JP7481592B1 - robot - Google Patents

Abstract

The robot (100) includes a first arm (30) supported rotatably about a first axis (J2), and a second arm (40) supported rotatably about a second axis (J3) parallel to the first axis (J2) with respect to the first arm (30), and an apparatus installation unit (41 a) capable of installing a relay device (60) is provided on the first arm (30) or the second arm (40) between the first axis (J2) and the tip of the second arm (40), and the apparatus installation unit (41 a) is capable of installing the relay device (60) at a position where a midpoint in the longitudinal direction of either a first umbilical cord (62) extending along the first arm (30) and connecting to the relay device (60), or a second umbilical cord (63) extending from the relay device (60) to the tip side of the second arm (40) is located on a path intersecting the second axis (J3).

Description

This disclosure relates to robots.

2. Description of the Related Art There is known a robot equipped with a wire feeder on the outer surface of the robot arm that feeds a welding wire unwound from an external wire reel to a welding torch attached to the tip of the robot arm (see, for example, Patent Document 1).
A conduit pipe through which the welding wire unwound from the wire reel passes is connected to the rear end of the wire feeder.

JP 2009-006454 A

In such robots, the bending radius of the curved part of the conduit pipe needs to be as large as possible to improve the feedability of the welding wire. Also, if the conduit pipe is swung significantly in response to the robot's movements, it may interfere with surrounding components.

Therefore, it is desirable to ensure a large bending radius for the wire connected to a relay device such as a wire feeder mounted on a robot, while preventing the wire from swinging too much when the robot is in operation.

One aspect of the present disclosure is a robot comprising a first arm supported rotatably about a first axis, a second arm supported rotatably relative to the first arm about a second axis parallel to the first axis, and a wrist unit supported at the tip of the second arm rotatably about a third axis extending along a plane offset by a predetermined amount from a plane including the second axis, and an apparatus installation unit capable of installing a relay device is provided on the first arm or the second arm between the first axis and the tip of the second arm, and the apparatus installation unit is capable of installing the relay device at a position where a first umbilical cord extending along the first arm and connected to the relay device and a second umbilical cord extending from the relay device to the tip side of the second arm are aligned along a plane perpendicular to the second axis and including the third axis, and a midpoint of the longitudinal direction of either the first umbilical cord or the second umbilical cord is located on a path that intersects with the second axis.

FIG. 1 is a side view showing a robot according to a first embodiment of the present disclosure. FIG. 2 is a cross-sectional view showing the configuration of a second arm of the robot of FIG. 1 . FIG. 2 is a schematic diagram of a wire feeder of the robot of FIG. 1 . FIG. 2 is a side view showing a first modified example of the robot of FIG. 1 . FIG. 2 is a schematic diagram showing a modified example of the second arm of the robot of FIG. 1 . FIG. 2 is a side view showing a second modified example of the robot of FIG. 1 . FIG. 2 is a side view showing a third modified example of the robot of FIG. 1 . FIG. 8 is a schematic diagram showing the configuration of a second arm of the robot of FIG. 7 . FIG. 8 is a schematic diagram showing a configuration of a modified example of the second arm of the robot of FIG. 7 . FIG. 8 is a schematic diagram showing the configuration of another modified example of the second arm of the robot of FIG. 7 .

A robot 100 according to an embodiment of the present disclosure will be described below with reference to the drawings.
A robot 100 according to this embodiment is a vertical six-axis articulated robot that is used as a welding robot, for example, as shown in FIG.

The robot 100 comprises a base 10 that is placed on a mounting surface such as a horizontal floor surface, and a rotating body 20 that is supported rotatably relative to the base 10 around a vertical first axis (basic axis) J1. The robot 100 comprises a first arm 30 that is supported rotatably relative to the rotating body 20 around a horizontal second axis (first axis) J2. The robot 100 also comprises a second arm 40 that is rotatable relative to the first arm 30 around a third axis (second axis) J3 that is parallel to the second axis J2. The robot 100 also comprises a three-axis wrist unit 50 attached to the tip of the second arm 40.

The wrist unit 50 includes a first wrist element 51 rotatably supported relative to the second arm 40 around a fourth axis (third axis) J4 extending along a plane perpendicular to the third axis J3. The wrist unit 50 also includes a second wrist element 52 rotatably supported relative to the first wrist element 51 around a fifth axis J5 perpendicular to the fourth axis J4. The wrist unit 50 also includes a third wrist element 53 rotatably supported relative to the second wrist element 52 around a sixth axis J6 perpendicular to the fifth axis J5 and passing through the intersection of the fourth axis J4 and the fifth axis J5. A welding torch (tool) 70 is attached to the tip of the third wrist element 53.

The first arm 30 is formed in a long cylindrical shape having a hollow portion therein, and as shown in Fig. 1, the base end side is supported rotatably about the second axis J2 with respect to the upper part of the rotating body 20. In addition, the first arm 30 is curved so that the central portion in the longitudinal direction protrudes rearward when the robot 100 is in the basic posture as shown in Fig. 1.
Here, the basic posture refers to the posture of the robot 100 disposed at a position (origin position) where a straight line perpendicular to the second axis J2 and the third axis J3 extends vertically and the fourth axis J4 extends horizontally. In addition, the tip side of the second arm 40 in this basic posture is defined as the front.

As shown in Figures 1 and 2, the second arm 40 has a beam-shaped first portion 41 extending in a direction perpendicular to the third axis J3, and a second portion 42 integrally formed on the tip side of the first portion 41.
In this embodiment, when the robot 100 is in the basic posture, the second arm 40 has a fourth axis J4 disposed at a position offset upward with respect to a horizontal plane including the third axis J3.

A base end of the first portion 41 is connected to the tip of the first arm 30 so as to be rotatable about the third axis J3. In addition, a through hole 41h is provided at the base end of the first portion 41, the through hole 41h extending in a direction intersecting the third axis J3 along a plane including the first axis J1 and the fourth axis J4.
When the robot 100 is in the basic posture, the through-hole 41h extends obliquely downward and rearward.

In addition, the first part 41 has an apparatus installation section 41a at a midpoint in the longitudinal direction, the apparatus installation section 41a having an apparatus mounting surface 41a' with a plurality of screw holes (not shown) for fixing a wire feeding device (relay device) 60 described later.
As shown in FIG. 1, when the robot 100 is in the basic posture, the device mounting surface 41a' faces upward and is inclined so that the tip side is positioned higher than the base side.
That is, when the robot 100 is in the basic posture, the wire feeder 60 is mounted on the device mounting surface 41a' and disposed inclined in the front-rear direction with respect to the fourth axis J4.

A motor (actuator) 43 for driving the first wrist element 51 of the wrist unit 50 is attached to the side surface of the second arm 40 that is the rear side of the device mounting surface 41a'. Furthermore, as shown in Fig. 2, the second arm 40 has a pair of walls 41c that extend from the side surface that is the rear side of the device mounting surface 41a' to a position that sandwiches the motor 43 from both sides in the direction of the third axis J3.

2, the second part 42 is provided with a gear reducer (actuator) 44 in its hollow interior that reduces the rotation of the shaft 43a of the motor 43 fixed to the first part 41. The second part 42 also has a through hole 42h with the fourth axis J4 as its central axis. That is, the through hole 42h opens at the position of the fourth axis J4 on the base end side surface of the second part 42, away from the device mounting surface 41a' and above.

2, the first wrist element 51 is supported by a bearing 45 on the tip side of the second portion 42 of the second arm 40 so as to be rotatable about the fourth axis J4. The first wrist element 51 has a cylindrical portion 51c having a through hole 51h arranged coaxially with the through hole 42h of the second arm 40. In addition, the second wrist element 52 and the third wrist element 53 each have a through hole 53h extending along the sixth axis J6.

The operation of the robot 100 according to this embodiment configured as above will be described below.
To perform arc welding using robot 100, first, wire feeder 60 is mounted on device mounting surface 41a' of second arm 40, and welding torch 70 is attached to the tip of third wrist element 53 along sixth axis J6.
Next, a wire reel (not shown) disposed outside the robot 100 and a rear end surface (side surface) 60b of the wire feeder 60 are connected by a conduit (first wire body) 62. Also, a front end surface (side surface) 60a of the wire feeder 60 and the welding torch 70 are connected by a conduit (second wire body) 63.

In this case, the wire feeder 60 is a device for drawing out the welding wire W from the wire reel and feeding it to the welding torch 70 .
The wire feeding device 60 is fixed to the device mounting surface 41 a′ by bolts (not shown) fastened to a plurality of screw holes provided in the device mounting surface 41 a′ of the second arm 40. As a result, the wire feeding device 60 is mounted on the device installation part 41 a with the rear end surface 60b facing the third axis J3 and the front end surface 60a facing the fourth axis J4.

The tip of the conduit 62 is connected perpendicular to the rear end surface 60b near the center of the rear end surface 60b of the wire feeder 60. As shown in FIG. 1, the base end of the conduit 62 is disposed near the external wire reel, and the tip passes through the base 10 and is pulled upward from the through hole 20h on the upper surface of the rotating body 20. The conduit 62 pulled upward from the rotating body 20 rises along the side surface of the first arm 30, passes through the through hole 41h provided in the first part 41 of the second arm 40, and is then connected to the rear end surface 60b of the wire feeder 60.

In addition, the conduit 62 is guided along the curved shape of the first arm 30 by passing a middle position in the longitudinal direction through a through hole (not shown) of a guide member 65 attached to the side of the first arm 30 .
As a result, when the robot 100 is in the basic posture, the conduit 62 crosses the third axis J3 from below the second arm 40 along a diagonally forward and upward path that extends upward from the curved shape of the first arm 30. In addition, since the third axis J3 traverses inside the through hole 41h, the conduit 62 passing through the through hole 41h is maintained in a state of crossing the third axis J3.

In addition, because the first arm 30 has a shape that curves backward, the conduit 62 that is wired along the curved shape and passes through the through hole 41h of the second arm 40 can be smoothly guided to the wire feeder 60 in the front. In addition, by curving the first arm 30 backward at a midpoint in the length direction, the so-called pocket of the robot 100 can be made deeper, and interference between external members and the first arm 30 can be reduced during work performed in the front.

On the other hand, a conduit 63 is connected perpendicular to the front end surface 60a near the center of the front end surface 60a of the wire feeder 60. The base end of the conduit 63 is connected to the front end surface 60a of the wire feeder 60, and the tip passes through the through hole 42h of the second part 42 of the second arm 40 and the through hole 51h of the first wrist element 51. The conduit 63 is then curved downward near the fifth axis J5 and passes through a through hole 53h extending along the sixth axis J6 provided in the second wrist element 52 and the third wrist element 53 to be connected to the welding torch 70.

In this case, when the wire feeder 60 is mounted on the device mounting surface 41a', the inclination of the device mounting surface 41a' causes the connection position of the conduit 62 at the rear end surface 60b to be positioned in the direction toward the third axis J3. On the other hand, the connection position of the conduit 63 at the front end surface 60a is positioned in the direction toward the opening of the through hole 42h in the second portion 42.

That is, the wire feeding device 60 on the device mounting surface 41a' is inclined in a direction such that the connection position of the front end face 60a with the conduit 63 is closer to the fourth axis J4, and the connection position of the rear end face 60b with the conduit 62 is closer to the third axis J3.
Therefore, the conduit 62 connected to the rear end surface 60b of the wire feeder 60 is disposed on a path that extends intersecting the third axis J3 without significantly curving, and the conduit 63 connected to the front end surface 60a of the wire feeder 60 enters the through hole 42h without significantly curving, and is disposed on a path that extends along the fourth axis J4.

3, two pairs of rollers 61 that sandwich the welding wire W and a motor (not shown) that drives the two pairs of rollers 61 are arranged inside the wire feeder 60. When the two pairs of rollers 61 are rotated, the welding wire W is pulled out from the wire reel and introduced into the wire feeder 60 through a conduit 62. The welding wire W introduced into the wire feeder 60 is then sent to the welding torch 70 through a conduit 63.

Next, when arc welding is performed by robot 100 in this state, each joint of robot 100 is rotated about the corresponding axis J1 to J6, and welding torch 70 is placed in a desired position and attitude.
In this case, when the second arm 40 rotates about the third axis J3 relative to the first arm 30, the wire feeder 60 also rotates about the third axis J3 relative to the first arm 30. Accordingly, a bending force acts on the conduit 62 connected to the wire feeder 60. However, since the conduit 62 passes through the third axis J3, which is the center of rotation, the bending force can be kept small.

That is, when the robot 100 is in the basic position, the conduit 62 extends relatively straight, so that the bending radius of the conduit 62 can be prevented from becoming too small regardless of the direction in which the second arm 40 rotates from the basic position. As a result, the bending radius of the welding wire W passing through the conduit 62 can be maintained large, which has the advantage of preventing a decrease in the feedability of the welding wire W.

In addition, because the conduit 62 is routed through the third axis J3, which is the center of rotation of the second arm 40, it is possible to reduce vibration that occurs when the second arm 40 rotates. This prevents the conduit 62 from moving wildly and interfering with other members disposed around the robot 100, even if the second arm 40 rotates significantly around the third axis J3.

In addition, the connection position of the front end surface 60a of the wire feeder 60 with the conduit 63 is arranged facing the through hole 42h of the second arm 40, so the conduit 63 can be inserted into the through hole 42h without bending it significantly. This has the advantage of ensuring a large bending radius for the welding wire W passing through the conduit 63.

1, the device mounting surface 41a' of the second arm 40 is inclined so as to face diagonally upward and forward, so that a large space can be secured under the tip side of the first section 41. Therefore, this space can be used to place the motor 43 and gear reducer 44 for driving the first wrist element 51, and the protrusion of the robot 100 in the left-right direction can be suppressed.

In addition, the wall portion 41c provided at the lower part of the first part 41 of the second arm 40 sandwiches the motor 43 from both sides in the direction of the third axis J3, protecting it from the outside and improving the mechanical strength of the first part 41.
In this embodiment, the wall portion 41c is positioned in a position that surrounds both sides of the motor 43 in the direction of the third axis J3, but instead, the wall portion 41c may be positioned in a position that covers at least a portion of the motor 43.

In addition, in this embodiment, the fourth axis J4 is positioned at a position offset upward from the third axis J3, but instead, the third axis J3 and the fourth axis J4 may be positioned on the same plane.

For example, as shown in FIG. 4, when the robot 100 is in the basic posture, the first portion 41 may be recessed so that the device mounting surface 41a' of the second arm 40 is located below the third axis J3.
This makes it possible to reduce the amount of upward protrusion of the wire feeder 60 attached to the device mounting surface 41a', and thus makes it possible to reduce the space required for the operation of the robot 100.

In this embodiment, the second arm 40 is formed so that the device mounting surface 41 a′ faces upward when the robot 100 is in the basic posture. That is, the lower surface of the wire feeding device 60 is fixed to the device mounting surface 41 a′.
Alternatively, the second arm 40 may be configured so that the device mounting surface 41 a' is disposed along a plane perpendicular to the third axis J3 when the robot 100 is in the basic posture, as shown in Fig. 5. In this case, the wire feeding device 60 is fixed not at its lower surface but at one side surface in the width direction to the device mounting surface 41 a'.

Next, a robot 200 according to a second embodiment of the present disclosure will be described below with reference to the drawings.
In the following description, parts that have the same configuration as the robot 100 described above will be given the same reference numerals and the description thereof will be omitted.

As shown in FIG. 6 , the robot 200 according to this embodiment includes a device installation section 41 a on the first arm 30 on which the wire feeder 60 is mounted.
The wire feeding device 60 is fixed to a side surface at the longitudinal center of the first arm 30 with a rear end surface 60b facing the second axis J2 and a front end surface 60a facing the third axis J3. That is, the device installation section 41a includes a device mounting surface 41a' for fixing the wire feeding device 60 to a side surface at the longitudinal center of the first arm 30.

In this case, for example, the base end of the conduit 62 is disposed near an external wire reel, and the tip end passes through the inside of the base 10 and is pulled upward from the through hole 20h in the upper surface of the rotating body 20. The conduit 62 then rises up along the shape of the base end side of the longitudinal center of the first arm 30, and the tip end is connected to the rear end surface 60b of the wire feeder 60.

Meanwhile, the base end of the conduit 63 is connected to the front end surface 60a of the wire feeder 60, and the tip passes through the through hole 41h of the second arm 40 and is introduced into the through hole 42h of the second arm 40. The tip of the conduit 63 is then wired in the same manner as the robot 100 described above, and connected to the welding torch 70 at the tip.

As a result, when the robot 200 is in the basic posture, the conduit 63 can be curved and wired so as to pass through the third axis J3 smoothly from a lower position behind the third axis J3 toward an upper position ahead of the third axis J3. Therefore, in this case, a large bending radius of the conduit 63 can be ensured, and the vibration of the conduit 63 caused by the movement of the second arm 40 can be kept small.

In addition, since the conduits 62, 63 are connected to the wire feeder 60 disposed at the center of the length of the first arm 30, the conduits 62, 63 can be easily aligned to the curved shape of the first arm 30. Therefore, the guide member 65 that guides the conduit 62 along the side of the first arm 30 can be omitted.

In this case, since there is no need to set the device installation section 41a on the second arm 40, the first section 41 can be made smaller. This allows the hand side of the robot 200 to be made slimmer, which is particularly useful when the robot 200 is used in an environment with a small working space.

Next, a robot 300 according to a third embodiment of the present disclosure will be described below with reference to the drawings.
In the following description, parts that have the same configuration as the robots 100 and 200 described above will be given the same reference numerals and description thereof will be omitted.

As shown in FIG. 7, in the robot 300 according to this embodiment, the first arm 30 is a beam-shaped member that extends linearly along the first axis J1 when the robot 300 is in the basic posture.
As shown in FIGS. 7 and 8, the second arm 40 in this embodiment is made up of two members, a main body portion 46 and a reinforcing member 47.

The main body 46 includes a beam-shaped first portion 41 extending in a direction perpendicular to the third axis J3, and a second portion 42 integrally provided at the tip side of the first portion 41. In other words, the main body 46 is a member corresponding to the second arm 40 of the robot 100 described above.

The reinforcing member 47 is, for example, a member formed in an arch shape by curving a flat plate made of the same material as the main body 46 to one side in the plate thickness direction. One longitudinal end of the reinforcing member 47 formed in an arch shape is detachably fixed to the tip of the main body 46, i.e., the upper end of the second part 42, by a bolt or the like. Similarly, the other longitudinal end of the reinforcing member 47 is fixed to the base end of the main body 46, i.e., the base end of the first part 41. In other words, as shown in FIG. 7, the reinforcing member 47 straddles the wire feeder 60 installed on the device mounting surface 41a' from above, connecting the tip and base ends of the main body 46.

As a result, the second part 42 of the main body portion 46 is supported not only by the first part 41 but also by the reinforcing member 47, thereby improving the rigidity of the main body portion 46 and effectively suppressing deformation of the main body portion 46.
For example, when the second arm 40 is rotated about the third axis J3 relative to the first arm 30, an inertial force acts in the opposite direction to the rotational direction on the second arm 40. In particular, since the weight of the wire feeding device 60 is applied to the main body 46, a larger inertial force acts on the main body 46, but since the main body 46 is reinforced, it is possible to prevent the main body 46 from being deflected by the acting inertial force.

Therefore, the wire feeding device 60 can be held more stably and the welding torch 70 can be moved to the desired position with high precision, thereby improving the accuracy of the welding operation.

In addition, by removing the bolts that secure both ends of the main body 46 to both ends of the reinforcing member 47 and removing the reinforcing member 47 from the main body 46, the wire feeder 60 and the area above the device mounting surface 41a' can be opened up widely. This allows easy access to the wire feeder 60 and does not impair the ease of maintenance work on the wire feeder 60.

In addition, in this embodiment, both side surfaces of the wire feeding device 60 arranged between the main body 46 and the reinforcing member 47 shown in Figure 8 in the direction along the third axis J3 may be configured to be covered by cover members.
In this case, the cover member may be, for example, a flat plate member made of a resin material, and may have a shape that is capable of covering and concealing the entire gap formed between the upper surface of the first part 41 and the lower surface of the reinforcing member 47 from the outside in the direction along the third axis J3.

By preparing two such cover members and removably attaching them to the main body 46 or the reinforcing member 47, the entire surface of the wire feeder 60 can be surrounded and protected from the outside. Therefore, a housing or the like provided in the wire feeder 60 itself for protecting the inside can be omitted or simplified, and the wire feeder 60 can be made smaller and lighter.

In this case, the two cover members are configured to be detachably attached to the main body 46 or the reinforcing member 47, but the two cover members may be formed integrally with the reinforcing member 47. This allows the reinforcing member 47 and the two cover members to be detachably attached integrally to the main body 46, making assembly and disassembly easier.

In this embodiment, the second arm 40 may be configured to position the device mounting surface 41a' in a direction perpendicular to the third axis J3 when the robot 300 is in the basic posture, as in the embodiment shown in Fig. 5. In this case, the reinforcing member 47 is positioned parallel to the side opposite the device mounting surface 41a', sandwiching the wire feeder 60, as shown in Fig. 9, for example.

In this embodiment, as shown in FIG. 10, two reinforcing members 47 may be provided, each attached along both left and right edges of the upper surface of the first portion 41.
In this case, since both ends of the main body 46 in the longitudinal direction are connected by the two reinforcing members 47, the rigidity of the main body 46 can be further improved.
Furthermore, the two reinforcing members 47 also function as cover members, and therefore can protect both widthwise side surfaces of the wire feeder 60 from the outside.

In addition, in this embodiment, the device installation section 41a on which the wire feeding device 60 is mounted is provided on the second arm 40, but instead, it may be provided on the first arm 30, similar to the robot 200 described above.
In this case, the first arm 30 is composed of two members: a main body portion 46 and a reinforcing member 47 .

In addition, in this embodiment, the reinforcing member 47 is formed from the same material as the main body portion 46, but the reinforcing member 47 may be formed from any material as long as it has sufficient strength to reinforce the main body portion 46.

Further, in each of the above embodiments, the robots used as welding robots have been described as examples, but the robots 100 to 300 are not limited to this.
The robots 100 to 300 may be any robot equipped with a relay device that relays between a tool attached to its tip and an external device via a wire, such as a laser processing robot, a sealing robot, or a painting robot.

For example, when using robots 100 to 300 as laser processing robots, a laser processing head is attached instead of welding torch 70, and a laser oscillator is attached instead of wire feeder 60. In this case, conduit 62 is replaced with a light guide path connecting an external control device and the laser oscillator, and conduit 63 is replaced with a light guide path connecting the laser oscillator and the laser processing head. This makes it possible to obtain the same effect as above.

Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention, or without departing from the idea and intent of the present invention derived from the contents described in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each operation and the order of each process are shown as examples, and are not limited to these.

The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples.
(Appendix 1)
a wrist unit supported at a tip of the second arm so as to be rotatable about a third axis extending along a plane offset by a predetermined amount from a plane including the second axis, wherein the first arm or the second arm is provided with an apparatus installation unit capable of installing a relay apparatus on the first arm or the second arm between the first axis and the tip of the second arm, the apparatus installation unit being capable of installing the relay apparatus at a position where a first umbilical cord extending along the first arm and connected to the relay apparatus, and a second umbilical cord extending from the relay apparatus to the tip side of the second arm are aligned along a plane perpendicular to the second axis and including the third axis, and a midpoint of a longitudinal direction of either the first umbilical cord or the second umbilical cord is located on a path intersecting the second axis.
(Appendix 2)
2. The robot according to claim 1, wherein the first filament and the second filament are connected to a pair of side surfaces arranged on opposite sides of the relay device.
(Appendix 3)
The robot according to claim 1 or 2, wherein the device installation unit is provided on the second arm, and a midpoint in the longitudinal direction of the first filament is disposed on a path that intersects with the second axis.
(Appendix 4)
The robot described in Appendix 3, wherein the device installation unit is capable of installing the relay device at an angle in a direction that brings a connection position of the first wire body to the relay device closer to the second axis line and brings a connection position of the second wire body to the relay device closer to the third axis line.
(Appendix 5)
5. The robot according to claim 4, wherein the device installation unit has an device mounting surface on which the relay device is mounted, and an actuator for driving the wrist unit is disposed on a rear side of the device mounting surface of the second arm.
(Appendix 6)
6. The robot of claim 5, wherein the device mounting surface is a plane parallel to the second axis.
(Appendix 7)
7. The robot of claim 6, wherein the second arm includes a wall portion disposed on at least one side of the actuator in the second axial direction.
(Appendix 8)
6. The robot of claim 5, wherein the device mounting surface is a plane that intersects with the second axis.
(Appendix 9)
The robot according to claim 1 or 2, wherein the device installation unit is provided on the first arm, and a midpoint in the longitudinal direction of the second filament is disposed on a path that intersects with the second axis.
(Appendix 10)
10. The robot according to claim 1, wherein at an origin position where the second arm is disposed in a direction perpendicular to a straight line perpendicular to the first axis and the second axis, a tip side of the second arm is forward, and the first arm has a shape curved backward.
(Appendix 11)
11. The robot according to claim 10, further comprising a guide member that guides the first filament along the curved shape of the first arm.
(Appendix 12)
The robot according to any one of Supplementary Note 1 to Supplementary Note 11, wherein the first arm or the second arm comprises a main body portion having the device installation portion, and a reinforcing member that is stretched between a tip end and a base end that are arranged on either side of the device installation portion of the main body portion and connects the tip end and the base end.
(Appendix 13)
13. The robot according to claim 12, wherein the reinforcing member is detachably attached to the main body portion.
(Appendix 14)
14. The robot according to claim 12, wherein the reinforcing member is disposed on an opposite side of the relay device from the device installation section.
(Appendix 15)
15. The robot according to claim 12, further comprising a cover member attached to at least one of the main body portion and the reinforcing member, the cover member covering at least a portion of the relay device.
(Appendix 16)
A robot as described in any one of appendices 1 to 15, comprising a base fixed to a surface to be placed on, and a rotating body supported on the base so as to be rotatable about a basic axis extending in a direction perpendicular to the surface to be placed on, and the first arm is supported on the rotating body so as to be rotatable about the first axis.

10 Base 20 Rotating body 30 First arm 40 Second arm 41c Wall portion 43 Motor (actuator)
44 Gear reducer (actuator)
50 Wrist unit 41a Device installation section 41a' Device mounting surface 46 Main body section 47 Reinforcing member 60 Wire feeder (relay device)
60a Front end surface (side surface)
60b Rear end surface (side surface)
62 Conduit (first filament)
63 Conduit (second filament)
65 Guide member 100 Robot 200 Robot 300 Robot J1 First axis (basic axis)
J2 Second axis (first axis)
J3 Third axis (second axis)
J4 Fourth axis (third axis)

Claims (16)

a first arm supported rotatably about a first axis;
a second arm supported on the first arm so as to be rotatable about a second axis parallel to the first axis;
a wrist unit supported at a tip end of the second arm so as to be rotatable about a third axis extending along a plane offset by a predetermined amount with respect to a plane including the second axis,
a device installation section capable of installing a relay device is provided on the first arm or the second arm between the first axis and a tip of the second arm,
The device installation unit of the robot is capable of installing the relay device at a position where a first wire extending along the first arm and connected to the relay device, and a second wire extending from the relay device to the tip side of the second arm are aligned along a plane perpendicular to the second axis and including the third axis, and a midpoint in the longitudinal direction of either the first wire or the second wire is located on a path that intersects the second axis. The robot according to claim 1, wherein the first and second wires are connected to a pair of side surfaces arranged on opposite sides of the relay device. The device installation portion is provided on the second arm,
3. The robot according to claim 1, wherein a middle position in a longitudinal direction of the first filament is disposed on a path intersecting the second axis. The robot according to claim 3, wherein the device installation unit is capable of tilting and installing the relay device in a direction in which the connection position of the first wire to the relay device is closer to the second axis and the connection position of the second wire to the relay device is closer to the third axis. the device installation unit includes a device mounting surface on which the relay device is mounted,
5. The robot according to claim 4, further comprising an actuator for driving the wrist unit, the actuator being disposed on a side of the second arm opposite to the device mounting surface. The robot according to claim 5, wherein the device mounting surface is a plane parallel to the second axis. The robot according to claim 6, wherein the second arm has a wall portion disposed on at least one side of the actuator in the second axial direction. The robot according to claim 5, wherein the device mounting surface is a plane that intersects with the second axis. The device installation portion is provided on the first arm,
3. The robot according to claim 1, wherein a middle position of the second filament in a longitudinal direction is disposed on a path intersecting the second axis line. At an origin position where the second arm is disposed in a direction perpendicular to a straight line perpendicular to the first axis and the second axis, a tip side of the second arm is set to a front side,
3. The robot according to claim 1, wherein the first arm has a shape curved backward. The robot according to claim 10, further comprising a guide member that guides the first filament along the curved shape of the first arm. 3. The robot according to claim 1 or claim 2, wherein the first arm or the second arm comprises a main body portion having the device installation portion, and a reinforcing member that is stretched between a tip end and a base end that are arranged on either side of the device installation portion of the main body portion, connecting the tip end and the base end. The robot according to claim 12, wherein the reinforcing member is detachably attached to the main body. The robot according to claim 12 , wherein the reinforcing member is disposed on the opposite side of the relay device from the device installation section. The robot according to claim 12 , further comprising a cover member attached to at least one of the main body portion and the reinforcing member, the cover member covering at least a portion of the relay device. A base fixed to a mounting surface;
a rotating body supported rotatably about a base axis extending in a direction perpendicular to the installation surface with respect to the base,
3. The robot according to claim 1, wherein the first arm is supported on the rotating body so as to be rotatable about the first axis.

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