JPS62277286A - Horizontal joint type robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention (Field of Industrial Application) The present invention relates to the structure of an industrial robot, and more particularly to a horizontally articulated mouthpiece.

(Prior technology) Five- or six-axis industrial robots have traditionally been used for welding work, automobile assembly work, etc., and they move the /\end of the robot in three dimensions to perform various tasks. (1) However, recently, water-jointed robots, in which each axis moves two-dimensionally, have been used for semiconductor device assembly and simple palletizing work.

This seed-mouth bot has a post that is rotatably arranged by a drive motor on a base set on the floor, and a base end of a first arm that is arranged horizontally at the tip of the post. It has a structure in which the proximal end of a second arm is connected to the distal end of the fIJl arm so as to be rotatable in a horizontal plane, and a wrist is provided at the distal end of the second arm. A drive motor for operating the second arm is usually housed in the first arm of such a water moguloid robot, and a drive motor for operating the wrist is housed in the second arm. become.

(Problem to be Solved by the Invention) In such horizontally articulated robots, the second arm, which is disposed far from the post disposed on the base, takes into account the moment acting on the post. When this occurs, it is desirable to reduce its own weight. However, in conventional robots, the drive motor for operating the wrist is disposed in the second arm as described above, so it has been difficult to reduce the weight of the robot. Therefore, the first arm supporting the second arm, the post, etc. must be made to have a structure that is more robust than necessary, which causes an increase in manufacturing costs.

The present invention was made to solve these problems, and an object of the present invention is to provide a horizontally articulated robot having a novel structure in which the weight of the second arm can be reduced.

(Means for Solving the Problems) According to the present invention, in a horizontally articulated robot having at least two arms that rotate in the horizontal direction, the center of the rotational connection between the first arm and the second arm is Placed @l
, a second rotation shaft disposed at the tip of the second arm, and a driving force of a drive motor disposed at the base end of the first arm to cause the first rotation. A water joint type robot characterized by having a first power transmission means for transmitting power to a shaft, and a second power transmission means for connecting the first rotation shaft and the second rotation shaft in a heart-to-heart motion. Can be provided.

(Function) In the horizontally articulated robot according to the present invention, the driving force of the driving motor disposed at the base end of the first arm is transmitted to the second arm through the first rotating shaft and the second power transmission means. The signal is transmitted to the second rotating shaft, which is disposed at the tip of the arm and is attached to a wrist or the like. Therefore, the wrist and the like can be driven without providing a drive motor within the second arm.

(Example) Hereinafter, an example of the present invention will be described using the drawings.

FIG. 1 is a side view showing an embodiment of the horizontally articulated robot 7) according to the present invention with main parts cut away, and FIG. 2 is a perspective view thereof.

In the figure, 1 is a base fixed to the floor of the installation location, 2 is a rotating body rotatably supported by the base lJ:, and a drive servo (not shown) installed in the base 1. Rotationally driven by a motor. 3 is.

A cylindrical post 4 fixed to the upper end of the rotating body 2 is a first arm. It is attached to the upper end of the port by port 5.

Reference numeral 6 denotes a driving servo motor attached to the lower surface of the tip of the first arm 4, which drives the second arm 7. The second arm 7 is disposed horizontally below the distal end of the first arm 4, and its base end is connected to a support portion 4a provided at the distal end of the first arm 4 via a bearing 8. It is rotatably supported in a horizontal plane and connected to the rotating body of the servo motor 6. 9 is these first and second
The first arm 4 is rotatably supported by the first arm 4 via a bearing 10 through a rotation shaft of ff1l, which is disposed at the center of rotation of the arms 4 and 7. This first rotating shaft 9 is constituted by a hollow body, and pulleys 11 and 12 are attached to its upper and lower ends, respectively. 13 is the base end of the first arm 4 indicated by rm. The drive servo motor 14 installed on the post 3 is a pulley attached to the rotating shaft 13a of the servo motor 13.
15 is a timing belt stretched between this pulley 14 and a pulley 11 attached to the first rotating shaft 9, and each pulley 1, 14 receives the driving force of the servo motor 13. The first rotating shaft 91 transmits
It constitutes a power transmission means.

A second rotating shaft 16 is rotatably supported at the tip of the second arm 7 via a bearing 17, and is made of a hollow body, and a pulley 18 is attached to the upper end of the second rotating shaft. , and an end effector mounting flange 1 at its lower end.
9 is installed. Reference numeral 20 denotes a timing belt stretched between this pulley 8 and a pulley 12 attached to the rotating shaft 9 of the St, and the rotation of the first rotating shaft 9 is controlled by the pulleys 12 and 18 to the second It constitutes a second power transmission means for transmitting power to the rotating shaft 16.

21 and 22 are the first. This cover covers the second arm 4.7 and is attached with screws 23 and 24, respectively, so that it can be removed for maintenance and inspection of the arms 4 and 7. The servo motor 13 is supplied with power by an electric cable 25, and the electric cable and hose 2 are used to supply electric power to the end effector and supply compressed air.
Since the first rotating shaft 9 and the second rotating shaft 16 are hollow bodies, the rotating shaft 6 is also disposed by being inserted into the hollow portions.

The operation of the robot of the above embodiment configured in this way will be described next.

When a servo motor (not shown) disposed in the base 1 is driven, the rotating body 2 is rotated, and the first arm 4 moves its base end via the post 3 attached to the rotating body 2. Rotated around the center in a horizontal plane. Furthermore, when the servo motor 13 is driven, its driving force is applied to the pulley 14 attached to the rotating shaft 13a, the timing belt 15, and the pulley 11.
is transmitted to the first rotating shaft 9 via a pulley 12. which is attached to the first rotating shaft 9. timing belt 20
and is transmitted to the second rotating shaft 16 via the pulley 18. In this way, the driving force of the servo motor 13 transmitted to the second rotating shaft 16 is transmitted to the end effector. Therefore, it is not necessary to provide a drive motor for driving the end effector on the second arm 7, and the weight of the second arm can be reduced. In this way, the second arm 7 disposed far from the base 1 can be made lightweight;
The moment of gravity and moment of inertia acting on the base 1 side are reduced, so there is no need to unnecessarily increase the rigidity of the second arm 4, the post 3, the base 1, etc., and a lightweight and inexpensive robot/portion is achieved. You can get

Although the present invention has been described above with reference to an illustrated embodiment, the present invention is not limited thereto, and various modifications can be made within the scope of the gist of the present invention. It is not excluded from the scope.

(Effects of the Invention) As explained above, the horizontally articulated robot according to the present invention has a first rotation axis disposed at the rotational connection center of the first arm and the second arm, power transmission of '1 pJ1 for transmitting the driving force of a second rotating shaft disposed at the tip of the arm and a drive motor disposed at the base end of the first arm to the first rotating shaft; and a second power transmission means for electrically connecting the first rotating shaft and the second rotating shaft, so that the second arm does not need to be provided with a driving motor for the end effector. The end effector can be driven by the power transmitted to the second rotating shaft.

In this way, since there is no need to provide a drive motor in the second arm, the second arm can be made lightweight. Therefore, the moment of gravity and moment of inertia acting on the base side are reduced, and there is no need to unnecessarily increase the rigidity of the first arm, the base, etc., and a lightweight and inexpensive robot can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a side view showing a main part of an embodiment of the horizontally articulated robot according to the present invention in a cutaway manner, and FIG. 2 is a perspective view thereof. DESCRIPTION OF SYMBOLS 1... Base, 3... Bost, 4... First arm, 7... Second arm, 9... First rotating shaft, 11
, 12.14.18... Pulley, 15.20... Timing belt, 16... Second rotating shaft. Patent applicant: Representative of FANUC Co., Ltd. Patent attorney: Minoru Tsuji Figure 1

Claims (1)

[Claims] In a horizontally articulated robot having at least two arms that rotate in a horizontal direction, a first rotation axis disposed at a center of rotational connection between the first arm and the second arm; a second rotating shaft disposed at the distal end of the arm; and a first power transmission means for transmitting the driving force of a drive motor disposed at the base end of the first arm to the first rotating shaft. and a second power transmission means for electrically connecting the first rotating shaft and the second rotating shaft.