CN216180579U - Industrial robot - Google Patents
Industrial robot Download PDFInfo
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- CN216180579U CN216180579U CN202022682253.5U CN202022682253U CN216180579U CN 216180579 U CN216180579 U CN 216180579U CN 202022682253 U CN202022682253 U CN 202022682253U CN 216180579 U CN216180579 U CN 216180579U
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- carrier
- industrial robot
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- hand
- finger
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Abstract
An industrial robot is provided, which is helpful for inhibiting the influence of static electricity when a conveying object is conveyed. The industrial robot of the present invention includes a hand for horizontally carrying a transport object, wherein a projection portion formed of a bar-like portion and/or a dot-like portion for carrying the transport object is provided on an upper surface side of the hand.
Description
Technical Field
The present invention relates to an industrial robot.
Background
In order to improve production efficiency, reduce labor cost, improve operation safety, and the like, robots are currently used in many industries.
For example, in a production line of a Flat Panel Display (FPD), an industrial robot is generally used to transport components of the Flat Panel Display, finished products of the Flat Panel Display, and the like.
The industrial robot generally includes a hand portion including: a base, the base having a block shape; and a finger portion extending from the base portion in a horizontal state and for carrying a conveyance object in a horizontal state.
However, the flat panel display generally includes a thin film, and when the thin film is conveyed by the industrial robot, static electricity is likely to be generated between the portion of the finger portion contacting the thin film and the thin film, and thus, the flat panel display is likely to be adversely affected in manufacturing.
SUMMERY OF THE UTILITY MODEL
The present invention has been made in view of the above problems, and an object of the present invention is to provide an industrial robot that contributes to suppression of influence of static electricity when a conveyance object is conveyed.
In order to achieve the above object, the present invention provides an industrial robot including a hand for horizontally carrying a carrying object, wherein a protruding portion formed of a bar-like portion and/or a dot-like portion for carrying the carrying object is provided on an upper surface side of the hand.
According to the industrial robot of the present invention, since the projection portion formed of the bar-like portion and/or the dot-like portion for receiving the conveying object is provided on the upper surface side of the hand portion, when the film as the conveying object is conveyed, the area of the portion of the industrial robot which contacts the film from below and supports the film can be reduced, which contributes to suppressing the generation of static electricity and the influence of static electricity.
In the industrial robot according to the present invention, it is preferable that the projection is formed so as to be in line contact or point contact with the object to be conveyed.
According to the industrial robot of the present invention, since the protruding portion is formed in line contact or point contact with the object to be conveyed, it is easier to reduce the area of the portion of the industrial robot that contacts and supports the thin film from below when the thin film as the object to be conveyed is conveyed, thereby suppressing the generation of static electricity.
In the industrial robot according to the present invention, it is preferable that the projections are distributed two-dimensionally as a whole when viewed in the vertical direction.
Here, the phrase "the projections are distributed two-dimensionally as a whole" means that the projections are not arranged on a straight line as a whole.
According to the industrial robot of the present invention, since the projections are distributed two-dimensionally as a whole when viewed in the vertical direction, it is easy to support the film evenly by the projections when the film to be conveyed is conveyed, and damage of the film due to stress concentration is avoided.
In the industrial robot according to the present invention, it is preferable that at least a part of the protruding portion has any one of a dot shape, a curved shape, and a linear shape when viewed in the vertical direction.
In the industrial robot according to the present invention, it is preferable that the top portion of the protruding portion has an arc shape in a cross section taken by a plane extending in the vertical direction and passing through the top portion of the protruding portion.
According to the industrial robot of the present invention, the top portion of the cross section of the protrusion, which is cut by the plane extending in the vertical direction and passing through the top portion of the protrusion, has an arc shape, and therefore, when a thin film to be conveyed is conveyed, the area of the portion of the industrial robot that contacts the thin film from below and supports the thin film is reduced, and it is easy to avoid damage to the thin film due to contact with the protrusion.
In the industrial robot according to the present invention, it is preferable that a carrier is detachably attached to the hand, and the protruding portion is provided on the carrier.
According to the industrial robot of the present invention, since the carrier is detachably attached to the hand and the protruding portion is provided on the carrier, the carrier can be simply attached to the hand without the protruding portion in the related art, and the entire hand does not need to be replaced.
Further, in the industrial robot according to the present invention, it is preferable that the carrier is integrally formed of resin.
According to the industrial robot of the present invention, the carrier is made of resin, so pressure resistance of the carrier can be ensured, and the carrier is integrally formed, so that the manufacturing process can be simplified.
In the industrial robot according to the present invention, it is preferable that the hand includes: a base, the base having a block shape; and a finger portion extending from the base portion in a horizontal state, the carrier including an upper side carrier and/or a side carrier, the upper side carrier being directly or indirectly mounted on an upper surface of the finger portion, the side carrier being directly or indirectly mounted on a side surface of the finger portion.
According to the industrial robot of the present invention, when the carrier includes the upper carrier and the side carriers, it is easier to uniformly support the film by the protruding portion when the film to be conveyed is conveyed, and damage of the film due to stress concentration is avoided.
Further, in the industrial robot of the present invention, it is preferable that the carrier includes the upper carrier and the side carriers, the upper carrier includes an upper carrier main body and an upper carrier protruding portion constituting the protruding portion, the upper carrier main body has a plate shape and is fixed to the finger portion such that a plate thickness direction coincides with an up-down direction, the upper carrier protruding portion protrudes upward from the upper carrier main body and includes a frame portion formed along an edge of the upper carrier main body and a partition portion partitioning an inner space of the frame portion, the side carriers are provided outside the finger portion in a direction perpendicular to an extending direction of the finger portion in a horizontal direction, and the side carriers include side carrier main bodies and side carrier protruding portions constituting the protruding portion, the side carrier body is plate-shaped, is fixed to the finger portion so that a plate thickness direction coincides with a vertical direction, and protrudes upward from the side carrier body in a T-shape or H-shape.
According to the industrial robot of the present invention, the carrier includes an upper carrier and a side carrier, the upper carrier includes an upper carrier main body and an upper carrier protruding portion constituting the protruding portion, the upper carrier main body is plate-shaped and fixed to the finger portion in such a manner that a plate thickness direction coincides with an up-down direction, the upper carrier protruding portion protrudes upward from the upper carrier main body and includes a frame portion formed along an edge of the upper carrier main body and a partition portion partitioning an inner space of the frame portion, the side carrier is provided outside the finger portion in a direction perpendicular to an extending direction of the finger portion in a horizontal direction, the side carrier includes a side carrier main body and a side carrier protruding portion constituting the protruding portion, the side carrier main body is plate-shaped and fixed to the finger portion in such a manner that the plate thickness direction coincides with the up-down direction, the side carrier protruding portion protrudes upward from the side carrier main body, and is in a T shape or an H shape, therefore, when the film as a conveying object is conveyed, the film is more easily supported evenly by the protruding part, and the film is prevented from being damaged due to stress concentration.
In the industrial robot according to the present invention, it is preferable that the protruding portion is integrally formed on the upper surface side of the hand portion.
(effects of utility model)
According to the present invention, since the protruding portion formed of the stripe-shaped portion and/or the dot-shaped portion for supporting the object to be conveyed is provided on the upper surface side of the hand, the area of the portion of the industrial robot which is in contact with the film from below and supports the film can be reduced when the film as the object to be conveyed is conveyed, which contributes to suppressing the generation of static electricity and the influence of static electricity.
Drawings
Fig. 1 is a partial plan view schematically showing an industrial robot according to an embodiment of the present invention.
Fig. 2A is a plan view schematically showing a structure in the vicinity of one upper side carrier of an industrial robot according to an embodiment of the present invention.
Fig. 2B is a side sectional view schematically showing the structure in the vicinity of one upper side carrier of the industrial robot according to the embodiment of the present invention.
Fig. 2C is a side sectional view schematically showing a structure in the vicinity of one upper side carrier of the industrial robot according to the embodiment of the present invention as viewed from a direction perpendicular to fig. 2B.
Fig. 3A is a plan view schematically showing a structure in the vicinity of one side carriage of the industrial robot according to the embodiment of the present invention.
Fig. 3B is a side sectional view schematically showing the structure in the vicinity of one side carrier of the industrial robot according to the embodiment of the present invention.
(symbol description)
1 Industrial robot
10 hand part
11 base part
12 finger-shaped part
20 load bearing member
21 upper side carrier
211 upper carrier body
212 upper side carrier projection
2121 frame part
2122 separating part
22 side bearing piece
221 side carrier body
222 side carrier projection
2221 horizontal bar part
2222 vertical strip part
31 first auxiliary member
32 second auxiliary element
41 screw
42 screw
43 screw
44 bolt
W conveying object
Detailed Description
An embodiment of the present invention will be described with reference to fig. 1 to 3B, in which fig. 1 is a partial plan view schematically showing an industrial robot according to an embodiment of the present invention, figure 2A is a top view schematically showing the structure in the vicinity of one upper side carrier of an industrial robot according to an embodiment of the utility model, fig. 2B is a side sectional view schematically showing the structure in the vicinity of one upper side carrier of the industrial robot according to the embodiment of the present invention, fig. 2C is a side sectional view schematically showing a structure in the vicinity of one upper side carrier of the industrial robot according to the embodiment of the present invention as viewed from a direction perpendicular to fig. 2B, fig. 3A is a plan view schematically showing the structure in the vicinity of one side carrier of the industrial robot according to the embodiment of the present invention, fig. 3B is a side sectional view schematically showing the structure in the vicinity of one side carrier of the industrial robot according to the embodiment of the present invention.
Here, for convenience of explanation, three directions orthogonal to each other are set as an X direction, a Y direction, and a Z direction, and one side in the X direction is set as X1, the other side in the X direction is set as X2, one side in the Y direction is set as Y1, the other side in the Y direction is set as Y2, one side in the Z direction is set as Z1, the other side in the Z direction is set as Z2, and the Z direction is assumed to coincide with the vertical direction in actual use, and the Z1 direction corresponds to the upper side in actual use.
(Overall Structure of Industrial robot)
As shown in fig. 1, the industrial robot 1 includes a hand 10, and the hand 10 is used for horizontally carrying a conveying object W (for example, a plastic film); further, on the Z1 direction side (i.e., on the upper surface side) of the hand 10, a protrusion portion (an upper carrier protrusion portion 212 and a side carrier protrusion portion 222 described below) formed of a stripe portion for mounting the conveying object W is provided.
Here, as shown in fig. 1, the hand 10 includes: a base 11, the base 11 being block-shaped; and fingers 12 extending horizontally from the base 11 (in the illustrated example, the fingers 12 are hollow, and four fingers are provided so as to be aligned in the X direction and extend in the Y direction, but the present invention is not limited thereto).
Further, although not shown, the industrial robot 1 further includes a base, and the hand 10 is supported on the base so as to be able to move up and down by a link such as a column. However, since these structures are not the focus of the present invention, they are not expanded in detail.
The industrial robot 1 carries the conveyance object W only by the protruding portions (the upper carrier protruding portions 212 and the side carrier protruding portions 222 described below). The carrier 20 is detachably attached to the hand 10, and the protruding portion is provided on the carrier 20.
(Structure of carrier)
As shown in fig. 1, the carrier 20 includes an upper side carrier 21 and a side carrier 22, the upper side carrier 21 is directly or indirectly mounted on a surface (i.e., an upper surface) on the Z1 direction side of the finger 12, and the side carrier 22 is directly or indirectly mounted on a surface (i.e., a side surface) on the X direction and/or Y direction side of the finger 12.
Here, as shown in fig. 1, the upper carriers 21 are provided two on each finger 12 to support the middle portion of the object to be conveyed W, and the side carriers 22 are provided two on each of the fingers 12 positioned on both sides in the X direction among the plurality of fingers 12, are provided outside the fingers 12 in the X direction, are provided outside the upper carriers 21 in the Y direction, and support the edge portions of the object to be conveyed W (specifically, the four corners of the object to be conveyed W), but the number and the arrangement positions of the upper carriers 21 may be appropriately selected as necessary, and the number and the arrangement positions of the side carriers 22 may be appropriately selected as necessary.
Further, as shown in fig. 1, 2B, 2C, and 3B, the upper carriers 21 are directly attached to the surfaces of the fingers 12 on the Z1 direction side, and the side carriers 22 are indirectly attached to the surfaces of the fingers 12 on the X direction side via the second auxiliary members 32. The upper carrier 21 is fixed to the finger 12 by a fastening member such as a screw 41 or a screw 42 and the first auxiliary 31, and the side carrier 22 is fixed to the finger 12 by a fastening member such as a screw 43 or a bolt 44 and the second auxiliary 32. Specifically, as shown in fig. 2B and 2C, the upper carrier 21 is fixed to the plate-shaped first auxiliary 31 by screws 41, the first auxiliary 31 and the upper carrier 21 sandwich the wall portion on the Z1 side of the finger 12 from both sides in the Z direction, and are fixed to the wall portion on the Z1 side of the finger 12 by screws 42; as shown in fig. 3B, the side carrier 22 is fixed to the Z1 direction side surface of the block-shaped second auxiliary 32 by a screw 43, and the second auxiliary 32 is fixed to the X direction side surface of the finger 12 by a bolt 44 or the like.
Further, as shown in fig. 2A to 2C, the upper carriers 21 include upper carrier bodies 211 and upper carrier projections 212, wherein the upper carrier bodies 211 are plate-shaped and have a plate thickness direction that coincides with the Z direction, and the upper carrier projections 212 project from the upper carrier bodies 211 toward the Z1 direction side and are formed integrally with the upper carrier bodies 211 by resin (i.e., the upper carriers 21 are formed integrally by resin). As shown in fig. 3A and 3B, the side carriers 22 include side carrier bodies 221 and side carrier protruding portions 222, wherein the side carrier bodies 221 are plate-shaped and have a plate thickness direction that coincides with the Z direction, and the side carrier protruding portions 222 protrude from the side carrier bodies 221 in the Z1 direction and are formed integrally with the side carrier bodies 221 by resin (that is, the side carriers 22 are formed integrally by resin).
As shown in fig. 2A to 3B, the upper carrier protrusions 212 are distributed two-dimensionally as a whole, and the side carrier protrusions 222 are also distributed two-dimensionally as a whole, when viewed in the Z direction. The upper carrier projection 212 and the side carrier projections 222 are each formed of a strip-like portion. Specifically, as shown in fig. 2A, the upper carrier protruding portion 212 includes a frame portion 2121 and a partition portion 2122, in which the frame portion 2121 is formed along an edge of the upper carrier 21 (specifically, along an edge of the upper carrier body 211), and the partition portion 2122 partitions an inner space of the frame portion 211 (specifically, divides the inner space of the frame portion 211 into two in the X direction). As shown in fig. 3A, the side carrier protruding portions 222 are H-shaped and include horizontal bar portions 2221 and vertical bar portions 2222, the horizontal bar portions 2221 extend in the Y direction along the edges on both sides in the X direction of the upper carrier protruding portions 212 (specifically, along the edges on both sides in the X direction of the side carrier bodies 221), and the vertical bar portions 2222 connect the middle portions in the Y direction of the two horizontal bar portions 2221 located on both sides in the X direction of the upper carrier protruding portions 212.
(main technical effects of the present embodiment)
According to the industrial robot 1 of the present embodiment, since the protruding portion formed of the bar-shaped portion for receiving the conveying object W is provided on the surface side (i.e., the upper surface side) of the hand 10 in the Z1 direction, when the film as the conveying object W is conveyed, the area of the portion of the industrial robot 1 that contacts and supports the film from the Z1 direction can be reduced, which contributes to suppressing the generation of static electricity and suppressing the influence of static electricity.
Further, according to the industrial robot 1 of the present embodiment, since the carrier 20 is detachably attached to the hand 10 and the protruding portion is provided on the carrier 20, the carrier 20 can be attached to the hand without the protruding portion in the related art without replacing the entire hand, and the industrial robot can easily cope with the case where the protruding portion is worn, has an inappropriate size, or the like and needs to be replaced.
Further, according to the industrial robot 1 of the present embodiment, the carrier 20 includes the upper side carrier 21 and the side carrier 22, the upper side carrier 21 includes the upper side carrier main body 211 and the upper side carrier protruding portion 212 constituting the protruding portion, the upper side carrier main body 211 is plate-shaped and fixed to the finger portion 12 in such a manner that the plate thickness direction coincides with the Z direction, the upper side carrier protruding portion 212 protrudes from the upper side carrier main body 211 toward the Z1 direction and includes the frame portion 2121 formed along the edge of the upper side carrier main body 211 and the partition portion 2122 partitioning the inside space of the frame portion, the side carrier 22 is provided outside the finger portion 12 in the direction perpendicular to the extending direction of the finger portion 12 in the horizontal direction, the side carrier 22 includes the side carrier main body 221 and the side carrier protruding portion 222 constituting the protruding portion, the side carrier main body 221 is plate-shaped, since the side carrier protruding portions 222 are fixed to the fingers 12 so that the thickness direction thereof coincides with the Z direction and protrude from the side carrier main bodies 221 in the Z1 direction and are H-shaped, it is easier to support the film as the object W to be conveyed evenly by the protruding portions, and damage to the film due to stress concentration is avoided.
The present invention is described above by way of example with reference to the accompanying drawings, and it is to be understood that the specific implementations of the present invention are not limited to the above-described embodiments.
For example, in the above-described embodiment, the hand 10 includes the base 11 and the finger 12, but is not limited thereto, and the specific structure of the hand 10 may be appropriately changed as needed.
In the above-described embodiment, the protruding portion formed of the stripe portion for receiving the conveying object W is provided on the surface side (i.e., the upper surface side) of the hand 10 in the Z1 direction, but the protruding portion is not limited to this, and may be formed of a dot portion, or a stripe portion and a dot portion (e.g., a plurality of dot portions).
Further, in the above embodiment, the upper carriers 21 are integrally formed of resin, but not limited thereto, the upper carriers 21 may be assembled of a plurality of parts, and the material for forming the upper carriers may be rubber or the like; similarly, in the above embodiment, the side carriers 22 are also integrally formed of resin, but not limited to this, the side carriers 22 may be assembled of a plurality of parts, and the material of formation may be rubber or the like.
Further, in the above embodiment, the upper carrier protrusion 212 includes the frame portion 2121 and the partition portion 2122, wherein the frame part 2121 is formed along the edge of the upper carrier 21, the partition part 2122 partitions the space inside the frame part 211, the side carrier protrusion 222 is H-shaped and includes a horizontal bar part 2221 and a vertical bar part 2222, wherein the lateral strip portions 2221 extend in the Y direction along the edges of both sides in the X direction of the upper carrier projection 212, the longitudinal strip portions 2222 connect the middle portions in the Y direction of the two lateral strip portions 2221 located on both sides in the X direction of the upper carrier projection 212, but not limited thereto, the shapes of the upper carrier projections 212 and the side carrier projections 222 may be appropriately changed as needed, for example, the upper carrier protruding portions 212 may be formed in an H-shape or a T-shape, and the side carrier protruding portions 222 may be formed in a T-shape. However, at least a part of the protruding portion preferably has any one of a dot shape, a curved shape, and a linear shape when viewed in the Z direction.
In the above embodiment, the upper carriers 21 and the side carriers 22 are attached to the hand portion 10 at the same time, but the present invention is not limited to this, and only one of the upper carriers 21 and the side carriers 22 may be attached.
In the above embodiment, it is preferable that the top portion of the protruding portion, which is a cross section taken along a plane extending in the Z direction and passing through the top portion of the protruding portion, has an arc shape.
In the above embodiment, the protruding portion is preferably formed to be in line contact or point contact with the conveyance target.
In the above embodiment, the carrier 20 is detachably attached to the hand 10, and the protruding portion is formed on the carrier 20, but the present invention is not limited to this, and the protruding portion may be integrally formed on the upper surface side of the hand 10.
In the above embodiment, the finger 12 of the hand 10 may be provided with a suction pad or the like for sucking and holding the conveyance object W.
It should be understood that the present invention can freely combine the respective embodiments, or appropriately change or omit the respective embodiments within the scope thereof.
Claims (9)
1. An industrial robot including a hand for horizontally carrying a transport object, characterized in that,
a protruding portion formed of a stripe-shaped portion and/or a dot-shaped portion for supporting the conveying object is provided on the upper surface side of the hand,
the protrusion is formed to be in line contact or point contact with the conveyance object.
2. The industrial robot of claim 1,
the projections are two-dimensionally distributed as a whole when viewed in the up-down direction.
3. The industrial robot of claim 2,
at least a part of the protruding portion has any one of a dot shape, a curved shape, and a linear shape when viewed in the up-down direction.
4. The industrial robot of claim 1,
the top of the cross section of the protrusion, which is cut by a plane extending in the vertical direction and passing through the top of the protrusion, is arc-shaped.
5. The industrial robot of claim 1,
a carrier is detachably mounted to the hand,
the protruding portion is provided on the carrier.
6. An industrial robot as claimed in claim 5,
the carrier is integrally formed of resin.
7. An industrial robot as claimed in claim 5,
the hand portion includes:
a base, the base having a block shape; and
a finger extending from the base in a horizontal state,
the carriers comprise upper side carriers and/or side carriers,
the upper bearing is mounted directly or indirectly to the upper surface of the finger,
the side bearings are mounted directly or indirectly to the sides of the fingers.
8. The industrial robot of claim 7,
the carriers include the upper side carriers and the side carriers,
the upper carrier includes an upper carrier main body having a plate shape and fixed to the finger portion so that a plate thickness direction coincides with an up-down direction, and an upper carrier protrusion portion constituting the protrusion portion, the upper carrier protrusion portion protruding upward from the upper carrier main body and including a frame portion formed along an edge of the upper carrier main body and a partition portion partitioning an inner space of the frame portion,
the side carriers are provided outside the finger portions in a direction perpendicular to an extending direction of the finger portions in a horizontal direction,
the side carrier includes a side carrier body having a plate shape and fixed to the finger portion so that a plate thickness direction coincides with an up-down direction, and a side carrier protruding portion that protrudes upward from the side carrier body and has a T-shape or an H-shape.
9. The industrial robot of claim 1,
the protruding portion is integrally formed on the upper surface side of the hand portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022682253.5U CN216180579U (en) | 2020-11-19 | 2020-11-19 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022682253.5U CN216180579U (en) | 2020-11-19 | 2020-11-19 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216180579U true CN216180579U (en) | 2022-04-05 |
Family
ID=80857449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022682253.5U Active CN216180579U (en) | 2020-11-19 | 2020-11-19 | Industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216180579U (en) |
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2020
- 2020-11-19 CN CN202022682253.5U patent/CN216180579U/en active Active
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