CN203317433U - Horizontal multi- joint robot - Google Patents
Horizontal multi- joint robot Download PDFInfo
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- CN203317433U CN203317433U CN2013201203983U CN201320120398U CN203317433U CN 203317433 U CN203317433 U CN 203317433U CN 2013201203983 U CN2013201203983 U CN 2013201203983U CN 201320120398 U CN201320120398 U CN 201320120398U CN 203317433 U CN203317433 U CN 203317433U
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Abstract
The utility model relates to a horizontal multi-joint robot which comprises a drive part and an arm outer cover, wherein the drive part is carried on an arm base body and connected with an output shaft, and is used for receiving output shaft driving signals for driving the output shaft; the arm outer cover is a forming piece, is inverted bowl-shaped, is mounted on the arm base body and provided with an outer cover insertion part for allowing the output shaft to insert, and is used for covering at least the part connected with the drive part and the drive part in the output shaft, the outer cover insertion part comprises an outer side sleeve arranged in an extending manner to the outer side of the arm outer cover, and an inner side sleeve arranged in an extending manner to the inner side of the arm outer cover, and the outer side sleeve and the inner side sleeve are sharp and thin.
Description
The application is to be dividing an application of April 27, application number in 2012 are 201220188868.5, denomination of invention is " arm outer cover and horizontal articulated robot " application the applying date.
Technical field
The horizontal articulated robot that the utility model relates to the arm outer cover of the horizontal articulated robot that possesses the working shaft that is supported on arm and possesses this arm outer cover, particularly relate to the drive division and the arm outer cover of this working shaft and the horizontal articulated robot that possesses this arm outer cover that cover for driving working shaft.
Background technology
All the time, as described in Patent Document 1, the working shaft that is supported on arm is arranged as everyone knows with around this working shaft rotation with along the driven horizontal articulated robot of the axially movable mode of this working shaft.Fig. 4 is the side view that an integrally-built example of this type of horizontal articulated robot is shown, and Fig. 5 is the side cross-sectional view of an example that the cross section structure of the second arm that this horizontal articulated robot has is shown.
As shown in Figure 4, in the upper end of the base station 50 that is fixed in the installation surfaces such as ground, link the base end part that the first arm 51 is arranged in the mode that can rotate, on the other hand, at the terminal part of this first arm 51, link the base end part that the second arm 52 is arranged in the mode that can rotate.The base end part of the first arm 51 links with the driving shaft that is fixed on the first motor M1 in base station 50, and the first motor M1 is driven, thereby is rotated with respect to base station 50.The base end part of the second arm 52 links with the first arm 51 via the driving shaft that is fixed on the second motor M2 in the second arm 52, and the second motor M2 is driven, thereby is rotated with respect to the first arm 51.At the terminal part of the second arm 52, the hollow working shaft 53 extended along above-below direction is supported to and can carries out around the rotation of this working shaft 53 with along the axial lifting of this working shaft 53.Working shaft 53 be horizontal articulated robot for carrying out the axle of predetermined operation, link not shown end effector arranged in the lower end of this working shaft 53.
As shown in Figure 5, at above-mentioned working shaft 53, the driving shaft that is fixed on the rotation motor M3 in the second arm 52 links via Timing Belt 54 and ball spline nuts 55.In addition, at working shaft 53, the output shaft that is fixed on equally the lift motor M4 in the second arm 52 links via Timing Belt 56 and ball-screw nut 57.And then, driven around working shaft 53 rotations because of rotation motor M3 with the end effector that working shaft 53 links, and because of the driven axial lifting along working shaft 53 of lift motor M4.So, in horizontal articulated robot, utilize the rotation of above-mentioned the first arm 51, the rotation of the second arm 52, the rotation of working shaft 53 and the driving of lifting and end effector, transportation processing, the processing carried out for object are processed.
Patent documentation 1: TOHKEMY 2010-142904 communique
Yet, the sliding-contact position between above-mentioned working shaft 53 and each nut 55,57, in order to suppress the wearing and tearing of working shaft 53, and smooth for the rotation, the lifting that make this working shaft 53, usually be coated with lubricant.So, at the matrix 52a of the second arm 52 of configuration effort axle 53, each nut 55,57, for the lubricant 53a suppressed because dispersing from working shaft 53 pollutes outside situation, the arm outer cover 58 that covers above-mentioned parts is installed.
On the other hand, in the accommodation space S by matrix 52a and 58 encirclements of arm outer cover, except each nut 55,57 for driving working shaft 53, each motor M3, M4, in general, also take in the rotational position sensor that is useful on the position of rotation that detects each motor M3, M4.And, at the high speed of the high precision int of the operating position for horizontal articulated robot, responsiveness, developing in recent years in, also exist above-mentioned accommodation space S further to take in and be useful on the situation of the second arm 52 being carried out to the angular-rate sensor of vibration damping.Therefore, in the above-mentioned accommodation space S had at the second arm 52, with above-mentioned a plurality of sensors, together take in for the situation of each drive circuit substrate driven 59 to above-mentioned a plurality of sensors quite a few.
Yet, because above-mentioned accommodation space S take the pollution of the lubricant that disperses from working shaft 53 to rest in accommodation space S the enclosure space as purpose, therefore, the drive circuit substrate 59 that is accommodated in the various sensors of this accommodation space S, various sensors naturally and understandably continues contaminated because of lubricant.Consequently, worry that in the installing component of detection position at above-mentioned various sensors, drive circuit substrate 59, the corrosion based on lubricant contamination is accelerated.In addition, this type of unfavorable condition based on lubricant contamination is not limited to various sensors, drive circuit substrate 59 self, also is present in a large number the distribution L that connects drive circuit substrate 59 and robot controller 60, the distribution L that is connected each motor M3, M4 and robot controller 60.
Summary of the invention
The utility model completes in order to address the above problem, its purpose is the horizontal articulated robot that a kind of arm outer cover is provided and possesses this arm outer cover, and above-mentioned arm outer cover can be suppressed at the pollution of the lubricant dispersed from working shaft in the accommodation space surrounded by arm matrix and arm outer cover.
Of the present utility model being characterised in that, possesses working shaft, support the arm matrix of above-mentioned working shaft, drive the drive division of above-mentioned working shaft, and the outer cover of the arm as profiled member that is installed on above-mentioned arm matrix, be provided with the outer cover insertion section of inserting for above-mentioned working shaft at above-mentioned arm outer cover, above-mentioned arm outer cover is at least being covered with part and the above-mentioned drive division of above-mentioned drive division link in above-mentioned working shaft, above-mentioned outer cover insertion section comprises to the outer surface side of above-mentioned arm outer cover extends the outside sleeve arranged, and extend to the inner surface side of above-mentioned arm outer cover the inboard sleeve arranged, above-mentioned outside sleeve and above-mentioned inboard sleeve are the taper shape.
According to the utility model, be supported on the part at least linked with drive division in the working shaft of arm matrix and surround by the arm matrix with as the arm outer cover of profiled member.And then the outer cover insertion section of inserting for working shaft in the arm outer cover comprises outside sleeve and inboard sleeve, above-mentioned outside sleeve and inboard sleeve all have the taper shape.According to this class formation, the pollution of the lubricating oil dispersed from working shaft is suppressed by outside sleeve in the outside of arm outer cover, and is suppressed by inboard sleeve in the inboard of arm outer cover.
And, when the arm outer cover to this type of profiled member carries out moulding, be preferably and make the quantity of the mould that uses in this moulding few, the mould that preferably utilize two kinds of moulds, carries out the mould of moulding for the outer surface to the arm outer cover and carry out moulding for the inner surface to the arm outer cover carries out moulding to the arm outer cover.In this point, according to the utility model, because outside sleeve and inboard sleeve are the taper shape, therefore, when the arm outer cover is carried out to moulding, easily in the inner surface demoulding of outer surface and the arm outer cover of arm outer cover.And then, the arm outer cover of the pollution of the lubricant that easily manufacture can suppress to disperse from working shaft.
Of the present utility model being characterised in that, above-mentioned horizontal articulated robot possesses working shaft, support the arm matrix of above-mentioned working shaft, drive the drive division of above-mentioned working shaft, and the outer cover of the arm as profiled member that covers at least a portion of above-mentioned arm matrix and above-mentioned drive division, be provided with the outer cover insertion section of inserting for above-mentioned working shaft at above-mentioned arm outer cover, above-mentioned arm outer cover is at least being covered with the part of above-mentioned drive division link in above-mentioned working shaft, above-mentioned outer cover insertion section comprises to the outer surface side of above-mentioned arm outer cover extends the outside sleeve arranged, and extend to the inner surface side of above-mentioned arm outer cover the inboard sleeve arranged, above-mentioned outside sleeve comprises outer surface side from above-mentioned arm outer cover towards end and the shape that external diameter diminishes, the perhaps identical shape of local external diameter, above-mentioned inboard sleeve comprises inner surface side from above-mentioned arm outer cover towards end and the shape that external diameter diminishes, the perhaps identical shape of local external diameter.
According to the utility model, be supported on the part at least linked with drive division in the working shaft of arm matrix and surround by the arm matrix with as the arm outer cover of profiled member.And then the outer cover insertion section of inserting for working shaft in the arm outer cover comprises outside sleeve and inboard sleeve.According to this class formation, the pollution of the lubricating oil dispersed from working shaft is suppressed by outside sleeve in the outside of arm outer cover, and is suppressed by inboard sleeve in the inboard of arm outer cover.
And, when the arm outer cover of this type of profiled member carries out moulding, be preferably and make the quantity of the mould that uses in this moulding few, preferably utilize two kinds of moulds, be used to form the mould of outer surface of arm outer cover and the mould that is used to form the inner surface of arm outer cover carries out moulding to the arm outer cover.In this point, according to the utility model, outside sleeve comprises outer surface side from the arm outer cover towards end and the shape that external diameter diminishes or the identical shape of local external diameter, and inboard sleeve comprises inner surface side from the arm outer cover towards end and the shape that external diameter diminishes or the identical shape of local external diameter.Therefore, when the arm outer cover is carried out to moulding, the inner surface demoulding of easy outer surface and arm outer cover at the arm outer cover.And then, the arm outer cover of the pollution of the lubricant that easily manufacture can suppress to disperse from working shaft.
Of the present utility model being characterised in that, the inner surface of above-mentioned arm outer cover has the inclined plane with respect to the inclined of above-mentioned inboard sleeve, and a part and the above-mentioned inclined plane of the cylinder end face of above-mentioned inboard sleeve are same planes.
As mentioned above, when the arm outer cover carries out the demoulding, the stress that inboard sleeve is out of shape is concentrated in the cylinder end face of the inboard sleeve with taper shape.In this point, according to the utility model, because the part of the cylinder end face of the inclined plane of the inner surface that is formed at the arm outer cover and inboard sleeve is same plane, therefore, when the demoulding of the inboard of arm outer cover, the stress that puts on inboard sleeve is distributed to arm outer cover integral body via inclined plane.Therefore, the arm outer cover can be easily manufactured, and the mechanical strength of inboard sleeve can be improved.In addition, with the inclined plane of the cylinder part of end face of inboard sleeve and arm outer cover be same plane correspondingly, at the inner surface of arm outer cover, outstanding part diminishes inboard sleeve.Therefore, the shrink mark that has also suppressed the inner surface of arm outer cover.
And, due to the inner surface at the arm outer cover, around the cylinder end face of inboard sleeve and this inboard sleeve, via forming conplane part, form round and smooth and attractive in appearance continuous shape, therefore, visually also can feel attractive in appearance.
Of the present utility model being characterised in that, above-mentioned outside sleeve is concentric with above-mentioned inboard sleeve, and the internal diameter of above-mentioned outer cover insertion section is from above-mentioned inboard sleeve towards above-mentioned outside sleeve and dullness reduces.
Become and be easy to the structure of arm outer cover for the demoulding of the outer surface of arm outer cover and its mould, the internal diameter that can enumerate outside sleeve toward the outer side and the structure of monotone increasing.And, becoming and be easy to the structure of arm outer cover for the demoulding of the inner surface of arm outer cover and its mould, the internal diameter that can enumerate inboard sleeve is towards inboard and the structure of monotone increasing.But, in this class formation, because the inner surface of arm outer cover is divided in the inside of outer cover insertion section with mould with the outer surface of mould and arm outer cover, therefore, likely at inner surface, with mould and outer surface, with the border of mould, form overlap.In this point, according to the utility model, due to the internal diameter of outer cover insertion section, from inboard sleeve sleeve and dullness reduces toward the outer side, therefore, the inner surface that can only utilize the arm outer cover carries out moulding with mould to the inner surface of outer cover insertion section.Therefore, the demoulding between the inner surface of arm outer cover and its mould becomes easily, and the inner surface that also can be suppressed at the outer cover insertion section forms overlap.
Of the present utility model being characterised in that, above-mentioned horizontal articulated robot also possesses the cartridge that is fixed in above-mentioned arm matrix and inserts for above-mentioned working shaft, around above-mentioned working shaft, in the inboard of above-mentioned arm outer cover, by above-mentioned inboard sleeve and above-mentioned cartridge, is covered.
According to the utility model, due to utilize inboard sleeve and cartridge cover working shaft around, therefore, with the structure that does not there is this type of cartridge, compare, further suppressed the pollution of the lubricating oil that disperses from working shaft in the inboard of arm outer cover.
Of the present utility model being characterised in that, above-mentioned working shaft is lead screw shaft, above-mentioned cartridge is the nut to above-mentioned working shaft transmission of drive force, utilizes above-mentioned lead screw shaft and above-mentioned nut to form ball screw framework.
According to the utility model, around the nut covering working shaft that utilizes the formation ball screw framework, therefore, from the structure that there is in addition the cartridge different with ball screw framework, compare, can also suppress to form the quantity of the parts of horizontal articulated robot.
Of the present utility model being characterised in that, above-mentioned cartridge has the path part that the external diameter little by the internal diameter than above-mentioned inboard sleeve form and the large diameter portion that large external diameter forms by the internal diameter than above-mentioned inboard sleeve, above-mentioned minor diameter part divides and is disposed at than above-mentioned large diameter portion more by the position of above-mentioned inboard sleeve side, relative with the opening of this inboard sleeve.
When working shaft is worked in the outer cover insertion section, produce the air-flow that is accompanied by a large number the work of working shaft and forms in this outer cover insertion section.Now, utilizing during miscellaneous part blocks the structure of outer cover insertion section, although the lubricant that suppresses to disperse in the outer cover insertion section to outer cover insertion section external leakage, in the outer cover insertion section, the work of above-mentioned working shaft is carried out repeatedly.Consequently, the large load of the need of work of working shaft.In this point, according to the utility model, owing between inboard sleeve and cartridge, being formed with gap, on the other hand, utilize the part of opening of the inboard sleeve of path partial blockage of cartridge, therefore, the part that can utilize path partly to suppress the lubricant that disperses in sleeve to the inside is the sleeve external leakage to the inside.In addition, the part that can also utilize large diameter portion to suppress this series lubricant agent is leaked between inboard sleeve and minor diameter part divide.
Of the present utility model being characterised in that, above-mentioned arm matrix has matrix insertion section concentric with above-mentioned outer cover insertion section and that insert for above-mentioned working shaft, and above-mentioned outer cover insertion section and above-mentioned matrix insertion section are all towards the space opening surrounded by above-mentioned arm matrix and above-mentioned arm outer cover.
While working in the outer cover insertion section and in the matrix insertion section when working shaft, produce the air-flow that is accompanied by a large number the work of working shaft and forms in above-mentioned outer cover insertion section and in the matrix insertion section.Now, in blocking outer cover insertion section and matrix insertion section, in the structure of any one party, be accompanied by the work of above-mentioned working shaft, and the large load of the need of work of working shaft.In this point, according to the utility model, because outer cover insertion section and matrix insertion section are interconnected via the space surrounded by arm matrix and arm outer cover, therefore, with the structure that in outer cover insertion section and matrix insertion section, any one party gets clogged, compare, it is stable that said flow becomes.Therefore, even adopt inboard sleeve to extend the structure of the inboard that is arranged at the arm outer cover, the needed load of work that also can suppress working shaft increases.
Of the present utility model being characterised in that, above-mentioned horizontal articulated robot also possesses the angular-rate sensor that is covered and detect the angular speed of above-mentioned arm by above-mentioned arm outer cover.
According to the utility model, the pollution of the lubricating oil that can disperse from this working shaft to the angular-rate sensor inhibition covered by the arm outer cover together with working shaft.
Of the present utility model being characterised in that, the outer peripheral face of above-mentioned outside sleeve has the angle of inclination of 2 ° ± 0.5 °, and the outer peripheral face of above-mentioned inboard sleeve has the angle of inclination of 1 ° ± 0.5 °, and the inner peripheral surface of above-mentioned outer cover insertion section has the angle of inclination of 1 ° ± 0.5 °.
At the internal diameter of outer cover insertion section from inboard sleeve toward the outer side the structure of sleeve and monotone decreasing, because the external diameter of inboard sleeve and the external diameter of outside sleeve diminish towards end, therefore, the wall thickness of the base end part of inboard sleeve easily becomes larger than the wall thickness of the base end part of outside sleeve.On the other hand, when the arm outer cover to profiled member carries out moulding, if Local Shape becomes the position that wall thickness is large, the probability that at this position, loses mechanical endurance increases.In this point, according to the utility model, because the angle of inclination of the inner peripheral surface of outer cover insertion section is 1 ° ± 0.5 °, very little, therefore can think and can suppress littlely the internal diameter monotone decreasing of outer cover insertion section by the difference of the wall thickness of outside sleeve and inboard sleeve.And, because the angle of inclination of the outer peripheral face of outside sleeve is 2 ° ± 0.5 °, the angle of inclination of the outer peripheral face of inboard sleeve is 1 ° ± 0.5 °, therefore, the wall thickness of base end part of wall ratio outside sleeve of base end part that can also suppress inboard sleeve is much larger.
Arm outer cover of the present utility model is the arm outer cover of horizontal articulated robot that working shaft is moved along the axial reciprocating of this working shaft, wherein, above-mentioned arm outer cover is resinous profiled member, have and be set to the outer cover insertion section that can insert for above-mentioned working shaft, above-mentioned outer cover insertion section comprises to the outer surface side of above-mentioned arm outer cover extends the outside sleeve arranged and extends to the inner surface side of above-mentioned arm outer cover the inboard sleeve arranged, and above-mentioned outside sleeve and above-mentioned inboard sleeve are the taper shape.
According to the utility model, the outer cover insertion section of inserting for working shaft in the arm outer cover comprises outside sleeve and inboard sleeve, and above-mentioned outside sleeve and inboard sleeve all have the taper shape.According to this class formation, the pollution of the lubricating oil dispersed from working shaft is suppressed by outside sleeve in the outside of arm outer cover, and, in the inboard of arm outer cover, by inboard sleeve, suppressed.
And, when the arm outer cover to this type of profiled member carries out moulding, be preferably and make the quantity of the mould that uses in this moulding few, preferably utilize two kinds of moulds, for the outer surface to the arm outer cover, carry out the mould of moulding and form the arm outer cover for the mould that the inner surface to the arm outer cover carries out moulding.In this point, according to the utility model, because outside sleeve and inboard sleeve are the taper shape, therefore, when the arm outer cover is carried out to moulding, easily in the inner surface demoulding of outer surface and the arm outer cover of arm outer cover.And then, the arm outer cover of the pollution of the lubricant that easily manufacture can suppress to disperse from working shaft.
The accompanying drawing explanation
Fig. 1 is the cutaway view that the cross-section structure of the second arm in an embodiment of the related horizontal articulated robot of the utility model is shown.
Fig. 2 is the cutaway view that the cross-section structure of the arm outer cover in same embodiment is shown.
Fig. 3 is the upward view that the bottom surface structure of the arm outer cover in same embodiment is shown.
Fig. 4 is the side view that the side structure of the horizontal articulated robot in conventional example is shown.
Fig. 5 is the cutaway view that the cross-section structure of the second arm in same conventional example is shown.
The specific embodiment
Below, an embodiment of the arm outer cover by the utility model and horizontal articulated robot having been specialized with reference to Fig. 1～Fig. 3 describes.In addition, the structure of the arm outer cover of the horizontal articulated robot of present embodiment is mutually different from the structure of the arm outer cover of the horizontal articulated machine that utilizes before Fig. 4 and Fig. 5 explanation.Therefore, below particularly in the structure of horizontal articulated robot, from the different aspect of horizontal articulated robot explanation before, at length describe, and, identical structure is marked to identical symbol, the repetitive description thereof will be omitted.
The structure of the second arm
The internal structure of the second arm at first, with reference to Fig. 1, horizontal articulated robot had describes.As shown in Figure 1, at the terminal part of the first arm 11, link the base end part that the second arm 12 extended along horizontal direction is arranged in the mode that can rotate.Base end part at the arm matrix 12a that forms the second arm 12 is fixed with the second motor M2, and comes armite matrix 12a and the first arm 11 via the driving shaft of this second motor M2.So when driven, the base end part of arm matrix 12a is subject to the rotating torques of the second motor M2 and is rotated with respect to the first arm 11 as the second motor M2.
The downside of this arm matrix 12a in the terminal part of arm matrix 12a, link matrix insertion section 13 arranged in the mode be interconnected in the upside of arm matrix 12a and cylinder, and this matrix insertion section 13 forms downward and the multistage of reduced is cylindric.Inside in matrix insertion section 13, be inserted with the cartridge that is fixed in arm matrix 12a that is the part of ball-screw nut 14.Ball-screw nut 14 forms downward and the multistage of reduced is cylindric, the path part 14b that has the large diameter portion 14a that is fixed in arm matrix 12a and be rotated with respect to large diameter portion 14a.Pull open gap between the path part 14b of ball-screw nut 14 and the inner peripheral surface of matrix insertion section 13 and insert the inside of this matrix insertion section 13.
The upside of this arm matrix 12a in the terminal part of arm matrix 12a, be fixed with and form towards top and the multistage of reduced ball spline nuts 16 cylindraceous.Ball spline nuts 16 is cartridges concentric with ball-screw nut 14, the path part 16b that has the large diameter portion 16a that is fixed in arm matrix 12a and be rotated with respect to large diameter portion 16a.
In ball-screw nut 14 and ball spline nuts 16, be inserted with the hollow lead screw axle that is the working shaft 17 that extend along above-below direction.At the outer peripheral face of working shaft 17, be formed with not shown ball spline groove and ball screw groove.
At the outer peripheral face of working shaft 17, via above-mentioned ball spline nuts 16 and Timing Belt B1 and link the driving shaft that the rotation motor M3 that is fixed in arm matrix 12a is arranged.Above-mentioned working shaft 17 and ball-screw nut 14 form the ball screw framework of the rotation that is working shaft 17 by the rotation transformation of rotation motor M3.
And, at the outer peripheral face of working shaft 17, via above-mentioned ball-screw nut 14 and Timing Belt B2 and link the output shaft that the lift motor M4 that is fixed in equally arm matrix 12a is arranged.Above-mentioned lead screw shaft that is working shaft 17 and ball-screw nut 14 form the ball screw framework of the lifting that is working shaft 17 by the rotation transformation of lift motor M4.
Outer peripheral face at working shaft 17 is coated with lubricant, this lubricant is for suppressing ball that ball-screw nut 14 has and the wearing and tearing of working shaft 17, make the lifting of working shaft 17 smooth, and, for suppressing ball that ball spline nuts 16 has and the wearing and tearing of working shaft 17, make the rotation of working shaft 17 smooth.
Between the working shaft 17 that is coated with lubricant and rotation motor M3, for the drive circuit substrate 18 that drives angular-rate sensor, be fixed in arm matrix 12a.Be equipped with the angular-rate sensor for detection of the angular speed of the second arm 12 in drive circuit substrate 18, and, for the driving power that drives this angular-rate sensor, from robot controller, by the not shown distribution in wiring tubes WP, supply with.Drive circuit substrate 18 is accepted from the driving power of robot controller and is driven angular-rate sensor, and exports the testing result of this angular-rate sensor to robot controller.
Between the bottom and 13De bottom, matrix insertion section of working shaft 17, in the mode of the open lower side that covers this matrix insertion section 13, link the downside bellows BL flexible along above-below direction arranged.When above-mentioned Timing Belt B1, B2, each nut 14,16 are driven, there is the foreign matter that is accompanied by this driving and generates through matrix insertion section 13 and the situation of dispersing towards the downside of arm matrix 12a.The downside bellows BL linked with matrix insertion section 13 suppresses this type of foreign matter and disperses to the downside of arm matrix 12a.
In addition, link not shown end effector is arranged in the lower end of working shaft 17.End effector is connected with robot controller by the distribution turned back in the cylinder to working shaft 17, and, for the driving power, the control signal that drive this end effector, from robot controller, by this distribution, supply with.That is, so-called working shaft 17 is to link the axle of end effector for the lower end at this working shaft 17, and is the axle of horizontal articulated robot for operation that object is directly put rules into practice.
And then, when rotation motor M3 is driven, the rotating torques of rotation motor M3 is passed to working shaft 17 via Timing Belt B1 and ball spline nuts 16, end effector is around working shaft 17 rotations.And, when lift motor M4 is driven, the rotating torques of lift motor M4 is via Timing Belt B2 and ball-screw nut 14 and be passed to working shaft 17, end effector axially carries out lifting along working shaft 17.
The structure of arm outer cover
Upside at arm matrix 12a, be equipped with and form down bowl-shape profiled member that is arm outer cover 20, this arm outer cover 20 covers above-mentioned ball-screw nut 14, ball spline nuts 16, rotation motor M3, lift motor M4, Timing Belt B1, B2 etc. for driving the drive division of working shaft 17.Arm outer cover 20 consists of the first arm outer cover 21 of the end side that covers arm matrix 12a and the second arm outer cover 22 of covering the base end side of arm matrix 12a, and is formed with the accommodation space S that utilizes arm matrix 12a and arm outer cover 20 to surround.As the formation material of this type of arm outer cover 20, can enumerate the ABS resins such as difficult combustion ABS resin, strengthening ABS resin.
The first arm outer cover 21 forms the bowl-shape of the upside integral body that covers arm matrix 12a, covers the part and the ball spline nuts 16 that link with ball spline nuts 16 in working shaft 17.At the base end side of the first arm outer cover 21, cut and be formed with the notch 21a extended from the cardinal extremity of the first arm outer cover 21, utilize the second arm outer cover 22 to block this notch 21a integral body.
Be provided with planar wall that is inclined wall 23 at the first arm outer cover 21, this inclined wall 23 with and arm matrix 12a between the mode that diminishes towards end of distance tilt.Inclined wall 23 is for example 60 ° with the angle that horizontal plane forms.At this, utilize arm outer cover 20 to cover the upside of arm matrix 12a, the pollution of the foreign matter that has suppressed thus to disperse from above-mentioned drive division, the lubricant dispersed from working shaft 17.But, because if the size of arm outer cover 20 increases, the size of the second arm 12 also increases, therefore, for the save space of realizing horizontal articulated robot, the expansion of actuating range, the size of preferred arm outer cover 20 is less.In this point, if the structure of inclined wall 23 is set at the first arm outer cover 21, just can suppress above-mentioned pollution, can also suppress unnecessarily to increase the size of accommodation space S.
At above-mentioned inclined wall 23, be provided with the outer cover insertion section that comprises outside sleeve 24 and inboard sleeve 25 and extend along above-below direction.In detail, in the part of the outer surface of inclined wall 23, extend and be provided with the outside sleeve 24 that connects along the vertical direction inclined wall 23 and extend towards the upside of inclined wall 23.And the downside of the outside sleeve 24 in the inner surface of inclined wall 23, extend and dispose the inboard sleeve 25 be connected with outside sleeve 24 towards downside.Above-mentioned outside sleeve 24 and inboard sleeve 25 form concentric tubular mutually, at arm outer cover 20, for working shaft 17, insert.
The structure of each sleeve
Next, with reference to Fig. 2 and Fig. 3, outside sleeve 24 and inboard sleeve 25 structure are separately illustrated as follows.
As shown in Figure 2, from the outer surface of inclined wall 23, outstanding outside sleeve 24 forms its external diameters end of sleeve 24 and the shape of dwindling toward the outer side.This outside sleeve 24 has the cylinder end face parallel with horizontal plane endways, and the position of the terminal part of close arm matrix 12a, more significantly outstanding from the outer surface of inclined wall 23.In addition, in outside sleeve 24, minimum overhang H1 is the overhang at position of the base end part of the most close arm matrix 12a.
Also form from inner surface that is the outstanding inboard sleeve 25 of inclined plane 23s of inclined wall 23 shape that its external diameter dwindles towards the end of inboard sleeve 25.This inboard sleeve 25 has the cylinder end face 25e parallel with horizontal plane endways, and ，Yue Cong inclined plane, the position 23s of the base end part of close arm matrix 12a is significantly outstanding, on the other hand, outstanding at ，Bu Cong inclined plane, the position 23s of the terminal part near arm matrix 12a.And then as shown in Figure 3, the cylinder end face 25e of inboard sleeve 25 is same plane at the position of the terminal part of the most close arm matrix 12a and the inclined plane 23s of inclined wall 23.In addition, in inboard sleeve 25, maximum overhang H2 is the overhang at position that is positioned at the base end part of the most close arm matrix 12a, with this overhang H2 and above-mentioned overhang H1 each other mode about equally form outside sleeve 24 and inboard sleeve 25.
And, in the cylinder of the outer cover insertion section consisted of above-mentioned outside sleeve 24 and inboard sleeve 25, internal diameter is from inboard sleeve 25 towards outside sleeve 24 and monotone decreasing.For the size of the outside sleeve 24 formed by this class and the size of inboard sleeve 25, can enumerate following data as an example.
Tilt angle theta 1:2 ° ± 0.5 ° of outer peripheral face of outside sleeve 24
Tilt angle theta 2:1 ° ± 0.5 ° of the outer peripheral face of inboard sleeve 25
Tilt angle theta 3:1 ° ± 0.5 ° of the inner peripheral surface 24s of outer cover insertion section
The overhang H1:54.0mm of outside sleeve 24
The overhang H2:54.0mm of inboard sleeve 25
The opening internal diameter of outside sleeve 24: 38.4mm
The opening internal diameter of inboard sleeve 25: 44.0mm
At the downside of above-mentioned inboard sleeve 25, dispose above-mentioned ball spline nuts 16.Ball spline nuts 16 has the path part 16b that the D outer diameter little by the inside diameter D 1 of the opening than inboard sleeve 25 2 form and the large diameter portion 16a that large external diameter forms than the inside diameter D of inboard sleeve 25 1, between this ball spline nuts 16 and inboard sleeve 25, is formed with gap.And then, in ball spline nuts 16, its path part 16b is disposed at the position of sleeve 25 sides in the inner part than large diameter portion 16a, and is configured to relative with the opening of inboard sleeve 25.
Above-mentioned inboard sleeve 25 is concentric with above-mentioned matrix insertion section 13, and the mode be interconnected via accommodation space S with above-mentioned inboard sleeve 25 and matrix insertion section 13 configures above-mentioned ball spline nuts 16 and ball-screw nut 14.And, with D outer diameter 2 and the D outer diameter 4 of the path part 14b of the poor and ball-screw nut 14 of the inside diameter D 1 of inboard sleeve 25 of ball spline nuts 16, with the difference mode about equally of the inside diameter D 3 of matrix insertion section 13, form inboard sleeve 25 and matrix insertion section 13.
The effect of each sleeve
According to this class formation, due to the footpath that utilizes outside sleeve 24 and inboard sleeve 25 to cover working shafts 17 towards periphery, therefore, the pollution of the lubricating oil dispersed from working shaft 17 is suppressed by outside sleeve 24 in the outside of arm outer cover 20, and, in the inboard of arm outer cover 20, by inboard sleeve 25, suppressed.On this basis, in the inside of accommodation space S, because the periphery of working shaft 17 is equipped with ball spline nuts 16, therefore, around working shaft 17, by inboard sleeve 25 and ball spline nuts 16, covered.Therefore, can suppress in these positions such as link position of installing component, each motor M3, M4 or even drive circuit substrate 18, each motor M3, M4 and the robot controller of drive circuit substrate 18 pollution of lubricants.
When the first arm outer cover 21 to this type of profiled member carries out resin forming, aspect productivity ratio, manufacturing cost, consider, preferably make the quantity of the mould that uses in this resin forming few.And then, preferably utilize two kinds of moulds, for the outer surface to the first arm outer cover 21, carry out the mould of moulding and the mould that carries out moulding for the inner surface to the first arm outer cover 21, the first arm outer cover 21 is carried out to moulding.In this point, according to above-mentioned the first arm outer cover 21, because the external diameter of outside sleeve 24 and inboard sleeve 25 all dwindles towards end, therefore, when the first arm outer cover 21 is carried out to resin forming, the inner surface demoulding of easy outer surface and the first arm outer cover 21 at the first arm outer cover 21.Therefore, easily manufacture can suppress the arm outer cover 20 of the pollution of the lubricant that disperses from working shaft 17.
In addition, in the outer surface of the first arm outer cover 21 and the demoulding between its mould become and be easy to the structure of the first arm outer cover 21, the internal diameter that can enumerate outside sleeve 24 toward the outer side and the structure of monotone increasing.And, in the inner surface of the first arm outer cover 21 and the demoulding between its mould become and be easy to the structure of arm outer cover, the internal diameter that can enumerate inboard sleeve 25 is towards inboard and the structure of monotone increasing.But, in this class formation, due to the inner surface use mould of the first arm outer cover 21 and the outer surface mould of the first arm outer cover 21, divided along the vertical direction in the inside of outer cover insertion section, therefore, worry to form overlap with mould and outer surface with the border of mould at inner surface.In this point, according to above-mentioned the first arm outer cover 21, due to the internal diameter of outer cover insertion section, from inboard sleeve 25 sleeve 24 and monotone decreasing toward the outer side, therefore, the inner surface that can only utilize the first arm outer cover 21 carries out moulding with mould to the inner peripheral surface 24s of outer cover insertion section.Therefore, the demoulding between the inner surface of the first arm outer cover 21 and its mould becomes easily, and the inner peripheral surface 24s that can be suppressed at the outer cover insertion section forms overlap.
In addition, at the internal diameter of outer cover insertion section from inboard sleeve 25 toward the outer side the structure of sleeve and monotone decreasing, because these both sides of external diameter of inboard sleeve 25 and outside sleeve 24 dwindle towards end, therefore, the wall thickness of the base end part of inboard sleeve 25 easily becomes larger than the wall thickness of the base end part of outside sleeve 24.On the other hand, when the first arm outer cover 21 is carried out to resin forming, if Local Shape becomes the position that wall thickness is large, at this position, easily lose mechanical endurance.In this point, the first arm outer cover 21 according to above-mentioned example, because the tilt angle theta 3 of the inner peripheral surface 24s of outer cover insertion section is 1 ° ± 0.5 °, very little, therefore, can think the internal diameter monotone decreasing of outer cover insertion section, the difference of outside sleeve 24 and the wall thickness of inboard sleeve 25 can be suppressed to ground smaller.And, because the tilt angle theta 1 of the outer peripheral face of outside sleeve 24 is 2 ° ± 0.5 °, the tilt angle theta 2 of the outer peripheral face of inboard sleeve 25 is 1 ° ± 0.5 °, and therefore, the wall thickness of base end part of wall ratio outside sleeve 24 of base end part that can suppress inboard sleeve 25 is much larger.
And, when carrying out the demoulding of the first arm outer cover 21, the stress of inboard sleeve 25 distortion is concentrated on as mentioned above towards end and the cylinder end face 25e of the inboard sleeve 25 of the shape of reduced diameter.In this point, if being formed at the part of the cylinder end face 25e of the inclined plane of inner surface of the first arm outer cover 21 and inboard sleeve 25 is same plane,, when the demoulding of the first arm outer cover 21, the stress that puts on inboard sleeve 25 is distributed to the first arm outer cover 21 integral body via inclined plane.Therefore, can make the manufacture of the first arm outer cover 21 become easily, and can improve the mechanical strength of inboard sleeve 25.In addition, because the part of the cylinder end face 25e with inboard sleeve 25 and the inclined plane of the first arm outer cover 21 form same plane correspondingly, inboard sleeve 25 outstanding zone in the inner surface of the first arm outer cover 21 diminishes, and therefore, has also suppressed the shrink mark of the inner surface of the first arm outer cover 21.
In addition, in the inner surface of this type of the first arm outer cover 21, due to cylinder end face 25e and this inboard sleeve 25 of inboard sleeve 25 form continuous shape round and smooth and attractive in appearance via becoming conplane part on every side, therefore, visually also can feel attractive in appearance.
At this, when working shaft 17 during lifting, in this outer cover insertion section, produces the air-flow that is accompanied by a large number the lifting of working shaft 17 and forms in the outer cover insertion section.Now, in the structure of utilizing ball spline nuts 16 obstruction outer cover insertion sections, although the lubricant leakage that has suppressed to disperse in the outer cover insertion section, outside the outer cover insertion section, in the outer cover insertion section, boosts and step-down because the lifting of above-mentioned working shaft 17 is concatenated to form.Consequently, the lifting of working shaft 17 needs large load.In this point, if be formed with gap between inboard sleeve 25 and ball spline nuts 16, and the path part 16b that utilizes ball spline nuts 16 blocks the structure of a part of the opening of inboard sleeve 25, suppressed above-mentioned load, and the part that also can utilize path part 16b to suppress the lubricant that disperses in sleeve 25 to the inside leaks into outside inboard sleeve 25.In addition, the part that can also utilize large diameter portion 16a further to suppress this series lubricant agent is leaked between inboard sleeve 25 and path part 16b.
The effect of inboard sleeve and matrix insertion section 13
In the outer cover insertion section and during matrix insertion section 13 interior lifting, in above-mentioned outer cover insertion section and in matrix insertion section 13, produce the air-flow that is accompanied by a large number the lifting of working shaft 17 and forms when working shaft 17.Now, in the structure that any one party in outer cover insertion section and matrix insertion section 13 gets clogged, be accompanied by the lifting of above-mentioned working shaft 17 and be concatenated to form in the outer cover insertion section, in matrix insertion section 13 and boost and step-down, consequently, the lifting of working shaft 17 needs large load.In this point, if the structure that inboard sleeve 25 and matrix insertion section 13 are interconnected via accommodation space S, the structure got clogged with any one party in outer cover insertion section and matrix insertion section is compared, and alleviated above-mentioned load, and air-flow also becomes stable.And, if inboard sleeve 25 and the gap of ball spline nuts 16 and the gap structure about equally of matrix insertion section 13 and ball-screw nut 14 can also suppress air-flow and produce disorderly in accommodation space S.
In addition, between the upper end of the upper end of working shaft 17 and outside sleeve 24, in the mode of the upper side opening that covers outside sleeve 24, link the upside bellows BU flexible along above-below direction arranged.As mentioned above, when Timing Belt B1, B2, each nut 14,16 are driven, there is the foreign matter be accompanied by this driving and generate through the outer cover insertion section and the situation of dispersing towards the upside of arm matrix 12a.The upside bellows BU linked with outside sleeve 24 suppresses this type of foreign matter and disperses to the upside of arm matrix 12a.
As mentioned above, according to the arm outer cover in present embodiment and horizontal articulated robot, can access the following effect of enumerating.
(1) the outer cover insertion section of inserting for working shaft 17 consists of concentric outside sleeve 24 and inboard sleeve 25 mutually, and has the shape that the external diameter of above-mentioned outside sleeve 24 and inboard sleeve 25 all dwindles towards end.If adopt this class formation, the pollution of the lubricating oil that sleeve 24 inhibition are dispersed from working shaft 17 outside the outside of arm outer cover 20 utilizes, and in the inboard of arm outer cover 20, utilize inboard sleeve 25 to be suppressed.
(2) shape of all dwindling towards end due to the external diameter that is outside sleeve 24 and inboard sleeve 25, therefore, when the first arm outer cover 21 is carried out to resin forming, the inner surface demoulding of easy outer surface and the first arm outer cover 21 at the first arm outer cover 21.And then easily manufacture can suppress the arm outer cover 20 of the pollution of the lubricant that disperses from working shaft 17.
(3) part due to the cylinder end face 25e of the inclined plane 23s of the first arm outer cover 21 and inboard sleeve 25 is same plane, therefore, when the demoulding of the inboard of carrying out the first arm outer cover 21, the stress that puts on inboard sleeve 25 is distributed to the first arm outer cover 21 integral body via inclined plane 23s.Therefore, arm outer cover 20 can also be easily manufactured, and the mechanical strength of inboard sleeve 25 can be improved.
(4) in addition, with the inclined plane 23s of the part of the cylinder end face 25e of inboard sleeve 25 and the first arm outer cover 21 be same plane correspondingly, inboard sleeve 25 outstanding part in the inner surface of the first arm outer cover 21 that is inclined plane 23s diminishes.Therefore, the shrink mark that has also suppressed the inner surface of arm outer cover 20.
(5) due to the internal diameter of outer cover insertion section from inboard sleeve 25 sleeve 24 and monotone decreasing toward the outer side, therefore, the inner surface that can only utilize arm outer cover 20 carries out moulding with mould to the inner surface of outer cover insertion section.Therefore, the inner surface of arm outer cover 20 and the easy demoulding of its mould, and the inner surface that can also be suppressed at the outer cover insertion section forms overlap.
(6) owing to being covered by inboard sleeve 25 and ball spline nuts 16 around working shaft 17, therefore, with the structure that does not there is this type of ball spline nuts 16, compare, effectively suppressed the pollution of the lubricating oil that disperses from working shaft 17 at accommodation space S.
(7) and, around the ball spline nuts 16 covering working shafts 17 that utilize the formation ball screw framework, therefore, the miscellaneous part different with ball screw framework from utilization cover working shaft 17 around structure compare, can also suppress to form the quantity of the parts of horizontal articulated robot.
(8), because the part of the opening of inboard sleeve 25 is blocked by the path part 16b of ball spline nuts 16, therefore, the part that can utilize path part 16b to suppress the lubricant that disperses in sleeve 25 is to the inside leaked in the outside of sleeve 25 to the inside.In addition, the part that can also utilize large diameter portion 16a to suppress this series lubricant agent is leaked between inboard sleeve 25 and path part 16b.
(9) angle of inclination due to the inner peripheral surface of outer cover insertion section is 1 ° ± 0.5 °, smaller, therefore, can think the internal diameter monotone decreasing of outer cover insertion section, the difference of inboard sleeve 25 and the wall thickness of inboard sleeve 25 can be suppressed to ground smaller.And, because the angle of inclination of the outer peripheral face of outside sleeve 24 is 2 ° ± 0.5 °, the angle of inclination of the outer peripheral face of inboard sleeve 25 is 1 ° ± 0.5 °, and therefore, the wall thickness of base end part of wall ratio outside sleeve 24 of base end part that can also suppress inboard sleeve 25 is much larger.
In addition, above-mentioned embodiment also can utilize following embodiment to be implemented.
If the lubricant that allows to disperse to accommodation space S, foreign matter to the outside of the second arm 12, spill environment is set, also can adopt the structure of omitting at least one party in upside bellows BU and downside bellows BL.Even adopt this class formation, also can access the effect corresponding with above-mentioned (1)～(9).
If the scope that the mechanical endurance of arm outer cover 20 can fully obtain in the action of horizontal articulated robot, the tilt angle theta 3 of the inner peripheral surface of the tilt angle theta 2 of the outer peripheral face of the tilt angle theta 1 of the outer peripheral face of outside sleeve 24, inboard sleeve 25, outer cover insertion section can be also the angle beyond exemplary angles.Even adopt this class formation, also can access the effect corresponding with above-mentioned (1)～(8).
Being installed on the electronic unit of drive circuit substrate 18 except angular-rate sensor, can be also other sensors such as rotation angle sensor, or also can adopt the structure of omission drive circuit substrate 18 own.Even adopt this class formation, due to motor, to the various electronic units such as distribution of this motor input drive signal, be accommodated in accommodation space S, therefore suppress the pollution of the lubricant that disperses from working shaft 17, can access the effect corresponding with above-mentioned (1)～(8).
If drive division can not produce because of the lifting of working shaft 17 structure of excessive load, also can adopt the structure of utilizing ball-screw nut 14 to block the opening of outer cover insertion section.It is excellent that the pollution that this class formation causes at the lubricant that suppresses to disperse because of the inboard in the outer cover insertion section involves on the outside this point of outer cover insertion section.And, can be also the formation that the opening of matrix insertion section 13 is blocked by ball spline nuts 16.It is excellent that the pollution that this class formation also causes at the lubricant that suppresses to disperse because of the inboard in matrix insertion section 13 involves on the outside this point of matrix insertion section 13.
Also can adopt other cartridges outside each nut 14,16 that forms ball screw framework to cover the peripherad structure in footpath of working shaft 17.Even adopt this class formation, also can access the effect corresponding with above-mentioned (1)～(6), in addition, can also around working shaft 17, enough enlarge the capped scope of this working shaft 17.
Also can adopt and omit ball spline nuts 16, the structure that the opening of inboard sleeve 25 is all opened downwards.Even adopt this class formation, also can access the effect corresponding with above-mentioned (1)～(5), and, in the number of components this point that suppresses formation the second arm 12, also have superiority.
The internal diameter that also can adopt the outer cover insertion section is from inboard sleeve 25 sleeve 24 and the structure of monotone increasing toward the outer side.Even adopt this class formation, also can access the effect corresponding with above-mentioned (1)～(4), and the outer surface that also can only utilize arm outer cover 20 carries out moulding with mould to the inner surface of outer cover insertion section.
Perhaps, also can adopt the internal diameter varies rate of outer cover insertion section in inboard sleeve 25 and the mutual different structure of outside sleeve 24.So long as this class formation just can access the effect corresponding with above-mentioned (1)～(4), in addition, can also enlarge the free degree of the internal diameter of outer cover insertion section, and then enlarge the free degree of the shape of outer cover insertion section.And, also can make the central shaft of outside sleeve 24 mutually different from the central shaft of inboard sleeve 25.
Also can adopt the inclined plane 23s outstanding structure of the cylinder end face 25e integral body of inboard sleeve 25 from the first arm outer cover 21.This class formation can obtain the effect corresponding with above-mentioned (1), (2), and is also having superiority aspect the scope that enlarges the working shaft 17 covered by inboard sleeve 25.
Also can adopt the first arm outer cover 21 to form cube shaped, and omit the structure of above-mentioned inclined wall 23.Focus on, the outer cover insertion section is by extending the outside sleeve 24 arranged to the arm outer cover outside and forming to the inboard inboard sleeve 25 arranged that extends of arm outer cover, so long as the shape that the external diameter of outside sleeve 24 and inboard sleeve 25 dwindles towards end gets final product.
The structure midway changed of the direction that outside also can adopting, the tilt angle theta 1 of sleeve 24 is extended at this outside sleeve 24, can also adopt towards end and on the basis of the part that external diameter diminishes, for example also have that external diameter is constant and tilt angle theta 1 becomes the structure of the part of 0 °.Focus on the part that external diameter diminishes and do not have towards end and the so-called taper shape of the part that external diameter increases gets final product so long as have towards end.
Also can adopt the structure changed of the direction that the tilt angle theta 2 of inboard sleeve 25 also extends at this inboard sleeve 25 midway, can also adopt towards end and on the basis of the part that external diameter diminishes, for example also have that external diameter is constant and tilt angle theta 2 becomes the structure of the part of 0 °.Focus on the part that external diameter diminishes and do not have towards end and the so-called taper shape of the part that external diameter increases gets final product so long as have towards end.
The working method of working shaft 17 is not limited to above-mentioned rotation and lifting, can only be rotated, and also can only carry out lifting, while or can also be to be rotated the mode of carrying out lifting.Focus on, the working method of working shaft 17, so long as the mode that working shaft 17 moves in the outer cover insertion section gets final product, as long as adopt this class formation, just can access the effect corresponding with above-mentioned (1)～(9).
As long as the outside sleeve 24 that adopts the outer cover insertion section to comprise formation taper shape and the structure that forms equally the inboard sleeve 25 of taper shape, for example, except outside sleeve 24 and inboard sleeve 25, also can adopt the outer cover insertion section to there is the structure of the sleeve of the rectangular tubular that above-mentioned outside sleeve 24 and inboard sleeve 25 are linked up.
Arm outer cover 20 is not limited to resin molded article, can be also for example the resin injection molding member.
So long as the shape of at least a portion of at least a portion of arm outer cover 20 covering arm matrixes and drive division gets final product.
Arm outer cover 20, except employing is installed on the structure of arm matrix 12a, is fixed in arm matrix 12a as long as adopt between arm matrix 12a and arm outer cover 20 via miscellaneous part, the structure that covers thus at least a portion of arm matrix and drive division gets final product.
Symbol description:
L: distribution; S: accommodation space; θ 1, θ 2, θ 3: angle of inclination; B1, B2: Timing Belt; BL: downside bellows; BU: upside bellows; D1, D3: internal diameter; D2, D4: external diameter; H1, H2: overhang; M1: the first motor; M2: the second motor; M3: rotation motor; M4: lift motor; WP: wiring tubes; 11: the first arms; 12: the second arms; 12a: arm matrix; 13: the matrix insertion section; 14: ball-screw nut; 14a, 16a: large diameter portion; 14b, 16b: path part; 16: ball spline nuts; 17: working shaft; 18: drive circuit substrate; 20: the arm outer cover; 21: the first arm outer covers; 21a: notch; 22: the second arm outer covers; 23: inclined wall; 23s: inclined plane; 24: outside sleeve; 24s: inner peripheral surface; 25: inboard sleeve; 25e: cylinder end face; 50: base station; 51: the first arms; 52: the second arms; 52a: matrix; 53: working shaft; 53a: lubricant; 54,56: Timing Belt; 55: ball spline nuts; 57: ball-screw nut; 58: the arm outer cover; 59: drive circuit substrate; 60: robot controller.
Claims (7)
1. a horizontal articulated robot, is characterized in that,
Possess:
Working shaft;
The arm matrix, the described working shaft of this arm substrate support;
Drive division, this drive division drives described arm matrix; And
The arm outer cover, this arm outer cover is profiled member, is installed on described arm matrix;
Be provided with the outer cover insertion section of inserting for described working shaft at described arm outer cover,
Described arm outer cover covers described drive division,
Described outer cover insertion section comprises to the outer surface side of described arm outer cover extends the outside sleeve arranged and extends to the inner surface side of described arm outer cover the inboard sleeve arranged,
Described outside sleeve and described inboard sleeve are the taper shape,
Also comprise angular-rate sensor at described drive division.
2. horizontal articulated robot according to claim 1, is characterized in that,
Described arm matrix can rotate,
Described angular-rate sensor detects the angular speed of described arm matrix.
3. horizontal articulated robot according to claim 2, is characterized in that,
The testing result of described angular-rate sensor exports robot controller to.
4. a horizontal articulated robot, is characterized in that,
Possess:
Working shaft;
The arm matrix, the described working shaft of this arm substrate support;
Drive division, this drive division drives described working shaft;
Bellows, this bellows covers the part of described working shaft; And
The arm outer cover, this arm outer cover is profiled member, is installed on described arm matrix,
Be provided with the outer cover insertion section of inserting for described working shaft at described arm outer cover,
Described arm outer cover covers described drive division,
Described outer cover insertion section comprises to the outer surface side of described arm outer cover extends the outside sleeve arranged and the inboard sleeve that extends configuration to the inner surface side of described arm outer cover,
Described outside sleeve and described inboard sleeve are the taper shape.
5. horizontal articulated robot according to claim 4, is characterized in that,
Described bellows covers the described working shaft of the upside of described arm outer cover.
6. horizontal articulated robot according to claim 4, is characterized in that,
Described bellows covers the described working shaft of the downside of described arm outer cover.
7. horizontal articulated robot according to claim 4, is characterized in that,
Described bellows consists of the upside bellows of the described working shaft of the upside that covers described arm outer cover and the downside bellows of described working shaft that covers the downside of described arm outer cover.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-100815 | 2011-04-28 | ||
| JP2011100815A JP5810608B2 (en) | 2011-04-28 | 2011-04-28 | Arm cover and SCARA robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220188868 Division CN202862226U (en) | 2011-04-28 | 2012-04-27 | Outer arm cover and SCARA (selective compliance assembly robot arm) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203317433U true CN203317433U (en) | 2013-12-04 |
Family
ID=47433229
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013201203983U Expired - Lifetime CN203317433U (en) | 2011-04-28 | 2012-04-27 | Horizontal multi- joint robot |
| CN 201220188868 Expired - Lifetime CN202862226U (en) | 2011-04-28 | 2012-04-27 | Outer arm cover and SCARA (selective compliance assembly robot arm) |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220188868 Expired - Lifetime CN202862226U (en) | 2011-04-28 | 2012-04-27 | Outer arm cover and SCARA (selective compliance assembly robot arm) |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP5810608B2 (en) |
| CN (2) | CN203317433U (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317272B (en) * | 2013-06-07 | 2016-06-15 | 深圳龙云天地信息技术有限公司 | The location control mechanism of a kind of electroplating equipment wielding machine hand and electroplating equipment wielding machine hand thereof |
| JP6326945B2 (en) * | 2014-05-07 | 2018-05-23 | セイコーエプソン株式会社 | robot |
| CN104084945B (en) * | 2014-07-16 | 2015-12-02 | 王典超 | Articulated robot |
| JP6547310B2 (en) * | 2015-01-30 | 2019-07-24 | セイコーエプソン株式会社 | robot |
| CN106078709A (en) * | 2016-07-01 | 2016-11-09 | 北京金日创科技股份有限公司 | A kind of horizontal articulated robot cable assembly |
| CN106078700B (en) * | 2016-08-15 | 2018-12-07 | 珠海格力智能装备有限公司 | Cantilever shell and robot with it |
| JP6506324B2 (en) * | 2017-02-16 | 2019-04-24 | ファナック株式会社 | Horizontal articulated robot and its installation method |
| CN107756436A (en) * | 2017-10-16 | 2018-03-06 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
| CN111225770B (en) * | 2017-12-06 | 2022-06-14 | Abb瑞士股份有限公司 | Ball screw spline assembly and related method |
| JP7135448B2 (en) * | 2018-05-31 | 2022-09-13 | セイコーエプソン株式会社 | robot |
| JP7172147B2 (en) * | 2018-06-05 | 2022-11-16 | 株式会社デンソーウェーブ | Covers for robots, detection systems |
| CN110834323A (en) * | 2019-10-18 | 2020-02-25 | 广东天机机器人有限公司 | Horizontal multi-joint robot |
| CN113246173B (en) * | 2020-02-11 | 2022-07-15 | 上银科技股份有限公司 | Lubricating device and mechanical arm with same |
| CN112873281A (en) * | 2021-02-23 | 2021-06-01 | 昆山艾派科技有限公司 | Be applied to screw rod spline protective structure for robot arm of assembly operation |
| CN116197888B (en) * | 2021-11-28 | 2023-12-19 | 梅卡曼德（北京）机器人科技有限公司 | Method and device for determining position of article, electronic equipment and storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63156676A (en) * | 1986-12-18 | 1988-06-29 | フアナツク株式会社 | Arm structure of horizontal joint type robot |
| JPS6471678A (en) * | 1987-09-10 | 1989-03-16 | Nec Corp | Industrial robot |
| JP2002307365A (en) * | 2001-04-11 | 2002-10-23 | Aitec:Kk | Arm of scalar robot |
| JP5168093B2 (en) * | 2008-11-11 | 2013-03-21 | 株式会社デンソーウェーブ | Clean robot |
-
2011
- 2011-04-28 JP JP2011100815A patent/JP5810608B2/en active Active
-
2012
- 2012-04-27 CN CN2013201203983U patent/CN203317433U/en not_active Expired - Lifetime
- 2012-04-27 CN CN 201220188868 patent/CN202862226U/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP5810608B2 (en) | 2015-11-11 |
| CN202862226U (en) | 2013-04-10 |
| JP2012232362A (en) | 2012-11-29 |
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