JP4590322B2 - Articulated robot - Google Patents

Description

  The present invention relates to an articulated robot including an arm mechanism in which a plurality of arm portions that move a chuck portion supported at a tip in a predetermined direction are connected.

  In general, an articulated robot (industrial robot) including an arm mechanism in which a plurality of arm portions that move a chuck portion supported at the tip in a predetermined direction is connected is known.

For example, Japanese Utility Model Laid-Open No. 5-51544 includes a pair of first and second arms and a motor which are connected to each other by a connecting shaft so as to freely rotate relative to each other. The workpiece gripping means is attached to the tip of the second arm, the connecting shaft and the output shaft are connected via the rotation transmission mechanism, and the base end of the second arm is fixed to the connecting shaft, A workpiece loading device (multi-joint robot) for a machine tool is disclosed in which interference between an arm and a turret or the like is eliminated by making the arm fold without turning.
Utility Kaihei 5-51544

  However, the above-described conventional articulated robot (workpiece loading device to a machine tool) has the following problems.

  First, since the arms are connected via a connecting shaft, when the workpiece gripping means moves in the X-axis direction as in Patent Document 1, the connecting shaft of the arm is greatly displaced in the Z-axis direction, and the Z-axis direction It is necessary to secure a space for allowing the displacement of the connecting shaft. Therefore, there is a difficulty in versatility, for example, when the space for allowing the arm displacement in the Z-axis direction cannot be secured in other applications, such as limiting the application.

  Second, in order to support the arm in a cantilevered manner from the base end, when the arm is extended and the workpiece gripping means is moved from the base end to the separated position, a considerable load is applied to the base end. Therefore, it is necessary to ensure the mechanical strength on the base end side. Therefore, when the base end is supported by the ball screw mechanism as in Patent Document 1, mechanical strength is required for the ball screw mechanism, which causes an increase in cost and size, and may impair smooth operation. There is.

  An object of the present invention is to provide an articulated robot that solves such problems in the background art.

  In order to solve the above-described problem, the present invention provides an articulated robot 1 including an arm mechanism 5 in which a plurality of arm portions 3 and 4 that move a chuck portion 2 supported at a tip in a predetermined direction are connected. A base portion 6 whose position is fixed, a horizontal rotation mechanism 8 that horizontally rotates one end 7s side of the swivel arm 7 with the base portion 6 as a fulcrum, and a stand up from the other end 7t side of the swivel arm 7; A Z-axis moving mechanism 10 that moves the support portion 9 in the Z-axis direction, a guide rail 23 arranged in the Z-axis direction, and a slider 24 that is slidably loaded on the guide rail 23 and has the support portion 9 integrally. , A ball screw mechanism 25 for moving the slider 24 in the Z-axis direction, a Z-axis movement drive unit 27 having a motor unit 26 for rotationally driving the ball screw mechanism 25, and a Y-axis provided on the slider 24 The supported rollers 28 and 28 that are rotatably supported by the support shaft portions 28s and 28s in the direction, and the supported rollers 28 and 28 are guided, and the supported rollers 28 and 28 are guided from the support portion 9 side. The Z-axis moving mechanism 10 including the second guide rails 29 and 29 arranged at a position to support the load applied to the slider 24 by supporting, the front arm portion 3 and the rear arm portion 4 are connected to the rotating shaft portion 11. The arm mechanism 5 is connected via a first end Xr or a rotation shaft at which the rotation shaft portion 11 is displaced in the Z-axis direction with respect to the support portion 9 on the rear end 5r side of the arm mechanism 5. The portion 11 is configured as an attachable / detachable portion 12 that can be selectively attached at the second position Xb displaced in the Y-axis direction. The arm mechanism 5 is attached to the support portion 9 via the attachable / detachable portion 12, and the arm mechanism 5 By rotating the rear end 5r side, the arm machine The chuck portion 2 supporting the 5 tip 5f, characterized in that it comprises an X-axis moving mechanism 13 for moving the X-axis direction.

  In this case, according to a preferred aspect of the invention, the horizontal rotation mechanism 8 can be configured to include a horizontal rotation drive unit 22 having a motor unit 21 that rotationally drives the one end 7 s side of the swivel arm 7. The X-axis movement mechanism 13 includes an X-axis movement drive unit 31 having a motor unit 30 that rotationally drives the rear end 5r side of the arm mechanism 5 and pulleys 32, 33, 34, at least built in the arm mechanism 5. The rotation transmission mechanism 38 that restricts the movement of the chuck portion 2 in the X-axis direction by using the 35 and the endless belts 36 and 37 can be configured.

  According to the articulated robot 1 according to the present invention having such a configuration, the following remarkable effects can be obtained.

  (1) Since the rear end 5r side of the arm mechanism 5 can be attached to the support part 9 via the attaching / detaching part 12 whose attachment position can be changed, the displacement of the rotating shaft part 11 in the arm mechanism 5 in various applications. It is possible to adapt to various usages flexibly, such as easily securing a space that permits the above-mentioned, and to enhance versatility.

  (2) The detachable part 12 is selected with respect to the support part 9 as the first position Xa where the rotation shaft part 11 is displaced in the Z-axis direction or the second position Xb where the rotation shaft part 11 is displaced in the Y-axis direction. Therefore, the mounting position can be changed and positioned easily and reliably.

  (3) The Z-axis moving mechanism 10 includes a guide rail 23 arranged in the Z-axis direction, a slider 24 which is slidably loaded on the guide rail 23 and integrally includes a support portion 9, and the slider 24 is arranged in the Z-axis direction. A ball screw mechanism 25 to be moved, a Z-axis movement drive unit 27 having a motor unit 26 that rotationally drives the ball screw mechanism 25, and Y-axis direction support shaft portions 28s and 28s provided on the slider 24 are rotatably supported. Since it is configured to include the supported rollers 28 and 28 and the second guide rails 29 and 29 disposed at the positions for guiding the supported rollers 28 and 28 and supporting the load applied to the slider 24, it is relatively simple. With this structure, the mechanical strength of the Z-axis movement drive unit 27 can be ensured, the adverse effects of increasing costs and size can be avoided, and smooth and safe operation can be performed at all times. The the Do behavior can be secured.

  (4) According to a preferred embodiment, the X-axis moving mechanism 13 includes an X-axis moving drive unit 31 having a motor unit 30 that rotationally drives the rear end 5r side of the arm mechanism 5, and at least a pulley built in the arm mechanism 5. If the rotation transmission mechanism 38 that restricts the movement of the chuck portion 2 in the X-axis direction by using the 32, 33, 34, 35 and the endless belts 36, 37 is provided, it is supported by the tip 5f of the arm mechanism 5. The chuck part 2 can be reliably moved in the X-axis direction.

  Next, the best embodiment according to the present invention will be given and described in detail with reference to the drawings.

  First, the configuration of the articulated robot 1 according to the present embodiment will be described with reference to FIGS.

  In FIG. 1, 6 shows a base part. The base portion 6 is attached to a predetermined installation place F, and the position is fixed. Further, a horizontal rotation mechanism 8 is provided that rotates the one end 7 s side of the swivel arm 7 with the base portion 6 as a fulcrum. As shown in FIG. 4, the horizontal rotation mechanism 8 includes a horizontal rotation drive unit 22 having a motor unit 21 that rotationally drives one end 7 s of the swivel arm 7. In this case, the motor unit 21 uses a servo motor and is disposed inside the base unit 6. The rotating shaft of the motor unit 21 is connected (coupled) to the input shaft of the reduction gear mechanism 41 using a planetary gear mechanism, and the output shaft of the reduction gear mechanism 41 is connected (coupled) to the one end 7 s side of the swivel arm 7. To do.

  On the other hand, a Z-axis moving mechanism 10 that rises from the other end 7t side of the swivel arm 7 and moves the support portion 9 in the Z-axis direction is provided. In this case, the output shaft of the reduction gear mechanism 41 serving as a rotation fulcrum and the turning Z-axis moving mechanism 10 are arranged at an offset position via the turning arm 7. Accordingly, by appropriately setting this offset amount, the overall weight balance of the Z-axis moving mechanism 10 and the X-axis moving mechanism 13 described later in the front-rear direction with the one end 7s side of the swivel arm 7 as a fulcrum is set to an optimum state. Thus, the overall mechanical strength can be easily ensured, the adverse effects of increasing the cost and size can be avoided, and a smooth and stable operation can always be ensured.

  The Z-axis moving mechanism 10 includes a housing 42 erected from the other end 7 t side of the turning arm 7. As shown in FIG. 5, the housing 42 is formed in a channel shape (U shape) in a cross-sectional plan view, and the ball screw mechanism 25 is disposed inside the housing 42. The ball screw mechanism 25 has a ball screw 45s and a ball nut 45n loaded in the ball screw 45s, and the slider 24 is integrally provided on the ball nut 45n. As a result, the slider 24 is moved in the Z-axis direction by the ball screw mechanism 25. A Z-axis movement drive unit 27 having a motor unit 26 that rotationally drives the ball screw mechanism 25 is disposed at the upper end of the housing 42. In this case, the motor unit 26 uses a servo motor and is attached to the upper end surface of the housing 42. The rotating shaft of the motor unit 26 is connected (coupled) to the input side of the coupling mechanism 43, and the output side of the coupling mechanism 43 is connected (coupled) to the upper end of the ball screw 45 s in the ball screw mechanism 25. On the other hand, an electromagnetic brake 44 is disposed inside the turning arm 7 and connected (coupled) to the lower end of the ball screw 45s.

  Further, a guide rail 23 is attached in the Z-axis direction to the rear inner surface of the housing 42 (opposite surface of the channel port), and the rear surface side of the slider 24 is slidably loaded on the guide rail 23. In this case, the guide rail 23 and the slider 24 need only be loaded so as to slide smoothly. On the other hand, support shaft portions 28s and 28s in the Y-axis direction are provided on the left and right sides of the slider 24 (up and down in FIG. 5), and the supported rollers 28 and 28 are rotatably supported by the support shaft portions 28s and 28s. . The supported rollers 28, 28 are hard rollers formed of metal or the like. Further, second guide rails 29 and 29 for guiding the supported rollers 28 and 28 are attached to the inner surface of the housing 42 near the channel opening in the Z-axis direction. In this case, a support portion 9 which will be described later is integrally provided on the front side of the slider 24, and the X-axis moving mechanism 13 is supported in a so-called cantilever manner by the support portion 9. A considerable moment (load) as a fulcrum is added. Therefore, the second guide rails 29 and 29 have a function of supporting a load applied to the slider 24 via the supported rollers 28 and 28.

  As described above, the Z-axis moving mechanism 10 includes the guide rail 23 arranged in the Z-axis direction, the slider 24 slidably loaded on the guide rail 23 and integrally including the support portion 9, and the slider 24 as the Z-axis moving mechanism 10. In addition to a ball screw mechanism 25 that moves in the axial direction and a Z-axis movement drive unit 27 that includes a motor unit 26 that rotationally drives the ball screw mechanism 25, a Y-axis support shaft portion 28s provided on the slider 24, The supported rollers 28 and 28 are rotatably supported by 28s, and the second guide rails 29 and 29 are arranged at positions where the supported rollers 28 and 28 are guided and the load applied to the slider 24 is supported. Therefore, the mechanical strength of the Z-axis movement drive unit 27 can be ensured with a relatively simple configuration, and the adverse effects of increasing costs and size can be avoided. It can always ensure smooth and stable Do operation.

  On the other hand, the X-axis moving mechanism 13 is supported by the support portion 9. The X-axis moving mechanism 13 includes an arm mechanism 5 in which the front arm portion 3 and the rear arm portion 4 are connected via a rotating shaft portion 11, and the mounting position of the rear end 5r side of the arm mechanism 5 can be changed. It can be attached to the support portion 9 via the detachable portion 12. The attachment / detachment portion 12 is selectively set to the first position Xa where the rotation shaft portion 11 is displaced in the Z-axis direction or the second position Xb where the rotation shaft portion 11 is displaced in the Y-axis direction with respect to the support portion 9. Configure to be wearable.

  The structure of the support part 9 and the attachment / detachment part 12 is shown in FIG. The support portion 9 is formed in a square block shape having a certain thickness, and is fixed to the front surface of the slider 24 by screwing or the like. Also, three screw holes 51a, 51b, 51c are provided at equal intervals on the four surfaces of the upper and lower surfaces and the left and right surfaces, respectively. On the other hand, the attaching / detaching portion 12 integrally includes a rectangular base plate portion 52 and a pair of mounting plate portions 53p, 53q protruding at right angles from opposite sides of the base plate portion 52, and each mounting plate portion 53p, 53q is provided with screw insertion holes 54a, 54b, 54c corresponding to the screw holes 51a, 51b, 51c. Thus, when the detachable portion 12 is attached to the support portion 9, the support portion 9 is fitted between the pair of mounting plate portions 53p and 53q, and a separately prepared fixing screw 55 (see FIG. 5) is inserted into the screw insertion hole 54a. After passing through the screw holes 51a, the detachable portion 12 can be positioned and attached (attached) to the support portion 9. As described above, the detachable portion 12 has the first position Xa where the rotation shaft portion 11 is displaced in the Z-axis direction with respect to the support portion 9 or the second position Xb where the rotation shaft portion 11 is displaced in the Y-axis direction. Therefore, the mounting position can be changed or positioned easily and reliably.

  On the other hand, the X-axis moving mechanism 13 has a function of moving the chuck portion 2 supported by the front end 5f of the arm mechanism 5 in the X-axis direction by rotating the rear end 5r side of the arm mechanism 5, An X-axis movement drive unit 31 having a motor unit 30 that rotationally drives the rear end 5r side of the arm mechanism 5 and at least pulleys 32, 33, 34, and 35 and endless belts 36 and 37 built in the arm mechanism 5 are used. Thus, a rotation transmission mechanism 38 that restricts the movement of the chuck portion 2 in the X-axis direction is provided.

  In this case, as shown in FIG. 1, a pair of opposing support plate portions 61m and 61n are attached to the front surface of the base plate portion 52, and the motor portion 30 is supported by the one support plate portion 61m. The motor unit 30 uses a servo motor, and the rotation shaft of the motor unit 30 is connected (coupled) to the input shaft of the reduction gear mechanism 62 using a planetary gear mechanism, and the output shaft of the reduction gear mechanism 62 is a rear arm. It is connected (coupled) to the side surface on the rear end side of the portion 4. Further, as shown in FIG. 4, a spur gear 63 arranged coaxially with respect to the output shaft of the reduction gear mechanism 62 is fixedly attached to the other support plate portion 61n, and at the inside of the rear arm portion 4. The spur gear 64 meshing with the spur gear 63 is rotatably disposed. A pulley 32 arranged coaxially is integrally fixed to the spur gear 64, and a pulley 33 is rotatably provided on the rotating shaft portion 11, and a timing belt is used between the pulley 33 and the pulley 32. Pass over the endless belt 36. Reference numeral 65 denotes an auxiliary roller for preventing the endless belt 36 from being bent.

  Furthermore, the pulley 33 is connected (coupled) to the pulley 34 via a reduction gear mechanism 66 using a planetary gear mechanism. Therefore, the pulley 33 and the pulley 34 are arranged coaxially with respect to the rotation shaft portion 11, but rotate independently with respect to the rotation shaft portion 11. A pulley 35 is rotatably provided on the front end side of the front arm portion 3, and an endless belt 37 using a timing belt is bridged between the pulley 35 and the pulley 34. Reference numeral 66 denotes an auxiliary roller for preventing the endless belt 37 from being bent. The pulley 35 has an integral support shaft portion 67 and supports the chuck portion 2 by the support shaft portion 67.

  In this case, by appropriately setting the gear ratio of the spur gears 63 and 64, the diameter ratio of the pulleys 32 and 33, the diameter ratio of the pulleys 33 and 34, the diameter ratio of the pulleys 34 and 35, and the reduction ratio of the reduction gear mechanism 66. The movement of the chuck portion 2 can be restricted in the X-axis direction. That is, when the rear end 5r side of the arm mechanism 5 is rotated by the X-axis movement drive unit 31, the X-axis movement mechanism 13 that moves the chuck portion 2 supported by the front end 5f of the arm mechanism 5 in the X-axis direction. Can be configured. Further, due to the function of the X-axis movement drive unit 31, even when the chuck unit 2 moves in the X-axis direction, the posture (angle) is maintained, so that the chuck unit 2 moves in parallel in the X-axis direction.

  The chuck part 2 means a function for attaching and detaching a product or the like in a narrow sense, but the illustrated chuck part 2 includes various functions such as a spray nozzle for performing painting and an electric actuator for performing screw tightening. . Therefore, the chuck portion 2 includes various actuators such as a motor that functions as an action end portion of the articulated robot 1, a mechanism portion, and the like.

  As described above, the X-axis movement mechanism 13 includes the X-axis movement drive unit 31 having the motor unit 30 that rotationally drives the rear end 5r side of the arm mechanism 5 and the pulleys 32, 33, at least built in the arm mechanism 5. Since the rotation transmission mechanism 38 that restricts the movement of the chuck part 2 in the X-axis direction by using the endless belts 36 and 37 and the endless belts 36 and 37 is provided, the chuck part 2 supported on the tip 5f of the arm mechanism 5 is arranged in the X-axis direction. Can be moved reliably. In the drawings, reference numeral 71 denotes a cable cover that accommodates various cables.

  Next, functions and operations of the articulated robot 1 according to the present embodiment will be described with reference to FIGS.

  First, the articulated robot 1 displaces the attaching / detaching portion 12 with respect to the support portion 9 at the first position Xa where the rotation shaft portion 11 is displaced in the Z-axis direction, or the rotation shaft portion 11 is displaced in the Y-axis direction. Since it can be selectively mounted at the second position Xb, the mounting position can be selected in accordance with the situation such as the installation location of the articulated robot 1.

  In FIG. 7, the attaching / detaching portion 12 drawn on the lower side of the drawing shows a state of being attached to the first position Xa. In this case, the mounting plates 53p and 53q are located on the left and right. Therefore, in this state, while being attached to the support portion 9 from the direction of the arrow Da in the figure, six fixing screws 55... (See FIG. 5) are prepared, and each fixing screw 55 is attached to each mounting plate 53p, 53q. After passing through the screw insertion holes 54a, 54b, 54c..., The screw holes 51a, 51b, 51c. Can do.

  When mounted at the first position Xa, the rotation shaft portion 11 of the X-axis moving mechanism 13 is displaced in the Z-axis direction. 2 and 3 show the case where the first position Xa is mounted. In FIG. 1, the X-axis moving mechanism 13 indicated by a virtual line is attached to the first position Xa. When the first position Xa is selected, the rotating shaft 11 is displaced in the Z-axis direction, and therefore there is an object in the Y-axis direction of the articulated robot 1 that obstructs the displacement of the arm mechanism 5. This is effective when the displacement of the arm mechanism 5 is limited in the Y-axis direction, and the shaft portion such as the rotation shaft portion 11 is positioned in the Y-axis direction, which is advantageous when handling relatively heavy products. .

  On the other hand, in FIG. 7, the attaching / detaching portion 12 drawn on the upper side of the drawing shows a state of being attached to the second position Xb. In this case, the mounting plate 53p, 53q is positioned up and down because it is rotated by 90 ° with respect to the first position Xa. Accordingly, in this state, the six fixing screws 55 are attached to the support portion 9 from the direction of the arrow Db in the drawing, and the screw insertion holes 54a, 54b, 54c provided in the mounting plates 53p, 53q are provided. Can be attached to the second position Xb by screwing (screwing) the screw holes 51a, 51b, 51c...

  When mounted at the second position Xb, the rotation shaft portion 11 of the X-axis movement mechanism 13 is displaced in the Y-axis direction. This is the case where the X-axis moving mechanism 13 indicated by the solid line in FIG. 1 is mounted at the second position Xb. When the second position Xb is selected, the rotation shaft portion 11 is displaced in the Y-axis direction, and therefore there is an object in the Z-axis direction of the articulated robot 1 that obstructs the displacement of the arm mechanism 5. This is effective when the displacement of the arm mechanism 5 is limited in the Z-axis direction. However, since the shaft portion such as the rotating shaft portion 11 is positioned in the Z-axis direction, it is disadvantageous when handling relatively heavy products, etc., and is applicable when handling relatively light products (semiconductor wafers, etc.). can do.

  On the other hand, the articulated robot 1 controls the operation of the motor unit 21 so that the motor unit 21 rotates forward and backward. This rotation is decelerated by the reduction gear mechanism 41 and transmitted to the turning arm 7. Thereby, since the turning arm 7 turns, the Z-axis moving mechanism 10 supported on the other end 7t side of the turning arm 7 rotates about the one end 7s side of the turning arm 7 as a fulcrum, and the X-axis moving mechanism 13 (arm The chuck portion 2 supported by the tip 5f of the mechanism 5) can be rotated in the horizontal direction with the one end 7s side of the swivel arm 7 as a fulcrum.

  Further, by controlling the operation of the motor unit 26, the motor unit 26 rotates forward and backward, and this rotation is transmitted to the ball screw mechanism 25 via the coupling mechanism 43. Accordingly, since the ball screw 45s rotates, the ball nut 45n and the slider 24 integrated with the ball nut 45n can be moved in the Z-axis direction. At this time, the slider 24 slides along the guide rail 23, and the pair of supported rollers 28 and 28 provided on the slider 24 roll along the second guide rails 29 and 29. Therefore, the load applied to the slider 24 can be received by the second guide rails 29 and 29.

  Furthermore, by controlling the operation of the motor unit 30, the motor unit 30 rotates forward and backward, and this rotation is decelerated by the reduction gear mechanism 62 and transmitted to the arm mechanism 5. Thereby, the rear end 5r side of the arm mechanism 5 rotates. At this time, the spur gear 64 circulates (turns) along the fixed spur gear 63, and the rotation of the spur gear 64 becomes the rotation of the pulley 32. Therefore, the rotation of the pulley 32 causes the endless belt 36 to rotate. Is transmitted to the pulley 33 via. The rotation of the pulley 33 is decelerated by the reduction gear mechanism 66 and transmitted to the pulley 34, and the rotation of the pulley 34 is transmitted to the pulley 35 via the endless belt 37.

  In this case, as described above, the gear ratio between the spur gears 63 and 64, the diameter ratio between the pulleys 32 and 33, the diameter ratio between the pulleys 33 and 34, the diameter ratio between the pulleys 34 and 35, and the reduction ratio of the reduction gear mechanism 66 are as follows. By appropriately setting, the movement of the chuck portion 2 is restricted in the X-axis direction. Therefore, by rotating the rear end 5r side of the arm mechanism 5, the chuck portion 2 supported on the front end 5f of the arm mechanism 5 is X The chuck portion 2 can be moved in the axial direction (X-ray indicated by a one-dot chain line in FIG. 4), and the posture (angle) of the chuck portion 2 can be maintained constant so that the chuck portion 2 is translated in the X-axis direction. it can.

  Therefore, according to the articulated robot 1 according to this embodiment, the rear end 5r side of the arm mechanism 5 can be attached to the support portion 9 via the attachment / detachment portion 12 whose attachment position can be changed. In various applications, it is possible to adapt flexibly to various applications, such as easily securing a space that allows the displacement of the rotation shaft portion 11 in the arm mechanism 5, and to improve versatility.

  Although the best embodiment has been described in detail above, the present invention is not limited to such an embodiment, and the scope of the present invention is not deviated from the gist of the present invention in the detailed configuration, shape, material, quantity, and the like. It can be changed, added, or deleted arbitrarily.

  For example, the attachment / detachment unit 12 is selected with respect to the support unit 9 as the first position Xa where the rotation shaft 11 is displaced in the Z-axis direction or the second position Xb where the rotation shaft 11 is displaced in the Y-axis direction. However, the shape of the support portion 9 and the detachable portion 12 to be attached to the support portion 9 is arbitrarily polygonal or circular so that three or more attachment positions or arbitrary It can be changed to the mounting position. Therefore, the attaching / detaching portion 12 does not necessarily mean that the attaching / detaching portion 12 can be detached from the support portion 9, but is a concept including a case where the attaching / detaching portion 12 is rotated on the support portion 9. Moreover, although the illustrated articulated robot 1 has shown the basic form by 4 axis | shaft type, if a motor part and a reduction gear mechanism are added to the rotating shaft part 11 and the front arm part 3 is supported, the front arm part 3 will be shown. Can be easily changed to a 5-axis type that can be driven independently, and if the chuck part 2 is supported by adding a motor part and a reduction gear mechanism to the tip of the front arm part 3, the chuck part 2 can be made independent. Thus, it can be easily changed to a 6-axis type that can be rotationally driven, and various changes can be easily made.

The external appearance side view which shows the state which attached the X-axis movement mechanism with which the articulated robot which concerns on the best embodiment of this invention is equipped in the 2nd position, An external side view showing a state in which the X-axis movement mechanism provided in the articulated robot is attached to the first position; External plan view of the articulated robot, Internal configuration diagram showing the internal structure of the articulated robot in principle, Cross-sectional plan view of the Z-axis movement mechanism provided in the articulated robot, A cross-sectional side view showing a part of the Z-axis movement mechanism provided in the articulated robot, The perspective view which shows the attachment / detachment part and support part with which the articulated robot is equipped,

Explanation of symbols

1 Articulated robot 2 Chuck part 3 Arm part (front arm part)
4 Arm part (rear arm part)
5 Arm mechanism 5f Front end of arm mechanism 5r Rear end of arm mechanism 6 Base part 7 Turning arm 7s One end of turning arm 7t Other end of turning arm 8 Horizontal rotating mechanism 9 Supporting part 10 Z-axis moving mechanism 11 Rotating shaft part 12 Attaching / detaching Part 13 X-axis movement mechanism 21 Motor part 22 Horizontal rotation drive part 23 Guide rail 24 Slider 25 Ball screw mechanism 26 Motor part 27 Z-axis movement drive part 28s ... Supporting shaft part 28 ... Supported roller 29 ... Second guide rail 30 Motor Part 31 X-axis movement drive part 32 ... Pulley 36 ... Endless belt 38 Rotation transmission mechanism Xa First position Xb Second position

Claims (3)

  In an articulated robot provided with an arm mechanism in which a plurality of arm portions for moving a chuck portion supported at the tip in a predetermined direction are connected, a base portion whose position is fixed, and one end side of the swivel arm with the base portion serving as a fulcrum A horizontal rotation mechanism that rotates in the horizontal direction, and a Z-axis movement mechanism that erects from the other end of the swivel arm and moves the support portion in the Z-axis direction. A slider that is slidably loaded on a rail and has the support part integrally; a ball screw mechanism that moves the slider in the Z-axis direction; a Z-axis movement drive part that has a motor part that rotationally drives the ball screw mechanism; A supported roller that is rotatably supported by a support shaft portion in the Y-axis direction provided on the slider, guides the supported roller, and moves the supported roller forward. A Z-axis moving mechanism having a second guide rail disposed at a position for supporting a load applied to the slider by supporting from the support portion side, and a front arm portion and a rear arm portion via a rotating shaft portion. It has a coupled arm mechanism, and the rear end side of this arm mechanism is positioned at a first position where the rotation shaft portion is displaced in the Z-axis direction with respect to the support portion, or the rotation shaft portion is in the Y-axis direction. The detachable portion can be selectively mounted at the second position to be displaced, the arm mechanism is mounted on the support portion via the detachable portion, and the rear end side of the arm mechanism is rotated, An articulated robot comprising an X-axis moving mechanism for moving the chuck portion supported at the tip of the arm mechanism in the X-axis direction.   The articulated robot according to claim 1, wherein the horizontal rotation mechanism includes a horizontal rotation drive unit having a motor unit that rotationally drives one end side of the swing arm.   The X-axis movement mechanism uses the X-axis movement drive unit having a motor unit that rotationally drives the rear end side of the arm mechanism, and at least the pulley and the endless belt built in the arm mechanism, thereby the chuck unit. The articulated robot according to claim 1, further comprising a rotation transmission mechanism that restricts movement of the robot in the X-axis direction.

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