JP6886060B2 - robot - Google Patents

Description

The present invention relates to a robot.

In a work space where humans and robots collaborate, if the robot is installed on the floor, the work space is occupied by the robot, so there is an inconvenience that it is not possible to secure a large human work space. .. In order to solve this inconvenience, a ceiling-suspended robot in which the robot is not installed on the floor is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-230214

However, the ceiling-suspended robot has the disadvantage that it requires a sturdy and large-scale pedestal for suspending the robot.
The present invention has been made in view of the above circumstances, and while it can be installed on an installed surface such as a floor surface, it is possible to secure a wide human work space like a ceiling-hung robot. The purpose is to provide a lightweight and slim robot.

In order to achieve the above object, the present invention provides the following means.
One aspect of the present invention comprises a flat installation surface member to be installed on the installation surface, a base and a cylindrical member elongated extending upward from said installation surface member, a vertical axis line at the top of the columnar member of the elongate in a rotatably provided turning cylinder, the one end to the first horizontal axis about which is arranged above the pillars of elongate rotatably mounted on the rotating body, a below the first horizontal axis A first arm having an operating range around the entire circumference of the columnar member centered on the vertical axis, and a second horizontal axis provided at the other end of the first arm and rotating around the second horizontal axis parallel to the first horizontal axis. A robot that includes a second arm that is possibly supported, and that the first arm and the second arm can be folded so that the second arm is aligned with the columnar member when being conveyed. ..

In the above embodiment, the first arm, Ru operatively der downward from the first horizontal axis.
Further, in the above aspect, the columnar member has a length equal to or longer than the length of the first arm, and the peripheral portion of the first horizontal axis and the peripheral portion of the second horizontal axis of the first arm. It may have a thickness equivalent to the maximum width of the cross section of the portion excluding.
According to such an embodiment, the flat installation surface member of the base is installed on the installation surface, and the first arm is swung around the first horizontal axis above the columnar member, so that the tip of the first arm is moved. It can be operated in the operating range below the first horizontal axis. The installation surface members installed on the installation surface are flat and arranged along the installation surface, and because they have the same uniform cross-sectional area as the first arm, the robot is lightweight and slim, and the columnar members are also included. Since it does not occupy a large space, it does not interfere with human work. As a result, it is possible to secure a wide human work space like a ceiling-suspended robot, while being able to install it on an installed surface such as a floor surface.

Further, in the above aspect, the columnar member may be stretchable in the vertical direction.
By doing so, it is possible to extend the columnar member and set an operating range that can reach a higher position, and it is possible to contract the columnar member and set the position of the center of gravity when folded to be lower. ..

In the above aspect, the columnar member is provided with a rotatable swivel body, and one end of the first arm is rotatably attached to the swivel body around the first horizontal axis of the first arm. At the other end, a second arm rotatably attached around a second horizontal axis parallel to the first horizontal axis is provided. The rotating body is Ru rotatable der about a vertical axis.
By doing so, the swivel cylinder arranged at the upper end of the columnar member is rotated around the vertical axis, and the first arm having one end attached to the swivel cylinder is swung around the first horizontal axis. By swinging the second arm having one end attached to the other end of the arm around the second horizontal axis, the three-dimensional position of the tip of the second arm can be arbitrarily changed.

Further, in the above aspect, with the first arm and the second arm folded, the installation surface of the base is a bottom surface, and a vertical line passing through the center of the installation surface and a horizontal plane including the first horizontal axis. It may have a form in which the entire center of gravity can be arranged in a cone-shaped space whose apex is the intersection of.
By doing so, when transporting the robot, by folding the first arm and the second arm, the position of the center of gravity of the entire robot is set to a vertical line passing through the center of the installation surface with the installation surface of the base as the bottom surface. It can be arranged in a pyramidal space including the first horizontal axis and having the intersection with the horizontal plane as the apex. Therefore, when the base is separated from the installation surface and transported, the center of gravity can be arranged at a lower position for stable transportation, and the center of gravity is maintained inside the base even if it is tilted during transportation. It can make it harder to fall.

Further, in the above aspect, the first arm and the second arm may be foldable so as to be housed in a columnar space extending in the vertical direction with the installation surface of the base as the bottom surface.
By doing so, when transporting, a plurality of robots can be densely arranged so that the bases are in close contact with each other, and the transport efficiency can be improved.

According to the present invention, it is possible to secure a wide human work space like a ceiling-hung robot, while being able to install it on an installed surface such as a floor surface.

It is a perspective view which shows the robot which concerns on one Embodiment of this invention. It is a side view of the robot of FIG. It is a side view which shows the posture in which the robot of FIG. 1 is folded. It is a side view explaining the position of the center of gravity in the posture of FIG. It is a side view explaining the occupied space of a robot in the posture of FIG.

The robot 1 according to the embodiment of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 and 2, the robot 1 according to the present embodiment has a base 2 installed on a floor surface (installed surface) F and a first axis (vertical axis) perpendicular to the base 2. ) A swivel body 3 rotatably supported around A, a first arm 4 rotatably supported around a second axis (first horizontal axis) B horizontal to the swivel body 3, and the like. The second arm 5 is oscillatingly supported around the third axis (second horizontal axis) C parallel to the second axis B at the tip of the first arm 4, and is arranged at the tip of the second arm 5. It is a 6-axis vertical articulated robot equipped with a 3-axis wrist 6.

The base 2 is a flat, substantially square supporting leg member (installation surface member) 7 extending along the floor surface F, and a columnar columnar shape extending vertically upward from the center of the supporting leg member 7. It includes a member 8. The swivel cylinder 3 is rotatably supported by the upper end of the columnar member 8.

The supporting leg member 7 of the base 2 includes a truncated cone-shaped portion 7a extending slightly upward in the center, and a flange portion 7b on a flat plate extending horizontally on the outer periphery of the truncated cone-shaped portion 7a. The flange portion 7b is formed in a substantially square shape in a plan view, and through holes are provided at four corners through the flange portion 7b in the plate thickness direction. The through hole has an inner diameter capable of penetrating the anchor bolt, and the robot 1 can be fixedly installed on the floor surface F by using the anchor bolt.

As shown in FIG. 1, the first arm 4 is arranged so as to be offset in one radial direction with respect to the columnar member 8, and is arranged parallel to the longitudinal axis of the columnar member 8 at intervals. It is arranged to rotate along. The length of the first arm 4 is set shorter than the length of the columnar member 8 of the base 2, and has an operating range of 360 °. Further, the thickness (cross-sectional area) of the columnar member 8 is set to be substantially the same as the thickness (cross-sectional area) of the first arm 4.

As shown in FIG. 1, the second arm 5 is offset by the same amount in the direction opposite to the offset direction of the first arm 4 with respect to the columnar member 8, and is arranged along a plane including the longitudinal axis of the columnar member 8. It is arranged to rotate. As a result, the central axis of the second arm 5 is arranged on the same plane as the central axis of the columnar member 8.

The operation of the robot 1 according to the present embodiment configured in this way will be described below.
To use the robot 1 according to the present embodiment, the support leg member 7 is installed on the floor surface F, and anchor bolts are used to fix the robot 1 to the floor surface F through the through holes at the four corners of the collar portion 7b. As a result, it can be operated as a floor-mounted 6-axis vertical articulated robot.

In this case, the robot 1 according to the present embodiment is composed of a support leg member 7 having a flat base 2 and a columnar columnar member 8 extending vertically upward from the center thereof, and has a length of the columnar member 8. Is longer than the first arm 4 and the thickness is the same as that of the first arm 4, so that the robot 1 is constructed to be lightweight and slim, does not occupy a large space, and can secure a wide working space for the operator. There are advantages.

Further, by arranging the swivel cylinder 3 at the upper end of the elongated columnar member 8 and forming the columnar member 8 longer than the first arm 4, the first arm 4 is moved above the second axis B as shown in FIG. It is possible to realize not only the arranged operating state but also the same operating state as the ceiling-suspended robot in which the first arm 4 is arranged below the second axis B as shown in FIG.

Then, when the robot 1 is conveyed, as shown in FIG. 3, the first arm 4 and the second arm 5 are folded so that the second arm 5 is aligned with the columnar member 8. The position of the center of gravity of the whole can be arranged at a low position to prevent it from falling over. In this state, as shown in FIG. 4, the position of the entire center of gravity is the intersection of the vertical line passing through the center of the support leg member 7 and the plane including the second axis B with the support leg member 7 as the bottom surface. It is arranged in a pyramidal space (hatched part in the figure) as the apex. As a result, even if the robot 1 is tilted to some extent, the center of gravity is maintained so as not to come out from the support leg member 7, and it is possible to prevent the robot 1 from tipping over.

That is, the operator mounts the robot 1 removed from the floor surface F on a trolley (not shown) or the like, and applies a horizontal external force to the side surface of the robot 1 without mounting the robot 1 on the trolley or the trolley or the like. When the robot 1 is moved in the direction in which the external force is applied by pressing, the center of gravity of the entire robot 1 is arranged in the pyramidal space, so that it is possible to prevent the robot 1 from tipping over during movement. ..

As described above, according to the robot 1 according to the present embodiment, the robot 1 swivels on a columnar member 8 having a length equal to or longer than the length of the first arm 4 and having a thickness similar to the thickness of the first arm 4. Since the body 3 is attached, it can be installed on the floor surface F, but has the advantage that a wide human work space can be secured like a ceiling-hung robot. Further, the position of the entire center of gravity of the first arm 4 and the second arm 5 in the folded state is a plane including the vertical line passing through the center of the support leg member 7 and the second axis B with the support leg member 7 as the bottom surface. Since it is arranged in a cone-shaped space having an intersection with the apex, there is an advantage that even if the robot 1 is pushed from the side and tilted at the time of relocation, it is hard to fall down and the relocation ease can be improved.

Further, according to the robot 1 according to the present embodiment, by folding the first arm 4 and the second arm 5, as shown in FIG. 5, the entire robot 1 is formed into a columnar structure having the supporting leg member 7 as the bottom surface. It can be stored in the space (hatched part in the figure), and has the advantage that the space can be effectively used when storing or transporting a large number of them side by side.

In this embodiment, the columnar member 8 of the base 2 may have a structure that can be expanded and contracted in the vertical direction. By doing so, it is possible to extend the columnar member 8 to set an operating range that can reach a higher position, and to contract the columnar member 8 to set the position of the center of gravity when folded lower. There is an advantage that it can be done.
Further, the expansion and contraction of the columnar member 8 may be expansion and contraction by servo drive, and may be expansion and contraction by manual operation or electric operation instead of expansion and contraction by the drive shaft of the robot 1.

Further, in the present embodiment, the floor surface F is exemplified as the installation surface for fixing the support leg member 7, but the present invention is not limited to this, and any other installation surface, for example, the floor surface F. It may be installed and fixed on the upper surface of the support base installed in the above.
Further, although the shape of the support leg member 7 has been described as a substantially square in a plan view, the shape is not limited to this, and may have any other form.

Further, in the present embodiment, a swivel cylinder 3 that can rotate around the vertical axis A on the upper part of the base 2, and a first arm 4 and a first arm 4 that can swing around the first horizontal axis B on the swivel cylinder 3 An example of a 6-axis vertical articulated robot having a second arm 5 swingable around the second horizontal axis C at the tip and a 3-axis wrist 6 arranged at the tip of the second arm 5 has been illustrated. , Other robots with arbitrary axis configurations may be adopted. Further, in FIG. 1, an arm having a large offset amount with respect to the first axis A such that the first arm 4 is separated from the swivel cylinder 3 and the second axis B are on the wrist 6 side with respect to the first axis A. It may be an offset arm.

1 Robot 2 Base 3 Swing body 4 1st arm 5 2nd arm 7 Support leg member (installation surface member)
8 Columnar member A 1st axis (vertical axis)
B 2nd axis (1st horizontal axis)
C 3rd axis (2nd horizontal axis)
F Floor surface (installed surface)

Claims (6)

A base including a flat installation surface member installed on the installation surface and an elongated columnar member rising upward from the installation surface member.
A swivel body rotatably provided around the vertical axis on the upper part of the elongated columnar member,
One end of the columnar member rotatably attached to the swivel cylinder around the first horizontal axis arranged above the elongated columnar member, below the first horizontal axis, and centered on the vertical axis. The first arm, which has an operating range all around,
A second arm provided at the other end of the first arm and rotatably supported around a second horizontal axis parallel to the first horizontal axis is provided.
A robot capable of folding the first arm and the second arm so that the second arm is aligned with the columnar member during transportation. The robot according to claim 1, wherein the columnar member can be expanded and contracted in the vertical direction. The cross section of the columnar member having a length equal to or longer than the length of the first arm and excluding the peripheral portion of the first horizontal axis and the peripheral portion of the second horizontal axis of the first arm. The robot according to claim 1 or 2 , which has a thickness equivalent to the maximum width of the above. A cone whose bottom surface is the installation surface of the base in a folded state of the first arm and the second arm, and whose apex is the intersection of a vertical line passing through the center of the installation surface and a horizontal plane including the first horizontal axis. The robot according to any one of claims 1 to 3 , which has a form in which the entire center of gravity can be arranged in a body-shaped space. The first arm and the second arm according to any one of claims 1 to 4 , wherein the first arm and the second arm can be folded into a columnar space extending in the vertical direction with the installation surface of the base as a bottom surface. robot. The robot according to any one of claims 1 to 5, wherein the maximum width of the cross section of the columnar member is smaller than the maximum width of the cross section of the swivel body.

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