JP2021133495A - Robot arm - Google Patents

Robot arm Download PDF

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JP2021133495A
JP2021133495A JP2020158077A JP2020158077A JP2021133495A JP 2021133495 A JP2021133495 A JP 2021133495A JP 2020158077 A JP2020158077 A JP 2020158077A JP 2020158077 A JP2020158077 A JP 2020158077A JP 2021133495 A JP2021133495 A JP 2021133495A
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Prior art keywords
tub
plate
gasket
space
rotating shaft
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費国敏
Guomin Fei
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0021—All motors in base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

Abstract

To provide a robot arm having a close structure by reducing the occupied space of a drive mechanism that drives lifting and rotating.SOLUTION: A small-width lifting rotary table for a machine tool includes a base plate 1, a support base 2 provided on the base plate, and an arm 3 fixed to one side of the support base. On the base plate, a tub body 4 is provided in a vertical direction, and the tub body is provided to open downward. The tub body is fixedly connected to the base plate. An upper plate 5 that can slide up and down is provided in the tub body. In the tub body, a lower plate 6 is fixed in a horizontal direction. The upper plate and the lower plate divide an internal space of the tub body into an upper space 4a, a middle space 4b, and a lower space 4c which do not communicate with each other. On a tub wall of the tub body, two ventilation ports 4d communicating with the upper space and the central space are formed. A motor 7 is fixed in the lower space. The motor includes a spindle that is vertically provided. A through hole, through which the spindle of the motor passes, is formed on the lower plate.SELECTED DRAWING: Figure 1

Description

本発明は、機械技術分野に関し、ロボットに関わり、具体的には、ロボットアームに関する。 The present invention relates to the field of mechanical technology, relates to a robot, and specifically to a robot arm.

ロボットアームとは、高精度、マチル入力マチル出力、高非線形、強結合度を有する複雑なシステムである。その独特な操作の柔軟性があるため、工場での組立、安全防爆などの分野で広く用いられている。
従来のロボットアームは、一般に活動台と、活動台に設けられるアームと駆動機構と、を含み、中で、駆動機構が活動台の昇降と回転運動を駆動できる。従来の昇降と回転を駆動する駆動機構は、互いに独立しているため、ロボットアームの構造がまとまっておらず、占用空間が大きくなる。 A robot arm is a complex system with high accuracy, matil input, matil output, high non-linearity, and strong coupling. Due to its unique operational flexibility, it is widely used in fields such as factory assembly and safety explosion proof.
A conventional robot arm generally includes an activity table, an arm provided on the activity table, and a drive mechanism, in which the drive mechanism can drive the raising and lowering and rotational movements of the activity table. Since the conventional drive mechanisms that drive elevating and rotating are independent of each other, the structure of the robot arm is not organized and the occupied space becomes large.

中国特許出願公開第１１０３２８６８７号明細書Chinese Patent Application Publication No. 110328687

本発明は、従来における上記技術的課題を解決するために、緊密な構造を有するロボットアームを提供することを目的とする。 An object of the present invention is to provide a robot arm having a close structure in order to solve the above-mentioned technical problems in the prior art.

上記の目的を実現するために、ロボットアームであって、台板と、前記台板に設けられる支持台と、前記支持台の片側に固定して設けられるアームと、を含み、前記台板には、桶体が鉛直に設けられ、前記桶体は、下方に開口して設けられ、前記桶体は、前記台板と固定して接続され、前記桶体の中には、上下摺動可能な上板が設けられ、前記桶体の中には、下板が水平に固定され、前記上板と前記下板は、前記桶体の内部空間を、互いに連通しない上部空間と、中部空間と、下部空間と、に仕切り、前記桶体の桶壁には、前記上部空間と前記中部空間にそれぞれ連通する二つの通風口が形成され、前記下部空間内には、モータが固定され、前記モータは、鉛直に設けられる主軸を含み、前記下板には、前記モータの主軸を通す貫穴が形成され、前記主軸と前記貫穴との間は、第一ガスケットによって密封され、前記上板には、管状をなす回転軸が回転可能に設けられ、且つ前記回転軸の上端及び下端は、それぞれ密封状態や開口状態にあり、前記回転軸の上端は、前記桶体から延出して前記支持台と固定して接続され、前記回転軸の下端は、前記主軸の上端に外装され、前記回転軸と前記主軸とは、スプラインによって接続され、前記回転軸は、第二ガスケットと第三ガスケットとによってそれぞれ前記上板と前記桶体と密封される。 In order to realize the above object, the robot arm includes a base plate, a support base provided on the base plate, and an arm fixed to one side of the support base, and is provided on the base plate. Is provided with a tub vertically, the tub is provided with an opening at the bottom, the tub is fixedly connected to the base plate, and can slide up and down in the tub. An upper plate is provided, and a lower plate is horizontally fixed in the tub, and the upper plate and the lower plate communicate with each other in the internal space of the tub, with an upper space and a central space. In the tub wall of the tub body, two ventilation openings communicating with the upper space and the central space are formed, and a motor is fixed in the lower space. Including a spindle provided vertically, a through hole through which the spindle of the motor is passed is formed in the lower plate, and the space between the spindle and the through hole is sealed by a first gasket to form the upper plate. Is a tubular rotary shaft that is rotatably provided, and the upper and lower ends of the rotary shaft are in a sealed state and an open state, respectively, and the upper end of the rotary shaft extends from the tub and the support base. The lower end of the rotating shaft is externally attached to the upper end of the main shaft, the rotating shaft and the main shaft are connected by a spline, and the rotating shaft is connected by a second gasket and a third gasket. The top plate and the tub are sealed, respectively.

取り付けるときに、二つの前記通風口をいずれも空気源と接続する。使用過程は下記のとおりである：空気が対応の前記通風口から前記中部空間に入って前記上板を上昇させて前記アームを操作位置に移動させ、そして空気が対応の前記通風口から前記上部空間に入って前記上部空間と前記中部空間とに気圧バランスを保たせることで前記上板を圧着し、そして前記モータが前記回転軸を駆動して前記アームを指定位置まで回転させてつかみ取り動作を行う。 At the time of installation, both of the two vents are connected to the air source. The process of use is as follows: air enters the central space from the corresponding vent to raise the top plate to move the arm to the operating position, and air from the corresponding vent to the upper part. The upper plate is crimped by entering the space and maintaining the atmospheric pressure balance between the upper space and the central space, and the motor drives the rotating shaft to rotate the arm to a designated position to perform a grasping operation. conduct.

前記モータと前記回転軸を前記桶体内に設けることと、前記桶体内に設けられる前記上板の協働とによって、前記回転軸が昇降運動と回転運動を実現でき、各部品間の距離を縮め、ロボットアーム全体の構造を緊密にする。 By providing the motor and the rotating shaft in the tub and the cooperation of the upper plate provided in the tub, the rotating shaft can realize an ascending / descending motion and a rotational motion, and the distance between each component is shortened. , Tighten the structure of the entire robot arm.

前記ロボットアームにおいて、前記上板は、第四ガスケットと、前記桶体内に水平に設けられる板体と、を含み、前記板体の側壁には、第四環状溝が形成され、前記第四ガスケットは、前記第四環状溝内に位置し、前記第四ガスケットの外側壁は、前記桶体の内側壁と当接する。 In the robot arm, the upper plate includes a fourth gasket and a plate body horizontally provided in the tub, and a fourth annular groove is formed on a side wall of the plate body, and the fourth gasket is formed. Is located in the fourth annular groove, and the outer wall of the fourth gasket comes into contact with the inner side wall of the tub.

前記ロボットアームにおいて、前記板体には、管状をなす支持部を有し、前記支持部と前記板体とは、一体であり、前記板体は、前記支持部と前記下板との間に位置し、前記支持部は、前記回転軸に外装され、且つ前記支持部と前記回転軸とは、軸受によって回転可能に接続され、前記第二ガスケットは、前記軸受の下方に位置する。上記構造を採用することで、軸受と上板の接続に寄与する。 In the robot arm, the plate body has a tubular support portion, the support portion and the plate body are integrated, and the plate body is located between the support portion and the lower plate. Positioned, the support is rotatably connected to the rotating shaft, the support and the rotating shaft are rotatably connected by a bearing, and the second gasket is located below the bearing. By adopting the above structure, it contributes to the connection between the bearing and the upper plate.

前記ロボットアームにおいて、前記板体の内側壁には、第二環状溝が形成され、前記第二ガスケットは、前記第二環状溝の内部に位置し、前記第二ガスケットの内側壁は、前記回転軸の外側壁と当接する。 In the robot arm, a second annular groove is formed on the inner wall surface of the plate body, the second gasket is located inside the second annular groove, and the inner wall surface of the second gasket is the rotation. Contact the outer wall of the shaft.

前記ロボットアームにおいて、前記主軸の外側壁には、第一環状溝が形成され、前記第一ガスケットは、前記第一環状溝の内部に位置し、前記第一ガスケットの外側壁は、前記貫穴の穴壁と当接する。 In the robot arm, a first annular groove is formed in the outer wall of the spindle, the first gasket is located inside the first annular groove, and the outer wall of the first gasket is the through hole. Contact the hole wall of.

従来技術に比べ、本発明のロボットアームは、モータと回転軸を桶体内に設け、また、桶体内に設けられる上板の協働により回転軸が昇降運動と回転運動をでき、各部品間の距離を縮め、ロボットアーム全体の構造を緊密にする。 Compared with the prior art, in the robot arm of the present invention, the motor and the rotating shaft are provided in the tub, and the rotating shaft can move up and down and rotate by the cooperation of the upper plate provided in the tub, and the robot arm can move up and down and rotate between the parts. Shorten the distance and tighten the structure of the entire robot arm.

本願に記載の各方向が、図１と同じ向きに装置を見た際の方向である。 Each direction described in the present application is a direction when the device is viewed in the same direction as in FIG.

ロボットアームの構造図である。It is a structural drawing of a robot arm. 図１におけるＡの部分の拡大構造図である。It is an enlarged structure view of the part A in FIG.

以下、図１〜図２を参照しながら本実施形態について説明する。本発明の実施例に係る技術的内容を明確かつ完全に説明する。明らかに、以下に説明する実施例は、本発明の実施例の一部にすぎず、すべての実施例ではない。本発明の実施例に基づいて、当業者は、創作的な努力なしで得られるすべての実施例は、本発明の保護範囲内に含まれる。 Hereinafter, the present embodiment will be described with reference to FIGS. 1 and 2. The technical contents of the embodiments of the present invention will be described clearly and completely. Obviously, the examples described below are only a part of the examples of the present invention and not all of them. Based on the examples of the present invention, those skilled in the art will include all examples obtained without creative effort within the scope of protection of the present invention.

図１に示すように、ロボットアームであって、台板１と、前記台板１に設けられる支持台２と、前記支持台２の片側に固定して設けられるアーム３と、を含み、前記アーム３は、市販されている製品であり、前記台板１には、桶体４が鉛直に設けられ、前記桶体４は、下方に開口して設けられ、前記桶体４は、前記台板１と固定して接続され、本実施例において、前記桶体４と前記台板１との接続方式について、前記桶体４の外側壁には、環状フランジが一体成型され、前記環状フランジは、前記台板１に圧着し、前記環状フランジは、複数のねじによって前記台板１と取り外し可能に固定して接続される。 As shown in FIG. 1, a robot arm including a base plate 1, a support base 2 provided on the base plate 1, and an arm 3 fixed to one side of the support base 2 and described above. The arm 3 is a commercially available product, and the tub 4 is vertically provided on the base plate 1, the tub 4 is provided with an opening downward, and the tub 4 is the base. It is fixedly connected to the plate 1, and in the present embodiment, regarding the connection method between the tub 4 and the base plate 1, an annular flange is integrally molded on the outer wall of the tub 4, and the annular flange is formed. , The annular flange is crimped to the base plate 1, and the annular flange is detachably fixed and connected to the base plate 1 by a plurality of screws.

具体的には、前記桶体４の中には、上下摺動可能な上板5が設けられ、前記桶体４の中には、下板６が水平に固定され、前記上板5と前記下板６は、前記桶体４の内部空間を、互いに連通しない上部空間４ａと、中部空間４ｂと、下部空間４ｃと、に仕切る。前記下板６の側壁は、前記桶体４の内壁と密着して密封を形成し、前記下板６は、溶接によって前記桶体４と固定して接続され、これによって前記下板６と前記桶体４との間の密封性を上げる。前記上板５は、第四ガスケット５ａと、前記桶体４内に水平に設けられる板体５ｂと、を含み、前記板体５ｂの側壁には、第四環状溝が形成され、前記第四ガスケット５ａは、前記第四環状溝内に位置し、前記第四ガスケット５ａの外側壁は、前記桶体４の内側壁と当接する。 Specifically, an upper plate 5 that can slide up and down is provided in the tub 4, and a lower plate 6 is horizontally fixed in the tub 4, and the upper plate 5 and the above are described. The lower plate 6 divides the internal space of the tub 4 into an upper space 4a, a middle space 4b, and a lower space 4c that do not communicate with each other. The side wall of the lower plate 6 is in close contact with the inner wall of the tub 4 to form a seal, and the lower plate 6 is fixedly connected to the tub 4 by welding, whereby the lower plate 6 and the lower plate 6 are connected. Increase the sealing performance with the tub 4. The upper plate 5 includes a fourth gasket 5a and a plate body 5b horizontally provided in the tub body 4, and a fourth annular groove is formed on the side wall of the plate body 5b, and the fourth annular groove is formed. The gasket 5a is located in the fourth annular groove, and the outer wall of the fourth gasket 5a comes into contact with the inner side wall of the tub 4.

図１〜図２に示すように、前記桶体４の桶壁には、前記上部空間４ａと前記中部空間４ｂにそれぞれ連通する二つの通風口４ｄが形成され、前記下部空間４ｃ内には、モータ７が固定され、前記モータ７は、鉛直に設けられる主軸を含み、前記下板６には、前記モータ７の主軸を通す貫穴が形成され、前記主軸と前記貫穴との間は、第一ガスケット８によって密封される。前記上板５には、管状をなす回転軸９が回転可能に設けられ、この時、前記回転軸９の下端が前記中部空間４ｂに位置し、且つ前記回転軸９の上端及び下端は、それぞれ密封状態や開口状態にあり、前記回転軸９の上端は、前記桶体４から延出して前記支持台２と固定して接続される。前記回転軸９の下端は、前記主軸の上端に外装され、前記回転軸９と前記主軸とは、スプラインによって接続される。前記回転軸９は、第二ガスケット１１と第三ガスケット１２とによってそれぞれ前記上板５と前記桶体４と密封される。 As shown in FIGS. 1 to 2, two ventilation ports 4d communicating with the upper space 4a and the central space 4b are formed in the tub wall of the tub body 4, and in the lower space 4c, two ventilation holes 4d are formed. The motor 7 is fixed, the motor 7 includes a main shaft provided vertically, a through hole through which the main shaft of the motor 7 is passed is formed in the lower plate 6, and a through hole is formed between the main shaft and the through hole. It is sealed by the first gasket 8. A tubular rotating shaft 9 is rotatably provided on the upper plate 5, at which time the lower end of the rotating shaft 9 is located in the central space 4b, and the upper and lower ends of the rotating shaft 9 are respectively. It is in a sealed state or an open state, and the upper end of the rotating shaft 9 extends from the tub 4 and is fixedly connected to the support base 2. The lower end of the rotating shaft 9 is externally attached to the upper end of the main shaft, and the rotating shaft 9 and the main shaft are connected by a spline. The rotating shaft 9 is sealed with the upper plate 5 and the tub 4 by the second gasket 11 and the third gasket 12, respectively.

前記回転軸９と前記上板５との接続方式は下記の通りである：前記板体５ｂには、管状をなす支持部５ｂ１を有し、前記支持部５ｂ１と前記板体５ｂとは、一体であり、前記板体５ｂは、前記支持部５ｂ１と前記下板６との間に位置し、前記支持部５ｂ１は、前記回転軸９に外装され、且つ前記支持部５ｂ１と前記回転軸９とは、軸受１０によって回転可能に接続され、前記第二ガスケット１１は、前記軸受１０の下方に位置する。更に、前記板体５ｂの内側壁には、第二環状溝が形成され、前記第二ガスケット１１は、前記第二環状溝の内部に位置し、前記第二ガスケット１１の内側壁は、前記回転軸９の外側壁と当接する。 The connection method between the rotating shaft 9 and the upper plate 5 is as follows: The plate body 5b has a tubular support portion 5b1, and the support portion 5b1 and the plate body 5b are integrated. The plate body 5b is located between the support portion 5b1 and the lower plate 6, the support portion 5b1 is mounted on the rotation shaft 9, and the support portion 5b1 and the rotation shaft 9 are attached to each other. Is rotatably connected by a bearing 10, and the second gasket 11 is located below the bearing 10. Further, a second annular groove is formed on the inner wall surface of the plate body 5b, the second gasket 11 is located inside the second annular groove, and the inner wall surface of the second gasket 11 is the rotation. It abuts on the outer wall of the shaft 9.

前記主軸と前記下板６との接続方式は下記の通りである：前記主軸の外側壁には、第一環状溝が形成され、前記第一ガスケット８は、前記第一環状溝の内部に位置し、前記第一ガスケット８の外側壁は、前記貫穴の穴壁と当接する。 The connection method between the main shaft and the lower plate 6 is as follows: A first annular groove is formed on the outer wall of the main shaft, and the first gasket 8 is located inside the first annular groove. Then, the outer wall of the first gasket 8 comes into contact with the hole wall of the through hole.

前記回転軸９と前記桶体４との接続方式は下記のとおりである：前記桶体４には、前記回転軸９の上端を通す接続穴が形成され、前記接続穴の穴壁には、第三環状溝が形成され、前記第三ガスケット１２は、前記第三環状溝の内部に位置し、前記第三ガスケット１２の内側壁は、前記回転軸９の外側壁と当接する。 The connection method between the rotary shaft 9 and the tub 4 is as follows: The tub 4 is formed with a connection hole through which the upper end of the rotary shaft 9 is passed, and the hole wall of the connection hole is formed with a connection hole. A third annular groove is formed, the third gasket 12 is located inside the third annular groove, and the inner side wall of the third gasket 12 comes into contact with the outer wall of the rotating shaft 9.

取り付けるときに、二つの通風口４ｄをいずれも空気源と接続する。使用過程は下記のとおりである：空気が対応の通風口４ｄから中部空間４ｂに入って上板５を上昇させてアーム３を操作位置に移動させ、そして空気が対応の通風口４ｄから上部空間４ａに入って上部空間４ａと中部空間４ｂとに気圧バランスを保たせることで上板５を圧着し、そしてモータ７が回転軸９を駆動してアーム３を指定位置まで回転させてつかみ取り動作を行う。モータ７と回転軸９を桶体４内に設けることと、桶体４内に設けられる上板５の協働とによって、回転軸９が昇降運動と回転運動を実現でき、各部品間の距離を縮め、ロボットアーム全体の構造を緊密にする。 When installing, both the two vents 4d are connected to the air source. The process of use is as follows: Air enters the central space 4b through the corresponding vent 4d, raises the top plate 5 to move the arm 3 to the operating position, and air enters the upper space from the corresponding vent 4d. The upper plate 5 is crimped by entering 4a and maintaining the atmospheric pressure balance between the upper space 4a and the central space 4b, and the motor 7 drives the rotating shaft 9 to rotate the arm 3 to the specified position to perform the grasping operation. conduct. By providing the motor 7 and the rotating shaft 9 in the tub 4 and the cooperation of the upper plate 5 provided in the tub 4, the rotating shaft 9 can realize an ascending / descending motion and a rotational motion, and the distance between each component. Shrinks and tightens the structure of the entire robot arm.

１ 台板
２ 支持台
３ アーム
４ 桶体
４ａ 上部空間
４ｂ 中部空間
４ｃ 下部空間
４ｄ 通風口
５ 上板
５ａ 第四ガスケット
５ｂ 板体
５ｂ１ 支持部
６ 下板
７ モータ
８ 第一ガスケット
９ 回転軸
１０ 軸受
１１ 第二ガスケット
１２ 第三ガスケット 1 Base plate 2 Support base 3 Arm 4 Pail 4a Upper space 4b Central space 4c Lower space 4d Ventilation port 5 Upper plate 5a Fourth gasket 5b Plate body 5b 1 Support part 6 Lower plate 7 Motor 8 First gasket 9 Rotating shaft 10 Bearing 11 Second gasket 12 Third gasket

Claims (5)

ロボットアームであって、
台板と、前記台板に設けられる支持台と、前記支持台の片側に固定して設けられるアームと、を含み、
前記台板には、桶体が鉛直に設けられ、
前記桶体は、下方に開口して設けられ、
前記桶体は、前記台板と固定して接続され、
前記桶体の中には、上下摺動可能な上板が設けられ、
前記桶体の中には、下板が水平に固定され、
前記上板と前記下板は、前記桶体の内部空間を、互いに連通しない上部空間と、中部空間と、下部空間と、に仕切り、
前記桶体の桶壁には、前記上部空間と前記中部空間にそれぞれ連通する二つの通風口が形成され、
前記下部空間内には、モータが固定され、
前記モータは、鉛直に設けられる主軸を含み、
前記下板には、前記モータの主軸を通す貫穴が形成され、
前記主軸と前記貫穴との間は、第一ガスケットによって密封され、
前記上板には、管状をなす回転軸が回転可能に設けられ、
前記回転軸の上端及び下端は、それぞれ密封状態や開口状態にあり、
前記回転軸の上端は、前記桶体から延出して前記支持台と固定して接続され、
前記回転軸の下端は、前記主軸の上端に外装され、
前記回転軸と前記主軸とは、スプラインによって接続され、
前記回転軸は、第二ガスケットと第三ガスケットとによってそれぞれ前記上板と前記桶体と密封される、
ことを特徴とするロボットアーム。 It ’s a robot arm,
Includes a base plate, a support base provided on the base plate, and an arm fixedly provided on one side of the support base.
A tub is vertically provided on the base plate.
The tub is provided with an opening at the bottom.
The tub is fixedly connected to the base plate and is connected.
An upper plate that can slide up and down is provided in the tub.
In the tub, the lower plate is fixed horizontally,
The upper plate and the lower plate divide the internal space of the tub into an upper space, a middle space, and a lower space that do not communicate with each other.
On the tub wall of the tub body, two ventilation ports communicating with the upper space and the central space are formed.
A motor is fixed in the lower space.
The motor includes a vertically installed spindle.
A through hole is formed in the lower plate through which the main shaft of the motor is passed.
The main shaft and the through hole are sealed by a first gasket.
A tubular rotating shaft is rotatably provided on the upper plate.
The upper end and the lower end of the rotating shaft are in a sealed state and an open state, respectively.
The upper end of the rotating shaft extends from the tub and is fixedly connected to the support.
The lower end of the rotating shaft is externally attached to the upper end of the main shaft.
The rotating shaft and the main shaft are connected by a spline.
The rotating shaft is sealed to the upper plate and the tub by the second gasket and the third gasket, respectively.
A robot arm characterized by that. 前記上板は、第四ガスケットと、前記桶体内に水平に設けられる板体と、を含み、
前記板体の側壁には、第四環状溝が形成され、
前記第四ガスケットは、前記第四環状溝内に位置し、
前記第四ガスケットの外側壁は、前記桶体の内側壁と当接する、
ことを特徴とする請求項１に記載のロボットアーム。 The upper plate includes a fourth gasket and a plate body horizontally provided in the tub.
A fourth annular groove is formed on the side wall of the plate body.
The fourth gasket is located in the fourth annular groove and is located in the fourth annular groove.
The outer wall of the fourth gasket abuts on the inner wall of the tub.
The robot arm according to claim 1. 前記板体には、管状をなす支持部を有し、
前記支持部と前記板体とは、一体であり、
前記板体は、前記支持部と前記下板との間に位置し、
前記支持部は、前記回転軸に外装され、
前記支持部と前記回転軸とは、軸受によって回転可能に接続され、
前記第二ガスケットは、前記軸受の下方に位置する、
ことを特徴とする請求項２に記載のロボットアーム。 The plate body has a tubular support portion and has a tubular support portion.
The support portion and the plate body are integrated, and
The plate body is located between the support portion and the lower plate, and is located between the support portion and the lower plate.
The support portion is externally mounted on the rotating shaft.
The support portion and the rotating shaft are rotatably connected by bearings.
The second gasket is located below the bearing.
The robot arm according to claim 2. 前記板体の内側壁には、第二環状溝が形成され、
前記第二ガスケットは、前記第二環状溝の内部に位置し、
前記第二ガスケットの内側壁は、前記回転軸の外側壁と当接する、
ことを特徴とする請求項３に記載のロボットアーム。 A second annular groove is formed on the inner side wall of the plate body.
The second gasket is located inside the second annular groove and
The inner wall of the second gasket comes into contact with the outer wall of the rotating shaft.
The robot arm according to claim 3. 前記主軸の外側壁には、第一環状溝が形成され、
前記第一ガスケットは、前記第一環状溝の内部に位置し、
前記第一ガスケットの外側壁は、前記貫穴の穴壁と当接する、
ことを特徴とする請求項１に記載のロボットアーム。 A first annular groove is formed on the outer wall of the main shaft.
The first gasket is located inside the first annular groove and
The outer wall of the first gasket is in contact with the hole wall of the through hole.
The robot arm according to claim 1.
JP2020158077A 2020-02-27 2020-09-23 Robot arm Ceased JP2021133495A (en)

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