JPS6231265Y2 - - Google Patents

Description

[Detailed explanation of the invention] This invention mainly involves assembly, other welding, painting,
This invention relates to a work robot that performs work such as transportation and processing.

Conventionally, work robots have already been developed.

However, in conventional work robots, for example, the proximal end of the first arm is rotatably supported on the base, and the second arm is attached to the distal end of the first arm.
The first arm and the second arm are rotatably supported in the same direction as the rotational direction of the arm, and the first arm and the second arm are supported by a rotary drive mechanism.
The arms are independently driven to rotate, and the second
It is constructed so that work such as assembly can be performed by moving a working machine attached to the tip of the arm two-dimensionally.

By the way, in the case of this robot, not only the loads of the second arm and the working machine act on the first arm, but also the torsional load acts on the first arm. It is necessary to increase it.

However, increasing the rigidity of the first arm increases the weight of the first arm itself, causing the problem that the entire robot becomes heavier.

The present invention was devised in view of the above points, and the purpose is to make the first arm, and ultimately the entire robot, lightweight, while also providing sufficient strength against concentrated loads and torsional loads acting on the first arm. At the same time, the entire robot can be made smaller,
The object of the present invention is to provide a robot that can reduce the installation space of the robot.

Therefore, in the present invention, the proximal end of the first arm is rotatably supported on the base, and the second arm is attached to the distal end of the first arm, and the third arm is attached to the proximal end of the first arm. The second arm and the third arm are supported rotatably in the same direction, and the second arm and the third arm are connected by a link, and the first arm and the third arm are connected to the base end of the first arm. The working robot is provided with a rotational drive mechanism and drives the second arm via the link, wherein the first arm has a hollow, substantially elliptical cross-sectional shape, and its long axis extends in the vertical direction. The first arm is tapered from its base end toward its distal end, and the link is disposed on the side of the first arm in the short axis direction.

In the present invention, "almost elliptical" refers to not only ellipses that draw symmetrical arcs with respect to the long and short axes that are orthogonal to each other, but also ellipses that do not draw symmetrical arcs or the above-mentioned elongated shapes. It also includes an ellipse whose axis and short axis are not perpendicular to each other.

Embodiments of the robot of the present invention will be described below based on the drawings.

The illustrated robot has a main column 2 extending vertically on a base 1, and a pair of bearings 4, 4 attached to the base end 3a of a first arm extending horizontally at the tip of the main column 2. A second arm 5 is supported in a rotational direction through a pivot shaft 6 parallel to the main column 2, and a second arm 5 that extends in the horizontal direction is attached to the tip of the first arm 3 in the direction of rotation of the first arm 3. The base end portion 3a of the first arm 3 is supported rotatably in the same direction as the base end portion 3a of the first arm 3.
, a rotational drive mechanism 7 for the first arm 3 is provided, and the proximal end 3a of the first arm 3 is extended outward in the longitudinal direction, and a third arm 8 is attached to the extended portion 3b.
4 and a link 85 connecting the third arm 84 and the second arm 5. The second arm 5 is rotationally driven in the horizontal direction by the rotational drive mechanism 8, and the work implement 9 attached to the tip of the second arm 5 is moved two-dimensionally. be. The rotational drive mechanism 7 for the first arm 3 is composed of a motor 72 equipped with a pulse encoder 71 and a deceleration mechanism 73, and the rotational drive mechanism 8 for the second arm 5 includes:
A motor 82 equipped with a pulse encoder 81, a speed reduction mechanism 83, a third arm 84 rotatably supported by the extension part 3b via a rotating shaft 86 parallel to the main pillar 2, and a third arm 84 parallel to the main pillar 2. pivot axis 8
A link 85 connects the third arm 84 and the second arm 5 via 7 and 88.

The first arm 3 has a substantially elliptical cross-sectional shape, with its long axis X directed in the vertical direction, and the first arm 3 is tapered from its base end 3a toward its tip; The link 85 is disposed on the side of the first arm 3 in the short axis direction. Note that the first arm 3 is formed into a substantially elliptical shape with a long axis X and a short axis Y that are orthogonal to each other; It may be a shape.

In the above structure, inside the hollow first arm 3, for example, air piping or electrical wiring connected to the working machine 9 is arranged.

Further, the second arm 5 and the link 85 are connected to the first
It is arranged on the transverse center line Z extending in the longitudinal direction of the arm 3.

The robot configured as described above is placed on the floor of a factory, for example. Then, by driving the motor 72 of the rotary drive mechanism 7, the first arm 3 is rotationally driven in the horizontal direction via the deceleration mechanism 73, and by driving the motor 82 of the rotary drive mechanism 8, the first arm 3 is driven to rotate in the horizontal direction via the deceleration mechanism 73.
A working machine 9 that rotates the arm 5 in the horizontal direction via a reduction mechanism 83, a rotating shaft 86, a third arm 84, and a link 85, and is attached to the tip of the second arm 5.
is moved two-dimensionally, and the working machine 9 performs assembly work.

Therefore, the first arm 3 includes a second arm 5 supported at the tip of the arm 3, and a second arm 5 supported at the tip of the arm 3.
The load of the work equipment 9 attached to the body acts as a concentrated load, but the long axis Since it is large, it can sufficiently resist the concentrated load. Further, a torsional load acts on the first arm 3 due to the position of the center of gravity of the working machine 9, but since the first arm 3 has a substantially elliptical cross-sectional shape to prevent it from twisting, the torsional load acts on the first arm 3. It can withstand loads well.

Furthermore, since the short axis Y portion of the first arm 3 is disposed in the lateral direction where the concentrated load hardly acts, the length of this short axis Y portion is shorter than the length of the long axis X portion. However, it can withstand the concentrated load. Therefore, the first
The cross-sectional area of the arm 3 can be reduced, and
Since the first arm 3 is tapered from its base end 3a toward its distal end, the weight of the first arm 3 can be reduced, and the cross-sectional area can be reduced. This makes it possible to further reduce the weight, and by extension, the weight of the entire robot.

Further, an extension portion 3 is provided at the base end portion 3a of the first arm 3.
b, and by providing the rotation drive mechanism 8 of the second arm 5 on this extension part 3b, the work implement 9 attached to the second arm 5 can be moved two-dimensionally and the work area can be widened. Moreover, the load of the second arm rotation drive mechanism 8 does not act on the distal end side of the base end 3a of the first arm 3, and the link 85
Since the structure uses
It can be made lighter.

Moreover, inside the hollow first arm 3,
Since air piping or electrical wiring connected to the working machine 9 can be provided, not only can these air piping and the like be protected by the first arm 3, but also they can be prevented from protruding to the outside.

Further, the second arm 5 and the link 85 are connected to the first
By arranging it on the transverse center line Z extending in the length direction of the arm 3, the second arm 5 can be rotated by a predetermined angle while the link 85 can be brought closer to the center side of the first arm 3. Therefore, the entire robot can be made smaller, and the installation space for the robot can be reduced.
When the second arm 5 is driven to rotate, it is possible to prevent an uneven load from being placed on the first arm 3. Therefore, the second arm 5 can be rotated smoothly, and even when the first arm 3 is rotationally driven when the second arm 5 is rotationally driven,
The first arm 3 can be rotated smoothly.

As described above, according to the present invention, the working area can be expanded by two-dimensionally moving the working machine attached to the second arm, and the second arm supported at the tip of the first arm can be moved by the first arm. Since the rotary drive mechanism provided at the base end of the third arm is driven via the third arm and the link, the load burden on the first arm can be reduced, and together with the hollow cross-section structure, the first arm,
As a result, the entire robot can be made smaller and lighter.

Moreover, the first arm is hollow in cross section,
It has an almost elliptical shape with its long axis facing up and down, and is tapered to eliminate unnecessary thick parts that do not add strength, making it compact and lightweight.
The strength per unit weight of the arm can be increased, and the first
It is possible to obtain sufficient strength against concentrated loads and torsional loads acting on the arm.

Furthermore, since the link has an elliptical shape and is disposed on the side of the first arm in the short axis direction with its long axis facing up and down, the second arm can be rotated by a predetermined angle. Since the link can be moved closer to the center of the first arm, the entire robot can be made even more compact, and the installation space for the robot can be reduced. Also, the first
By making the arm hollow, the hollow part can be used to arrange and protect air piping, electrical piping, etc. within the first arm, and prevent these air piping etc. from protruding outside and becoming a nuisance. It is possible to prevent this from happening.

[Brief explanation of the drawing]

Fig. 1 is a front view showing an embodiment of the robot of the present invention, Fig. 2 is a partially omitted plan view, Fig. 3 is a cross-sectional view taken along the line shown in Fig. 1, and Fig. 4 is a sectional view taken along the line taken in Fig. 1. , FIG. 5 is a sectional view taken along the line of FIG. 1, and FIG. 6 is a sectional view taken along the line of FIG. 1. DESCRIPTION OF SYMBOLS 1... Base, 3... First arm, 3a... Base end part, 5... Second arm, 7, 8... Rotation drive mechanism, X... Long axis.

Claims (1)

[Scope of utility model registration request] The base end of the first arm is rotatably supported on the base, and the second arm is attached to the distal end of the first arm, and the third arm is rotated to the proximal end in the same direction as the rotation direction of the first arm. freely supporting and connecting the second arm and the third arm with a link;
A working robot is provided with a rotational drive mechanism for the first arm and the third arm at the base end of the first arm, and drives the second arm via the link, The cross-sectional shape of the first arm is a hollow, substantially elliptical shape, and the long axis thereof is directed in the vertical direction, and the first arm is
A working robot, characterized in that the robot has a tapered shape from its base end toward its tip, and the link is disposed on the side of the first arm in the short axis direction.