JP2019217631A - Robot, robot system and robot maintenance method - Google Patents

Abstract

To improve maintainability of a robot.SOLUTION: The robot comprises: a base 2 comprising an opening part 2e; a revolving head 4 that revolves around a revolving shaft AxS with respect to the base 2; a motor 21 for revolving the revolving head 4; a speed reducer 22 for reducing speed of output of the motor 21; and a bracket 20, to which the motor 21 and the speed reducer 22 are fixed, which is connected to the revolving head 4 relatively turnably and detachably connected to the base 2. The opening part 2e is formed so that the motor 21 can be inserted into the base 2 along a direction of a shaft line, with the motor 21 and the speed reducer 22 fixed to the bracket 20 and an output shaft 22b of the speed reducer 22 matched with a shaft line of the revolving shaft Axs.SELECTED DRAWING: Figure 2

Description

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

  Patent Literature 1 describes a robot device having a base located at a base of a robot and fixed to an installation surface, and a body located at an upper portion of the base and turned with respect to the base. In this robot device, a motor for rotating the body is provided on the base, and a speed reducer is provided on the body.

JP-A-2014-100753 (FIG. 5)

  In the related art, when performing maintenance such as replacement of a motor, 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, work such as removing the power supply cable on the facility side is required, and thus the problem of low maintainability is a problem. there were.

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

In order to solve the above problems, according to one aspect of the present invention, a base provided with a first opening, a housing that turns around a turning axis with respect to the base, and the housing is turned. A motor, a speed reducer for reducing the output of the motor, and a bracket to which the motor and the speed reducer are fixed, which are connected to the housing so as to be relatively rotatable, and which are detachably connected to the base. Having the first opening, the motor and the speed reducer are fixed to the bracket, and in a state where the output shaft of the speed reducer and the axis of the turning shaft are aligned, along the direction of the axis, A robot, which is formed so that the motor can be inserted into the base, is applied.
Further, according to another aspect of the present invention, a base having a first opening, a housing that turns around a turning axis with respect to the base, a motor that turns the housing, and the motor A speed reducer that reduces the output of the motor, and a bracket to which the motor and the speed reducer are fixed, connected to the housing so as to be relatively rotatable, and detachably connected to the base. 1 opening is provided inside the base along the direction of the axis when the motor and the speed reducer are fixed to the bracket and the axis of the output shaft of the speed reducer and the axis of the turning shaft are aligned. The motor is formed so that it can be inserted into the motor, and the motor has an output shaft parallel to the turning shaft, and the output shaft is at a position offset from the turning shaft by a predetermined distance. Is located in the robot Provided.

  According to another aspect of the present invention, there is provided the robot for painting a work, and a work supply device disposed below the base of the robot and supplying the work to a painting position by the robot. The work supply device includes at least one arm including a table on which the work is placed, a rotation device configured to rotate the arm around a rotation axis parallel to the rotation axis, and A robot system having a hollow portion through which a cable to be inserted is inserted is applied.

  According to still another aspect of the present invention, there is provided a robot, comprising: a first opening which can be opened and closed; and an internal cable which is configured to be openable and closable and is wired inside the robot when opened. A base having a second opening for providing a space for attaching and detaching operation, a housing that rotates around a rotation axis with respect to the base, a motor that rotates the housing, and a reduction in output of the motor A speed reducer, and a bracket to which the motor and the speed reducer are fixed, the bracket is connected to the housing so as to be relatively rotatable and detachably connected to the base, and the first opening is In a state where the motor and the speed reducer are fixed to the bracket and the axis of the output shaft of the speed reducer and the axis of the turning shaft are aligned, the motor is inserted into the base along the direction of the axis. Formed to be possible The maintenance method of the robot, wherein the second opening of the base is opened, and an intermediate cable wired inside the robot and detachable from the internal cable inside the base. And disconnecting the bracket from the base and separating the housing from the base.

  According to the present invention, the maintainability of a robot, a robot system, and a robot maintenance method can be improved.

FIG. 1 is a diagram illustrating an example of an overall schematic configuration of a robot according to an embodiment. FIG. 3 is a cross-sectional view illustrating an example of an internal configuration of a base and a turning head of the robot. FIG. 3 is a cross-sectional view taken along line AA in FIG. 2 illustrating an example of an internal configuration of a base and a turning head of the robot. It is a perspective view showing an example of a structure of the lower side of a bracket at the time of separating a base and a turning head. FIG. 11 is a diagram illustrating an example of a schematic configuration of a robot system according to a modification.

  Hereinafter, an embodiment will be described with reference to the drawings. In the following, directions such as up, down, left, right, front, and back may be appropriately used in the drawings for convenience of description of the configuration of the robot and the like, 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 3 having six movable parts. In this example, the robot 1 is configured as a six-axis vertical multi-joint single-arm robot. .

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

  The arm 3 is pivotally connected to the base 2. In this specification, the end of each movable portion of the arm 3 on the base 2 side is defined as a “base end” of the movable portion, and the end opposite to the base 2 is defined as a “distal end” of the movable portion. The arm 3 has a swivel head 4, a lower arm 5, an upper arm 6, and a wrist 10 having three movable parts.

  The revolving head 4 is supported by the base 2 so as to be revolvable around an S-axis AxS (an example of a revolving axis; hereinafter, the S-axis AxS is referred to as a “revolving axis AxS”) which 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 a motor 21 (see FIG. 2 and the like) accommodated 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, which is a rotation axis orthogonal to the turning axis AxS. The lower arm 5 is rotatable around the L axis AxL with respect to the distal end of the swivel head 4 by driving a motor (not shown) provided near the joint between the lower arm 5 and the swivel head 4.

  The upper arm 6 is supported at the tip of the lower arm 5 so as to be rotatable around a U axis AxU, which 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 near 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 section 10 has a first wrist movable section 7, a second wrist movable section 8, and a third wrist movable section 9.

  The first wrist movable portion 7 is rotatably supported by the distal end portion of the upper arm portion 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 section 7 is rotatable around the R-axis AxR with respect to the distal end of the upper arm section 6 by driving a motor (not shown) arranged near the joint section between the first wrist movable section 7 and the upper arm section 6.

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

  The third wrist movable section 9 is supported at the distal end of the second wrist movable section 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 section 9 is rotatable around the T-axis AxT with respect to the distal end of the second wrist movable section 8 by driving the motor arranged on the first wrist movable section 7. An end effector (not shown) is attached to the distal end of the third wrist movable section 9.

  The robot 1 can be used for various applications such as painting, handling, welding, etc., depending on the type of end effector to be attached. In the robot 1 according to the present embodiment, the motors, cables, and the like for driving the joints are housed in the housings of the movable parts, and have excellent explosion-proof properties. Suitable for use in an atmosphere.

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

  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 direction of the rotation axis of each movable portion of the arm 3 is not limited to the above direction, and may be another direction. Further, the number of movable parts of the wrist part 10 and the arm part 3 is not limited to three and six, respectively, but may be another number. Further, the robot 1 is not limited to a single-arm robot having only one arm 3, but may be a multi-arm robot having a plurality of arms 3. The robot 1 is not limited to a vertical articulated robot, but may be another type of robot such as a horizontal articulated robot. Furthermore, a robot in which at least a part of the motor, the cable, and the like in the arm unit 3 is disposed outside the housing may be used.

<2. Example of Configuration of Robot Base and Turning Head>
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 a lower surface side (a base end side) of the turning head 4. A motor 21 that turns the turning head 4 about the turning axis AxS, a speed reducer 22 that reduces the output of the motor 21, and a plurality (two in this example) of connector holders 24 and 25 are fixed to the bracket 20. ing. In FIG. 2, illustration of the connector holders 24, 25 and the like 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 connects a cable bundle 13 that bundles 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 to the robot 1 via the swivel head 4 along the swivel axis AxS direction. It is for guiding inside. The pipe 12 penetrates through the center of the swivel head 4 and the center of the bracket 20, and is open to the lower surface of the second bracket portion 20b of the bracket 20, and through the flange 12a around the opening at the lower end, the second bracket It is fixed to the lower surface of the portion 20b.

  As shown in FIGS. 2 and 3, the base 2 is a substantially rectangular parallelepiped box. In the present embodiment, five surfaces including an upper surface, a lower surface, a front surface, a rear surface, and a right surface are opened. In addition, the left side may be configured to be open. The opening 2a on the lower surface of the base 2 is configured to be openable and closable by a lid 17 which 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 openable and closable by a lid 18 which 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 which 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 which is attached and detached by a plurality of bolts 16s. The opening 2e on the upper surface of the base 2 is configured to be openable and closable by a bracket 20 which is attached and detached by a plurality of bolts 20s.

  As shown in FIG. 2, the bracket 20 is relatively rotatably connected to the turning head 4 via a speed reducer 22, and is removably connected to the base 2 by fixing bolts 20s. 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 to have 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 reduction gear 22 is disposed inside and above the first bracket part 20a, and the motor 21 is disposed below the second bracket part 20b, so that the motor 21 and the reduction gear 22 sandwich the bracket 20 therebetween. Are located in

  As shown in FIG. 2, in the motor 21, the rotation axis Ax1 of the shaft 21a (an example of an output shaft) is parallel to the rotation axis AxS, and the rotation axis Ax1 is orthogonal to the rotation axis AxS by a predetermined distance L from the rotation axis AxS. It is arranged so as to be a position offset in the direction (left direction in this example). The motor 21 is accommodated in the base 2 and is fixed to the bracket 20 so as to protrude downward along the direction of the rotation axis AxS. Specifically, the upper end 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 arranged from the inside to the upper part 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 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 pivot axis AxS. The connector holders 24 and 25 are arranged on both front and rear sides of the cable bundle 13 introduced into the base 2 through the pipe 12 and the motor 21, and are housed in the base 2. Substantially rectangular frame-shaped holder support members 26 and 27 are fixed to the lower surface of the second bracket portion 20b with bolts 26s and 27s. The connector holders 24 and 25 are inserted into the holder support members 26 and 27, respectively, and are fixed to the holder support members 26 and 27 by bolts 24s and 25s.

  As shown in FIGS. 3 and 4, a plate-like 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 with bolts 14s. A substantially U-shaped cable holding member 15 is fixed to the cable support member 14 with bolts 15s. The cable bundle 13 exposed from the lower end of the pipe 12 is routed downward along the pivot axis AxS by the cable support member 14 and held by the cable holding member 15.

  As shown in FIG. 3, each of the connector holders 24 and 25 has a plurality of (in this example, 12 rows in the front and rear rows and a total of 12 rows in the upper and lower rows) connector mounting holes 28 (not shown in FIG. 4) on both left and right sides. ing. In each of the connector holders 24 and 25, a first connector (not shown) such as an external cable 30, 32 or the like (an example of a first cable) to be wired outside the robot 1 is inserted from a connector mounting hole 28 on one side (for example, the right side). You. In each of the connector holders 24 and 25, a second connector (not shown) such as an in-machine cable 34 or 35 (an example of a 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 a power cable and a control cable. In the present embodiment, for example, the connector holder 24 is a power connector holder (hereinafter, appropriately referred to as “power connector holder 24”), and includes a first connector for the power cable 30 among the external cables 30, 32, and the like. The second connector for the power cable 35 among the in-machine cables 34, 35 and the like is held, respectively.

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

  The 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 via the base connector 31. . Further, a base connector 33 for a control cable (not shown) that is wired outside the robot 1 is provided at upper and lower positions on both sides of the base connector 31 on the lid 16, and the control cable 32 is connected via the base connector 33. And is introduced into the base 2. The plurality of in-machine cables 34 and 35 are led out of the lower end of the cable bundle 13 into the base 2. The external cables 30 and 32 are a bundle of a plurality of cables like the cable bundle 13, and a plurality of cables are led out of 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. Further, the connector holder 24 may be used as a control connector holder, and the connector holder 25 may be used as a power connector holder.

  Further, as shown in FIG. 2, a battery 36 is installed in the base 2 near the opening 2b. The battery 36 is a power supply for an encoder (not shown) provided in a motor that drives each joint of the robot 1. Thus, even when the power supply to the robot 1 is interrupted, for example, during a power outage, the encoder can be operated to detect the rotation amount of each motor and the like. The battery 36 is supported by a support member 37 fixed inside 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 that of 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 this state.

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

  First, the lid 18 on the right side of the base 2 is removed by removing the bolt 18s on the right side of the base 2, for example, and the opening 2b is opened. The openings 2c and 2d 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 inside the base 2 through the opened opening 2b. Thereby, the connection between the first connector and the second connector for the power cable and the control cable is released.

  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 and 25, and the like are exposed, so that the base 2 is not removed from the installation surface. And maintenance work such as replacement of the motor 21 and the cables 34 and 35 in the machine. Also, at this time, by removing the bolts 20bs, the second bracket portion 20b is removed from the first bracket portion 20a, and maintenance work such as replacement of the speed reducer 22 can be performed.

<4. Effects of Embodiment>
As described above, the robot 1 according to the present embodiment includes the base 2, the turning head 4 that turns around the turning axis AxS with respect to the base 2, the motor 21 that turns the turning head 4, and the output of the motor 21. It has a speed reducer 22 for decelerating, and a bracket 20 to which the motor 21 and the speed reducer 22 are fixed and which are connected to the swivel head 4 so as to be relatively rotatable and detachably connected to the base 2.

  Thereby, when the bracket 20 is detached from the base 2 and the turning head 4 is separated from the base 2 at the time of maintenance, the bracket 20 connected to the base 2 is exposed, so that the motor 21 and the motor 21 can be mounted 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, there is no need to remove the external cables 30 and 32 from the base 2 or to pull out the external cables on the equipment side when the external cables 30 and 32 are fixed to the base 2. Also, the work of returning the external cable after maintenance (piping work, etc.) becomes unnecessary. Therefore, maintainability can be improved.

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

  Furthermore, since there is no displacement of the base 2, it is not necessary to calibrate the reference coordinate system set in the robot controller to define the position and orientation of the robot after maintenance, or only to calibrate the origin of the pivot axis AxS. It becomes possible to respond, and the time until returning to work can be shortened.

  In addition, for example, when the robot 1 changes the arm length of the arm unit 3 of the robot 1 when changing the work target or updating the equipment, and wants to change the arm length to a different specification, the part separated from the base 2 is replaced. Only by this, the robot 1 can be easily replaced without changing the piping on the equipment side.

  Further, in the present embodiment, particularly, 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 pivot axis AxS (when viewed in a plan view) increases. 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 a 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, the motor 21 is fixed to the bracket 20 so as to protrude along the direction of the rotation axis AxS, and is housed 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 includes first connectors for external cables 30 and 32 that are wired outside, and in-machine cables 34 and 35 that are connected to the first connectors and wired inside the robot 1. , And connector holders 24 and 25 respectively holding the second connectors. The connector holders 24 and 25 are housed in the base 2. As a result, the following effects are obtained.

  That is, by providing the connector holders 24 and 25, the reliability of connection 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 turning head 4 can be 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 pivot axis AxS.

  Thereby, when the swivel 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 the present embodiment, in particular, the robot 1 is a control connector that holds the first connector for the control cable 32 of the external cables 30 and 32 and the second connector for the control cable 34 of the in-machine cables 34 and 35, respectively. It has 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.

  Thus, the connector connecting portion of the control cable and the connector connecting portion of the power cable can be arranged separately, so that the influence of noise on the control cable can be reduced. Further, erroneous connection between the control cable connector and the power cable connector 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 in-machine connector from the other side (for example, the left side). The second connectors for the cables 34 and 35 are configured to be inserted.

  Thereby, the insertion direction of the first connector of the external cables 30 and 32 in the connector holders 24 and 25 and the insertion direction of the second connector of the in-machine cables 34 and 35 can be unified. The connection and disconnection of the first connector can be performed 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. Have been.

  Thus, the reduction gear 22 and the bracket 20 have a hollow structure, and the cable bundle 13 (in-machine cables 34 and 35) can be wired between the turning head 4 and the base 2 along the turning axis AxS. As a result, the in-machine cable can be accommodated inside the robot 1, so that explosion-proof and waterproof properties can be improved.

  In the present embodiment, in particular, the robot 1 further includes a battery 36 for an encoder housed in the base 2 and provided in the motor 21. Thus, even when the power supply to the robot 1 is interrupted, for example, during a power outage, the encoder can be operated to detect the rotation amount of each motor and the like.

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

(5-1. When the robot is installed on the work 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, but the present invention is not limited to this. For example, as shown in FIG. 5, the base 2 may be installed in another device.

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

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

  The number of the arms 4 of the work supply device 42 is not limited to two, and may be one or three or more. Further, the work supply device is not limited to the rotary type as described above, and may be, for example, 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 explosion-proof property and waterproof property can be improved.

  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 from below to the base 2 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 49 of the work supply device 42. Accordingly, there is no need 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. Also, 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 embodiment, the case where the connector holders 24 and 25 are installed on the bracket 20, that is, on the arm 3 side, has been described. However, the present invention is not limited to this, and the connector holders 24 and 25 are installed on the base 2. You may. In this case, when performing maintenance, the second connectors on the in-machine cables 34 and 35 may be detached from the connector holder 24 and the connector holder 25 inside the base 2.

  In the above embodiment, the case where the battery 36 for the encoder 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 similarly to the connector holders 24 and 25 and the like. That is, it may be installed on the arm 3 side.

  In the above description, when there is a description such as “vertical” or “parallel”, the description is not strictly meaning. That is, "vertical" and "parallel" mean "substantially vertical" and "substantially parallel" in which tolerances and errors in design and manufacture are allowed.

  In addition to the methods described above, the methods according to the above-described embodiments may be appropriately combined and used. In addition, although not specifically exemplified, the above embodiment is implemented with various modifications within a range not departing from the gist thereof.

1 robot 2 base (example of base)
2a to 2c Opening 4 Swiveling head (an example of a housing)
Reference Signs List 20 bracket 21 motor 21a output shaft 22 reducer 24 connector holder (example of power connector holder)
25 Connector Holder (Example of Control Connector Holder)
30, 32 external cable (example of first cable)
34, 35 In-flight cable (example of second cable)
Reference Signs List 40 robot system 42 work supply device 43 table 44 arm 45 rotating device 47 external cable (an example of a first cable)
48 Hollow Ax1 Rotary shaft (example of output shaft)
Ax2 Rotation axis AxS Rotation axis W Work

Claims (7)

A base having a first opening;
A casing that pivots around a pivot axis with respect to the base;
A motor for rotating the housing,
A speed reducer for reducing the output of the motor,
A bracket to which the motor and the speed reducer are fixed, the bracket is connected to the housing so as to be relatively rotatable, and is detachably connected to the base;
Has,
The first opening is
In a state where the motor and the speed reducer are fixed to the bracket and the axis of the output shaft of the speed reducer and the axis of the turning shaft are aligned, the motor is inserted into the base along the direction of the axis. A robot characterized in that it is formed so that it can be used. A base having a first opening;
A casing that pivots around a pivot axis with respect to the base;
A motor for rotating the housing,
A speed reducer for reducing the output of the motor,
A bracket to which the motor and the speed reducer are fixed, the bracket is connected to the housing so as to be relatively rotatable, and is detachably connected to the base;
Has,
The first opening is
In a state where the motor and the speed reducer are fixed to the bracket and the axis of the output shaft of the speed reducer and the axis of the turning shaft are aligned, the motor is inserted into the base along the direction of the axis. And the motor is configured to be
A robot characterized in that an output shaft is parallel to the turning shaft, and the output shaft is arranged at a position offset by a predetermined distance from the turning shaft. The base further includes:
A second opening that is configured to be openable and closable and that provides a space for attaching and detaching an internal cable wired inside the robot when opened, on a surface different from the surface having the first opening. The robot according to claim 1 or 2, wherein: The base further includes:
Having at least one opening different from the first opening configured to be openable and closable on a surface different from the surface including the first opening,
An opening / closing member connected to the at least one opening to open and close the at least one opening;
The opening and closing member,
A connector that connects an intermediate cable that is wired inside the robot and that can be attached to and detached from an internal cable that is wired inside the robot, and an external cable that is wired outside the robot. The robot according to claim 1, wherein the robot performs the operation. The at least one opening is
A second opening that, when opened, provides a space for attaching and detaching an internal cable wired inside the robot;
A third opening provided on a surface different from the surface including the first opening and the surface including the second opening;
Including
The opening and closing member,
The robot according to claim 4, wherein the robot is connected to the third opening to open and close the third opening. The robot according to any one of claims 1 to 5, which coats a workpiece.
A work supply device that is arranged below the base of the robot and supplies the work to a painting position by the robot;
The work supply device,
At least one arm including a table on which the work is placed;
A rotation device for rotating the arm around a rotation axis parallel to the rotation axis,
A hollow portion through which a cable inserted from below into the base is inserted. A robot,
A base having a first opening that can be opened and closed, and a second opening that is configured to be openable and closable and that, when opened, provides a space for attaching and detaching an internal cable wired inside the robot;
A casing that pivots around a pivot axis with respect to the base;
A motor for rotating the housing,
A speed reducer for reducing the output of the motor,
A bracket to which the motor and the speed reducer are fixed, the bracket is connected to the casing so as to be relatively rotatable, and the bracket is detachably connected to the base.
The first opening is
In a state where the motor and the speed reducer are fixed to the bracket and the axis of the output shaft of the speed reducer and the axis of the turning shaft are aligned, the motor is inserted into the base along the direction of the axis. It is a method for maintaining the robot, which is formed so as to be possible,
Opening the second opening of the base;
On the inside of the base, disconnecting the internal cable and the intermediate cable that is wired inside the robot and that is detachable from the internal cable; and Separating from the base;
A maintenance method for a robot, comprising:

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