JP2002264067A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot causing no lowering of reliability and parts accuracy while facilitating the work of adjusting the vertical inclination of a horizontally rotating arm. SOLUTION: This robot 1 comprises a body 2 and at least one horizontally rotating arm 4 connected to a rotating shaft 3 vertically projecting from the upper part of the body 2. The arm 4 is connected to the rotating shaft 3 at the side face of the arm 4, and the connection part is provided with an inclination adjusting device 6 so as to be able to easily correct the vertical inclination of the arm 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot having one or more horizontal arms that rotate around a vertical axis at the top of a body.

[0002]

2. Description of the Related Art As such a robot, for example, there is a horizontal articulated robot. 2 and 3 show an example of a conventional horizontal articulated robot. The horizontal articulated robot 11 is connected to the body 12, a rotating shaft 13 vertically projecting above the body 12, and the rotating shaft 13,
A first arm 13 that rotates in the horizontal direction, and a second arm 14 that is also rotatably connected to the distal end of the first arm 13, are attached to the distal end of the second arm 14. It is configured by disposing a fork for wafer transfer, a processing tool, and the like. However, in such a horizontal articulated robot 11, the second arm and the like are not provided because a moment is always applied to the mounting portion of the first arm 13, and play occurs in bearings and the like due to component errors or aging. There is a problem of tilting with respect to the horizontal plane. For this reason, conventionally, as shown in FIG. 3, an arm housing 13a is provided at an attachment portion between the rotation shaft 15 and the first arm 13.
Between the arm housing 13a and the rotating shaft 15 connected to the arm housing 13a,
The inclination of the arm of the horizontal articulated robot with respect to the horizontal plane was corrected by laying the shim 16 corresponding to the inclination.
In FIG. 4, reference numeral 17 denotes a fastening bolt.

[0003]

However, in such a conventional technique, the first arm 14 and the rotating shaft 1 are not provided.
In order to lay the shim 6 between the third and the third, there were the following problems. (2) It is necessary to disassemble the mechanical part once assembled, and the work is very troublesome. (2) The surface contact between the first arm 14 and the rotating shaft 13 becomes worse, and the fastening bolt 17 also enters obliquely and an excessive force is applied, thereby lowering the reliability. (3) Since an excessive force acts on the arm housing 14a of the first arm 14 to distort it, the precision of the parts is deteriorated. The present invention has been made in order to solve such a problem, and it is easy to adjust the vertical inclination of an arm that rotates in a horizontal direction, and does not cause a decrease in reliability or component accuracy. It is intended to provide a robot.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is directed to a body and at least one shaft which is connected to a rotating shaft vertically protruding from an upper portion of the body and which rotates in a horizontal direction. In the robot configured with the arm of (1), the arm is connected to the rotating shaft on a side surface of the arm, and the connecting portion is tilt-adjusted so that the vertical tilt of the arm can be easily corrected. An apparatus is provided.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1A is a side view of a horizontal articulated robot showing an embodiment of the present invention, and FIG. 1B is a partial cross-sectional view showing a mounting portion between a first arm and a rotating shaft in FIG. is there. The horizontal articulated robot 1 of the present invention also has a torso 2 and the torso 2 similar to the conventional horizontal articulated robot.
A rotating shaft 3 protruding vertically in the upper part of the
And a second arm 4 similarly rotatably connected to a distal end of the first arm 3. The distal end of the second arm To
An arm housing 4a of the fourth arm 4 and a rotating shaft 3 are provided.
Is different from the conventional structure. That is, FIG.
As shown in the figure, the arm housing 4 of the rotating shaft 3 and the first arm 4
“a” is connected by interposing an L-shaped tilt adjusting device 6 between them so that the vertical tilt of the first arm 4 can be adjusted. The tilt adjusting device 6 includes a horizontal portion 6 connected to the rotating shaft 3 or integrally formed with the rotating shaft 3.
a, and a vertical portion 6b connected to the first arm 4. A pin hole 6c is formed at the center of the vertical portion 6b, and a plurality of bolt holes (not shown) are provided around the pin hole 6c. Individually formed. The bolt hole is the first
It is formed with a stupid hole large enough to absorb the inclination of the arm 4. The first arm 4 has a pin 4b corresponding to a pin hole 6c of the tilt adjustment device 6 formed on a side surface of an arm housing 4a connected to the tilt adjustment device 6. The first arm 4 and the tilt adjusting device 6 adjust the first arm 4 rotatably on a vertical plane indicated by H in a state where the pin 4b is fitted into the pin hole 6c and the fastening bolt 7 is not tightened. It has a structure that can do it. Therefore, at the time of initial assembly of the robot, and even when the inclination of the arm changes due to aging after long-term use, the loosening of the fastening bolt 7 from the outside is easy, and The tilt of the arm can be reliably adjusted to the tilt allowable value required for the robot. In addition,
In the present invention, the present invention can be applied to a robot having an arm elevating device in the body, and can also be applied to a link type robot. Further, the tilt adjusting device can be used not only for the first arm but also for the second arm and the like.

[0006]

As described above, according to the present invention, even when the inclination of the arm is changed at the initial stage of assembly, or even after aging, the arm is not adversely affected, and the mechanism is not affected. Without disassembly, there is an effect that adjustment and adaptation can be easily and accurately performed from the outside, and the tilt tolerance required for the robot can be set.

[Brief description of the drawings]

FIG. 1 is a horizontal articulated robot showing an embodiment of the present invention, wherein (a) is a side view, and (b) is a partial cross-sectional view showing a mounting portion between a first arm and a rotating shaft in (a). is there.

FIG. 2 is a side view showing a horizontal articulated robot according to the related art.

FIG. 3 is a partial cross-sectional view showing a mounting portion between a first arm and a rotation shaft in FIG. 2;

[Explanation of symbols]

 Reference Signs List 1 horizontal articulated robot, 2 torso, 3 rotation axis, 4 first arm, 4a arm housing, 4b pin, 5 second arm, 6 tilt adjusting device, 6a vertical part, 6b horizontal part, 6c pin hole, 7 Fastening bolt

Claims (1)

[Claims] 1. A robot comprising: a torso; and at least one arm that rotates in a horizontal direction and that is connected to a rotating shaft that protrudes vertically in an upper part of the torso, wherein the arm includes: A robot, wherein the robot is provided with a tilt adjusting device at the connecting portion so as to be connected to the rotation shaft on a side surface of the arm and to easily correct the vertical tilt of the arm.