JP2017100232A - Robot, robot system and maintenance method for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve maintainability of a robot.SOLUTION: A robot 1 comprises: a base 2; a turning head 4 which turns around a turning shaft AxS with respect to the base 2; a motor 21 that turns the turning head 4; a speed reducer 22 that reduces speed of output of the motor 21; and a bracket 20, fixed with the motor 21 and the speed reducer 22, connected to the turning head 4 relatively rotatably and connected to the base 2 attachably and detachably. The motor 21 and the speed reducer 22 are arranged to sandwich the bracket 20.SELECTED DRAWING: Figure 2

Description

  The disclosed embodiments relate to a robot, a robot system, and a maintenance method for a robot.

  Patent Document 1 describes a robot apparatus having a base that is positioned at the base of a robot and fixed to an installation surface, and a body that is positioned at the top of the base and is pivoted with respect to the base. In this robot apparatus, a motor for turning the body portion is disposed on the base, and a reduction gear is disposed on the body portion.

Japanese Patent Laying-Open No. 2014-100773 (FIG. 5)

  In the above prior art, when performing maintenance such as motor replacement, the base may be removed from the installation surface. In this case, when the power supply cable is removed from the base, or when the power supply cable is fixed to the base, for example, the work such as removing the power supply cable on the equipment side is required, so there is a problem that the maintainability is low. there were.

  The present invention has been made in view of such problems, and an object thereof is to provide a robot, a robot system, and a robot maintenance method capable of improving maintainability.

  In order to solve the above-described problem, according to one aspect of the present invention, a base, a casing that rotates around a rotation axis with respect to the base, a motor that rotates the casing, and an output of the motor A robot having a speed reducer that decelerates and a bracket to which the motor and the speed reducer are fixed and connected to the housing so as to be relatively rotatable and detachably connected to the base is applied.

  Further, according to another aspect of the present invention, there is provided the robot for painting a workpiece, and a workpiece supply device that is disposed below the base of the robot and supplies the workpiece to a painting position by the robot. The workpiece supply device includes at least one arm provided with a table on which the workpiece is placed, a rotating device that rotates the arm around a rotation axis parallel to the pivot axis, and the base from below. A robot system having a hollow portion through which the first cable to be inserted is inserted is applied.

  Further, according to still another aspect of the present invention, a base having an opening that can be opened and closed, a casing that rotates around a rotation axis with respect to the base, a motor that rotates the casing, A robot comprising: a speed reducer that decelerates an output of the motor; and a bracket that is fixed to the motor and the speed reducer and is rotatably connected to the housing and detachably connected to the base. In the maintenance method, the opening of the base is opened, and the first connector for the first cable wired outside the robot and the inside of the robot are wired inside the base. A maintenance method for a robot having a connection with a second connector for a second cable and removing the bracket from the base and separating the housing from the base. It is.

  ADVANTAGE OF THE INVENTION According to this invention, the maintainability of a robot, a robot system, and the maintenance method of a robot can be improved.

It is a figure showing an example of the whole schematic structure of the robot which concerns on embodiment. It is sectional drawing showing an example of the internal structure of the base of a robot, and a turning head. It is sectional drawing by the AA line in FIG. 2 showing an example of the internal structure of the base of a robot, and a turning head. It is a perspective view showing an example of the composition of the lower side of a bracket at the time of separating a base and a turning head. It is a figure showing an example of schematic structure of the robot system concerning a modification.

  Hereinafter, an embodiment will be described with reference to the drawings. In the following, for convenience of description of the configuration of the robot and the like, directions such as up and down, left and right, and front and rear shown in each drawing may be used as appropriate, but the positional relationship of each configuration of the robot and the like is not limited.

<1. Overall schematic configuration of robot>
First, an example of the overall schematic configuration of the robot according to the present embodiment will be described with reference to FIG.

  As shown in FIG. 1, the robot 1 has a base 2 and an arm part 3 having six movable parts. In this example, the robot 1 is configured as a six-axis vertical articulated single-arm robot. .

  The base 2 is fixed to an installation surface such as a floor, a wall, or a ceiling with anchor bolts (not shown), for example. The base 2 is not limited to a floor, a wall, a ceiling, or the like, but may be another base member or another machine or device different from the robot 1 such as a workpiece supply device 42 (see FIG. 5) described later. It may be installed.

  The arm part 3 is connected to the base 2 so as to be able to turn. In this specification, the end on the base 2 side of each movable part of the arm part 3 is defined as the “base end” of the movable part, and the end opposite to the base 2 is defined as the “tip” of the movable part. The arm unit 3 includes a turning head 4, a lower arm unit 5, an upper arm unit 6, and a wrist unit 10 including three movable units.

  The swivel head 4 is supported by the base 2 so as to be capable of swiveling around an S axis AxS (an example of a swivel axis; hereinafter, the S axis AxS is referred to as a “turn axis AxS”) that is a rotation axis orthogonal to the installation surface. . The turning head 4 turns around the turning axis AxS with respect to the base 2 by driving of a motor 21 (see FIG. 2 and the like) housed in the base 2.

  The lower arm 5 is supported at the tip of the turning head 4 so as to be rotatable around an L axis AxL that is a rotation axis orthogonal to the turning axis AxS. The lower arm 5 can rotate around the L axis AxL with respect to the tip of the turning head 4 by driving a motor (not shown) provided in the vicinity of the joint between the lower arm 5 and the turning head 4.

  The upper arm portion 6 is supported at the distal end portion of the lower arm portion 5 so as to be rotatable around a U axis AxU that is a rotation axis parallel to the L axis AxL. The upper arm 6 rotates around the U axis AxU with respect to the tip of the lower arm 5 by driving a motor (not shown) provided in the vicinity of the joint between the upper arm 6 and the lower arm 5.

  The wrist 10 is connected to the tip of the upper arm 6. The wrist part 10 includes a first wrist movable part 7, a second wrist movable part 8, and a third wrist movable part 9.

  The first wrist movable part 7 is supported at the tip of the upper arm part 6 so as to be rotatable around an R axis AxR that is a rotation axis orthogonal to the U axis AxU. The first wrist movable part 7 can rotate around the R axis AxR with respect to the tip of the upper arm part 6 by driving a motor (not shown) disposed in the vicinity of the joint part between the first wrist movable part 7 and the upper arm part 6.

  The second wrist movable unit 8 is supported at the tip of the first wrist movable unit 7 so as to be rotatable around a B axis AxB that is a rotation axis orthogonal to the R axis AxR. The second wrist movable unit 8 rotates around the B axis AxB with respect to the distal end portion of the first wrist movable unit 7 by driving of a motor (not shown) disposed in the first wrist movable unit 7.

  The third wrist movable unit 9 is supported at the tip of the second wrist movable unit 8 so as to be rotatable around a T axis AxT that is a rotation axis orthogonal to the B axis AxB. The third wrist movable unit 9 can rotate around the T-axis AxT with respect to the distal end portion of the second wrist movable unit 8 by driving of the motor disposed in the first wrist movable unit 7. An end effector (not shown) is attached to the tip of the third wrist movable unit 9.

  The robot 1 can be used for various applications such as painting, handling, welding, and the like depending on the type of end effector to be attached. In the robot 1 according to the present embodiment, motors, cables, and the like that drive the joints are accommodated in the casings of the movable parts, and are excellent in explosion-proof properties. For example, explosiveness such as painting using an organic solvent. Suitable for use in an atmosphere.

  The base 2 is an example of a “base”, and among the movable parts of the arm part 3, the swivel head 4 that revolves around the swivel axis AxS with respect to the base 2 directly above the base 2 Is an example. The “base” is a fixed-side member that supports the movable part (arm part 3) of the robot 1, and the “housing” is a casing that constitutes the movable part (arm part 3) of the robot 1. is there.

  Note that the configuration of the robot 1 described above is merely an example, and a configuration other than the above may be used. For example, the rotation axis direction of each movable part of the arm part 3 is not limited to the above direction, and may be another direction. Moreover, the number of movable parts of the wrist part 10 and the arm part 3 is not limited to 3 and 6, respectively, and may be other numbers. Further, the robot 1 is not limited to a single-arm robot having only one arm unit 3, and may be a multi-arm robot having a plurality of arm units 3. The robot 1 is not limited to a vertical articulated robot, but may be another type of robot such as a horizontal articulated type. Furthermore, a robot in which at least a part of a motor, a cable, or the like in the arm unit 3 is disposed outside the housing may be used.

<2. Example of robot base and swivel head configuration>
Next, an example of the configuration of the base 2 and the turning head 4 will be described with reference to FIGS.

  As shown in FIGS. 2 to 4, the robot 1 includes a bracket 20 on the lower surface side (base end side) of the turning head 4. Fixed to the bracket 20 are a motor 21 for turning the turning head 4 about the turning axis AxS, a speed reducer 22 for reducing the output of the motor 21, and a plurality (two in this example) of connector holders 24, 25. ing. In FIG. 2, illustration of the connector holders 24, 25, etc. is omitted.

  As shown in FIG. 2, a hollow pipe 12 whose center axis substantially coincides with the turning axis AxS is attached to the center of the turning head 4. The pipe 12 includes a cable bundle 13 obtained by bundling a plurality of power cables and a plurality of control cables, which are in-machine cables wired inside the robot 1, from the base 2 through the swivel head 4 along the swivel axis AxS direction. It is for leading in. The pipe 12 passes through the center portion of the swivel head 4 and the center portion of the bracket 20, opens to the lower surface of the second bracket portion 20 b of the bracket 20, and the second bracket via the flange 12 a around the opening at the lower end. It is being fixed to the lower surface of the part 20b.

  As shown in FIGS. 2 and 3, the base 2 is a substantially rectangular parallelepiped box, and in the present embodiment, five surfaces of an upper surface, a lower surface, a front surface, a rear surface, and a right surface are opened. In addition, it is good also as a structure opened also about the left surface. The opening 2a on the lower surface of the base 2 is configured to be freely opened and closed by a lid 17 that is attached and detached by a plurality of bolts 17s. The opening 2b on the right side of the base 2 is configured to be freely opened and closed by a lid 18 that is attached and detached by a plurality of bolts 18s. The opening 2c on the front surface of the base 2 is configured to be openable and closable by a lid 19 that is attached and detached by a plurality of bolts 19s. The opening 2d on the rear surface of the base 2 is configured to be openable and closable by a lid 16 that is attached and detached by a plurality of bolts 16s. Further, the opening 2e on the upper surface of the base 2 is configured to be freely opened and closed by a bracket 20 that is attached and detached by a plurality of bolts 20s.

  As shown in FIG. 2, the bracket 20 is connected to the turning head 4 via the speed reducer 22 so as to be relatively rotatable, and is detachably connected to the base 2 by a fixing bolt 20 s. The bracket 20 has a first bracket part 20a and a second bracket part 20b. The first bracket portion 20a is formed to have a larger diameter than the opening 2e, and closes the opening 2e by being fixed to the upper surface of the base 2 with bolts 20s. The second bracket portion 20b is formed with a smaller diameter than the opening 2e, and is detachably connected to the lower surface side of the first bracket portion 20a by a plurality of bolts 20bs. The speed reducer 22 is disposed inside and above the first bracket portion 20a, and the motor 21 is disposed below the second bracket portion 20b, so that the motor 21 and the speed reducer 22 sandwich the bracket 20 therebetween. Is arranged.

  As shown in FIG. 2, in the motor 21, the rotation axis Ax1 (an example of the output shaft) of the shaft 21a is parallel to the turning axis AxS, and the rotation axis Ax1 is orthogonal to the turning axis AxS by a predetermined distance L from the turning axis AxS. It is arranged so that the position is offset in the direction (left direction in this example). The motor 21 is housed in the base 2 and is fixed to the bracket 20 so as to protrude downward along the direction of the pivot axis AxS. Specifically, the upper end portion of the motor 21 is fixed to the lower surface of the second bracket portion 20b by a plurality of fixing bolts 21s.

  As shown in FIGS. 2 and 3, the speed reducer 22 is disposed from the inside to the top of the substantially annular first bracket portion 20a, and is fixed to the first bracket portion 20a by a plurality of fixing bolts 22s1. The speed reducer 22 has an input shaft 22a and an output shaft 22b that are arranged substantially coaxially with the turning axis AxS. As shown in FIG. 2, the input shaft 22a meshes with an output gear 21b fixed to the shaft 21a of the motor 21 provided through the second bracket portion 20b inside the first bracket portion 20a. . The output shaft 22b of the speed reducer 22 is fixed to the turning head 4 by a plurality of fixing bolts 22s2.

  As shown in FIGS. 3 and 4, each of the connector holders 24 and 25 has a substantially rectangular parallelepiped shape, and is fixed to the bracket 20 so as to protrude downward along the direction of the turning axis AxS. The connector holders 24 and 25 are disposed on both the front and rear sides of the cable bundle 13 introduced into the base 2 through the pipe 12 and the motor 21, and are accommodated in the base 2. On the lower surface of the second bracket portion 20b, holder support members 26, 27 having a substantially rectangular frame shape are fixed by bolts 26s, 27s. The connector holders 24 and 25 are inserted into holder support members 26 and 27, respectively, and fixed to the holder support members 26 and 27 by bolts 24s and 25s.

  As shown in FIGS. 3 and 4, a plate-shaped cable support member 14 is disposed between the connector holders 24 and 25. The cable support member 14 is fixed to both sides of the pipe 12 on the lower surface of the second bracket portion 20b by bolts 14s. Further, a substantially U-shaped cable holding member 15 is fixed to the cable support member 14 by bolts 15s. The cable bundle 13 exposed from the lower end of the pipe 12 is drawn downward along the turning axis AxS by the cable support member 14 and is held by the cable holding member 15.

  As shown in FIG. 3, each of the connector holders 24 and 25 is provided with a plurality of connector mounting holes 28 (not shown in FIG. 4) on both the left and right sides (a total of 12 in this example, two rows in the front and rear, and six in the upper and lower rows). ing. In each connector holder 24, 25, a first connector (not shown) such as external cables 30, 32, etc. (an example of a first cable) wired to the outside of the robot 1 is inserted from a connector mounting hole 28 on one side (for example, the right side). The Further, in each connector holder 24, 25, a second connector (not shown) such as in-machine cables 34, 35 (an example of the second cable) wired inside the robot 1 from the connector mounting hole 28 on the other side (for example, the left side). Inserted. Then, the first connector and the second connector of the corresponding cable are connected and held inside the connector holders 24 and 25, respectively.

  The connector holders 24 and 25 are used separately for the power cable and the control cable. In the present embodiment, for example, the connector holder 24 is a power connector holder (hereinafter referred to as “power connector holder 24” as appropriate), and the first connector for the power cable 30 of the external cables 30, 32, etc., The second connectors for the power cable 35 out of the in-machine cables 34, 35 and the like are respectively held.

  On the other hand, the connector holder 25 is a control connector holder (hereinafter referred to as “control connector holder 25” as appropriate), and includes a first connector for the control cable 32 of the external cables 30 and 32, an in-machine cable 34, Each of the second connectors for the control cable 34 of 35 and the like is held.

  A lid 16 on the rear surface of the base 2 is provided with a base connector 31 for a power supply cable (not shown) wired outside the robot 1, and the power cable 30 is introduced into the base 2 through the base connector 31. . The lid 16 is provided with a base connector 33 for a control cable (not shown) wired outside the robot 1 at positions on both sides of the base connector 31 with the base connector 31 interposed therebetween. Are introduced into the base 2. The plurality of in-machine cables 34 and 35 are led out from the lower end of the cable bundle 13 into the base 2. Further, the external cables 30 and 32 are bundles of a plurality of cables like the cable bundle 13, and a plurality of cables are led out from the external cables 30 and 32 in the base 2, but illustration thereof is omitted.

  In the present embodiment, the number of connector holders is two, but may be one or three or more. The connector holder 24 may be a control connector holder, and the connector holder 25 may be a power connector holder.

  Further, as shown in FIG. 2, a battery 36 is installed in the vicinity of the opening 2 b in the base 2. The battery 36 is a power source for an encoder (not shown) provided in a motor that drives each joint of the robot 1. Thereby, even when the power supply to the robot 1 is interrupted, for example, during a power failure, the rotation amount of each motor can be detected by operating the encoder. The battery 36 is supported by a support member 37 that is fixed to the inside of the base 2 by bolts 37s. A first connector (not shown) of the encoder power cable connected to the battery 36 is connected to a second connector (not shown) of the encoder power cable wired inside the machine, for example, at the control connector holder 25.

  In the example shown in FIG. 3, the diameter of the opening 2 e of the base 2 is smaller than the holder support members 26 and 27, but the cable support member 14 and the holder support members 26 and 27 are still attached to the bracket 20. The opening 2e may be formed so that it can be pulled upward from the base 2 in a state.

<3. An example of robot maintenance method>
Maintenance of the robot 1 having the above-described configuration is performed as follows.

  First, for example, the right side bolt 18s of the base 2 is removed, the right side lid 18 of the base 2 is removed, and the opening 2b is opened. The openings 2c, 2d, etc. other than the opening 2b may be opened.

  Next, the first connector for the power cable 30 and the first connector for the control cable 32 are removed from the connector holder 24 and the connector holder 25, respectively, inside the base 2 through the opened opening 2b. Thereby, connection with the 1st connector and the 2nd connector is canceled about a power cable and a control cable.

  Next, the bracket 20 can be removed from the base 2 by removing the bolt 20s inside the base 2 through the opened opening 2b. Then, the swivel head 4 is separated from the base 2 by lifting the arm 3 upward.

  As a result, as shown in FIG. 4, the bracket 20 connected to the turning head 4, the motor 21 fixed to the bracket 20, the connector holders 24, 25, and the like are exposed, so that the base 2 is not removed from the installation surface. Maintenance work such as replacement of the motor 21 and the in-machine cables 34 and 35 can be performed. At this time, by removing the bolts 20bs, the second bracket portion 20b is removed from the first bracket portion 20a, and the maintenance work such as replacement can be performed for the speed reducer 22 as well.

<4. Effects of the embodiment>
As described above, the robot 1 according to this embodiment includes the base 2, the turning head 4 turning around the turning axis AxS with respect to the base 2, the motor 21 turning the turning head 4, and the output of the motor 21. The speed reducer 22 that decelerates, and the bracket 21 that is fixed to the motor 21 and the speed reducer 22, is connected to the turning head 4 so as to be relatively rotatable, and is detachably connected to the base 2.

  As a result, when the bracket 20 is removed from the base 2 and the turning head 4 is separated from the base 2 during maintenance, the bracket 20 connected to the base 2 is exposed, so that the motor 21 and the base 21 can be removed without removing the base 2 from the installation surface. Maintenance work such as replacement of the speed reducer 22 can be performed. As a result, when the external cables 30, 32, etc. are removed from the base 2, or when the external cables 30, 32, etc. are fixed to the base 2, operations such as drawing out the external cables on the facility side are not necessary. Also, the work of returning the external cable after maintenance (such as piping work) becomes unnecessary. Therefore, maintainability can be improved.

  In addition, since it is not necessary to consider the access path and work space for assembling the motor 21 and the speed reducer 22 inside the base 2, the robot 1 can be miniaturized. Also, maintenance can be performed by moving the arm 3 separated from the base 2 to an area with good workability.

  Furthermore, since there is no position shift of the base 2, it is not necessary to calibrate the reference coordinate system set in the robot controller to define the position and posture of the robot after maintenance, or only by calibrating the origin of the turning axis AxS. It becomes possible to respond, and the time to return to work can be shortened.

  Further, for example, when the robot 1 changes the work object or the equipment, the arm length of the arm 3 of the robot 1 is changed, and the part separated from the base 2 is replaced when it is desired to change the arm length to a different specification. Thus, the robot 1 can be easily replaced without changing the piping on the equipment side.

  In the present embodiment, in particular, the motor 21 and the speed reducer 22 are arranged so as to sandwich the bracket 20 therebetween.

  Thereby, the following effects are obtained. That is, if both the motor 21 and the speed reducer 22 are arranged on one side of the bracket 20, the area of the bracket 20 as viewed from the direction of the turning axis AxS (when viewed in plan) is increased. Will increase. On the other hand, by arranging the motor 21 and the speed reducer 22 with the bracket 20 interposed therebetween, the area of the bracket 20 in plan view can be reduced as compared with the above, so that the bottom area of the base 2 can be reduced.

  In the present embodiment, in particular, the motor 21 is fixed to the bracket 20 so as to protrude along the direction of the turning axis AxS and is accommodated in the base 2.

  Thereby, when the turning head 4 is separated from the base 2 at the time of maintenance, the motor 21 is exposed in a state of protruding from the bracket 20, so that workability such as replacement of the motor 21 can be improved.

  In the present embodiment, in particular, the robot 1 is connected to the first connector for the external cables 30 and 32 wired outside and the in-machine cables 34 and 35 connected to the first connector and wired inside the robot 1. Connector holders 24 and 25 for holding the second connectors, respectively. The connector holders 24 and 25 are accommodated in the base 2. Thereby, there exists the following effect.

  That is, by providing the connector holders 24 and 25, the connection reliability between the first connector and the second connector can be improved. Further, since the connection between the first connector and the second connector can be released inside the base 2, the swivel head 4 is separated from the base 2 without performing wiring work related to the external cables 30 and 32 on the equipment side. can do.

  In the present embodiment, in particular, the connector holders 24 and 25 are fixed to the bracket 20 so as to protrude along the direction of the turning axis AxS.

  Thereby, when the turning head 4 is separated from the base 2 during maintenance, the connector holders 24 and 25 are exposed in a state of protruding from the bracket 20, so that workability such as replacement of the in-machine cables 34 and 35 can be improved.

  In this embodiment, in particular, the robot 1 has a control connector for holding a first connector for the control cable 32 of the external cables 30 and 32 and a second connector for the control cable 34 of the in-machine cables 34 and 35, respectively. A holder 25 and a power connector holder 24 for holding a first connector for the power cable 30 of the external cables 30 and 32 and a second connector for the power cable 35 of the in-machine cables 34 and 35, respectively.

  Thereby, since the connector connection location of the control cable and the connector connection location of the power cable can be separately arranged, the influence of noise on the control cable can be reduced. Further, erroneous connection between the connector of the control cable and the connector of the power cable can be prevented.

  In the present embodiment, in particular, the control connector holder 25 and the power connector holder 24 have the first connectors for the external cables 30 and 32 inserted from one side (for example, the right side) and the inboard from the other side (for example, the left side). A second connector for the cables 34 and 35 is configured to be inserted.

  As a result, the insertion direction of the first connector of the external cables 30 and 32 and the insertion direction of the second connector of the in-machine cables 34 and 35 in each connector holder 24 and 25 can be unified. The first connector can be connected and released from the direction side (for example, the right side where the opening 2b is formed). Therefore, workability can be improved.

  In the present embodiment, in particular, the motor 21 is disposed such that the rotation axis Ax1 of the shaft 21a is parallel to the turning axis AxS, and the rotation axis Ax1 and the turning axis AxS are offset by a predetermined distance L. Has been.

  As a result, the speed reducer 22 and the bracket 20 have a hollow structure, and the cable bundle 13 (in-machine cables 34 and 35) can be routed between the turning head 4 and the base 2 along the turning axis AxS. As a result, since the in-machine cable can be accommodated in the robot 1, the explosion-proof property and the waterproof property can be improved.

  In this embodiment, in particular, the robot 1 further includes an encoder battery 36 housed in the base 2 and provided in the motor 21. Thereby, even when the power supply to the robot 1 is interrupted, for example, during a power failure, the rotation amount of each motor can be detected by operating the encoder.

<5. Modified example>
The disclosed embodiments are not limited to the above, and various modifications can be made without departing from the spirit and technical idea thereof. Hereinafter, such modifications will be described.

(5-1. When the robot is installed in the workpiece supply device)
In the above embodiment, the case where the base 2 of the robot 1 is installed on a floor, a wall, a ceiling, or the like has been described. However, the present invention is not limited to this. For example, as shown in FIG. 5, the base 2 may be installed in another apparatus.

  As shown in FIG. 5, the robot system 40 according to this modification includes the robot 1 and a workpiece supply device 42 that supplies the workpiece W to the robot 1. The workpiece supply device 42 transfers (supplies) the workpiece W to be worked on by the robot 1 to the work area Ar1 and transfers the worked workpiece W to the replacement area Ar2. In the exchange area Ar2, the work W that has been worked is exchanged for a new work W. For example, when the robot 1 is a painting robot, the workpiece 1 is painted by the robot 1 in the work area Ar1, and the painted workpiece W is exchanged for a new workpiece W before painting in the replacement area Ar2.

  The workpiece supply device 42 includes a base portion 49 on which the base 2 of the robot 1 is installed and a table 43 on which the workpiece W is placed, and is configured to be rotatable with respect to the base portion 49. Two arms 44 extending in the outer peripheral direction, a rotating device 45 that rotates the arm 44 around a rotation axis Ax2 that is coaxial or parallel to the turning axis AxS, and a lower portion of the rotating device 45 are fixed to an installation surface such as a floor. The support base 46 is provided. The base portion 49 and the rotation device 45 have a hollow portion 48 through which an external cable 47 (an example of a first cable) such as a power feeding cable inserted into the base 2 of the robot 1 from below is inserted. The external cable 47 is introduced into the base 2 through the opening 2 a on the lower surface of the base 2.

  Note that the number of arms 4 of the workpiece supply device 42 is not limited to two, and may be one or three or more. Further, the workpiece supply device is not limited to the rotary type as described above, and may be a device such as a conveyor.

  According to this modification, the cable 47 and the like can be connected to the robot 2 through the work supply device 42 from below, so that the explosion-proof property and the waterproof property can be improved.

  Further, in the work supply device 42, the external cable 47 is inserted into the hollow portion 48 of the work supply device 42 and wired to the base 2 from below in order to avoid interference with the rotating arm 44. As described above, the robot 1 can perform maintenance work such as replacement of the motor 21 and the speed reducer 22 without removing the base 2 from the base portion 49 of the workpiece supply device 42. Accordingly, it is not necessary to remove the external cable 47 from the base 2 or to pull out the external cable 47 on the facility side when the external cable 47 is fixed to the base 2. Further, the work of returning the external cable 47 after maintenance (such as piping work) becomes unnecessary. Therefore, maintainability can be improved.

(5-2. Others)
In the above-described embodiment, the case where the connector holders 24 and 25 are installed on the bracket 20, that is, on the arm portion 3 side has been described. May be. In this case, when performing maintenance, the second connector on the in-machine cables 34 and 35 side may be removed from the connector holder 24 and the connector holder 25 inside the base 2.

  In the above embodiment, the case where the encoder battery 36 is installed on the base 2 has been described. However, the present invention is not limited to this, and the battery 36 is attached to the bracket 20 in the same manner as the connector holders 24, 25 and the like. That is, you may install in the arm part 3 side.

  In the above description, when there is a description such as “vertical” or “parallel”, the description is not strict. That is, the terms “vertical” and “parallel” mean that “tolerance and error in manufacturing are allowed in design,” and “substantially vertical” and “substantially parallel”.

  In addition to those already described above, the methods according to the above embodiments may be used in appropriate combination. In addition, although not illustrated one by one, the above-described embodiment is implemented with various modifications within a range not departing from the gist thereof.

1 Robot 2 Base (Example of base)
2a-2c Opening 4 Rotating head (an example of housing)
20 Bracket 21 Motor 21a Output shaft 22 Reducer 24 Connector holder (an example of a power connector holder)
25 Connector holder (an example of a control connector holder)
30, 32 External cable (example of first cable)
34,35 In-flight cable (example of second cable)
40 Robot System 42 Work Supply Device 43 Table 44 Arm 45 Rotating Device 47 External Cable (Example of First Cable)
48 Hollow part Ax1 Rotating shaft (an example of output shaft)
Ax2 Rotating axis AxS Rotating axis W Workpiece

Claims (11)

The base,
A casing that rotates about a rotation axis with respect to the base;
A motor for rotating the housing;
A decelerator that decelerates the output of the motor;
A bracket fixed to the motor and the speed reducer and connected to the casing so as to be relatively rotatable, and detachably connected to the base;
A robot characterized by comprising: The motor and the speed reducer are
The robot according to claim 1, wherein the robot is disposed so as to sandwich the bracket therebetween. The motor is
The robot according to claim 2, wherein the robot is fixed to the bracket so as to protrude along the direction of the pivot axis and is accommodated in the base. A connector holder for holding a first connector for a first cable wired outside the robot and a second connector for a second cable connected to the first connector and wired inside the robot. Further comprising
The connector holder is
The robot according to claim 3, wherein the robot is housed in the base. The connector holder is
The robot according to claim 4, wherein the robot is fixed to the bracket so as to protrude along the turning axis direction. The connector holder is plural,
A control connector holder for holding each of the first connector and the second connector for a control cable;
The robot according to claim 5, further comprising: a power connector holder that holds the first connector and the second connector for a power cable. The control connector holder and the power connector holder are:
The robot according to claim 6, wherein the first connector is inserted from one side and the second connector is inserted from the other side. The motor is
8. The output shaft according to claim 1, wherein the output shaft is parallel to the swing shaft, and the output shaft is disposed at a position offset by a predetermined distance from the swing shaft. The robot described in 1. The robot according to any one of claims 1 to 8, further comprising an encoder battery housed in the base and provided in the motor. The robot according to any one of claims 1 to 9, which coats a workpiece;
A workpiece supply device that is disposed at a lower portion of the base of the robot and supplies the workpiece to a painting position by the robot;
The workpiece supply device includes:
At least one arm having a table on which the workpiece is placed;
A rotating device that rotates the arm around a rotation axis parallel to the pivot axis;
And a hollow portion through which a first cable inserted from below is inserted into the base. A base with an openable and closable opening;
A casing that rotates about a rotation axis with respect to the base;
A motor for rotating the housing;
A decelerator that decelerates the output of the motor;
A bracket fixed to the motor and the speed reducer and connected to the casing so as to be relatively rotatable, and detachably connected to the base;
A robot maintenance method comprising:
Opening the opening of the base;
Releasing the connection between the first connector for the first cable wired outside the robot and the second connector for the second cable wired inside the robot inside the base;
Removing the bracket from the base and separating the housing from the base;
The maintenance method of the robot characterized by having.

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