JPH065101Y2 - Industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is an industrial robot in which a base is provided with a robot arm swingable around a horizontal axis through a swivel rotatable around a vertical axis. Regarding

(Prior Art) Conventionally, in this type of robot, as shown in Japanese Utility Model Laid-Open No. Sho 63-131386, a swing motor is housed in the lower part of the base and a speed reducer is housed in the upper part, and the robot is mounted on the base. The table is rotated by the motor via the speed reducer.

(Problems to be solved by the invention) In the above, since the swing motor and the speed reducer are housed in the base, the base is made taller and the height of the robot is increased. There is a problem that it cannot be removed easily and the maintainability deteriorates. Further, in the one described in the above publication, the swivel base is rotatably mounted on the upper surface of the base via bearings. However, in this case, the swivel base easily tilts. In this case, the lower part of the swivel base is mounted on the base. It may be possible to support the swivel support rigidity by supporting the swivel in the inside, but this increases the height of the base by the amount of the swivel fitting, and the robot becomes larger.

The present invention has been made in view of the above points, and an object thereof is to provide an industrial robot having a small height dimension, in which the support rigidity of a swivel base can be increased and the maintainability can be improved.

(Means for Solving the Problems) In order to achieve the above object, the present invention is an industrial system in which a base is provided with a robot arm swingable about a horizontal axis through a swivel turnable about a vertical axis. In a robot for robots, the swivel base is paired in a horizontal direction with a lower half part having a cylindrical shape having a bottom fitted to and supported by an inner periphery of an upper part of the base and a space above the lower half part. And a supporting plate for supporting the upper half of the lower half, on the bottom wall of the lower half, through a speed reducer disposed in the lower inner periphery of the base, a swing motor that swings the lower half. The robot arm is placed so that its upper portion is located between the both support plates, and the both support plates are extended to the side of the arrangement portion of the turning motor, and the axial support portion of the robot arm is provided at the extension portions of the both support plates. Was set up.

(Operation) The supporting rigidity of the swivel base is enhanced by supporting the lower half part of the swivel base on the inner circumference of the upper part of the base, and the lower half part has a bottomed cylindrical shape and the swivel motor is mounted on the bottom wall thereof. Is mounted, and the inner space of the lower half and the facing gap of the pair of support plates in the upper half of the swivel base are used as a space for disposing the swivel motor. Compared with the conventional technology, the height of the base can be shortened to downsize the entire robot. Further, since the pivotal support portion of the robot arm provided on the support plate is offset to the side of the placement portion of the swing motor, It can be attached / detached without being disturbed by the shaft support, and therefore, when the motor fails, only the motor can be detached and disassembled and repaired without detaching the robot arm.

(Embodiment) Referring to FIGS. 1 to 3, (1) is a sliding table in which guide rails (2a) and (2a) on a bed (2) are slidably supported in the front-rear direction, 3) shows a base mounted on and fixed to the table (1), and a swivel that can swivel around the vertical axis on the base (3).
Robot arm that can swing freely around the horizontal axis via (4)
(5) is mounted, and a wrist part (6) having three axes of freedom is attached to the tip of the robot arm (5) to form an industrial robot having a six-axis structure as a whole.

A motor bracket (1a) is fixedly mounted on the rear end of the sliding table (1), the motor (1b) and the speed reducer (1c) are mounted on the bracket (1a), and the speed reducer (1c) is mounted. ) Output shaft to bed (2)
Pinion (1d) that bites into a rack (2b) installed vertically in the center of the
Was attached, and the sliding table (1) was moved back and forth by the motor (1b).

As shown in FIG. 4 and FIG. 5, the swivel base (4) is fitted on the inner circumference of the upper part of the base (3) formed in a cylindrical shape through two upper and lower bearings (7a) (7a). Lower half of bottomed cylinder that is pivotally supported
(7) and a pair of left and right support plates (8b) facing the lower end annular flange (8a) bolted to the upper end of the lower half (7) with the space above the lower half (7) interposed therebetween. ) (8b) and the upper half part (8) formed by standing upright, and on the inner circumference of the lower part of the base (3), the one described in Japanese Utility Model Publication No. 63-131386. The same cyclo speed reducer (9) is housed and the output member of the speed reducer (9) is stored.
The bottom wall (7b) of the lower half (7) is bolted to (9a), and the connecting shaft (9) connected to the input side of the speed reducer (9) is further provided on the bottom wall (7b).
b) a seat plate (10) having a tubular portion (10a) pivotally supporting the tubular portion (10a)
Attached to the hub (7c) formed at the center of the bottom wall (7b), and the swing motor (11) is connected to the seat plate (10) by the output shaft (11a) at its lower end. The shaft (9b) is placed and fixed so as to be fitted into the joint portion at the upper end, and thus the lower half part (7), that is, the swivel base (4) via the speed reducer (9) by the swing motor (11). The turning motion is given to the.

The upper part of the swing motor (11) is the pair of support plates (8b).
(8b), the support plates (8b) and (8b) are extended forward and upward to the side of the placement portion of the turning motor (11), and the robot arm (5 The shaft support (12) is provided.

The shaft support (12) is a bracket (5a) connected to the rear end of the robot arm (5) between the extension parts of the support plates (8b) and (8b).
A hollow rotary shaft (5b) that penetrates the lower part of the rotary shaft (5b) is inserted and supported, and a flange (5c) at one end of the rotary shaft (5b) is bolted to one side surface of the bracket (5a) and one side support Plate (8b)
A cyclo gear reducer (13) similar to the above is attached to the outer surface of the, the output member (13a) of the gear reducer (13) is bolted to the flange (5c), and the support plate (8b) on the other side is further attached. The oscillating motor (14) is fitted to the joint part of the connecting shaft (13b) connected to the input side of the speed reducer (13) whose output shaft (14a) is rotatably supported in the rotating shaft (5b) on the outer surface of the The robot arm (5) is vertically swung about the rotation shaft (5b) by the swing motor (14) via the speed reducer (13). I did it.

On the upper part of the bracket (5a), three motors (15) (16) (17) for driving the respective axes of the wrist part (6) are mounted,
When the robot arm (5) is swung forward and downward, the placement portion of the turning motor (11) is largely opened upward, and the turning motor (11) is moved to the wrist motors (15) (16) ( It can be attached and removed without being disturbed by 17).

In the figure, (18) shows a cable guide, and (19) shows a cover for the guide rail (2a).

(Effect of the Invention) As is apparent from the above description, according to the present invention, the height dimension of the base can be shortened, the supporting rigidity of the swivel can be increased, and the swivel motor can be easily attached and detached for maintenance. Has the effect of improving the property.

[Brief description of drawings]

1 is a side view of an example of the robot of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a right side view of FIG. 1, FIG. 4 is a cutaway side view of a base and a swivel base, and FIG. FIG. 5 is a cross-sectional plan view taken along the line VV of FIG. (3) …… base, (4) …… swivel base (5) …… robot arm, (7) …… bottom half (7b) …… bottom wall, (8) …… upper half (8b) ...... Support plate, (9) ...... Reducer (11) …… Swing motor, (12) …… Shaft support

Claims (1)

[Scope of utility model registration request] 1. An industrial robot comprising a base and a robot arm swingable about a horizontal axis attached to the base via a swivel rotatable about a vertical axis. The bottom half is a cylindrical bottomed part that is axially supported by a fitting shaft, and the top half part is provided with a pair of support plates facing each other in the horizontal direction across the space above the bottom half part. On the bottom wall of the half part, a swing motor that swings the lower half part via a reduction gear arranged on the inner circumference of the lower part of the base is placed so that the upper part thereof is located between the both support plates. An industrial robot characterized in that the both support plates are extended to the side of the arranging portion of the turning motor, and the axial support portion of the robot arm is provided on the extension portions of the both support plates.