JP2009226567A - Scalar robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a scalar robot in which the deterioration of cables and pipes is suppressed even when the quantity of the cables and pipes is large. <P>SOLUTION: This scalar robot comprises a base 10, a first arm 20 and a second arm 30 rotatably attached to the base 10, harness 50 having one side disposed on the base 10 side and the other side disposed on the second arm 30 side and capable of storing a cable/pipe 51 formed of a cable and a pipe therein, and a tube unit 60 having one side disposed on the first arm 20 side and capable of storing a cable/pipe 64 formed of a cable and a pipe therein. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a SCARA robot, and more particularly to a SCARA robot having a base and an arm.

  Conventionally, a SCARA robot having a base and an arm is known (see, for example, Patent Document 1). Various tools for adding additional functions required by the user can be attached to the work axis of such a SCARA robot. Many wires and piping are required to operate the attached tools. It may be necessary.

  In the following Patent Document 1, a base (base), a first arm rotatably attached to the base, a second arm rotatably attached to the first arm, a base, A robot cord (tube member) in which electrical wiring for connecting the second arm is housed, a resin support tube for connecting the base and the second arm, air piping and electrical wiring around the support tube, A robot (scalar robot) including a coil tube wound in a spiral shape is disclosed. The base side portion of the support tube of the robot according to Patent Document 1 is bundled with a robot cord, and a coil tube in which air piping and electric wiring are bundled is not shown, but the support tube and the robot cord are not shown. Are wound around the robot cord together with the support tube at the portion where the wires are bundled together.

Japanese Patent Laid-Open No. 10-058376

  For this reason, according to Patent Document 1, when the first arm and the second arm are rotated, the coil tube and the support tube in which the robot cord, the air piping and the electric wiring are bundled are rubbed against each other. As a result, there occurs a problem that the base side portion of the air piping or electric wiring is deteriorated. Such a problem becomes more prominent as the number of wires and pipes increases.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to suppress deterioration of wiring and piping even when the number of wiring and piping is large. It is to provide a SCARA robot that can do this.

Means for Solving the Problems and Effects of the Invention

  In order to achieve the above object, a SCARA robot according to one aspect of the present invention includes a base, an arm rotatably attached to the base, and one side disposed on the base side. A second pipe member disposed on the arm side and capable of accommodating at least one of wiring and piping therein, and a second tube member disposed on the arm side and including at least one of wiring and piping therein. A pipe member.

  In the SCARA robot according to this aspect, as described above, in addition to the first pipe member capable of accommodating at least one of wiring and piping inside, the second pipe capable of accommodating at least one of wiring and piping inside. By providing the member, even when the number of wires and pipes is large, the wires and pipes can be accommodated inside the second pipe member in addition to the first pipe member. In addition, it is possible to suppress the wiring and piping housed inside the first pipe member and the wiring and piping housed inside the second pipe member from rubbing each other. Thereby, even when there are many wirings and piping, since it can suppress that wirings and piping wear, it can control that wiring and piping deteriorate.

  In the SCARA robot according to the above aspect, preferably, the second pipe member and the first pipe member are spaced apart from each other at a predetermined interval and are movable independently of each other. It is configured. If comprised in this way, since it can suppress that a 1st pipe member and a 2nd pipe member mutually rub, it can suppress that a 1st pipe member and a 2nd pipe member wear. Thereby, it can suppress that a 1st pipe member and a 2nd pipe member deteriorate.

  In the SCARA robot according to the above aspect, the arm is preferably configured such that the first arm is attached to one side so as to be rotatable relative to the base, and the one side is rotatable relative to the other side of the first arm. The first pipe member is attached so that one side is rotatable with respect to the base and the other side is attached rotatably with respect to the second arm. One side of the second pipe member is rotatably attached to one side of the first arm, and the other side is rotatably attached to the second arm. If comprised in this way, when the 1st arm and the 2nd arm are rotated, it can control that the 1st pipe member and the 2nd pipe member are twisted.

  In the SCARA robot in which the second pipe member is rotatably attached to the first arm and the second arm, preferably, the second pipe member is attached to the first arm, and the first arm is a base. A first bearing that is rotatable about a rotation center axis that is substantially the same as a rotation center axis that rotates relative to the first bearing portion, and a first joint portion that is attached to the first bearing. And has an opening hole provided in the surface, and is fixed to the base so that the opening hole does not rotate when the first arm is rotated with respect to the base. At least one of the wiring and the piping accommodated inside is led out from the opening hole of the first joint portion. If comprised in this way, also when the 1st arm is rotated with respect to a base, the rotation center axis | shaft in which a 1st arm rotates with respect to a base, and the rotation center axis | shaft of a 1st bearing are Since it can suppress shifting, the 1st bearing can be rotated smoothly. Thereby, since it can suppress that the opening hole of a 1st joint part rotates by a 1st bearing as the 1st arm rotates, the 2nd pipe | tube derived | led-out from the opening hole It is possible to suppress wear due to, for example, contact of the wiring or piping accommodated in the member with the outer peripheral portion of the opening hole.

  In the SCARA robot having the second pipe member including the first joint portion fixed to the base, the base robot is preferably attached so as to fix the first joint to the base. And a fixing member that can be arranged so that at least one of the wiring and piping extends from the opening hole of the first joint portion to the opening hole of the first joint portion. If comprised in this way, while the wiring and piping accommodated in the inside of the 2nd pipe member can be easily arrange | positioned by a fixing member, it can suppress that a 1st coupling part rotates.

  In the SCARA robot including the second pipe member including the first joint portion fixed to the base, preferably, the second pipe member further includes a pipe member body that covers at least one of the wiring and the pipe. A second bearing that is provided between the first joint portion and the pipe member main body and that rotatably supports one side of the pipe member main body about a rotation center axis substantially the same as the rotation center axis of the first bearing. In addition. If comprised in this way, even when the 1st joint part is being fixed, a tube member main body can be smoothly rotated on the rotation center axis | shaft of a 1st bearing with respect to a 1st joint part by a 2nd bearing. Can do.

  In this case, preferably, the second tube member is attached to the second arm side, and the second arm is rotatable about a rotation center axis that is substantially the same as the rotation center axis that rotates with respect to the first arm. It further includes a third bearing and a second joint portion having one side connected to the pipe member main body and the other side attached to the third bearing. If comprised in this way, when the 2nd arm is rotated with respect to the 1st arm, the rotation central axis which the 2nd arm rotates with respect to the 1st arm, and the rotation central axis of the 3rd bearing Therefore, the third bearing can be smoothly rotated. Thereby, a 2nd joint part and a pipe member main body can be smoothly rotated with respect to a 2nd arm.

  In the SCARA robot according to the above aspect, preferably, at least one of the first pipe member and the second pipe member is configured so that at least one of wiring and piping can be added inside. If comprised in this way, when a user wants to add an additional function, wiring and piping concerning an additional function should be arranged in a pipe member which can add wiring and piping separately among the 1st pipe member and the 2nd pipe member. Therefore, the added wiring and piping can be protected by at least one of the first pipe member and the second pipe member. Thereby, it can suppress that the added wiring and piping are worn.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a perspective view showing the overall configuration of the SCARA robot according to the first embodiment of the present invention. 2 and 3 are cross-sectional views for explaining the configuration of the SCARA robot shown in FIG. The configuration of the SCARA robot 100 according to the first embodiment of the present invention will be described below with reference to FIGS.

  As shown in FIG. 1, the SCARA robot 100 according to the first embodiment includes a base 10 and a first arm 20 that is rotatably attached to the base 10 on one side (arrow X1 direction side). A second arm 30 that is attached to the other side (arrow X2 direction side) of the first arm 20 on one side (arrow X1 direction side) and rotatably with respect to the first arm 20; It is mainly comprised by the work head 40 provided in the other side (arrow X2 direction side) of the 2nd arm 30. FIG. Since the second arm 30 of the SCARA robot 100 according to the first embodiment is configured to be rotatable with respect to the first arm 20 as described above, it can also be substantially rotated with respect to the base 10. It is configured. The first arm 20 and the second arm 30 are examples of the “arm” in the present invention. The SCARA robot 100 is configured such that the first arm 20 and the second arm 30 are rotated in the horizontal direction (R1 direction and R2 direction) with respect to the base 10, and the work head 40 is set to a predetermined position. It is configured to be movable to a position.

  As shown in FIGS. 1 and 2, the base 10 is configured by integrally providing a box-shaped housing 12 on a base plate 11 (see FIG. 2). An arm driving device 21 that drives the first arm 20 is provided inside the base 10. As shown in FIG. 2, the arm drive device 21 is fixed to the base 10 so that the drive shaft 21 a protrudes upward from the opening 12 a of the housing 12. A rotation unit 22 is attached above the opening 12 a of the housing 12. The rotation unit 22 is disposed between the upper part of the base 10 and the lower part of one side (arrow X1 direction side) of the first arm 20. Further, the rotary unit 22 is provided with a bearing 22a that supports the first arm 20 with respect to the base 10 so as to be rotatable in a horizontal direction in a stable state. The rotation center axis L1 of the bearing 22a is provided on a rotation axis that is substantially the same as the drive shaft 21a of the arm drive device 21, and the first drive shaft 21a of the arm drive device 21 rotates as the drive shaft 21a rotates. The arm 20 is configured to rotate with respect to the base 10.

  As shown in FIGS. 1 and 2, the first arm 20 is configured to extend in the horizontal direction, and a rotary unit 31 is provided on the upper side of the other side (arrow X2 direction side) of the first arm 20. Is attached. As shown in FIG. 2, the rotating unit 31 is located between the upper part on the other side (arrow X2 direction side) of the first arm 20 and the lower part on one side (arrow X1 direction side) of the second arm 30. The rotating unit 31 is provided with a bearing 31a that supports the second arm 30 with respect to the first arm 20 so as to be rotatable in the horizontal direction in a stable state.

  In addition, an arm driving device 32 that drives (rotates) the second arm 30 relative to the first arm 20 is provided inside the second arm 30. The arm drive device 32 is fixed to the second arm 30 so that the drive shaft 32 a protrudes downward from the opening 30 a of the second arm 30. Further, the rotation center axis L2 of the drive shaft 32a of the arm drive device 32 is provided on the same rotation axis as the rotation center axis of the bearing 31a, and the drive shaft 32a of the arm drive device 32 rotates. Accordingly, the second arm 30 is configured to rotate with respect to the first arm 20.

  A work head 40 is provided at the other end (the end in the arrow X2 direction) of the second arm 30. The work head 40 includes a work shaft 41 extending in the vertical direction, a ball screw shaft 42 extending in the same vertical direction as the work shaft 41, a ball screw nut 43 screwed to the ball screw shaft 42, and a ball screw nut on one side. 43, the other side of which is rotatably attached to the upper end of the work shaft 41, a lifting motor 45 for driving the ball screw shaft 42, and a rotational drive for rotating the work shaft 41. The apparatus 46 and a case portion 47 that covers the inside of the work head 40 are configured.

  The work shaft 41 is configured such that various tools such as a vacuum suction nozzle for mounting an electronic component (not shown), a chuck for gripping a workpiece, or a nozzle for supplying paste solder can be attached to the lower end.

  Specifically, the ball screw nut 43 moves up and down with respect to the ball screw shaft 42 as the ball screw shaft 42 is rotated by driving an elevating motor 45 provided in the case portion 47. It is configured to be movable in the direction. And, as the ball screw nut 43 is moved in the vertical direction, the connecting plate 44 is also configured to be movable in the vertical direction. Since the upper end portion of the work shaft 41 is fixed to the connection plate 44, the work shaft 41 is configured to be movable in the vertical direction as the connection plate 44 is moved in the vertical direction.

  In addition, a rotation drive device 46 is provided inside the case portion 47 so as to cover an intermediate portion of the work shaft 41. The rotation drive device 46 is composed of a motor and a ball spline (not shown). The rotation drive device 46 is configured to hold the work shaft 41 movably in the vertical direction and to rotate the work shaft 41.

  Here, in the first embodiment, as shown in FIGS. 1 and 2, one side is rotatably attached to the upper end portion of the housing 12 of the base 10, and the other side is the center of the upper surface of the second arm 30. A harness 50 that is rotatably attached is provided in the vicinity. The harness 50 is an example of the “first pipe member” in the present invention. The harness 50 is formed of a cylindrical hose made of a flexible resin, and connects the base 10 and the second arm 30 in a state of being bent in an inverted U shape when viewed from the side. ing. In addition, as shown in FIG. 2, a plurality of wiring pipes 51 made of wires and pipes are accommodated in the harness 50, and the base 10 side of the plurality of wiring pipes 51 is led out from the base 10. The wiring plug 13 is led out of the base 10. The wiring piping 51 is an example of “wiring” and “piping” in the present invention. In addition, the second arm 30 side of the plurality of wiring pipes 51 is connected to the arm driving device 32, the lifting motor 45, the rotation driving device 46, and the like.

  In the first embodiment, as shown in FIGS. 1 and 2, one side is arranged on one side (arrow X1 direction side) of the first arm 20 and the other side is arranged on the second arm 30. A tube unit 60 is provided. The tube unit 60 is an example of the “second pipe member” in the present invention. The tube unit 60 includes a tube main body 61 that connects one side of the first arm 20 (arrow X1 direction side) and one side of the second arm 30 (arrow X1 direction side) in a curved state in an inverted U shape. A connection unit 62 for rotatably attaching one side of the tube main body 61 to one side (arrow X1 direction side) of the first arm 20, and the other side of the tube main body 61 being one side (arrow X1) of the second arm 30. And a connection unit 63 for rotatably mounting on the direction side. The tube main body 61 is an example of the “tube member main body” in the present invention.

  The tube unit 60 is arranged so as to be spaced apart from the harness 50 at a predetermined interval, and is configured to be movable separately from the harness 50. That is, the harness 50 and the tube unit 60 are configured to be rotatable without interfering with each other even when the first arm 20 and the second arm 30 are rotated. In addition, as shown in FIGS. 1 and 2, the tube unit 60 is in a state where the base 10, the first arm 20, and the second arm 30 are linearly extended in the arrow X1 direction and the arrow X2 direction. It is arranged so as to overlap with the harness 50 as seen in a plan view. That is, the harness 50 and the tube unit 60 are each configured to be able to suppress an increase in the lateral width of the SCARA robot 100 (the width in the direction orthogonal to the arrow X1 direction and the arrow X2 direction). Yes. In addition, as shown in FIG. 2, a plurality of wiring pipes 64 including wirings and pipes are accommodated in the tube unit 60. The plurality of wiring pipes 64 are accommodated inside the tube unit 60 when the tube unit 60 is attached to the first arm 20 and an attachment member 71 described later. The wiring pipe 64 is an example of the “wiring” and “pipe” in the present invention.

  In the first embodiment, as shown in FIGS. 1 and 2, the tube main body 61 is composed of a resin-made flexible pipe configured to be able to bend in any direction. That is, the tube main body 61 is configured by a pipe to which wiring or piping can be added separately. A connection unit 62 for rotatably attaching one side of the tube main body 61 to one side of the first arm 20 is connected to one side of the tube main body 61 and a joint member 65 made of a straight joint, It is mainly comprised by the coupling member 66 attached with respect to the coupling member 65 so that rotation was possible. The joint member 66 is an example of the “first joint portion” in the present invention.

  The outer peripheral surface of the bearing 67 is fitted into the inner peripheral surface of the joint member 65. The bearing 67 is an example of the “second bearing” in the present invention. Further, the outer peripheral surface of the upper end portion of the joint member 66 is fitted into the inner peripheral surface of the bearing 67. That is, the bearing 67 is provided between the joint member 65 and the joint member 66. The rotation center axis of the bearing 67 is provided coaxially with the rotation axis on which the first arm 20 rotates with respect to the base 10. That is, the rotation center axis of the bearing 67 is provided coaxially with the rotation center axis L1 of the bearing 22a. Thus, the joint member 65 and the joint member 66 can be rotated separately from each other by the bearing 67.

  In the first embodiment, the outer peripheral surface of the lower end portion of the joint member 66 is fitted into the inner peripheral surface of the bearing 68. The bearing 68 is an example of the “first bearing” in the present invention. The outer peripheral surface of the bearing 68 is fitted into the inner peripheral surface of the bearing attachment portion 23 a of the plate member 23 attached to the upper end surface of the first arm 20. As shown in FIG. 3, among the four through holes 23 b, 23 c, 23 d and 23 e, the plate member 23 is screwed to the first arm 20 with screws 24. Further, as shown in FIG. 2, the rotation center axis of the bearing 68 is provided coaxially with the rotation axis on which the first arm 20 rotates with respect to the base 10. That is, the rotation center axis of the bearing 68 is provided coaxially with the rotation center axis L1 of the bearing 22a, like the bearing 67. Thereby, the joint member 66 is rotatably attached to the first arm 20 by the bearing 68.

  In the first embodiment, as shown in FIG. 1, an opening 66 a is formed on the outer peripheral surface of the joint member 66. The opening 66a is an example of the “opening hole” in the present invention. A plurality of wiring pipes 64 arranged inside the tube main body 61 are led out to the opening 66a. Further, in the vicinity of the opening 66 a on the outer peripheral surface of the joint member 66, one side of the fixing member 69 is screwed. In the first embodiment, the other side of the fixing member 69 is fixed to the rear portion (the portion in the direction of the arrow X1) of the housing 12 of the base 10. Thus, the joint member 66 is fixed to the base 10 by the fixing member 69, and the joint member 66 and the first arm 20 are configured to be separately rotatable by the bearing 68. 10 is not rotated. In addition, since the joint member 66 and the tube main body 61 are configured to be separately rotatable by the bearing 67, the tube main body 61 is also provided when the second arm 30 is rotated with respect to the first arm 20. It is possible to suppress twisting with respect to the joint member 66. Further, the plurality of wiring pipes 64 led out from the opening 66 a of the joint member 66 are arranged along the fixing member 69 over the base 10.

  In the first embodiment, as shown in FIGS. 1 and 2, the connection unit 63 for rotatably attaching the other side of the tube main body 61 to the second arm 30 is connected to the other side of the tube main body 61. In addition, the joint member 70 is composed of an elbow joint, and is mainly composed of a joint member 70 and a mounting member 71 rotatably attached to the upper surface of the second arm 30. The joint member 70 is an example of the “second joint portion” in the present invention.

  As shown in FIG. 2, the other side of the tube main body 61 is fitted on the inner peripheral surface of one side of the joint member 70, and the inner peripheral surface of the bearing 72 is connected to the outer peripheral surface of the other side of the joint member 70. Is inserted. The bearing 72 is an example of the “third bearing” in the present invention. Further, the outer peripheral surface of the bearing 72 is fitted into the bearing mounting portion 71 a of the mounting member 71. That is, the bearing 72 is provided between the joint member 70 and the attachment member 71. The rotation center axis of the bearing 72 is provided coaxially with the rotation axis on which the second arm 30 rotates with respect to the first arm 20. That is, the rotation center axis of the bearing 72 is provided coaxially with the rotation center axis L2 of the drive shaft 32a of the arm drive device 32. As a result, the joint member 70 and the second arm 30 can be rotated separately from each other by the bearing 72.

  In the first embodiment, as shown in FIGS. 1 and 2, the attachment member 71 is attached in a state where one side is in surface contact with the upper surface of the second arm 30, and the other side is the second arm. It is configured in a step shape located above the upper surface of 30. The bearing mounting portion 71 a is provided on the upper surface on the other side of the mounting member 71. In addition, an opening 71b (see FIG. 2) is formed in the portion of the mounting member 71 where the bearing mounting portion 71a is provided, and the plurality of wiring pipes 64 that are electrically connected to the inside of the tube unit 60 include the opening. It is derived downward from 71b.

  In 1st Embodiment, in addition to the harness 50 which can accommodate the wiring piping 51 inside as mentioned above, by providing the tube unit 60 which can accommodate the wiring piping 64 inside, wiring piping which consists of wiring and piping 51 and the wiring pipe 64 can be accommodated in the tube unit 60 in addition to the harness 50 even when the number of the wiring pipes 64 and the wiring pipes 64 is large, the first arm 20 and the second arm 30 are rotated. In this case, it is possible to prevent the wiring pipe 51 made of wiring or piping housed inside the harness 50 from rubbing against the wiring pipe 64 made of wiring or pipe housed inside the tube unit 60. Thereby, even when there are many wiring and piping, since it can suppress that the wiring piping 51 and the wiring piping 64 wear, it can suppress that the wiring piping 51 and the wiring piping 64 deteriorate. .

  In the first embodiment, as described above, the tube unit 60 and the harness 50 are arranged apart from each other at a predetermined interval, and are configured to be movable independently from each other. Since the harness 50 and the tube unit 60 can be prevented from rubbing against each other, the harness 50 and the tube unit 60 can be prevented from being worn. Thereby, it can suppress that the harness 50 and the tube unit 60 deteriorate.

  In the first embodiment, as described above, one side of the harness 50 is rotatably attached to the base 10 and the other side is rotatably attached to the second arm 30. The first arm 20 and the second arm 30 are rotated by attaching one side of the first arm 20 so as to be rotatable with respect to one side of the first arm 20 and the other side so as to be rotatable with respect to the second arm 30. It is possible to suppress the harness 50 and the tube unit 60 from being twisted.

  In the first embodiment, as described above, when the first arm 20 is rotated with respect to the base 10, the joint member 66 is fixed with respect to the base 10 so that the opening hole 66 a does not rotate. When the first arm 20 is rotated with respect to the base 10 by drawing out the wiring pipe 64 from the opening 66a of the joint member 66, the first arm 20 is fixed to the base 10 as well. Since the rotation center axis (L1) rotating with respect to the rotation center axis (L1) of the bearing 68 can be suppressed, the bearing 68 can be smoothly rotated. Thereby, since it can suppress that the opening part 66a of the coupling member 66 rotates with the bearing 68 by the 1st arm 20 rotating, the wiring piping derived | led-out from the opening part 66a It is possible to suppress wear due to, for example, the contact of the 64 with the outer peripheral portion of the opening 66a.

  Moreover, in 1st Embodiment, as mentioned above, it attaches so that the coupling member 66 may be fixed with respect to the base 10, and it arrange | positions so that the wiring piping 64 may follow from the base 10 to the opening part 66a of the coupling member 66. By providing the possible fixing member 69, the wiring member 64 can be easily arranged by the fixing member 69 and the joint member 66 can be prevented from rotating.

  Further, in the first embodiment, as described above, between the joint member 66 of the tube unit 60 and the tube main body 61, one side of the tube main body 61 is set to the rotation center substantially the same as the rotation center axis (L1) of the bearing 68. By providing a bearing 67 that supports the shaft (L1) so as to be rotatable about the shaft (L1), when the joint member 66 is fixed, the tube 67 moves the tube body 61 to the joint member 66 by the bearing 67. L1) can be rotated smoothly.

  Further, in the first embodiment, as described above, the tube unit 60 is attached to the second arm 30 side, and the rotation center axis (L1) that the second arm 30 rotates with respect to the first arm 20 is provided. By providing a bearing 72 that is rotatable about substantially the same rotation center axis (L1) and a joint member 70 having one side connected to the tube body 61 and the other side attached to the bearing 72, the second arm 30 is When the second arm 30 is rotated with respect to the first arm 20, the rotation central axis (L 1) for rotating the second arm 30 with respect to the first arm 20 is not aligned with the rotation central axis (L 1) of the bearing 72. Since it can suppress, the bearing 72 can be rotated smoothly. Thereby, the joint member 70 and the tube main body 61 can be smoothly rotated with respect to the second arm 30.

  In the first embodiment, as described above, the tube unit 60 is configured such that at least one of wiring and piping can be separately added therein, so that the user can add an additional function. Since the wiring and piping related to the can be wired to the tube unit 60, the added wiring and piping can be protected by the tube unit 60. Thereby, it can suppress that the added wiring and piping are worn.

(Second Embodiment)
FIG. 4 is a cross-sectional view for explaining the configuration of the SCARA robot according to the second embodiment of the present invention. Hereinafter, the configuration of the SCARA robot 200 according to the second embodiment of the present invention will be described with reference to FIG. In the second embodiment, unlike the first embodiment, the base 10 and the second arm 30 are not a harness composed of a cylindrical hose made of a flexible resin, but in any direction. An example in which the tube unit 150 is configured by a flexible pipe configured to be bendable will be described.

  As shown in FIG. 4, the SCARA robot 200 according to the second embodiment has one side rotatably attached to the upper end of the housing 12 of the base 10 and the other side being the center of the upper surface of the second arm 30. A tube unit 150 that is rotatably attached is provided in the vicinity. The tube unit 150 is an example of the “first tube member” in the present invention. The tube unit 150 includes a tube main body 151 that connects one side (the arrow X1 direction side) of the base 10 and the second arm 30 in a state of being curved in an inverted U shape, and a base on one side of the tube main body 151. 10, a connection unit 152 that is rotatably attached to one side (arrow X1 direction side), and a connection unit 153 that is rotatably attached to the second arm 30 on the other side of the tube main body 151.

  In addition, a wiring pipe 154 made of wiring or piping is accommodated in the tube unit 150, and the base 10 side of the wiring pipe 154 is connected to the base 10 from the wiring plug 13 or the like led out from the base 10. It is derived outside. In addition, the second arm 30 side of the plurality of wiring pipes 154 is connected to the arm driving device 32, the lifting motor 45, the rotation driving device 46, and the like. The plurality of wiring pipes 154 are examples of “wiring” and “piping” in the present invention. The plurality of wiring pipes 154 are accommodated inside the tube unit 150 when the tube unit 150 is attached to the second arm 30 and the base 10.

  In addition, the tube unit 150 is arranged so as to be separated from the tube unit 60 at a predetermined interval, and is configured to be movable separately from the tube unit 60. That is, the tube unit 150 and the tube unit 60 are configured to be rotatable without interfering with each other even when the first arm 20 and the second arm 30 are rotated. In addition, the tube unit 150 includes the tube unit 60 and the tube unit 60 in a plan view when the base 10, the first arm 20, and the second arm 30 are linearly extended in the arrow X1 direction and the arrow X2 direction. They are arranged so as to overlap. That is, each of the tube unit 150 and the tube unit 60 is configured to be able to suppress an increase in the lateral width of the SCARA robot 200 (the width in the direction orthogonal to the arrow X1 direction and the arrow X2 direction). ing.

  Moreover, in 2nd Embodiment, the tube main body 151 is comprised by the resin-made flexible pipes comprised so that a curve was possible in any direction. That is, the tube main body 151 is configured by a pipe to which wiring and piping can be added separately. Further, the connection unit 152 for rotatably attaching one side of the tube main body 151 to one side (arrow X1 direction side) of the base 10 holds the joint member 155 made of a straight joint and the joint member 155 rotatably. The bearing 156 is provided mainly on the upper surface of the housing 12 of the base 10 and has a bearing holding portion 14 that holds the bearing 156.

  One side of the tube main body 151 is fitted into the inner peripheral surface of the joint member 155, and the outer peripheral surface of the joint member 155 is fitted into the inner peripheral surface of the bearing 156. The outer peripheral surface of the bearing 156 is fitted into the bearing holding portion 14 of the base 10. As a result, one side of the tube main body 151 of the tube unit 150 can be rotated around the rotation center axis of the bearing 156.

  In the second embodiment, the connection unit 153 for rotatably attaching the other side of the tube main body 151 to the second arm 30 is connected to the other side of the tube main body 151 and is a joint member made of a straight joint. 157, a bearing 158 that rotatably holds the joint member 157, and a bearing holding portion 159 that is attached to the upper surface of the second arm 30 and holds the bearing 158. The other side of the tube main body 151 is fitted into the inner peripheral surface of the joint member 157, and the inner peripheral surface of the bearing 158 is fitted into the outer peripheral surface of the joint member 157. Further, the outer peripheral surface of the bearing 158 is fitted in a bearing holding portion 159 attached to the upper surface of the second arm 30. As a result, the other side of the tube main body 151 of the tube unit 150 can be rotated around the rotation center axis of the bearing 158.

  Since the other configuration of the second embodiment is the same as the configuration of the first embodiment, description thereof is omitted.

  The effect of the second embodiment is the same as the effect of the first embodiment.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the above-described embodiment, an example in which a SCARA robot including two arms, the first arm and the second arm, is applied to the SCARA robot of the present invention is shown. You may apply to the SCARA type robot which consists of the above-mentioned arm or 3 or more arms.

  In the above embodiment, the first pipe member of the present invention is composed of a harness composed of a cylindrical hose made of flexible resin, or a flexible pipe configured to be able to bend in any direction. Although an example in which a tube unit configured by a resin-made flexible pipe configured to be able to bend in any direction is applied to the second tube member of the present invention is shown, However, the present invention is not limited to this, and a harness constituted by a cylindrical hose made of a resin having flexibility may be applied to both the first tube member and the second tube member of the present invention.

  Moreover, in the said embodiment, although shown about the example attached to the base, the 1st arm, and the 2nd arm in the state which accommodated several wiring and piping in the tube unit, this invention is not restricted to this, A tube You may make it accommodate a some wiring and piping after attaching a unit with respect to a base, a 1st arm, and a 2nd arm.

  Further, instead of the fixing member 69 and the mounting member 71 according to the first embodiment, as in the first modification of the first embodiment shown in FIG. You may make it provide the fixing member 269 and the attachment member 271 which have the wiring connectors 269a and 271a.

  Moreover, in the said 1st Embodiment, it is arrange | positioned under the harness 50 which connects the base 10 and the 2nd arm 30, and is attached to the attachment member 71 attached to the 1st arm 20 and the 2nd arm 30. Although an example in which the connected tube unit 60 is provided has been described, the present invention is not limited to this, and the base 310 and the second arm 330 are provided as in the second modification of the first embodiment shown in FIG. A tube unit 360 that is disposed above (outside) the harness 350 to be connected and that connects the attachment member 311 attached to the base 310 and the attachment member 371 attached to the second arm 330 may be provided. Specifically, the attachment member 311 is attached to the arrow X1 direction side from the portion where the harness 350 is attached to the base 310, and the attachment member 371 is attached to the second arm 330. It is attached to the arrow X2 direction side rather than the part which is. As a result, the tube unit 360 can be disposed above (outside) the harness 350. That is, the tube unit 360 and the harness 350 can be configured to be able to suppress contact with each other. The harness 350 is an example of the “first pipe member” in the present invention.

  In the second modification, the tube unit 360 is connected to the base 310 and the second arm 330 while being bent in an inverted U shape, and one side of the tube main body 361 is rotated to the attachment member 311. The connection unit 362 is configured to be attached in a possible manner, and the connection unit 363 is provided to rotatably attach the other side of the tube main body 361 to the attachment member 371. The tube main body 361 is an example of the “tube member main body” in the present invention. The connection unit 362 includes a pipe 366 fixed to the attachment member 311, and a joint member 365 that rotatably connects the pipe 366 and the tube main body 361. The pipe 366 has an opening 366a through which the wiring pipe 364 is led out. The opening 366a is an example of the “opening hole” in the present invention. And since the pipe 366 is being fixed with respect to the attachment member 311, the opening part 366a is not rotated. Thereby, it is possible to suppress the wiring piping 364 from rubbing against the opening 366a. The wiring piping 364 is an example of “wiring” and “piping” in the present invention.

  Moreover, in the said 1st Embodiment, it showed about the example which screwed the through-holes 23c and 23e with respect to the 1st arm 20 with the screw 24 among the four through-holes 23b, 23c, 23d, and 23e of the plate member 23. However, the present invention is not limited to this, and the lengths of the first arm 420 in the arrow X1 direction and the arrow X2 direction are the same as those in the first embodiment as in the third modification of the first embodiment shown in FIG. Even when the first arm 20 has a length larger than that of the first arm 20 and cannot be screwed to the first arm 420 using the through holes 23c and 23e, for example, the through holes 23b and 23d are screwed by the first arm 420. You may make it screw with respect to.

1 is a perspective view showing an overall configuration of a SCARA robot according to a first embodiment of the present invention. It is sectional drawing for demonstrating the structure of the scalar type robot shown in FIG. It is sectional drawing for demonstrating the structure of the scalar type robot shown in FIG. It is sectional drawing for demonstrating the structure of the scalar type robot by 2nd Embodiment of this invention. It is a perspective view which shows the whole structure of the scalar type robot by the 1st modification of 1st Embodiment of this invention. It is a side view which shows the whole structure of the scalar type robot by the 2nd modification of 1st Embodiment of this invention. It is a fragmentary sectional view for explaining the 2nd arm and plate member of the SCARA robot by the 3rd modification of a 1st embodiment of the present invention.

Explanation of symbols

10, 310 Base 20, 420 First arm (arm)
30, 330 Second arm (arm)
50, 350 Harness (first pipe member)
51, 154 Wiring piping (wiring, piping)
60, 360 Tube unit (second pipe member)
61,361 Tube body (Tube member body)
64, 364 Wiring piping (wiring, piping)
66 Joint member (first joint part)
66a, 366a opening (opening hole)
67 Bearing (second bearing)
68 Bearing (first bearing)
69, 269 Fixing member 70 Joint member (second joint part)
72 Bearing (3rd bearing)
100, 200 SCARA robot 150 Tube unit (first pipe member)
L1 Rotation center axis L2 Rotation center axis

Claims (8)

The base,
An arm rotatably attached to the base;
A first pipe member having one side disposed on the base side and the other side disposed on the arm side and capable of accommodating at least one of wiring and piping therein;
A SCARA robot having at least one side disposed on the arm side and a second pipe member capable of accommodating at least one of wiring and piping inside.   The said 2nd pipe member and the said 1st pipe member are mutually arrange | positioned at predetermined intervals, and are comprised so that a movement in the mutually independent state is possible. SCARA robot. The arm includes a first arm attached to one side so as to be rotatable with respect to the base, and a second arm attached to one side so as to be rotatable with respect to the other side of the first arm,
The first pipe member has one side rotatably attached to the base and the other side rotatably attached to the second arm.
The said 2nd pipe member is attached so that one side can be rotated with respect to one side of the said 1st arm, and the other side is rotatably attached with respect to the said 2nd arm. Or the SCARA robot according to 2. The second pipe member is
A first bearing that is attached to the first arm and is rotatable about a rotation center axis that is substantially the same as a rotation center axis in which the first arm rotates with respect to the base;
A first joint portion attached to the first bearing;
The first joint portion has an opening hole provided in an outer peripheral surface thereof, and the opening is prevented from rotating when the first arm is rotated with respect to the base. Fixed against the
4. The SCARA robot according to claim 3, wherein at least one of the wiring and the pipe accommodated in the second pipe member is led out from an opening hole of the first joint portion.   A fixing member that is attached so as to fix the first joint portion with respect to the base, and that can be arranged so that at least one of the wiring and the piping extends from the base to the opening hole of the first joint portion; The SCARA robot according to claim 4 provided.   The second pipe member further includes a pipe member main body that covers at least one of the wiring and the pipe, and is provided between the first joint portion and the pipe member main body. 6. The SCARA robot according to claim 4, further comprising a second bearing rotatably supported about a rotation center axis substantially the same as the rotation center axis of the first bearing. The second pipe member is
A third bearing mounted on the second arm side and rotatable about a rotation center axis substantially the same as a rotation center axis about which the second arm rotates with respect to the first arm;
The SCARA robot according to claim 6, further comprising a second joint portion having one side connected to the pipe member main body and the other side attached to the third bearing.   At least one of said 1st pipe member and said 2nd pipe member is comprised so that at least one of wiring and piping can be added separately inside, The structure of any one of Claims 1-7 SCARA robot.

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