JPS6165789A - Industrial 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 Field of Industrial Application The present invention relates to a novel industrial robot. For more information, please visit Tadori WJI! In the J production robot, the inertia load on the arm, especially the first arm, is reduced to improve the operating speed, simplifying the interior distribution and preventing the oil in the drive unit from moving closer to the shore during high-speed pumping. By improving reliability and reducing the weight of the first arm, @,'qr has developed a new armor-piercing robot 81-11 that also improves its appearance.
．． This is something that will help you.

Conventional technology FIG. 8 shows a conventional industrial robot a.

This type of industrial robot a has a first arm C on the base part.
The IT arm C is rotated by a drive part f consisting of a motor d and a speed reducer e, which are rotatably supported at the base of the first arm C and are arranged on two parts hwAb. The arm g is rotatably supported, and the second arm g is rotated by a drive section j consisting of a motor h and a speed i placed at the tip of the first arm C.

There are problems that inventions are trying to solve, but like the conventional industrial robots mentioned above,
If the drive part j of the second arm is disposed at the tip of the first arm C, since this drive part i is quite heavy, the settling load of the first arm C is large (11). In addition to being a non-foil constraint for speeding up the operation of Therefore, there are problems in that the reliability of operation decreases and the price increases.

Furthermore, when the first arm C rotates, centrifugal force acts on the drive section j disposed at its tip, and the drive IA
, 1, #1, the oil in the reducer i was biased, causing the ave valve to slip, which impaired the reliability of the th work.
,! A film called Susuru that is concerned with the durability of the IK moving part I.
There is l.

Furthermore, the tip of @1 arm C is quite heavy. Kakeru 9
In order to support the hmj, it is necessary to make the first arm C extendable, and the support mechanism for the base of the first arm C must also be made strong, which increases the number of @ stations. There is a gap between this and the cost increase.

Furthermore, since the drive part i is large in shape, there is a problem in that such a part is affected by the tip of the first arm C, causing the eyes, eyes, and outer haze to be damaged.

OBJECTS OF THE INVENTION One object of the present invention is to provide a conventional industrial robot. This was done in view of the problems in the Book of Hi, and it is multi-leap clause 711!
In industrial robots, it reduces the inertial load on the arms, especially the first arm, improves the operating speed, and prevents the oil from shifting in the drive IJh during internal arrangement and high movement. The first step is to improve and strengthen reliability.
The purpose of the present invention is to provide a new robot for production bundles that can reduce the weight of the arm and also has an improved appearance.

Invention 41111 Invention #! ! ! In order to achieve the purpose mentioned above, the robot is attached to the tip of the first arm. 1. Industrial door rotor with 8% articulation where the arm is rotatably supported. .

At the point, the drive unit for rotating the second arm is fp
, t-arm m times - h out? It is characterized by the fact that it was placed in 1 piece and was counterfeited.

Therefore, according to the great invention, the second arm drive unit, which is a heavy object, is disposed not at the tip of the first arm but approximately at the center of rotation, so the inertial load on the first arm is reduced! This enables high-speed interlocking of the 1st arm, eliminates the need for wiring for the 2nd arm moving part in the g741 arm, and eliminates the need for wiring in the 2nd arm drive part during high-speed interlocking. Reliability is improved because the oil is no longer biased.

The first arm can also be made lighter.

The appearance also has the effect of attracting 4 people! EXAMPLE Below, a practical example illustrating the details of the #potato pot of the present invention will be explained.

1 in the figure is an industrial robot that has implemented a great invention.

The first arm 3 is rotatably supported at one end of the viewing platform 2. Inside the base section 2, a first arm drive section 8 consisting of a motor 4, a speed reducer 5 (Harmonic V Live manufactured by Harmonic Drive Systems, Inc.), an encoder 673, and a tachometer floor rake 7711 is provided. WA9h axis, and the drive unit 8
is connected to the output part of the speed reducer 5. 10.10 is lol
This is a bearing that supports the 3-motion Th9. And the drive shaft 9
J-, the base of the first arm 3 is grown at the end.

The first arm 3 is provided on the 8' side of the E face plate 11 of the first arm 3.
Four rectangular holes 12 with a length a111 long are formed in the direction of the insertion hole 12, and a length a13.
13. ... is formed.

And this hole 13.13. -・The fist is long (shaped) in the longitudinal direction of the first arm 3. Furthermore, this insertion hole 12 is formed so as to be located approximately at the vertical position of the shaft 1h@9.
In addition, a notch 14 is formed on each end of the first arm 3, and a bolt through hole 15 reaching the inside from the notch 14 is shaped. The second arm 17 is a freely supported rotating shaft, and the base of the second arm 17 is fixed to a portion of the rotating shaft 16 that projects downward from the first arm 3 .

18 is a pulley, and among the rotating shafts 16: jSl
It is fixed to a part inside the arm 3.

19 is a drive unit for the second arm 17, and a motor 20
, a reduction gear 21 (harmonic drive), an encoder 22 and a tacho generator 23.

Reference numeral 24 denotes a housing, and the housing 24 has a storage chamber 25 open at its upper end, and a support section 26 at its lower end. And, in the storage room 25, the above-mentioned reduced amount of $621 is stored.
is stored and also.

A drive shaft 2 connected to the output part of the reducer 21 to the support part 26
7 is rotatably supported. And this drive @2
The lower end of 7 slightly protrudes from the lower end of the corner part 26.

Further, the motor 20 is fixed to the housing 24 so as to cover the upper end opening of the housing 24.
An encoder 22 and a tacho generator 23 are attached to the.

A substantially rectangular flange 28 integrally protrudes from the outer surface of the boundary between the substantially storage chamber 25 and the support portion 26 of the housing 24, and the four I of the λ-shaped flange 28! One part has insertion holes 29.29. A fist is formed. Further, a screw hole 3111ζ is formed on the rear surface of the support portion 26 at a location close to the second flange 28 . Therefore, when the mounting 24 is placed on the surface of the crystal end of the first arm 3, the supporting portion 26 is inserted into the first arm 3 through the IJi through hole 12 formed in the first arm 3. The flange 28 is placed on the circumferential portion F of the insertion hole 12. Then, the insertion hole 2929, e...
are elongated holes 13.13. made in ff4 in the first arm 3.・・・
・The hole 30 formed in the support part 26 is the first
Port insertion hole 15 and tt1 formed at the rear end of arm 3
5 will be given.

31.31 is a wakawak plate, and H-shaped portions 32.32, . Nuts 33.3
3. ...9 is fixed. When the clamping plate 31.31 comes into contact with the inner surface of the peripheral edge of the insertion hole 12 formed in the upper plate 11 of the first arm 3, the nuts 33.33, .psi. Hole 13.13.・
... to correspond to the insertion holes 29, 29, ... provided in the flange 28 of the housing 24.

34.34,... are mounting ports, and flange 28
kli through hole 29.29. The fist..., the nut 33.33 inserted through the elongated hole 13.13 provided in the first arm 3, and provided in the clamping plate 31.31.
．． It is integrated into... And this mounting bolt 34.34. By fastening the 7 flange 28 of the housing 24 and the clamping plate 31.31 to the 17th L and 3 insertion holes 12, the +? [lI will be held, and as a result, the second arm driving part Ph portion 19 will be supported by the first arm 3H. In addition, the mounting port 34.34, etc.
When installed, the bolts 34, 34, ... become the long holes 13, 13,
...The position where it meets one end of the jar and the long hole 13.13.・
The second arm driving section 19 can be moved in the longitudinal direction of the first arm 3 within the range of the interval between the second end and the position where it abuts the other end.

35 is an adjustment bolt, which is inserted into the port insertion hole 15 provided at the rear end of the i@l arm 3 from the notch 14 side, and whose tip is connected to the support part 2 of the housing 24 of the drive qh part 19.
It is fitted into a screw hole 30 formed in 6.

3 is a pulley fixed to the lower end of the drive shaft 27 of the second arm drive section 19, and a steel belt 37 is passed between this pulley 36 and the pulley 18.

The steel belt 37 is made of SK material and processed into an endless shape. This squeal belt 37 has mounting holes 31 at positions equidistantly spaced from each other in both left and right directions.
3.38. ... are formed and arranged so that two pieces each are lined up in the width direction.

39.39 is 1.1. L fixed fitting, slightly thick and L
? It has a rectangular plate shape, and its # is the same as that of the pulley 1.
The width is slightly smaller than 8.36, so it is formed into one ship. These fixing fittings 39.39 each have two insertion holes 40.39.
40. --- is formed. Then, the diameter of the outer surface side portions of these insertion holes 40, 40, .
1.41, . . . are formed. Fixing bracket 39.3
Recessed grooves 42, 42 extending in the longitudinal direction are formed on the inner surface of the pulley 9, and the recessed grooves 42, 42 have a curved cross-sectional shape, and the radius of curvature of the curved surface is equal to the outside of the pulley 18°38. M
It is smaller than the radius of curvature of the surface.

Further, both side edges of the inner surface of the fixing metal fittings 39.39 are chamfered, thereby creating two ridgeline portions 43.43. e・
・is formed.

Therefore, the steel belt 37 is attached to each pulley 1B,
36, the frame is turned. And at this time, pulley 1
8. Attachment hole 3 for steel belt 37 on the outer peripheral surface of 36
8.38. - Screw holes 44.
44.・Rumors・ are being formed. Therefore, take + I hole 3
8.38. Replace the fixing fittings 39, 39 so that the insertion holes 40, 40, . . . correspond to the holes 40, 40, . At this time, the ridgeline portions 4343, . Therefore, the fixing pole) 45.45 ... - the insertion hole 40, 40 of the city fixing bracket 39.39. ...Insert into Φ from the outside, and insert its tip into the holes 44, 44, formed in the pulley 18, 36.
...to be screwed together. By doing this, the portion of the steel belt 37 in which the mounting holes 38, 38, and .phi. At this time, the fixing metal fittings 39.39 have two inner surfaces (43.43.--) in contact with the steel belt 37, thereby tightening the steel belt 37 around the outer circumference of the pulley 18.36. Since it is pressed against the surface, the connection between the steel belt 37 and the pulley 1836 is extremely problematic.Furthermore, the fixed pole) 45.45.・Shizuku-IIIJ145a, 45a
. . . are the recesses 41, 41, . . . of the fixing fittings 39, 39.
The amount of protrusion will be reduced.

In this manner, the pulleys 18 and 36 are connected by the steel belt 37, and the rotation of the second arm drive section 19 coming out of the drive shaft 27 is caused by the pulley 36, the steel belt 37, and so on. A second arm 17 is transmitted to the rotating shaft 16 via the pulley 18 and is in a fixed relationship with the rotating shaft 16.
is forced to rotate. It becomes two.

By the way, in order for the second arm 17 to be rotated as described above to operate accurately, the steel belt 37 must not be slack and must be properly tensioned. Therefore, adjustment of the steel belt 370 tension will be explained next.

When adjusting the tension of the steel belt 37,
34.34.34.34.34.34.34.34. ... to be able to move the housing 24 of the second arm L1 drive fiR 19 along the longitudinal direction of the IL arm 3. Then, operate the adjustment port 35 to move the housing 24 to the first arm. 3 along the longitudinal direction. by this.

The position of the τ pulley 36 will be moved relative to the pulley 18, and the distance between the boots 1.1-18 and 36 will be adjusted, and the tension of the steel belt 37 will be adjusted.

Therefore, once the tension of the steel belt 37 was adjusted to IF, it was installed loosely - 4t, root 34.
．． 34. Tightly tighten the second arm drive section 1.
9 is securely fixed to the first arm 3.

In the industrial robot 1 described above, the second arm drive unit 19 is located not at the tip of the first arm 3 but at approximately the same center of the first arm 3, so that the inertial load of the first arm 3 is reduced. 1) The speed of the first arm 3 can be increased.

In addition, there is no need to wire the second arm drive φh portion 19 inside the first arm 3, and the internal wiring can be simplified.
The reliability is also improved and the price is low. Furthermore, since the second arm drive section 19 is located approximately at the center of rotation, centrifugal force does not act on it, and various problems caused by the phenomenon of oil deviation can be eliminated. Furthermore, since there is no need to support something with a large amount such as the second arm drive section 19 at the tip of the first arm 3, the strength of the first arm 3 can be lowered. Instep, scratching ends. Furthermore, since the large protrusion (second arm drive portion 9h) has been removed from the tip of the first arm 3, the appearance becomes cleaner.

In addition, the drive system in which the pulleys are connected by a belt is
j#Although it tends to lack accuracy, in the industrial robot l described in -1-1, a steel heald 37 made of SK# Akatsuki steel was used, so it was possible to reduce the looseness of the belt and other factors that would affect accuracy. It has been designed to have sufficient reliability as an essential robot. Furthermore, since the steel belt 37 is connected to the pulleys 18 and 36 by means of bolts and bolts, it is possible to eliminate small movements due to slippage between the pulleys 18 and 38 and the steel belt 37. Can be done. Furthermore, the joint punching is also done using the fixing metal fittings 390.
Since the steel heald 37 is pressed by the ridgeline portions 43 and 43 of the two trees, the combined state is 171, but on the other hand, there is no need for extra processing on the pulley, which is seen in the method of providing a groove in the pulley and inserting the belt into it. Not only is this unnecessary, but the life of the steel belt 37 can be extended by avoiding localized extreme stress concentration on the heald.

In addition, if the second arm driving section 19 is made into a unit as described above, and it is arranged so that it can perform one over-movement with respect to the first arm 3, the tension of the steel belt 37 can be adjusted to 8%. As is clear from the above description, the industrial robot of the present invention has a second arm supported by a rotatable arm at the tip of the first arm. In a multi-leap type industrial robot, the drive unit for rotating the second arm is connected to the first drive unit.
It is characterized by being placed approximately at the center of rotation of the arm.

Therefore, according to the great invention, the W for the second arm, which is a heavy liability,
Since the A moving part is arranged not at the tip of the 17th arm but at the approximate center of rotation, the inertial load on the first arm is reduced and the 17th arm's... %i Since there is no deviation, the authenticity is improved, and furthermore, the first arm can be made light and natural, and the appearance is also improved.

[Brief explanation of the drawing]

Figures 1 to 7 show an example of the implementation of the great invention industrial robot. Figure 1 is a partially cutaway side view, and Figure 2 is an enlarged vertical sectional view of the main part. , FIG. 3 shows the second hand δ[1
4 is a sectional view along N-[V daughter of FIG. 3, FIG. 5 shows the relationship between the pulley and steel belt, 6 is a plan view, FIG. 6 is an enlarged side view of the main parts, FIG. 7 is an enlarged sectional view taken along the line ■-■ in FIG. 6, and FIG. 8 is a side view showing an example of a conventional industrial robot. . Explanation of symbols l-Parable #Required robot. 3-a#1st arm. 17##φ2nd arm. 19--・Drive unit for rotating the second arm +C-・2〆Figure 6Figure 7Figure 8/゛'

Claims (1)

[Claims] In an articulated industrial robot in which a second arm is rotatably supported at the tip of a first arm, a drive unit for rotating the second arm is arranged approximately on the center of rotation of the first arm. An industrial robot that is characterized by