WO2019138496A1 - Robot articulé horizontal - Google Patents

Robot articulé horizontal Download PDF

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Publication number
WO2019138496A1
WO2019138496A1 PCT/JP2018/000471 JP2018000471W WO2019138496A1 WO 2019138496 A1 WO2019138496 A1 WO 2019138496A1 JP 2018000471 W JP2018000471 W JP 2018000471W WO 2019138496 A1 WO2019138496 A1 WO 2019138496A1
Authority
WO
WIPO (PCT)
Prior art keywords
articulated robot
arm
joint
members
horizontal articulated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/000471
Other languages
English (en)
Japanese (ja)
Inventor
識 西山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Corp filed Critical Fuji Corp
Priority to PCT/JP2018/000471 priority Critical patent/WO2019138496A1/fr
Priority to JP2019564201A priority patent/JP6859456B2/ja
Publication of WO2019138496A1 publication Critical patent/WO2019138496A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms

Definitions

  • a horizontal articulated robot is disclosed herein.
  • a horizontal articulated robot including at least two joints in which arms are rotatably connected in a horizontal direction is known.
  • a lead-out member air hose, electric cable, etc.
  • supplying air or electricity to the end effector is, for example, as shown in FIG. It is connected by bending the outside of the two arms in a loop.
  • This indication is made in view of such a subject, and makes it a main purpose to control the risk that a lead-out member interferes with other devices.
  • the horizontal articulated robot of the present disclosure is A horizontal articulated robot comprising at least two joints in which arms are pivotably connected in a horizontal direction, comprising:
  • the joint comprises a pair of cylindrical members provided on both sides of the vertical axis of each joint and capable of stacking and holding a plurality of draw-out members along the vertical axis of the joint.
  • This horizontal articulated robot has at least two joints in which arms are pivotally connected in a horizontal direction.
  • a pair of cylindrical members are provided on both sides of the vertical axis of each joint.
  • the pair of cylindrical members is capable of stacking and holding a plurality of routing members along the vertical axis of the joint. Since the plurality of stacked drawing members all pass through the vertical axis of the joint, the joint-to-joint length of the drawing member is constant even if the arm pivots. Therefore, compared with the case where the degree of deflection between the joints of the drawing member changes as the arm pivots, the risk of the drawing member interfering with other devices can be suppressed.
  • wiring electrical cable etc.
  • piping air hose, air pipe etc.
  • FIG. 2 is a perspective view of a horizontal articulated robot 10.
  • Sectional drawing of the 1st holding part 51 (or 2nd holding part 52). Explanatory drawing which shows a mode when the 2nd arm 22 turns with respect to the 1st arm 21.
  • FIG. Explanatory drawing which shows a mode when the small diameter air hose 60 is stacked on the large diameter air hose 60.
  • FIG. Sectional drawing which shows the modification of a pair of cylindrical member 53,53.
  • FIG. 1 is a perspective view of the horizontal articulated robot 10
  • FIG. 2 is a cross-sectional view of the first holding unit 51 (or the second holding unit 52).
  • the horizontal articulated robot 10 comprises a base 12, a first arm 21, a second arm 22, a shaft 40, a first holding portion 51, and a second holding portion 52, as shown in FIG. There is.
  • a plurality of (here, four) air hoses 60 are attached to the horizontal articulated robot 10.
  • the base 12 is a base of the horizontal articulated robot 10.
  • the first arm 21 is supported on the upper surface of the base 12 via a first joint 31.
  • the first joint 31 connects the first arm 21 to the base 12 so as to be horizontally rotatable around the vertical axis 31 a of the first joint 31.
  • the second arm 22 is supported on the top surface on the tip end side of the first arm 21 via a second joint 32.
  • the second joint 32 connects the second arm 22 horizontally pivotably about the vertical axis 32 a of the second joint 32 with respect to the first arm 21.
  • a vertically extending shaft 40 is vertically penetrated on the distal end side of the second arm 22.
  • the shaft 40 is moved up and down by a motor (not shown) disposed inside the second arm 22.
  • An upper cylindrical body 41 is attached to the upper end of the shaft 40.
  • On the outer peripheral surface of the upper cylindrical body 41 a plurality of air hose attachment openings 42 are vertically arranged in parallel. The direction of each air hose attachment port 42 coincides with the longitudinal center line of the second arm 22.
  • the lower cylindrical body 43 is attached to the lower end of the shaft 40.
  • a plurality of air supply and discharge ports 44 are provided in parallel in the vertical direction. Each air supply / discharge port 44 is connected to each air hose attachment port 42 via an air circuit (not shown) provided inside the shaft 40.
  • an end effector mounting surface 45 is provided at the lower end of the lower cylindrical body 43 .
  • the end effector mounting surface 45 is used to attach and remove various end effectors. Air is supplied to the end effector through the air supply / discharge port 44 via an air hose (not shown).
  • the first holding portion 51 is provided immediately above the first joint 31 and can hold a plurality of air hoses 60 in a stacked state.
  • the first holding portion 51 is configured by a pair of cylindrical members 53, 53.
  • the pair of cylindrical members 53, 53 is provided on both sides of the vertical axis 31 a of the first joint 31 in the upper surface of the proximal end side of the first arm 21.
  • the pair of cylindrical members 53, 53 are arranged in the direction orthogonal to the longitudinal direction of the first arm 21. As shown in FIG. 2, the distance between the pair of cylindrical members 53, 53 substantially matches the outer diameter of a predetermined air hose 60.
  • Each cylindrical member 53 has a roller 55 rotatably supported by a vertical support shaft 54 via a bearing (not shown).
  • the second holding portion 52 is provided immediately above the second joint 32 and can hold the plurality of air hoses 60 in a stacked state. Similar to the first holding portion 51, the second holding portion 52 is also configured by a pair of cylindrical members 53, 53.
  • the pair of cylindrical members 53, 53 is provided on both sides of the vertical shaft 32 a of the second joint 32 in the upper surface of the proximal end side of the second arm 22.
  • the pair of cylindrical members 53, 53 are arranged in the direction orthogonal to the longitudinal direction of the first arm 21. The distance between the pair of cylindrical members 53, 53 is substantially the same as the outer diameter of the predetermined air hose 60.
  • air hoses 60 are used in the present embodiment.
  • a not-shown proximal end of the air hose 60 is connected to a not-shown air supply source (air compressor or vacuum pump) disposed inside the base 12 via a control valve.
  • the air hose 60 is drawn into the inside of the base 12 through a plurality of holes 21 a provided on the upper surface on the proximal end side of the first arm 21.
  • the tip of the air hose 60 is attached to the air hose attachment port 42 of the upper cylindrical body 41.
  • the air hose 60 passes from the inside of the base 12 through the hole 21 a, passes between the pair of cylindrical members 53 of the first holding portion 51, and passes between the pair of cylindrical members 53 of the second holding portion 52.
  • each air hose 60 has the same size, and the outer diameter is equal to the distance between the pair of cylindrical members 53, 53.
  • the cable guide 62 is a member capable of storing the four air hoses 60 in a stacked state and bending on the vertical surface (vertical surface including the central axis in the longitudinal direction of the second arm 22) as it is.
  • the proximal end of the cable guide 62 is fixed to an arm side bracket 63 provided on the upper surface of the first arm 21.
  • the tip of the cable guide 62 is fixed to a cylinder side bracket 64 provided on the upper cylindrical body 41. Therefore, when the upper cylindrical body 41 moves up and down together with the shaft 40, the bending state of the cable guide 62 also changes, and the bending state of the four air hoses 60 also changes accordingly.
  • the length between the first holding portion 51 and the second holding portion 52 of each air hose 60 and the length between the second holding portion 52 and the proximal end of the cable guide 62 are the vertical movement of the upper cylindrical body 41. And is constant regardless of the turning state of each arm 21, 22.
  • FIG. 3 is an explanatory view showing how the second arm 22 pivots with respect to the first arm 21.
  • the plurality of stacked air hoses 60 pass through the vertical axis 31a of the first joint 31 and the vertical axis 32a of the second joint 32, respectively. Therefore, even if the second arm 22 pivots to the left or right with respect to the first arm 21 (refer to the one-dot chain line and two-dot chain line in FIG. 3), the first joint 31 and the second joint 32 of each air hose 60 The length between them is constant.
  • the air hose 60 held at the top of the first holding portion 51 and the second holding portion 52 may be removed. After that, when it is desired to increase the number from three to four, the fourth air hose 60 may be stacked on the first holding portion 51 and the second holding portion 52.
  • the plurality of air hoses 60 stacked in layers pass through the vertical axis 31 a of the first joint 31 and the vertical axis 32 a of the second joint 32. Therefore, even if the second arm 22 pivots with respect to the first arm 21, the length between the first joint 31 and the second joint 32 of each air hose 60 is constant. Therefore, the swing of each air hose 60 can be suppressed and the risk that each air hose 60 interferes with other devices can be suppressed, as compared with the case where the degree of deflection between the joints of the air hose changes with the turning of the arm. Can.
  • first and second holding portions 51 and 52 are provided on the outer surfaces of the first and second arms 21 and 22, when changing the number of air hoses 60, the air hose 60 can be easily attached to the first and second holding portions 51 and 52.
  • the second holding portions 51 and 52 can be attached and detached.
  • cylindrical members 53 constituting the first and second holding portions 51 and 52 are cylindrical rollers, the turning of the air hose 60 along with the turning of the first and second arms 21 and 22 becomes smooth.
  • the outer diameters of the plurality of air hoses 60 are different, as shown in FIG. 4, when the small diameter air hoses 60 are stacked on the large diameter air hose 60, the small diameter air hoses 60 and the large diameter air hose 60 There is a risk of entering into the gap with the cylindrical member 53.
  • the outer diameters of the plurality of air hoses 60 have the same size, so there is no such problem.
  • cylindrical rollers are illustrated as the pair of cylindrical members 53, 53, but it is also possible to use a non-rotatable column instead of a roller.
  • the pair of cylindrical members 53, 53 may have circumferential grooves 53 a capable of holding the air hoses 60 at positions opposite to each other in multiple stages. In this way, each air hose 60 can be held firmly. Further, as shown in FIG.
  • all the air hoses 60 can be It can be stacked along the vertical axes 31a, 32a of the first and second joints 31, 32.
  • the upper ends of the pair of cylindrical members 53, 53 may be covered with a cap to prevent the air hose 60 from coming off between the pair of cylindrical members 53, 53 with the cap.
  • the number of joints and the number of arms are two in the embodiment described above, the number is not particularly limited to two, and may be three or more.
  • the air hose 60 is exemplified as the lead-out member, but the invention is not particularly limited to the air hose 60, and an air pipe, an electric cable, or the like may be used.
  • the horizontal articulated robot of the present disclosure may be configured as follows.
  • the pair of cylindrical members may be provided on the outer surface of the arm. In this way, when changing the number of lead-out members, the lead-out members can be easily attached to or removed from the pair of cylindrical members.
  • the cylindrical member may be a cylindrical roller. In this way, the turning of the lead-in member with the turning of the arm becomes smooth.
  • the plurality of drawing members have the same outer diameter.
  • the outer diameters of the plurality of lead-out members are different, when the small-diameter lead-out members are stacked on the large-diameter lead-out members, the small-diameter lead-out members may enter the gap between the large diameter lead-out members and the cylindrical member. . If the outer diameters of the plurality of lead-out members are the same, such is not possible.
  • the pair of cylindrical members may have circumferential grooves in multiple stages capable of holding the respective drawing members at mutually opposing positions. In this way, even if the outer diameters of the plurality of lead-out members are different, the pair of cylindrical members hold the lead-out members by the circumferential grooves facing each other, so that they can be stacked and held without problems. it can.
  • the present invention is applicable to a horizontal articulated robot that performs various tasks.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot articulé horizontal pourvu d'au moins deux articulations qui sont reliées de telle sorte que le bras puisse tourner à l'horizontale. Le robot est équipé de paires d'éléments cylindriques qui sont disposés de chaque côté de l'arbre vertical de chaque articulation et sur lesquels de multiples éléments acheminés peuvent être empilés et maintenus le long de l'arbre vertical de l'articulation.
PCT/JP2018/000471 2018-01-11 2018-01-11 Robot articulé horizontal Ceased WO2019138496A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2018/000471 WO2019138496A1 (fr) 2018-01-11 2018-01-11 Robot articulé horizontal
JP2019564201A JP6859456B2 (ja) 2018-01-11 2018-01-11 水平多関節ロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/000471 WO2019138496A1 (fr) 2018-01-11 2018-01-11 Robot articulé horizontal

Publications (1)

Publication Number Publication Date
WO2019138496A1 true WO2019138496A1 (fr) 2019-07-18

Family

ID=67218934

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/000471 Ceased WO2019138496A1 (fr) 2018-01-11 2018-01-11 Robot articulé horizontal

Country Status (2)

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JP (1) JP6859456B2 (fr)
WO (1) WO2019138496A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7564692B2 (ja) 2020-11-24 2024-10-09 ニデックインスツルメンツ株式会社 産業用ロボット

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS597598A (ja) * 1982-06-30 1984-01-14 松下電器産業株式会社 工業用ロボツト
JPS62244214A (ja) * 1986-04-14 1987-10-24 三菱電機株式会社 産業用ロボツト
JPH0460692U (fr) * 1990-09-30 1992-05-25
JP2008018475A (ja) * 2006-07-10 2008-01-31 Rorze Corp 旋回部の配線又は配管機構
JP2010142905A (ja) * 2008-12-18 2010-07-01 Seiko Epson Corp 多関節型ロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS597598A (ja) * 1982-06-30 1984-01-14 松下電器産業株式会社 工業用ロボツト
JPS62244214A (ja) * 1986-04-14 1987-10-24 三菱電機株式会社 産業用ロボツト
JPH0460692U (fr) * 1990-09-30 1992-05-25
JP2008018475A (ja) * 2006-07-10 2008-01-31 Rorze Corp 旋回部の配線又は配管機構
JP2010142905A (ja) * 2008-12-18 2010-07-01 Seiko Epson Corp 多関節型ロボット

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7564692B2 (ja) 2020-11-24 2024-10-09 ニデックインスツルメンツ株式会社 産業用ロボット

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Publication number Publication date
JPWO2019138496A1 (ja) 2020-11-26
JP6859456B2 (ja) 2021-04-14

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