lead-out portion 11 is the minimum, the amount of slack of the electric wires 13 is the maximum. The length of the stretchable member 15 and the height of the electric wire fixing member 12B are settable such that the slack portion 13a does not touch the painting-target object 16 even in this case. Extension and contraction of the stretchable member 15 does not hinder the movement of the end effector 2 due to the motions at the rotation shafts JI , J2, and J3.

[0065] Third EmbodimentFIG. 7 is a schematic diagram of an articulated robot 1 according to a third embodiment of the present disclosure. In FIG. 7, an electric wire fixing member 12C stands beside the base 10 of the articulated robot 1, and the middle portion of the electric wires 13 is fixed to an upper end portion of the electric wire fixing member 12C.

[0066] The electric wire fixing member 12C is disposed outside the articulated robot 1, which is a feature. When the articulated robot 1 has a restriction on the weight, the electric wire fixing member 12C can ease the restriction on the weight of the articulated robot 1.

[0067] Fourth EmbodimentFIG. 8 is a schematic diagram of an articulated robot 1 according to a fourth embodiment of the present disclosure. In this embodiment, an electric wire fixing member 12D stands beside the base 10 of the articulated robot 1. When the articulated robot 1 has a restriction on the weight, the electric wire fixing member 12D can ease the restriction on the weight of the articulated robot 1.

[0068] The electric wire fixing member 12D has an L-shape as a whole. An upper portion of the electric wire fixing member 12D projects horizontally in a direction in which the upper arm 6 extends. A tip of the horizontally projecting upper portion is coupled to an upper end portion of the stretchable member 15.

[0069] A lower end portion of the stretchable member 15 is coupled to a slack portion 13a such that the slack portion 13a at a middle portion of the electric wires 13 does not touch the paintingtarget object 16. That is, the fourth embodiment of the present disclosure illustrated in FIG. 8corresponds to a combination of the second embodiment illustrated in FIG. 6 and the third embodiment illustrated in FIG. 7.

[0070] While the embodiments of the present disclosure have been described specifically above, the present disclosure is not limited to the embodiments described above. Needless to say, various modifications can be made within the scope of the technical spirit of the claims. For example, the configurations described herein are applicable to an articulated robot of 5 or less axes or 7 or more axes as well as 6-axis vertically articulated robot.

[0071] The articulated robot according to each of the embodiments of the present disclosure is also applicable to a surgical robot. In this case, the end effector 2 is, for example, forceps 102 illustrated in FIGs. 9A and 9B. FIG. 9A is a perspective view of pairs of forceps 102 attached to a distal end of an arm 101 of a surgical robot. FIG. 9B is an enlarged view of the forceps 102.

[0072] Each pair of forceps 102 is coupled to the distal end of the arm 101 via a corresponding one of joint portions 103. The joint portions 103 each have a plurality of joints and is flexibly bendable. In addition to the joint portions 103, an endoscope 104 is also coupled to the distal end of the arm 101. The endoscope 104 enables the states of the pairs of forceps 102 to be monitored.

[0073] As illustrated in FIG. 9B, the joint portion 103 includes a forceps operation electric wire 103a and a torque transmitting tube 103b. The forceps operation electric wire 103a is moved (reciprocated) in an extending direction thereof, so that the forceps 102 can be opened and closed. The torque transmitting tube 103b is rotated, so that a wrist joint which serves as a wrist portion at the tip of the joint portion 103 can be rotated.

[0074] The forceps operation electric wire 103 a and the torque transmitting tube 103b are led out from an electric wire lead-out portion provided at the distal end of the arm 101 and are connected to a forceps control panel which is the end effector control panel as in FIGs. 1 and 6 to 8. Middle portions of the forceps operation electric wire 103 a and the torque transmitting tube 103b are supported by an electric wire fixing member that is apart from the arm 101.

[0075] Preferred aspects of the present disclosure will be additionally described below.Aspect 1According to Aspect 1, an articulated robot includes a robot arm, an end effector, a head attachment, and electric wires. The end effector is disposed at a tip of the robot arm. The head attachment is for attaching the end effector to the tip of the robot arm. The electric wires connect the end effector and a control panel to each other, the control panel being disposed ina fixed manner on ground. A connector unit for connecting an electric wire led out from the end effector among the electric wires and an electric wire led out from the control panel among the electric wires to each other is integrated with the head attachment.Aspect 2According to Aspect 2, in the articulated robot of Aspect 1, the connector unit is disposed inside a junction box compliant with an explosion-proof standard, and the junction box is integrated with the head attachment.Aspect 3According to Aspect 3, in the articulated robot of Aspect 1 or 2, the connector unit includes a terminal block, and the electric wire led out from the end effector is detachably connected to the terminal block.Aspect 4According to Aspect 4, in the articulated robot of Aspect 3, the junction box has an opening that is open toward the terminal block, and the electric wire led out from the end effector is connected to the terminal block through the opening.Aspect 5According to Aspect 5, in the articulated robot of Aspect 4, the electric wire led out from the end effector is provided with a faceplate which the electric wire penetrates through, and the faceplate is detachably attached to the junction box to close the opening.Aspect 6According to Aspect 6, in the articulated robot of Aspect 5, the end effector includes a plurality of units, the electric wire led out from the end effector includes a plurality of electric wires led out from the plurality of units, the plurality of electric wires led out from the plurality of units are held by the faceplate of a large size, and the faceplate of the large size is detachably attached to the opening of a large size formed on the junction box.Aspect 7According to Aspect 7, in the articulated robot of Aspect 5, the end effector includes a plurality of units, each of the plurality of units has the faceplate of a small size, and the faceplate of the small size is detachably attached to the opening of a small size formed on the junction box.Aspect 8According to Aspect 8, in the articulated robot of any one of Aspects 1 to 7, the end effector includes an inkjet head.Aspect 9According to Aspect 9, in the articulated robot of any one of Aspects 1 to 8, an electric wire fixing member supporting a middle portion of the electric wires is disposed at a position apart from the robot arm.Aspect 10According to Aspect 10, the articulated robot of any one of Aspects 1 to 8, includes a base, a swivel base, a lower arm, a swivel portion, an upper arm, a wrist portion, and the end effector. The swivel base is disposed on the base. The lower arm is disposed on the swivel base. The swivel portion is disposed at an upper end portion of the lower arm. The upper arm is disposed at the swivel portion. The wrist portion is disposed at a tip of the upper arm. The end effector is disposed at the wrist portion.Aspect 11According to Aspect 11, in the articulated robot of Aspect 10, the electric wire fixing member is disposed at the swivel portion.Aspect 12According to Aspect 12, in the articulated robot of Aspect 11, the electric wire fixing member is coupled to one end of a stretchable member, and an other end of the stretchable member is coupled to the middle portion of the electric wires between the end effector and the electric wire fixing member.Aspect 13According to Aspect 13, in the articulated robot of Aspect 10, the electric wire fixing member stands beside the base.Aspect 14According to Aspect 14, in the articulated robot of Aspect 13, the electric wire fixing member is coupled to one end of a stretchable member, and an other end of the stretchable member is coupled to the middle portion of the electric wires between the end effector and the electric wire fixing member.Aspect 15According to Aspect 15, in the articulated robot of any one of Aspects 1 to 14, the end effector includes a paint spray gun, a spot welding gun, or surgical forceps.

[0076] This patent application is based on and claims priority to Japanese Patent Application No. 2023-215933, filed on December 21, 2023, in the Japan Patent Office, the entire disclosure of which is hereby incorporated by reference herein.[Reference Signs List]

[0077] 1 : articulated robot2: end effector3 : head attachment3a: attachment part 3b: head array holder 4: junction box 4a: top plate 4b: bottom platec: side plate d: cutout hole (opening) : wrist portion : upper arm (basic third axis) : swivel portion : lower arm (basic second axis) : swivel base (basic first axis) 0: base 1 : electric wire lead-out portion 2A-12D: electric wire fixing member3: electric wire (integrated electric wire)3 A: electric wire (integrated electric wire)3B: individual electric wire 3a: slack portion 4: end effector control panel 5: stretchable member 6: painting-target object 0: inkjet head 1 : needle 2: piezoelectric element 3: driving mechanism 4a: electric wire for positive electrode4a, 24b: electric wire 4b: electric wire for negative electrode4c: conduit fitting 4d: conduit 5a: inlet pipe 5b: outlet pipe 6: liquid chamber 7: discharge port 8: electric wire lead-out port 9: sealing material 1, 42: faceplate 1a, 42a: pod portion 1b: lead-in hole 3 : rod terminal (or ferrule terminal) 0: din rail 1 : terminal block (connector unit) 01 : arm102: forceps103: joint portion103a: forceps operation electric wire103b: torque transmitting tube104: endoscopeJ1-J6: rotation shaft

Claims

[CLAIMS]1. An articulated robot comprising: a robot arm; an end effector disposed at a tip of the robot arm; a head attachment for attaching the end effector to the tip of the robot arm; and electric wires connecting the end effector and a control panel to each other, the control panel being disposed in a fixed manner on ground, wherein a connector unit for connecting an electric wire led out from the end effector among the electric wires and an electric wire led out from the control panel among the electric wires to each other is integrated with the head attachment.

2. The articulated robot according to claim 1, wherein the connector unit is disposed inside a junction box compliant with an explosion-proof standard, and the junction box is integrated with the head attachment.

3. The articulated robot according to claim 2, wherein the connector unit includes a terminal block, and the electric wire led out from the end effector is detachably connected to the terminal block.

4. The articulated robot according to claim 3, wherein the junction box has an opening that is open toward the terminal block, and the electric wire led out from the end effector is connected to the terminal block through the opening.

5. The articulated robot according to claim 4, wherein the electric wire led out from the end effector is provided with a faceplate which the electric wire penetrates through, and the faceplate is detachably attached to the junction box to close the opening.

6. The articulated robot according to claim 5, wherein the end effector includes a plurality of units, the electric wire led out from the end effector includes a plurality of electric wires led out from the plurality of units, the plurality of electric wires led out from the plurality of units are held by the faceplate, and the faceplate is detachably attached to the opening formed on the junction box.

7. The articulated robot according to claim 5, wherein the end effector includes a plurality of units, each of the plurality of units has the faceplate, and the faceplate is detachably attached to the opening formed on the junction box.

8. The articulated robot according to any one of claims 1 to 7, wherein the end effector includes an inkjet head.

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