Industrial robot

Abstract

This industrial robot (1) comprises: an end effector (27); a wrist (25) that supports the end effector; an arm (2) that supports the wrist; a support part (10) that supports the arm; a first valve unit (31) that is connected to the end effector and is supported by the arm; and a second valve unit (41) that is connected to the end effector, is larger than the first valve unit, and is positioned farther from the end effector than the first valve unit.

Description

Industrial robot

[0001] The technology disclosed herein relates to an industrial robot.

[0002] Patent Document 1 describes a conventional painting robot. The painting robot includes a base, a swivel base, a first arm, a second arm, and a wrist. The wrist is provided at the tip of the second arm. A painting gun is attached to the tip of the wrist. The painting robot also includes a paint change valve unit. The paint change valve unit selectively supplies a specified one of a plurality of types of paints supplied from a paint supply source to the painting gun. The paint change valve unit is provided on the upper surface of the second arm.

[0003] Japanese Patent Application Laid-Open No. 2000-005659

[0004] As the number of paints that can be applied by the painting robot increases, the versatility of the painting robot increases. On the other hand, as the number of paints increases, the number of valves in the paint change valve unit increases, so the valve unit becomes larger. When a large valve unit is provided on the second arm, the size of the second arm increases.

[0005] When the size of the second arm increases, for example, even if the painting robot tries to insert the painting gun from the opening of the workpiece into the inside of the workpiece, the second arm is likely to interfere with the workpiece. A highly versatile painting robot may cause a decrease in work efficiency. Conversely, if the size of the second arm is reduced by limiting the number of valves in the valve unit provided on the second arm, the painting robot can only be painted with, for example, paints of a specific color. The versatility of the painting robot decreases. In a painting robot, improving versatility and improving work efficiency are conflicting requirements.

[0006] Note that the requirement to make the arm supporting the wrist small is not a requirement limited to the painting robot. From the viewpoint of increasing work efficiency in industrial robots, miniaturization of the arm may be required in industrial robots for various applications.

[0007] The technology disclosed herein relates to an industrial robot. The industrial robot comprises: an end effector; a wrist supporting the end effector; an arm supporting the wrist; a support portion supporting the arm; a first valve unit connected to the end effector, the first valve unit being supported by the arm; and a second valve unit connected to the end effector, the second valve unit being larger than the first valve unit and located further away from the end effector than the first valve unit.

[0008] In the aforementioned industrial robot, the first valve unit supported by the arm is relatively small, allowing for a smaller arm size. Furthermore, the industrial robot is equipped with a relatively large second valve unit, resulting in high versatility.

[0009] Figure 1 is a perspective view of an industrial robot. Figure 2 is a perspective view of the industrial robot viewed from the opposite side to Figure 1. Figure 3 shows the industrial robot in operation. Figure 4 shows the connection structure between the end effector and the valve unit in the industrial robot. Figure 5 is a cross-sectional view taken along line V-V in Figure 2.

[0010] The following describes an embodiment of an industrial robot with reference to the drawings. The industrial robot described here is an example.

[0011] Figure 1 shows an industrial robot 1. Hereafter, it will simply be referred to as robot 1. Figure 2 is a perspective view of industrial robot 1, viewed from the opposite side of Figure 1. Figure 3 shows robot 1 performing work. Robot 1 is a robot that paints a workpiece 9. The painting robot 1 is installed, for example, in an isolated painting area. Explosion-proof measures are taken for robot 1 and its peripheral equipment. The workpiece 9 may have an opening 91. Robot 1 paints the outside of the workpiece 9. Robot 1 may also paint the inside of the workpiece 9. Note that workpiece 9 is not limited to a specific workpiece. Robot 1 can be used to paint various industrial products, such as automobiles, aircraft, or railway vehicles. Also, robot 1 is not limited to a painting robot. Robot 1 can be used to manufacture various industrial products. Industrial products include, in addition to the automobiles, aircraft, or railway vehicles mentioned above, home appliances, electronic devices, industrial machinery, or medical devices.

[0012] Robot 1 is a so-called vertical articulated robot. Robot 1 is a 7-axis robot equipped with joints JT1-JT7. The manipulator of robot 1 has a serial link structure.

[0013] Robot 1 includes a support section 10. The support section 10 is fixed so as not to move. The support section 10 includes a base 11. The base 11 is fixed to a fixed surface 12. The fixed surface 12 is, for example, a floor. The fixed surface 12 is not limited to a floor.

[0014] The support unit 10 includes a relay box 13. The relay box 13 relays the harness 130 connected to the robot 1. The relay box 13 is located near the base 11. The inside of the relay box 13 and the inside of the base 11 are connected. The relay box 13 is fixed to the fixed surface 12 together with the base 11. The relay box 13 does not move.

[0015] The support unit 10 includes a rotor 15. The rotor 15 is rotatably supported on the base 11. More specifically, the rotor 15 rotates relative to the base 11 around a first axis Ax1. The first axis Ax1 is an axis perpendicular to the fixed surface 12. The support unit 10 has a joint JT1.

[0016] The rotor 15 has a bracket 16. The bracket 16 rotates together with the rotor 15 around a first axis Ax1 relative to the base 11. The first axis Ax1 is a swivel axis. The bracket 16 connects the rotor 15 to the lower arm 21 of the arm 2, which will be described later.

[0017] Robot 1 includes an arm 2. Arm 2 includes a lower arm 21. The first end of the lower arm 21 is supported by the rotor 15. The lower arm 21 rotates relative to the rotor 15 around a second axis Ax2. In other words, joint JT2 connects the first end of the lower arm 21 to the rotor 15. The second axis Ax2 is a bent axis parallel to the fixed surface 12.

[0018] Arm 2 includes a middle arm 22. The first end of the middle arm 22 is supported by the second end of the lower arm 21. The middle arm 22 rotates relative to the lower arm 21 around the third axis Ax3. In other words, joint JT3 connects the first end of the middle arm 22 to the second end of the lower arm 21. The third axis Ax3 is a bend axis parallel to the second axis Ax2.

[0019] Arm 2 includes an upper arm 23. The first end of the upper arm 23 is supported by the second end of the middle arm 22. The middle arm 22 connects the upper arm 23 and the lower arm 21. The upper arm 23 rotates relative to the middle arm 22 around the fourth axis Ax4. In other words, joint JT4 connects the first end of the upper arm 23 to the second end of the middle arm 22. The fourth axis Ax4 is a bend axis parallel to the third axis Ax3.

[0020] Robot 1 is equipped with a wrist 25. The wrist 25 is supported by an upper arm 23. The wrist 25 is connected to the second end of the upper arm 23 via a joint JT5. The joint JT5 causes the wrist 25 to rotate relative to the upper arm 23 around a fifth axis Ax5. The fifth axis Ax5 is a swivel axis. The direction of the fifth axis Ax5 is perpendicular to the direction of the fourth axis Ax4. As will be described later, the end effector 27 supported by the wrist 25 rotates around the fifth axis Ax5.

[0021] The wrist 25 has a joint JT6. Joint JT6 rotates around the sixth axis Ax6. The sixth axis Ax6 is a swivel axis that intersects the fifth axis Ax5 at a predetermined angle. Joint JT6 rotates the end effector 27 around the sixth axis Ax6.

[0022] The wrist 25 also has a joint JT7. Joint JT7 rotates around the seventh axis Ax7. The seventh axis Ax7 is a swivel axis that intersects the sixth axis Ax6 at a predetermined angle. Joint JT7 rotates the end effector 27 around the seventh axis Ax7.

[0023] The structure of the wrist 25 of robot 1 is not limited to the structure described above. The fifth axis Ax5 of joint JT5 may be a bend axis parallel to the fourth axis Ax4.

[0024] Robot 1 is equipped with an end effector 27. The end effector 27 has the function of painting the workpiece 9. The end effector 27 is, for example, a painting bell. The painting bell has a known structure. The painting bell has at least a valve that switches painting on and off, and an air motor that atomizes the paint. However, the end effector 27 is not limited to a painting bell. The end effector 27 may be a spray gun. The spray gun atomizes the paint with air and sprays it onto the workpiece 9.

[0025] (Arrangement of Valve Unit) Figure 4 shows the connection structure between the end effector 27 of robot 1 and the valve unit. Note that the connection structure in Figure 4 is an example, and the technology disclosed herein is not limited to its application to the connection structure in Figure 4. Also, Figure 4 does not show the relative sizes of the valve units 31 and 41, which will be described later, nor does it show the relative lengths of the first tube 35 and the second tube 45.

[0026] Robot 1 includes a valve unit 31. The valve unit 31 is connected to an air supply source 5. The valve unit 31 is connected directly or indirectly to an end effector 27. A first tube 35 is connected to the valve unit 31. The first tube 35 is one tube or a bundle of multiple tubes. Air flows through the first tube 35.

[0027] The valve unit 31 has control valves. In the robot 1 of Figure 1 or Figure 2, the valve unit 31 has two control valves, a first valve 32 and a second valve 33. The valve unit 31 may have two or more control valves. However, the number of control valves in the valve unit 31 is less than the number of control valves in the valve unit 41, which will be described later. The valve unit 31 is relatively small. Here, "small" may mean that the volume of the valve unit 31 is smaller than the volume of the valve unit 41. Also, here, "small" may mean that the number of control valves in the valve unit 31 is less than the number of control valves in the valve unit 41.

[0028] The control valve in the valve unit 31 is an electromagnetic valve that opens and closes in response to an electrical signal via the harness 130. However, the control valve is not limited to an electromagnetic valve.

[0029] The first valve 32 is used to switch the painting by the end effector 27 on and off. Specifically, the first valve 32 switches the supply of spray air to the end effector 27 on and off. The second valve 33 is used to control the atomization of paint in the end effector 27. Specifically, the second valve 33 controls the air motor 271 of the end effector 27 through a switching valve 36. The switching valve 36 is connected to the air motor 271 via an air tube 37. The first valve 32 and the second valve 33 are valves that control the painting of the end effector 27. The first valve 32 and the second valve 33 are essential valves for the painting robot 1 that provide the necessary functions for the end effector 27 to perform painting.

[0030] The valve unit 31 is supported by the arm 2. More specifically, the valve unit 31 is supported by the upper arm 23 of the arm 2. As shown in the enlarged view 101 of Figure 1, the main body of the valve unit 31 is built into the upper arm 23. The main body of the valve unit 31 refers to the part that includes the control valve and to the part to which the harness 130 is connected. The main body of the valve unit 31 is not exposed outside the outer casing of the upper arm 23. The air tube connection port 34 of the valve unit 31 is exposed outside the outer casing of the upper arm 23. As shown in Figure 4, the first tube 35 is connected to the air tube connection port 34. The air tube connection port 34 is located in a recess 231 in the outer casing of the upper arm 23. The air tube connection port 34 is located inside the outermost surface of the outer casing of the upper arm 23.

[0031] Valve unit 31 is an example of a first valve unit.

[0032] Robot 1 includes a valve unit 41. The valve unit 41 is connected to an air supply source 5. The valve unit 41 is connected directly or indirectly to an end effector 27. A second tube 45 is connected to the valve unit 41. The second tube 45 is one tube or a bundle of multiple tubes. Air flows through the second tube 45.

[0033] The valve unit 41 has control valves. In the robot 1 shown in Figure 1 or Figure 2, the valve unit 41 has 16 control valves. There is no limit to the number of control valves in the valve unit 41, as long as it is greater than the number of control valves in the valve unit 31. The valve unit 41 is relatively large. That is, the volume of the valve unit 41 is larger than the volume of the valve unit 31. Also, the number of control valves in the valve unit 41 is greater than the number of control valves in the valve unit 31.

[0034] The control valve in the valve unit 41 is an electromagnetic valve that opens and closes in response to an electrical signal via the harness 130. However, the control valve is not limited to an electromagnetic valve.

[0035] As shown in Figure 4, the control valve of the valve unit 41 is connected by a second tube 45 to, for example, a color change valve 46. The color change valve 46 changes the color of the paint applied from the end effector 27 to the workpiece 9. The color change valve 46 is connected to the end effector 27 via a paint tube 47. The control valve of the valve unit 41 is also connected by a second tube 45 to, for example, a thinner path on / off valve 48. The thinner path on / off valve 48 is used to clean residual paint when changing colors. The thinner path on / off valve 48 is connected to the end effector 27 via a thinner tube 49.

[0036] As shown in Figure 1, the valve unit 41 is mounted on the support portion 10. The valve unit 41 is positioned further from the end effector 27 than the valve unit 31. The valve unit 41 is mounted on the base 11 of the support portion 10. More specifically, as shown in the enlarged view 102 of Figure 1, the main body of the valve unit 41 is housed in the relay box 13. The main body of the valve unit 41 is mounted on the back surface of a panel 132, for example. The panel 132 closes the opening 131 of the relay box 13. When the panel 132 is attached to the relay box 13, the main body of the valve unit 41 is not exposed outside the relay box 13. When the panel 132 is removed from the relay box 13, the main body of the valve unit 41 is exposed outside the relay box 13. The air tube connection port 44 of the valve unit 41 is located on the surface of the panel 132. The air tube connection port 44 is exposed outside the relay box 13. As shown in Figure 4, the second tube 45 is connected to the air tube connection port 44. The main body of the valve unit 41 refers to the part including the control valve and to the part to which the harness 130 is connected.

[0037] Valve unit 41 is an example of a second valve unit.

[0038] (Arrangement of pump and electric motor) As shown in Figure 2, the robot 1 is equipped with a pump 51. The pump 51 supplies paint to the end effector 27. The pump 51 may be, for example, a flashable gear pump (FGP). Note that the pump 51 is not limited to a flashable gear pump. A paint tube 47 connects the pump 51 and the end effector 27 to each other.

[0039] The pump 51 is mounted on the upper arm 23. More specifically, the pump 51 is mounted on the base end side of the upper arm 23. Here, the base end side of the upper arm 23 corresponds to the base end side when the upper arm 23, which extends in a direction perpendicular to the fourth axis Ax4, is divided into a tip end side and a base end side. The tip end side of the upper arm 23 is the side that supports the wrist 25, as described above, and the base end side of the upper arm 23 is the side that is connected to the middle arm 22, as described above.

[0040] The base end of the upper arm 23 illustrated in Figure 2 is wider than the tip end. Here, width refers to the length in the direction along the fourth axis Ax4. The upper arm 23 has a step 24 between its base end and tip end. The step 24 is located on the side closer to the middle arm 22 in the direction along the fourth axis Ax4. The upper arm 23 has a mounting surface 241 at the step 24 that faces towards the tip of the upper arm 23.

[0041] The pump 51 is located at the step 24 of the upper arm 23. Figure 5 is a cross-sectional view taken along line V-V in Figure 2. As shown in Figure 5, the pump 51 is mounted on the mounting surface 241. The pump 51 protrudes from the mounting surface 241 toward the tip of the upper arm 23. Note that in Figure 2 or Figure 5, the pump 51 is depicted schematically, and Figure 2 or Figure 5 does not necessarily show the exact shape of the pump 51.

[0042] As shown in Figure 2, the paint tube 47 connected to the pump 51 is routed along the relatively narrower side of the upper arm 23 towards the tip of the upper arm 23. The paint tube 47 then passes through the hollow wrist 25 to reach the end effector 27.

[0043] The robot 1 includes an electric motor 52. The electric motor 52 drives the pump 51. The electric motor 52 is, for example, an AC servo motor.

[0044] The electric motor 52 has a main body 521 and a shaft 522. The shaft 522 protrudes from the main body 521. As shown in FIG. 2, the main body 521 is built into the upper arm 23.

[0045] The main body 521 is located on the proximal end side of the upper arm 23 relative to the pump 51. The main body 521 and the pump 51 are adjacent to each other with a cover 230 (to be described later) interposed therebetween.

[0046] The shaft 522 extends in the direction of the fifth axis Ax5 of the joint JT5. In other words, the shaft 522 extends in the direction from the proximal end side to the distal end side of the upper arm 23.

[0047] The shaft 522 protrudes from the upper arm 23 through the cover 230 of the upper arm 23 from the inside to the outside. The cover 230 is a cover having a mounting surface 241. The shaft 522 protrudes from the mounting surface 241 toward the distal end side of the upper arm 23.

[0048] The shaft 522 is directly connected to the pump 51. As shown in FIG. 5, the rotation axis Px of the pump 51 is parallel to the shaft 522. Here, the term "parallel" includes the case where the rotation axis Px of the pump 51 coincides with the central axis of the shaft 522.

[0049] The main body 521 of the electric motor 52 is connected to a harness. The electric motor 52 receives a control signal from the robot controller 17 and drives and stops. By driving the electric motor 52, the pump 51 supplies paint to the end effector 27. By stopping the electric motor 52, the pump 51 stops supplying paint to the end effector 27.

[0050] (Effects) The valve unit 31 is supported by the upper arm 23. Because the valve unit 31 is small, the upper arm 23 does not become large even when the main body of the valve unit 31 is built inside. The size of the upper arm 23 is small. In other words, the upper arm 23 is thin. When the upper arm 23 is thin, it means that the length of the upper arm 23 is short in the direction perpendicular to the direction in which the upper arm 23 extends. That is, the width of the upper arm 23 is short and or the height of the upper arm 23 is low. For example, as shown in Figure 3, when the robot 1 paints the inside of the workpiece 9, the end effector 27 is inserted into the inside of the workpiece 9 from the opening 91. Because the upper arm 23 is thin, interference between the upper arm 23 and the workpiece 9 is suppressed when the robot 1 inserts the end effector 27 into the inside of the workpiece 9 from the opening 91 of the workpiece 9. The work efficiency of the robot 1 is improved.

[0051] Furthermore, a sealed structure using a packing or gasket is employed at the mounting point of the valve unit 31 to the upper arm 23. This ensures the explosion-proof performance of the robot 1.

[0052] The small valve unit 31 has a small number of control valves. Generally, a small number of control valves reduces the versatility of the robot. However, robot 1 is equipped with a large valve unit 41. The large valve unit 41 has a large number of control valves. The number of channels connected to the end effector 27 is also large. Robot 1 has high versatility.

[0053] The valve unit 41 is mounted on the support part 10. The valve unit 41 is positioned further away from the end effector 27 than the valve unit 31. The valve unit 41 does not adversely affect the shape of the arm 2 of the robot 1. Although the robot 1 has a large number of control valves, the size of the arm 2 is small. The robot 1 can achieve both improved versatility and improved work efficiency.

[0054] Furthermore, the fact that the main body of the valve unit 41 is built into the relay box 13 makes it possible to attach the valve unit 41 to the support part 10 without increasing the installation area of ​​the robot 1. In addition, a sealed structure using a packing or gasket is used at the mounting location of the valve unit 41 to the relay box 13. This ensures the explosion-proof performance of the robot 1.

[0055] The valve unit 31 includes a first valve 32 for switching the painting of the end effector 27 on and off, and a second valve 33 for controlling the atomization of the paint in the end effector 27. As mentioned above, the first valve 32 and the second valve 33 are valves that control the painting of the end effector 27. Because the valve unit 31 is located near the end effector 27, the length of the first tube 35 interposed between the valve unit 31 and the end effector 27 is relatively short. This increases the control responsiveness of the end effector 27 to the opening and closing of the first valve 32 or the second valve 33. High control responsiveness of the end effector 27 that performs painting can suppress the spraying of unnecessary paint, which is advantageous for saving paint. The fact that the valve unit 31 is supported by the upper arm 23 is also advantageous in that it increases the control responsiveness of the first valve 32 and the second valve 33.

[0056] Because the valve unit 41 is located far from the end effector 27, its control responsiveness is relatively low. However, the color change valve 46 or the thinner path opening / closing valve 48 controlled by the valve unit 41 do not require the same level of control responsiveness as the valve unit 31. The valve unit 41 may have a control valve that does not require high control responsiveness.

[0057] Here, the valve unit 31 may have a control valve that requires higher control responsiveness than the valve unit 41.

[0058] The pump 51 is mounted outside the upper arm 23. Because the pump 51 is mounted on the upper arm 23, the distance between the end effector 27 and the pump 51 is short, resulting in high responsiveness of the end effector 27 to the driving and stopping of the pump 51. In other words, there is high responsiveness in the spraying and stopping of paint from the end effector 27 in conjunction with the driving and stopping of the pump 51. This high responsiveness in the painting robot 1 is advantageous for improving painting quality and saving paint.

[0059] Because the distance between the end effector 27 and the pump 51 is short, the length of the paint tube 47 connecting the end effector 27 and the pump 51 is short. The short length of the paint tube 47 is advantageous for routing the paint tube 47.

[0060] Furthermore, as the pump 51 is mounted outside the upper arm 23, the paint tube 47 is routed along the outer surface of the upper arm 23, from the base end to the tip end. Routing the paint tube 47 is easy.

[0061] While the pump 51 is mounted outside the upper arm 23, the body 521 of the electric motor 52 is built into the upper arm 23. The industrial robot 1 can be made explosion-proof.

[0062] The shaft 522 of the electric motor 52 extends in the direction of axis Ax5 and passes through the cover 230, protruding out of the upper arm 23. The pump 51 and the electric motor 52 are adjacent to each other with the cover 230 in between, and the shaft 522 is directly connected to the pump 51. The rotation axis Px of the pump 51 is parallel to the shaft 522. The electric motor 52 and the pump 51 are compactly arranged on the upper arm 23. The compact arrangement of the electric motor 52 and the pump 51 is advantageous in suppressing interference between the arm 2 and the workpiece 9.

[0063] More specifically, the pump 51 is located at the step 24 in the upper arm 23. The pump 51 is located on the side of the upper arm 23 closer to the middle arm 22 in the direction along the fourth axis Ax4. The pump 51 is substantially located between the upper arm 23 and the middle arm 22 in the direction along the fourth axis Ax4. More specifically, the pump 51 is located between the side surface 232 of the upper arm 23 and the side surface 221 of the middle arm 22 in the direction along the fourth axis Ax4 (see Figure 2). Side surface 232 is the outer surface in the direction along the fourth axis Ax4. Side surface 221 is the side surface away from side surface 232 in the direction along the fourth axis Ax4. With the pump 51 positioned in this location, interference with the workpiece 9 is suppressed. Because interference between the pump 51 and the workpiece 9 is suppressed, the range of motion of the robot arm 2 is increased. The work efficiency of the robot 1 is improved.

[0064] The shaft 522 protrudes from the base end of the upper arm 23 toward the tip end. The pump 51 is mounted on the mounting surface 241 facing toward the tip end of the upper arm 23 and is directly connected to the shaft 522. The pump 51 is located toward the tip end of the upper arm 23 than the electric motor 52. The distance between the pump 51 and the end effector 27 can be further shortened.

[0065] The electric motor 52 and pump 51 are located on the base end side of the upper arm 23. This allows for a smaller tip size for the upper arm 23. In other words, the tip of the upper arm 23 is thin. A thin tip for the upper arm 23 means that the length of the tip is short in the direction perpendicular to the direction in which the upper arm 23 extends. That is, in the configuration example in Figure 2, the width of the tip is shorter than the width of the base end. For example, as shown in Figure 3, when the robot 1 paints the inside of the workpiece 9, the end effector 27 is inserted into the workpiece 9 through the opening 91. Because the tip of the upper arm 23 is thin, interference between the upper arm 23 and the workpiece 9 is suppressed when the robot 1 inserts the end effector 27 into the workpiece 9 through the opening 91. This reduces the constraints on the movement of the robot's arm 2, improving the robot's work efficiency.

[0066] (Variation) The functions of the control valve in the valve unit 31 are not limited to the functions of switching the paint application on and off by the end effector 27 and controlling the atomization of the paint in the end effector 27, as described above. The valve unit 31 can have control valves with various functions.

[0067] Furthermore, the valve unit 31 may have one control valve.

[0068] The main body of the valve unit 31 may be mounted outside the upper arm 23 instead of being built into the upper arm 23.

[0069] The valve unit 31 may be supported by the middle arm 22 in addition to being supported by the upper arm 23. The main body of the valve unit 31 may be built into the middle arm 22 or mounted outside the middle arm 22.

[0070] The valve unit 31 may also be supported by the lower arm 21. The main body of the valve unit 31 may be built into the lower arm 21 or mounted outside the lower arm 21.

[0071] The main body of the valve unit 41 may be mounted outside the relay box 13 or base 11, instead of being built into the relay box 13. Alternatively, the valve unit 41 may be mounted on the rotor 15. The main body of the valve unit 41 may be built into the rotor 15 or mounted outside the rotor 15.

[0072] The valve unit 41 may be installed at any location within the painting area where the robot 1 is installed. The valve unit 41 may also be installed outside the painting area.

[0073] Robot 1 may be a 6-axis robot. The middle arm 22 of robot 1 may be omitted.

[0074] The technology disclosed herein does not exclude the robot 1 from having a third valve unit connected to the end effector 27. The size of the third valve unit is arbitrary. The position of the third valve unit is also arbitrary. For example, the third valve unit may be located midway between valve unit 31 and valve unit 41 with respect to the end effector 27.

[0075] The mounting position of the pump 51 is not limited to the position shown in Figure 2. The pump 51 may be mounted on the side of the upper arm 23 that is away from the middle arm 22. The pump 51 may also be mounted on the top or bottom surface of the upper arm 23. The top surface of the upper arm 23 is the surface facing upwards in the robot 1 in the posture shown in Figure 2, and the bottom surface of the upper arm 23 is the surface on the opposite side from the top surface.

[0076] The shaft 522 extending in the direction of the fifth axis Ax5 may protrude from the cover of the upper arm 23 in the opposite direction to the direction toward the tip of the upper arm 23.

[0077] Furthermore, the shaft 522 of the electric motor 52 may extend in a direction perpendicular to the fifth axis Ax5. The orientation of the electric motor 52 in the upper arm 23 is not limited to the orientation described above.

[0078] The shaft 522 of the electric motor 52 and the rotation axis Px of the pump 51 are not necessarily parallel. The rotation axis Px of the pump 51 may be oriented perpendicular to the shaft 522 of the electric motor 52. A power transmission member may be interposed between the shaft 522 of the electric motor 52 and the pump 51.

[0079] The electric motor 52 and pump 51 are not limited to being located on the base end side of the upper arm 23. They may be located on the tip side of the upper arm 23. If the electric motor 52 and pump 51 are located on the tip side of the upper arm 23, the electric motor 52 will be closer to the end effector 27.

[0080] Robot 1 is not limited to comprising only a pump 51 and an electric motor 52 mounted on the upper arm 23. Robot 1 may also comprise at least one of a pump and an electric motor in addition to the pump 51 and electric motor 52 mounted on the upper arm 23.

[0081] For example, the robot 1 may be equipped with a pump with a larger capacity or a larger pump than pump 51. A pump with a larger capacity may be defined as one that has a higher maximum flow rate than a pump with a smaller capacity. A large pump may be defined as one that is larger in size than a small pump.

[0082] The aforementioned pump and electric motor are not limited to being mounted on the upper arm 23. They may also be mounted on the arm 2.

[0083] More specifically, the pump and electric motor may be mounted on the lower arm 21. Mounting a large-capacity or large-sized pump on the lower arm 21 does not adversely affect the size of the upper arm 23. In other words, the size of the upper arm 23 can be reduced.

[0084] In the pump and electric motor mounted on the lower arm 21, the shaft of the electric motor may be directly connected to the pump. The direct connection structure between the electric motor and the pump may conform to the structure shown in Figure 5.

[0085] In accordance with the structure shown in Figure 5, the rotating shaft of the pump mounted on the lower arm 21 may be parallel to the shaft of the electric motor.

[0086] The pump, which is mounted on the lower arm 21 in accordance with the structure shown in Figure 5, may be mounted on the lower arm 21 outside of the lower arm 21.

[0087] Furthermore, a pump and electric motor other than pump 51 and electric motor 52 may be mounted on the middle arm 22. Mounting a larger capacity pump or a larger pump on the middle arm 22 does not adversely affect the size of the upper arm 23. In other words, the size of the upper arm 23 can be reduced.

[0088] In the pump and electric motor mounted on the middle arm 22, the shaft of the electric motor may be directly connected to the pump. The direct connection structure between the electric motor and the pump may conform to the structure shown in Figure 5.

[0089] In accordance with the structure shown in Figure 5, the rotating shaft of the pump mounted on the middle arm 22 may be parallel to the shaft of the electric motor.

[0090] In accordance with the structure shown in Figure 5, the pump to be mounted on the middle arm 22 may be mounted on the middle arm 22 outside of the middle arm 22.

[0091] Furthermore, mounting the pump and electric motor on the lower arm 21 is an independent configuration, unrelated to the pump 51 and electric motor 52 mounted on the upper arm 23. Even if the pump 51 and electric motor 52 are not mounted on the upper arm 23, they can still be mounted on the lower arm 21.

[0092] Similarly, mounting the pump and electric motor on the middle arm 22 is an independent configuration, unrelated to the pump 51 and electric motor 52 mounted on the upper arm 23. Even if the pump 51 and electric motor 52 are not mounted on the upper arm 23, they can still be mounted on the middle arm 22.

[0093] A separate pump and electric motor may be mounted on the support section 10, in addition to the pump 51 and electric motor 52.

[0094] (Embodiment) The embodiments described above are specific examples of the following embodiments.

[0095] (Aspect 1) An industrial robot (1) comprising: an end effector (27); a wrist (25) that supports the end effector (27); an arm (2) that supports the wrist (25); a support part (10) that supports the arm (2); a valve unit (31) connected to the end effector (27), the valve unit (31) being supported by the arm (2); and a larger valve unit (41) connected to the end effector (27), the valve unit (41) being located further away from the end effector (27) than the valve unit (31).

[0096] Because the valve unit (31) is small, the size of the arm (2) does not increase even when supporting the valve unit (31). Interference between the arm (2) and the workpiece (9) is suppressed, which improves the work efficiency of the robot (1).

[0097] Furthermore, the valve unit (31) located near the end effector (27) can satisfy the high control responsiveness required of the end effector (27).

[0098] Since the industrial robot (1) is equipped with a large valve unit (41) in addition to the valve unit (31), the industrial robot (1) can achieve high versatility.

[0099] Furthermore, the valve unit (31) may be connected directly or indirectly to the end effector (27), and the valve unit (41) may also be connected directly or indirectly to the end effector (27).

[0100] (Aspect 2) The industrial robot (1) according to aspect 1, wherein the valve unit (41) has a greater number of control valves than the valve unit (31).

[0101] Because the large valve unit (41) has a large number of control valves, the industrial robot (1) is highly versatile.

[0102] (Aspect 3) The industrial robot (1) according to aspect 1 or 2, wherein the valve unit (31) has two or more control valves.

[0103] A valve unit (31) having two or more control valves can satisfy the function of an end effector (27) that requires high control responsiveness.

[0104] (Aspect 4) The industrial robot (1) according to aspect 2 or 3, wherein the control valve is an electromagnetic valve that opens and closes in response to an electrical signal.

[0105] Solenoid valves are suitable as control valves for industrial robots (1).

[0106] (Aspect 5) An industrial robot (1) according to any one of aspects 1 to 4, wherein the end effector (27) paints a workpiece (9), and the valve unit (31) includes a first valve (32) for switching the painting by the end effector (27) on and off, and a second valve (33) for controlling the atomization of the paint in the end effector (27).

[0107] Since the first valve (32) and the second valve (33), which are essential for the end effector (27) to perform painting, are located close to the end effector (27), the end effector (27) can perform painting with high control responsiveness.

[0108] (Aspect 6) The industrial robot (1) according to aspect 5, wherein the valve unit (41) is connected to a color change valve (46) that changes the color of the paint applied from the end effector (27) to the workpiece (9).

[0109] The color change valve (46) does not require high control responsiveness. A valve unit (41) with relatively low control responsiveness can control the color change valve (46). The valve unit (41) can be made larger by increasing the number of control valves. Increasing the number of control valves allows the end effector (27) to be painted with a wider variety of colors through the color change valve (46). The valve unit (41) may also be connected to valves that have functions other than the color change valve (46). For example, the valve unit (41) may be connected to a thinner path opening / closing valve (48) used to clean residual paint when changing colors.

[0110] (Aspect 7) The industrial robot (1) according to any one of aspects 1 to 6, wherein the arm (2) includes an upper arm (23) to which the wrist (25) is connected and a lower arm (21) connected to the support part (10), and the valve unit (31) is supported by the upper arm (23).

[0111] The valve unit (31), supported by the upper arm (23), is located close to the end effector (27). The valve unit (31) can improve the control responsiveness of the end effector (27).

[0112] (Aspect 8) The industrial robot (1) according to aspect 7, wherein the arm (2) further includes a middle arm (22) connecting the upper arm (23) and the lower arm (21), and the valve unit (31) is supported by the middle arm (22).

[0113] Even when the valve unit (31) is supported by the middle arm (22), the valve unit (31) is located relatively close to the end effector (27). The valve unit (31) can improve the control responsiveness of the end effector (27).

[0114] (Aspect 9) The valve unit (31) is built into the arm (2), and is an industrial robot (1) according to aspect 7 or 8.

[0115] If the valve unit (31) is built into the arm (2), the size of the arm (2) can be further reduced. Interference between the arm (2) and the workpiece (9) can be further suppressed. Note that when we say that the valve unit (31) is built into the arm (2), it means that at least the main body of the valve unit (31), including the control valve, is located inside the outer casing of the arm (2). The connection port of the tube of the valve unit (31) may be exposed outside the outer casing of the arm (2).

[0116] (Aspect 10) The valve unit (41) is mounted on the support portion (10) and is an industrial robot (1) according to any one of aspects 1 to 9.

[0117] The valve unit (41) mounted on the support part (10) does not adversely affect the shape of the arm (2) of the industrial robot (1). The size of the arm (2) can be reduced. Also, the size of the valve unit (41) mounted on the support part (10) can be made relatively large. The valve unit (41) can have a large number of control valves.

[0118] (Aspect 11) The industrial robot (1) according to aspect 10, wherein the support portion (10) includes a base (11) fixed to a fixed surface (12), and the valve unit (41) is mounted on the base (11).

[0119] Once the valve unit (41) is mounted on the base (11), the valve unit (41) can be properly installed near the industrial robot (1).

[0120] (Aspect 12) The industrial robot (1) according to aspect 11, wherein the support portion (10) includes a relay box (13) that relays the harness (130), and the valve unit (41) is mounted on the relay box (13).

[0121] By mounting the valve unit (41) to the relay box (13), the increase in the installation area of ​​the industrial robot (1) is suppressed.

[0122] The main body of the valve unit (41) may be built into the relay box (13) or mounted outside the relay box (13).

[0123] (Aspect 13) The support portion (10) includes a base (11) fixed to a fixed surface (12) and a rotor (15) that rotates relative to the base (11) about an axis (Ax1) perpendicular to the fixed surface (12), and the valve unit (41) is mounted on the rotor (15), the industrial robot (1) according to aspect 10.

[0124] Once the valve unit (41) is mounted on the rotor (15), the valve unit (41) can be properly installed near the industrial robot (1).

[0125] (Aspect 14) An industrial robot (1) comprising: an end effector (27); a wrist (25) that supports the end effector (27); an upper arm (23) that supports the wrist (25) at its tip; a middle arm (22) whose tip is connected to the base end of the upper arm (23); a lower arm (21) whose tip is connected to the base end of the middle arm (22); a pump (51) for the end effector (27) mounted on the upper arm (23); and a motor (52) that drives the pump (51), the motor (52) having a body (521) and a shaft (522), and at least the body (521) being built into the upper arm (23).

[0126] The pump (51) for the end effector (27) is mounted on the upper arm (23). Because the distance between the end effector (27) and the pump (51) is short, the end effector (27) has high responsiveness to the operation of the pump (51) when it is driven and stopped.

[0127] Furthermore, because the distance between the end effector (27) and the pump (51) is short, the length of the filament (47) connecting the end effector (27) and the pump (51) is short. The short length of the filament (47) is advantageous for routing the filament (47).

[0128] (Aspect 15) The industrial robot (1) according to aspect 14, further comprising a joint (JT5) interposed between the upper arm (23) and the wrist (25), which rotates the wrist (25) relative to the upper arm (23) around a swivel axis (Ax5), and the shaft (522) of the motor (52) extends in the direction of the swivel axis (Ax5).

[0129] The orientation of the motor (52) can be appropriately set within the upper arm (23).

[0130] (Aspect 16) The industrial robot (1) according to aspect 14 or 15, wherein the shaft (522) protrudes outward from inside the upper arm (23) and through the cover (230) of the upper arm (23).

[0131] Since the motor (52) body (521) is built into the upper arm (23), the industrial robot (1) can ensure explosion-proof performance.

[0132] (Aspect 17) The industrial robot (1) according to aspect 16, wherein the shaft (522) protrudes in the direction from the base end to the tip of the upper arm (23).

[0133] If the motor (52) shaft (522) protrudes from the base end to the tip of the upper arm (23), the pump (51) will be positioned closer to the tip of the upper arm (23) than the motor (52). The distance between the pump (51) and the end effector (27) will be further shortened.

[0134] (Aspect 18) The industrial robot (1) according to aspect 17, wherein the cover (230) through which the shaft (522) passes has a surface (241) perpendicular to the shaft (522), and the pump (51) is mounted on the surface (241).

[0135] Since the pump (51) and motor (52) are located next to each other with the cover (230) in between, the pump (51) and motor (52) installed on the arm of the industrial robot (1) become compact.

[0136] (Aspect 19) An industrial robot (1) according to any one of aspects 14 to 18, wherein the end effector (27) paints a workpiece (9), and the pump (51) supplies paint to the end effector (27) through a tube (47) connecting the pump (51) and the end effector (27).

[0137] Because the distance between the end effector (27) and the pump (51) is short, the response time between the start and stop of paint spraying from the end effector (27) in conjunction with the start and stop of the pump (51) is high. This high responsiveness in the painting robot (1) is advantageous for improving painting quality and saving paint.

[0138] Furthermore, since the pump (51) is attached to the upper arm (23), the tube (47) can be routed along the upper arm (23). This makes it easy to route the tube (47) in the painting robot (1) and allows the length of the tube (47) to be kept as short as possible.

[0139] (Aspect 20) The industrial robot (1) according to aspect 19, wherein the shaft (522) of the motor (52) is directly connected to the pump (51).

[0140] When the shaft (522) is directly connected to the pump (51), the pump (51) and the motor (52) can be connected compactly. This compact connection between the pump (51) and the motor (52) is advantageous in suppressing interference between the pump (51) and motor (52) mounted on the upper arm (23) and the workpiece (9) to be painted.

[0141] (Aspect 21) The industrial robot (1) according to aspect 20, wherein the rotation axis (Px) of the pump (51) is parallel to the shaft (522).

[0142] If the rotation axis (Px) of the pump (51) is parallel to the shaft (522), the pump (51) and motor (52) can be compactly mounted on the upper arm (23). Compact mounting of the pump (51) and motor (52) relative to the upper arm (23) is advantageous in suppressing interference between the pump (51) and motor (52) and the workpiece (9) to be painted.

[0143] (Aspect 22) The pump (51) is mounted on the upper arm (23) outside the upper arm (23), an industrial robot (1) according to any one of aspects 19 to 21.

[0144] If the pump (51) is mounted on the upper arm (23) outside the upper arm (23), the tube (47) connected to the pump (51) is routed outside the upper arm (23). Routing of the tube (47) is easy.

[0145] (Aspect 23) The motor (52) and the pump (51) are located on the base end side when the upper arm (23) is divided into two equal parts, the tip end side and the base end side, in the industrial robot (1) described in Aspect 22.

[0146] If the motor (52) and pump (51) are located on the base end side of the upper arm (23), the size of the tip of the upper arm (23) can be reduced. An upper arm (23) with a smaller tip is easier to insert into the workpiece (9) from the opening (91) of the workpiece (9). This is because interference between the upper arm (23) and the workpiece (9) is suppressed. Reducing the size of the tip of the upper arm (23) improves the work efficiency of the industrial robot (1).

[0147] (Aspect 24) An industrial robot (1) according to any one of aspects 14 to 23, further comprising a rotor (15) that supports the base end of the lower arm (21) and is rotatably supported with respect to a base (11).

[0148] (Aspect 25) An industrial robot (1) according to any one of aspects 14 to 23, which is a 7-axis robot.

[0149] (Aspect 26) An industrial robot (1) comprising: an end effector (27); a wrist (25) supporting the end effector (27); an arm (2) supporting the wrist (25); a pump (51) for the end effector (27); and a motor (52) for driving the pump (51), the motor (52) having a body (521) and a shaft (522), the shaft (522) being directly connected to the pump (51).

[0150] (Aspect 27) The industrial robot (1) according to aspect 26, wherein the rotation axis (Px) of the pump (51) is parallel to the shaft (522).

[0151] (Aspect 28) The industrial robot (1) according to aspect 26 or 27, wherein the pump (51) is mounted on the arm (2) outside the arm (2).

[0152] (Aspect 29) An industrial robot (1) comprising: an end effector (27); a wrist (25) that supports the end effector (27); an upper arm (23) that supports the wrist (25) at its tip; a middle arm (22) whose tip is connected to the base end of the upper arm (23); a lower arm (21) whose tip is connected to the base end of the middle arm (22); a pump for the end effector (27) mounted on the middle arm (23); and a motor that drives the pump, having a body and a shaft, with at least the body being built into the middle arm (23) and the shaft being directly connected to the pump.

[0153] (Aspect 30) The industrial robot (1) according to aspect 29, wherein the rotating shaft of the pump is parallel to the shaft.

[0154] (Aspect 31) The industrial robot (1) according to aspect 29 or 30, wherein the pump is mounted on the middle arm (22) outside the middle arm (22).

[0155] 1 Industrial robot 10 Support part 11 Base 12 Fixing surface 13 Relay box 130 Harness 15 Rotor 2 Arms 21 Lower arm 22 Middle arm 23 Upper arm 25 Wrist 27 End effector 31 Valve unit 32 First valve 33 Second valve 41 Valve unit 47 Paint tube 9 Workpiece Ax1 Axis perpendicular to the fixing surface

Claims

1. An industrial robot comprising: an end effector; a wrist supporting the end effector; an arm supporting the wrist; a support portion supporting the arm; a first valve unit connected to the end effector, the first valve unit being supported by the arm; and a second valve unit connected to the end effector, the second valve unit being larger than the first valve unit and located further away from the end effector than the first valve unit.

2. An industrial robot according to claim 1, wherein the second valve unit has a greater number of control valves than the first valve unit.

3. An industrial robot according to claim 2, wherein the first valve unit has two or more control valves.

4. An industrial robot according to claim 2 or 3, wherein the control valve is an electromagnetic valve that opens and closes in response to an electrical signal.

5. An industrial robot according to claim 1, wherein the end effector paints a workpiece, and the first valve unit comprises a first valve for switching the painting by the end effector on and off, and a second valve for controlling the atomization of the paint in the end effector.

6. An industrial robot according to claim 5, wherein the second valve unit is connected to a color change valve that changes the color of the paint applied from the end effector to the workpiece.

7. An industrial robot according to claim 1, wherein the arm includes an upper arm to which the wrist is connected and a lower arm connected to the support portion, and the first valve unit is supported by the upper arm.

8. An industrial robot according to claim 7, wherein the arm further includes a middle arm connecting the upper arm and the lower arm, and the first valve unit is supported by the middle arm.

9. An industrial robot according to claim 7 or 8, wherein the first valve unit is built into the arm.

10. An industrial robot according to claim 1, wherein the second valve unit is mounted on the support portion.

11. An industrial robot according to claim 10, wherein the support portion includes a base fixed to a fixed surface, and the second valve unit is mounted on the base.

12. An industrial robot according to claim 11, wherein the support portion includes a relay box for relaying a harness, and the second valve unit is mounted in the relay box.

13. An industrial robot according to claim 10, wherein the support portion includes a base fixed to a fixed surface and a rotor that rotates relative to the base about an axis perpendicular to the fixed surface, and the second valve unit is mounted on the rotor.

14. An industrial robot according to claim 1, wherein the arm includes an upper arm that supports the wrist at its tip, a middle arm whose tip is connected to the base end of the upper arm, and a lower arm whose tip is connected to the base end of the middle arm, and further comprises: a pump for the end effector mounted on the upper arm; and a motor for driving the pump, the motor having a body and a shaft, and at least the body of which is built into the upper arm.

15. An industrial robot according to claim 14, further comprising a joint interposed between the upper arm and the wrist, which rotates the wrist relative to the upper arm around a swivel axis, wherein the shaft of the motor extends in the direction of the swivel axis.

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