JP6316701B2 - Link device - Google Patents

Description

  The present invention relates to a link device suitable for use as an articulated robot or the like.

  Conventionally, in an articulated robot, a linear member such as a power supply cable for driving a motor of each rotating shaft, a cable such as a signal cable, an air hose, or a paint hose is provided along each link of the robot. ing. The linear members are arranged so as to sequentially pass through the internal spaces of the links (for example, see Patent Document 1). In this case, in the joint portion that couples the pair of links so as to be rotatable, the linear member is disposed so as to pass from the through hole of one link to the through hole of the other link.

  For example, in a painting robot to which a spray gun is attached, a plurality of hoses for supplying paint and air to the spray gun may be arranged so as to pass through the inside of the link and the rotation shaft of the joint portion. is there.

JP 2010-149214 A

  However, in the case of a conventional painting robot, the hose passes through the inside of the link, then passes through the through hole of the link, and then is inserted through the through hole of the adjacent link and passes through the inside of the link. There was a need. This operation needs to be repeated for the number of robot joints. For this reason, there exists a problem that the arrangement | positioning work of a hose takes very much work. For example, a hose that supplies paint to a spray gun needs to be replaced when changing colors or with age, but this work is complicated.

  This invention is made | formed in view of such a situation, The operation | work which arrange | positions a linear member so that linear members, such as a cable and a hose, pass along the rotational axis side of the joint part of a link, and a link. Another object of the present invention is to provide a link device that can very easily perform the operation of taking out a linear member that has passed through the rotation shaft side of the joint portion of the link.

The present invention is a link device, comprising: a first link; a second link that is pivotally connected to the first link about a rotation axis; the first link; A curvilinear motion guide mechanism having an arcuate guide rail and a guide block that is slidably guided with respect to the arcuate guide rail; The first link has a first side wall portion facing the second link side, and the second link has a second side wall portion facing the first link side, The arcuate guide rail of the curved motion guide mechanism is attached to one of the first side wall and the second side wall, and the guide block of the curved motion guide mechanism includes the first guide block. The other side of the side wall and the second side wall A first notch is formed in the first side wall, a second notch is formed in the second side wall, and the first link and the When the second link takes a predetermined rotation position, the first cutout portion and the second cutout portion are opened in the same direction as viewed from the rotation axis direction. The linear member is disposed along the first link and the second link so as to pass through the space on the inner peripheral side of the first notch and the second notch. This is a link device.
In addition, a linear member means wiring, piping, etc., or these bundles.

  In the present invention, the first link has a U-shaped wall portion in a sectional view and has a first connecting portion having an internal space inside the wall portion, and the first side wall portion is , Constituting a part of the U-shaped wall portion of the first connecting portion, the first notch portion being in a direction in which the U-shaped wall portion of the first connecting portion opens. It is formed so as to open in the same direction, and is formed so as to communicate the internal space of the first connecting portion with the outside thereof, and the second link is a U-shaped in a cross-sectional view. And a second connecting part having an internal space inside the wall part, wherein the second side wall part is a part of the U-shaped wall part of the second connecting part. The second cutout portion is formed to open in the same direction as the direction in which the U-shaped wall portion of the second connecting portion opens, In addition, the inner space of the second connecting portion and the outside of the second connecting portion are formed to communicate with each other, and the linear member includes the first connecting portion and the second link of the first link. You may arrange | position in each internal space of a said 2nd connection part.

  In this invention, the said 1st link has a 1st cover member which covers the open part of the said 1st connection part so that attachment or detachment is possible, and the said 2nd link is an open part of the said 2nd connection part. You may have the 2nd cover member which covers detachably.

  In the present invention, the link device may be a painting robot, and the linear member may be a plurality of hoses including a hose for circulating paint or a hose for circulating air.

According to the present invention, the first link and the second link are predetermined in which the first notch and the second notch are opened in the same direction when viewed from the rotation axis direction. In the rotational position, the linear member passes through the open portions of the first cutout portion and the second cutout portion, and is outside from the space on the inner peripheral side of the first cutout portion and the second cutout portion. Or can be arranged in the space on the inner peripheral side of the first notch and the second notch from the outside.
Thereby, the operation of arranging the linear member along the both links while the linear member passes through the rotation axis side of the joint portion of the first link and the second link, and the joint portion of both links The operation of taking out the linear member that has passed through the rotating shaft can be performed very easily.

It is a front view of the painting robot system provided with the robot as a link device concerning one embodiment of the present invention. 1 is a side view of a painting robot system according to an embodiment of the present invention. It is sectional drawing which follows the III-III line of FIG. It is the figure which looked at the principal part of the said painting robot system along the IV-IV line of FIG. It is the figure which looked at the principal part of the said painting robot system in the arrow V direction of FIG. It is a front view of the painting robot system for demonstrating the hose arrangement | positioning operation | work in the painting robot system which concerns on one embodiment of this invention. It is a side view of the painting robot system for demonstrating the hose arrangement | positioning operation | work in the painting robot system which concerns on one embodiment of this invention.

  Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 shows a front view of a painting robot system 1 including a robot 10 as a link device according to an embodiment of the present invention, and FIG. 2 shows a side view of the painting robot system 1. .

  As shown in FIGS. 1 and 2, the painting robot system 1 includes a robot 10 having three links (21, 31, 41), and a tip link (third link 41) among a plurality of links of the robot 10. ) And a hose which is a linear member disposed inside the robot 10 from the base end link (first link 21) of the plurality of links to the spray gun unit 100. A group 120.

  The robot 10 includes a first link 21 that can move horizontally along the first axis J1, a second link 31 that rotates about the second axis J2, and a first link that rotates about the third axis J3. 3 links 41. The base end of the second link 31 is connected to the first link 21 so as to be rotatable about the second axis J2. The third link 41 has a base end portion that is pivotally connected to a tip end portion of the second link 31 around the third axis J3. In addition, the 1st axis | shaft J1, the 2nd axis | shaft J2, and the 3rd axis | shaft J3 are located mutually parallel.

  In FIG. 1 and FIG. 2, the second link 31 and the third link 41 of the robot 10 are shown hanging down from the first link 21. In the present embodiment, for convenience of explanation, the side on which the first link 21 is located in the robot 10 is referred to as the upper side, and the side on which the third link 41 is located is referred to as the lower side. However, the present invention is not limited to this, and the first link 21 may be movable on the floor surface.

  The spray gun unit 100 is attached to the tip of the third link 41, a support member 101 attached directly or indirectly to the third link 41, and a plurality (for example, 4) attached to the support member 101. ) Spray gun 102.

  The hose group 120 includes a plurality of hoses for circulating paint and air supplied to each of the plurality of spray guns 102. The hose group 120 passes through the first link 21, the second link 31, and the third link 41 and is exposed to the outside from the tip side of the third link 41. The hose group 120 is branched outside the third link 41, and hoses for supplying paint and air to each of the four spray guns 102 are connected to each of the spray guns 102.

  Below, the support mode in which the 1st link 21 supports the 2nd link 31 rotatably is demonstrated.

  As shown in FIG.1 and FIG.2, in this Embodiment, the 1st link 21 has the link main body 22 formed in the box shape which one side (front side in this Embodiment) opened | released. As shown in FIG. 2, the open portion of the link body 22 may be detachably covered with a cover member 23. In this case, the first link 21 is configured to form a closed space by the link body 22 and the cover member 23. In FIG. 1 and FIGS. 3 to 7, the display of the cover member 23 is omitted for convenience. Hereinafter, when the cover member 23 is attached to the link body 22, a surface where the link body 22 contacts the cover member 23 is referred to as a joint surface.

  The link main body 22 accommodates a second link driving motor 24 that generates a driving force for rotating the second link 31, and more specifically, the link main body 22 has a second link driving. A pair of first link-side couplings that protrude downward from each of the main link portion 22A in which the motor 24 is housed and both lower side portions of the main link portion 22A and face each other with the base end portion of the second link 31 interposed therebetween Part 22B.

  3 is a cross-sectional view taken along line III-III in FIG. As shown in FIGS. 1 and 3, each of the pair of first link side connecting portions 22 </ b> B has a U-shaped wall portion in a cross-sectional view along the horizontal direction in the illustrated example, and is disposed inside the wall portion. Has a space. Each of the first link side connecting portions 22B communicates with the internal space of the main link portion 22A.

  In the present embodiment, as shown in FIG. 1 and FIG. 3, a reduction gear 25 with a bearing is disposed in one internal space (on the right side of the drawing) of the pair of first link side connecting portions 22B, and the pair of first link side connecting portions 22B. A curved motion guide mechanism 26 is provided between the first link side connection portion 22 </ b> B on the other side (the left side in the drawing) of the 1 link side connection portions 22 </ b> B and the base end portion of the second link 31. The curved motion guide mechanism 26 and the bearing speed reducer 25 rotatably support the base end portion of the second link 31 on the pair of first link side connecting portions 22B. The curved motion guide mechanism 26 includes an arc-shaped guide rail 26A and a guide block 26B that is slidably guided by the arc-shaped guide rail 26A, and is a joint between the first link 21 and the second link 31. Parts. For example, an R guide may be used as the curved motion guide mechanism 26.

  As shown in FIGS. 1 to 3, the second link 31 extends from the first link 21 and generates a driving force for rotating the third link 41. A pair of link-side couplings that protrude downward from both of the main link portion 32A in which 34 is accommodated and the lower portion (tip portion) of the main link portion 32A and face each other with the base end portion of the third link 41 interposed therebetween Part 32B. As shown in FIG. 3, the main link portion 32 </ b> A has a U-shaped wall portion in a cross-sectional view along the horizontal direction in the illustrated example, and has an internal space inside the wall portion. Although not shown in FIG. 3, the pair of link side coupling portions 32 </ b> B similarly have a U-shaped wall portion in a cross-sectional view and have an internal space inside the wall portion. Further, the internal space of the main link portion 32A communicates with the internal spaces of the pair of link side connecting portions 32B.

  As shown in FIG. 2, the open part of the link body 32 may be detachably covered with a cover member 33. In this case, the second link 31 is configured to form a closed space by the link main body 32 and the cover member 33. In FIGS. 1 and 3 to 7, the cover member 33 is not shown for convenience. Hereinafter, when the cover member 33 is attached to the link body 32, a surface where the link body 32 contacts the cover member 33 is referred to as a joint surface.

  As shown in FIG. 3, the base end portion of the main link portion 32A of the second link 31 is disposed between the pair of first link side connecting portions 22B. And in the right part of the paper surface of the base end part of the main link part 32A of the 2nd link 31, the wall which faces the paper surface right side among the U-shaped wall parts which comprise the base end part of the main link part 32A The base end side wall portion 32R that is a portion faces the first link distal end side wall portion 22BL that is the wall portion facing the left side of the paper surface among the U-shaped wall portions constituting the first link side connecting portion 22B on the right side of the paper surface. Are arranged to be. Here, a shaft 25S extending along the second axis J2 and penetrating the first link distal end side wall portion 22BL is fixed to the base end side wall portion 32R, and the shaft 25S rotates to the reduction gear 25 with a bearing. It is supported freely. Thus, the right portion of the base end portion of the main link portion 32A of the second link 31 is rotatably supported by the first link side connecting portion 22B on the right side of the paper surface.

  Further, as shown in FIG. 3, in the left part of the base end portion of the main link portion 32 </ b> A of the second link 31, the U-shaped wall portion constituting the base end portion of the main link portion 32 </ b> A. The first link distal end side wall portion that is the wall portion facing the right side of the paper surface of the U-shaped wall portion constituting the first link side connecting portion 22B on the left side of the paper surface is the base end side wall portion 32L facing the left side of the paper surface. It is arranged to face 22BR.

  The arcuate guide rail 26A of the curved motion guide mechanism 26 is attached to the proximal end side wall portion 32L. On the other hand, the guide block 26B slidably guided by the arc-shaped guide rail 26A is attached to the first link distal end side wall portion 22BR of the first link side connecting portion 22B on the left side of the drawing. The center point of the arc of the arc-shaped guide rail 26A is located on the second axis J2. Thus, the left side portion of the base link portion of the main link portion 32A of the second link 31 is coaxial with the rotation axis of the right side portion of the base end portion of the main link portion 32A of the second link 31. The first link side connecting portion 22B on the left side of the drawing is rotatably supported around the rotation axis. The arc-shaped guide rail 26A is attached so as to open in the direction in which the link main body 32 opens. Further, instead of the aspect of the present embodiment, the arc-shaped guide rail 26A may be attached to the first link distal end side wall portion 22BR, and the guide block 26B may be attached to the proximal end side wall portion 32L.

  The reduction gear 25 with a bearing according to the present embodiment includes a bearing portion that rotatably supports the shaft 25S, and a reduction drive portion that can rotationally drive the shaft 25S supported by the bearing portion. doing. As shown in FIG. 1, the reduction gear 25 with a bearing can transmit the driving force from the second link driving motor 24 transmitted via, for example, a belt to the shaft 25 </ b> S via the deceleration driving unit. It is possible. Thereby, the second link 31 can be rotationally driven with respect to the first link 21. In the present embodiment, when the shaft 25S rotates, the arc-shaped guide rail 26A attached to the base end portion of the second link 31 moves around the second axis J2 on the first link side on the left side of the drawing. It slides with respect to the guide block 26B attached to the connecting portion 22B.

  Next, the arrangement of the hose group 120 between the first link 21 and the second link 31 will be described. In the present embodiment, the hose group 120 is disposed in the internal space of the first link side connecting portion 22B on the left side of the paper, and the hose group 120 is curved from the internal space of the first link side connecting portion 22B on the left side of the paper. The inner space of the second link 31 is reached via the motion guide mechanism 26.

  As shown in FIG. 3, the first link distal end side wall portion 22BR in the first link side connecting portion 22B on the left side of the drawing is formed with a first link distal end side cutout portion 50, and the proximal end portion of the second link 31 is formed. A second link base end side cutout 51 is formed in the base end side wall portion 32L of the main link portion 32A forming the. The hose group 120 passes through the space on the inner peripheral side of the second link base end side notch 51 through the curved motion guide mechanism 26 from the space on the inner peripheral side of the first link distal end side notch 50. Has been placed.

  4 is a view of the main part of the painting robot system 1 taken along line IV-IV in FIG. 3, and FIG. 5 is a view of the main part of the painting robot system 1 in the direction of arrow V in FIG. It is.

  As shown in FIGS. 3, 4, and 5, the first link front end side cutout portion 50 is formed in a direction in which the U-shaped wall portion of the first link side connecting portion 22 </ b> B opens (the link main body 22 in FIG. 3). In the same direction as the first opening direction), and communicates the internal space of the first link side connecting portion 22B with the outside. Further, the first link tip side notch portion 50 has the second axis J2 and the central axis of the hose group 120 (referred to as an axis passing through the center of the maximum width of the hose group 120; the same shall apply hereinafter) to be coaxial. In addition to the depth from the joint surface of the first link side connecting portion 22B to the cover member 23 to the second axis J2, at least the radius of the hose group 120 (refers to half the maximum width of the hose group 120; the same applies hereinafter). It is cut out. Further, the second link base end side cutout portion 51 has a direction in which the U-shaped wall portion of the main link portion 32A of the link body 32 opens (the same direction as the opening direction of the link body 32 in FIG. 3). It is formed so as to open in the same direction, and the internal space of the main link portion 32A communicates with the outside. Further, the second link base end side cutout portion 51 extends from the joint surface of the link body 32 to the cover shaft 33 to the second axis J2 so that the second axis J2 and the central axis of the hose group 120 are coaxial. In addition to the depth of the hose group 120, at least the radius of the hose group 120 is cut away. Thereby, the hose group 120 straddles the internal space of the first link side connecting portion 22B, the first link distal end side cutout portion 50, the second link proximal end cutout portion 51, and the internal space of the main link portion 32A. It becomes possible to arrange them.

  In this embodiment, as shown in FIGS. 4 and 5, the second link 31 extends downward from the first link 21 (the state shown in FIGS. 1 and 2 (predetermined rotation position)). ), The first link front end side cutout portion 50 and the second link base end side cutout portion 51 are in the same direction (in FIG. 4) when viewed from the direction of the rotation axis (second axis J2). It is opened in the direction of arrow α.

  More specifically, in the state shown in FIGS. 4 and 5, both the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51 are viewed from the direction of the rotation axis (second axis J2). It is located inside the arc-shaped guide rail 26A. In the state shown in FIGS. 4 and 5, the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51 are the center point of the arc-shaped guide rail 26A, that is, the curved motion guide mechanism 26. The region where the rotation axis (second axis J2) is located is opened outward in the direction in which the arc-shaped guide rail 26A is opened.

  That is, in the present embodiment, when the second link 31 takes a state (predetermined rotation position) extending downward from the first link 21, it is viewed from the direction of the rotation axis (second axis J2). The first link distal end side cutout portion 50, the second link proximal end cutout portion 51, and the circular arc guide rail 26A are all opened in the same direction. At this time, the center point of the arc-shaped guide rail 26A, that is, the curved movement, located on the inner peripheral side of the arc-shaped guide rail 26A, the first link distal-side notch 50, the second link proximal-side notch 51, and the arc-shaped guide rail 26A. A region where the rotation axis (second axis J2) of the guide mechanism 26 is located is open to the outside.

  With the configuration as described above, in the present embodiment, the hose group 120 is allowed to pass through the space on the inner peripheral side of the first link tip side notch portion 50 from the inner space of the first link side connecting portion 22B on the left side of the page. Then, by passing the central point of the arc-shaped guide rail 26A or the vicinity thereof, the hose group 120 causes the rotation axis (second axis J2) of the joint portion between the first link 21 and the second link 31 to be passed. Or it passes through the vicinity. Then, the hose group 120 reaches the internal space of the second link 31 by passing the hose group 120 through the space on the inner peripheral side of the second link proximal end cutout 51.

  When the second link 31 extends downward from the first link 21 (predetermined rotation position), the tip of the first link is viewed from the direction of the rotation axis (second axis J2). The side cutout portion 50, the second link base end side cutout portion 51, and the circular arc guide rail 26A are all opened in the same direction. Accordingly, the hose group 120 is passed through the open portions of the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51, and the first link distal end side cutout portion 50 and the second link proximal end side. The cutout 51 can be taken out from the space on the inner peripheral side to the outside. Further, the hose group 120 can be arranged in the space on the inner peripheral side of the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51 from the outside.

  In addition, about the support aspect with respect to the 3rd link 41 of the 2nd link 31, and arrangement | positioning of the hose group 120 between the 2nd link 31 and the 3rd link 41, the 1st link 21 and the 2nd link Since it is the same structure as 31, description is abbreviate | omitted.

  Next, the operation of the present embodiment will be described.

  6 and 7 show a state in which the second link 31 extends downward from the first link 21 and the third link 41 extends downward from the second link 31 in the painting robot system 1. ing.

  In this case, the link body 22 of the first link 21 and the link body 32 of the second link 31 are opened. Moreover, in the connection part of the link main body 22 and the 2nd link 31 of the 1st link 21, the 1st link front end side notch part 50 and the 2nd link base end side notch part 51 are the rotating shaft ( When viewed from the second axis J2) direction, they are opened in the same direction (the direction of arrow α in FIG. 7). Thereby, when viewed from the direction of the rotation axis (second axis J2), the center point of the arc-shaped guide rail 26A, that is, the region where the rotation axis (second axis J2) of the curved motion guide mechanism 26 is located is an arc-shaped The guide rail 26A is opened outward in the opening direction.

  In such a state, as shown in FIG. 7, the hose group 120 is connected to the first link front end side notch 50 and the first link 21 at the connection portion between the link body 22 and the second link 31 of the first link 21. Take the outside from the space on the inner peripheral side of these notches 50, 51 through the open portion with the two-link base end side notch 51, or the space on the inner peripheral side of these notches 50, 51 from the outside Can be arranged. When the hose group 120 is arranged in the space on the inner peripheral side of the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51, the hose group 120 is moved to the curved motion guide mechanism. It can arrange | position in the area | region in which 26 rotational axes (2nd axis | shaft J2) are located.

  Thus, according to the present embodiment, the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51 are in the same direction as viewed from the direction of the rotation axis (second axis J2). At a predetermined rotational position of the first link 21 and the second link 31 opened toward the hose group 120, the first link distal end side notch portion 50 and the second link proximal end notch portion are arranged. It can be taken out from the space on the inner peripheral side of these notches 50, 51 through the open part of 51, or can be arranged in the space on the inner peripheral side of these notches 50, 51 from the outside.

  Therefore, according to the present embodiment, the first link 21 and the second link 31 while the hose group 120 passes through the rotation axis side of the joint portion between the first link 21 and the second link 31. The hose group 120 can be arranged very easily along the line. Moreover, the operation | work which removes the hose group 120 which passed the rotating shaft side of the joint part of the 1st link 21 and the 2nd link 31 can be performed very easily. The same applies to the joint portion between the second link 31 and the third link 41.

  In the present embodiment, the first link distal end side notch portion 50 and the second link proximal end notch portion 51 are opened in the same direction as viewed from the rotation axis (second axis J2) direction. In the predetermined rotation position (the state shown in FIGS. 6 and 7) between the first link 21 and the second link 31, the first link distal end side notch 50 is formed as shown in FIG. The link main body 32 (main link portion 32A) having the first link side connecting portion 22B having the first link distal end side wall portion 22BR and the base end side wall portion 32L in which the second link proximal end notch portion 51 is formed. Is opened in the same direction as the first link distal end side cutout portion 50 and the second link proximal end side cutout portion 51.

  For this reason, the hose group 120 is taken out from the space on the inner peripheral side of the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51, and at the same time, the first link side connection portion 22B and the link main body 32 are The hose group 120 can be taken out from the inside. In addition, the hose group 120 is disposed in the inner circumferential space of the first link distal end side cutout portion 50 and the second link proximal end cutout portion 51, and at the same time, the interior of the first link side connection portion 22B and the link body 32 The hose group 120 can be arranged in For this reason, the operation | work which arrange | positions the hose group 120 inside the 1st link side connection part 22B and the link main body 32, and the operation | work which removes the hose group 120 arrange | positioned inside the 1st link side connection part 22B and the link main body 32 Can also be done easily.

  As mentioned above, although embodiment and Example of this invention were described, this invention is not limited to said embodiment, What includes various changes etc. in said embodiment is included.

  For example, in the above embodiment, the robot 10 is configured as a three-axis articulated robot. However, the robot may be a one-axis robot, or a multi-joint robot with two or more axes. There may be. Further, the orientations such as up and down in the above embodiment are used for the convenience of explanation, and the present invention is not construed as being limited to the orientation described in the embodiment.

  In the above-described embodiment, the space on the inner peripheral side of the first link distal end side notch portion 50 and the second link proximal end notch portion 51 is passed. In the case of a vacuum gripper, the air suction hose may be passed.

  In the above-described embodiment, the arc-shaped guide rail 26A is opened, but an additional arc-shaped guide rail may be attached so as to close these open portions. In this case, the rotation range of the link can be expanded.

DESCRIPTION OF SYMBOLS 1 Coating robot system, 10 Robot, 21 1st link, 22 Link main body, 22A Main link part, 22B 1st link side connection part, 22BL 1st link tip side wall part, 22BR 1st link tip side wall part, 23 Cover member , 24 Second link drive motor, 25 Reducer with bearing, 25S shaft, 26 Curve motion guide mechanism, 26A Arc guide rail, 26B guide block, 31 Second link, 32 link body, 32A main link portion, 32B Link side connecting portion, 32L base end side wall portion, 32R base end side wall portion, 33 cover member, 34 third link driving motor, 41 fourth link, 50 first link front end side notch portion, 51 second link base End side notch, 100 spray gun unit, 101 support member, 102 spray Gun, 120 hose group, J1 first axis, J2 second axis, J3 third axis.

Claims (4)

A link device,
The first link,
A second link connected to the first link so as to be rotatable about a rotation axis;
A curve that constitutes a joint portion that connects the first link and the second link to each other, and has an arc-shaped guide rail and a guide block that is slidably guided with respect to the arc-shaped guide rail. A motion guide mechanism,
The first link has a first side wall portion facing the second link side,
The second link has a second side wall portion facing the first link side,
The arcuate guide rail of the curved motion guide mechanism is attached to one of the first side wall portion and the second side wall portion, and the guide block of the curved motion guide mechanism is Attached to the other side wall of the first side wall and the second side wall;
The first side wall is formed with a first notch,
The second side wall is formed with a second notch,
When the first link and the second link take a predetermined rotation position, the first notch and the second notch are the same when viewed from the rotation axis direction. Is opened towards the direction of
The linear member is disposed along the first link and the second link so as to pass through the space on the inner peripheral side of the first notch and the second notch. A link device characterized by the above. The first link has a U-shaped wall portion in cross-sectional view and a first connecting portion having an internal space inside the wall portion,
The first side wall portion constitutes a part of a U-shaped wall portion of the first connecting portion,
The first cutout portion is formed so as to open in the same direction as the direction in which the U-shaped wall portion of the first connection portion opens, and the internal space of the first connection portion And communicate with the outside,
The second link has a U-shaped wall portion in cross-sectional view and a second connecting portion having an internal space inside the wall portion,
The second side wall portion constitutes a part of a U-shaped wall portion of the second connecting portion,
The second cutout portion is formed so as to open in the same direction as a direction in which the U-shaped wall portion of the second connecting portion opens, and the internal space of the second connecting portion. And communicate with the outside,
The said linear member is arrange | positioned in each internal space of the said 1st connection part of the said 1st link, and the said 2nd connection part of the said 2nd link. Link device. The first link has a first cover member that detachably covers an open portion of the first connecting portion,
The link device according to claim 2, wherein the second link includes a second cover member that detachably covers an open portion of the second connecting portion. The link device is a painting robot,
The link device according to any one of claims 1 to 3, wherein the linear member is a plurality of hoses including a hose for circulating paint or a hose for circulating air.

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