JP6887581B1 - Horizontal articulated robot - Google Patents

Abstract

The horizontal articulated robot (10) has a first arm (1), a base (9) that rotatably supports the first arm (1), and a first arm (1) that is rotatably supported by the first arm (1). It is provided with a two arm (2) and a flexible hose (50) that accommodates at least one of the wiring and piping connecting the base (9) and the second arm (2), and the base (9) has a first end. A first rotating elbow (96) oriented in a direction perpendicular to the rotation axis of the shaft (93) of the uniaxial motor (92) is provided, and the second arm (2) has a second shaft motor (2) at an end. A second rotating elbow (27) oriented in a direction perpendicular to the axis of rotation of the shaft (23) of the 22) is provided, and at least one of the rotating axes of the first rotating elbow (96) and the second rotating elbow (27) is , The same as the rotating shaft of the shaft (93) of the first shaft motor (92) or the rotating shaft of the shaft (23) of the second shaft motor (22).

Description

The present disclosure relates to a horizontal articulated robot in which an arm operates in the horizontal direction.

The horizontal articulated robot has a base and a first arm and a second arm. The horizontal articulated robot has a first axis, which is the rotation axis of the first arm, on the base, and a second axis, which is the rotation axis of the second arm, on the first arm away from the first axis. The tip of the second arm has a third axis that moves up and down in the vertical direction and a fourth axis that rotates left and right in the rotation direction.

In the horizontal articulated robot, it is necessary to wire the motor cables for the second axis, the third axis and the fourth axis from the base to the second arm.

Patent Document 1 discloses a horizontal articulated robot in which a base and a second arm are connected by a cable conduit and a motor cable is passed through the cable conduit. Since the horizontal articulated robot disclosed in Patent Document 1 does not pass the motor cable inside the first arm, the structure of the arm can be simplified.

Japanese Unexamined Patent Publication No. 2018-130796

In the horizontal articulated robot disclosed in Patent Document 1, the first arm is installed on the base, the second arm is installed on the first arm, and the cable conduit is connected to the upper surface of the second arm. Therefore, the height of the entire robot on the tip side of the first arm is higher than that on the first axis.

The present disclosure has been made in view of the above, and is a horizontal articulated robot in which the structure of the arm is simple but the height dimension of the entire robot on the tip side of the first arm is smaller than that of the first axis. The purpose is to get.

In order to solve the above-mentioned problems and achieve the object, the horizontal articulated robot according to the present disclosure includes a first arm, a base that rotatably supports the first arm, and rotatably supports the first arm. The second arm is provided with a hose accommodating at least one of the wiring and piping connecting the base and the second arm. The base is housed in the base housing, the motor for the first shaft whose shaft protrudes from the first surface of the base housing to the outside of the base housing, and faces the first surface of the base housing. It is equipped with a first rotation elbow whose end is oriented in a direction perpendicular to the rotation axis of the shaft of the first shaft motor. The second arm includes a second arm housing, a second shaft motor housed in the second arm housing, and a shaft protruding from the third surface of the second arm housing to the outside of the second arm housing. It is provided with a second rotating elbow which is installed on the fourth surface of the second arm housing facing the third surface and whose end is directed in a direction perpendicular to the rotation axis of the shaft of the second shaft motor. The hose connects the end of the first rotating elbow to the end of the second rotating elbow. The second and fourth surfaces are located on the same plane. At least one of the rotating shafts of the first rotating elbow and the second rotating elbow is the same as the rotating shaft of the shaft of the first shaft motor or the rotating shaft of the shaft of the second shaft motor.

The horizontal articulated robot according to the present disclosure has an effect that the height dimension of the entire robot on the tip side of the first arm is smaller than that of the first axis while the structure of the arm is simple.

Perspective view of the horizontal articulated robot according to the first embodiment Side view of the horizontal articulated robot according to the first embodiment Sectional view of the horizontal articulated robot according to the first embodiment Top view of the horizontal articulated robot according to the first embodiment Side view of the horizontal articulated robot according to the modified example of the first embodiment Perspective view of the horizontal articulated robot according to the second embodiment Top view of the horizontal articulated robot according to the second embodiment Sectional view of the horizontal articulated robot according to the second embodiment

Hereinafter, the horizontal articulated robot according to the embodiment will be described in detail with reference to the drawings.

Embodiment 1.
FIG. 1 is a perspective view of the horizontal articulated robot according to the first embodiment. The horizontal articulated robot 10 according to the first embodiment has a base 9, a first arm 1 extending from the base 9, and a second arm 2 extending from the first arm 1. The first arm 1 and the second arm 2 are thinner than the base 9. A shaft 21 to which an end effector is attached is installed at the tip of the second arm 2. The horizontal articulated robot 10 has a first axis AX1 which is a rotation axis of the first arm 1 on the base 9, and a second axis AX2 which is a rotation axis of the second arm 2 on the first arm 1. A third axis AX3 for moving the shaft 21 up and down and a fourth axis AX4 for rotating the shaft 21 are provided at the tip of the second arm 2.

FIG. 2 is a side view of the horizontal articulated robot according to the first embodiment. The horizontal articulated robot 10 is installed with the base 9 fixed to the wall surface 70. The horizontal articulated robot 10 is connected to the robot controller 30 by an inter-device cable 40. The robot controller 30 operates a motor and a brake arranged on the horizontal articulated robot 10. The robot controller 30 supplies signals and electric power to the horizontal articulated robot 10 through an inter-device cable 40 to control the horizontal articulated robot 10. The inter-device cable 40 is connected to the horizontal articulated robot 10 via a cable entry 91 installed on the upper surface of the base 9.

FIG. 3 is a cross-sectional view of the horizontal articulated robot according to the first embodiment. The base 9 includes a base housing 9c. The base 9 includes a first shaft motor 92 housed in the base housing 9c. The shaft 93 of the first shaft motor 92 projects from the lower surface 9a of the base housing 9c to the outside of the base housing 9c. The base 9 has an opening 94 formed on the upper surface 9b of the base housing 9c. The lower surface 9a of the base housing 9c is the first surface on which the shaft 93 projects to the outside of the base housing 9c. The upper surface 9b of the base housing 9c is a second surface facing the lower surface 9a. The base 9 includes a first bearing 95 installed in the opening 94. The base 9 includes a first rotating elbow 96 installed on the upper surface 9b via a first bearing 95. The end of the first rotating elbow 96 is oriented in a direction perpendicular to the rotating axis of the shaft 93 of the first shaft motor 92. The rotation axis of the shaft 93 is the same as that of the first axis AX1.

The first arm 1 has a first arm housing 1c and speed reducers 11 and 13 housed in the first arm housing 1c. The shaft 93 is fitted to the input shaft of the speed reducer 11. The input shaft of the speed reducer 11 is fitted to the inner ring of the bearing 12 installed on the upper surface 1b of the first arm housing 1c. The outer ring of the bearing 12 is fixed to the first arm housing 1c. The output shaft of the speed reducer 11 is fixed to the first arm housing 1c. Therefore, the first arm 1 rotates with the rotation of the shaft 93.

The outer ring of the first bearing 95 is fixed to the edge of the opening 94, and the inner ring of the first bearing 95 is fixed to the first rotating elbow 96. Therefore, the first rotating elbow 96 can rotate on the upper surface 9b of the base housing 9c on a rotation axis perpendicular to the upper surface 9b. The rotation axis of the first rotation elbow 96 is the same as that of the first axis AX1.

The second arm 2 includes a second arm housing 2c. Further, the second arm 2 includes a second shaft motor 22 housed in the second arm housing 2c. The shaft 23 of the second shaft motor 22 projects from the lower surface 2a of the second arm housing 2c to the outside of the second arm housing 2c. The second arm 2 has an opening 25 formed in the upper surface 2b of the second arm housing 2c. The lower surface 2a of the second arm housing 2c is a third surface on which the shaft 23 projects to the outside of the second arm housing 2c. The upper surface 2b of the second arm housing 2c is a fourth surface facing the lower surface 2a. The second arm 2 includes a second bearing 26 installed in the opening 25. The second arm 2 includes a second rotating elbow 27 installed on the upper surface 2b via a second bearing 26. The end of the second rotating elbow 27 is oriented in a direction perpendicular to the rotation axis of the shaft 23. The rotation axis of the shaft 23 is the same as that of the second axis AX2. The shaft 23 is fitted to the input shaft of the speed reducer 13. The input shaft of the speed reducer 13 is fitted to the inner ring of the bearing 14 installed on the upper surface 1b of the first arm housing 1c. The outer ring of the bearing 14 is fixed to the first arm housing 1c. The output shaft of the speed reducer 13 is fixed to the first arm housing 1c. Therefore, the second arm 2 rotates with the rotation of the shaft 23.

The outer ring of the second bearing 26 is fixed to the edge of the opening 25, and the inner ring of the second bearing 26 is fixed to the second rotating elbow 27. Therefore, the second rotating elbow 27 can rotate on the upper surface 2b of the second arm housing 2c on a rotation axis perpendicular to the upper surface 2b. The rotation axis of the second rotation elbow 27 is the same as that of the second axis AX2.

The end of the first rotating elbow 96 and the end of the second rotating elbow 27 are connected by a flexible hose 50. FIG. 4 is a top view of the horizontal articulated robot according to the first embodiment. The flexible hose 50 is longer than the distance between the first rotating elbow 96 and the second rotating elbow 27, causing bending. Since the first rotation elbow 96 and the second rotation elbow 27 can be turned in the horizontal direction, the flexible hose 50 is bent in the horizontal direction. When the flexible hose 50 bends in an arc shape, the arrow height H of the flexible hose 50 becomes less than half the width of the base 9. Therefore, the flexible hose 50 does not protrude from the base 9 in the horizontal direction.

As shown in FIG. 3, a substrate 97 is installed inside the base 9. The board 97 was connected to a connector 98a to which an in-flight cable 61, which is a wiring leading to each of the driving motors of the first to fourth axes, was connected, and a cable 62 leading to the cable entry 91. The connector 98b is mounted. The in-flight cables 61 for the second axis, the third axis, and the fourth axis are drawn from the base 9 to the second arm 2 through the flexible hose 50.

The base 9 includes a first clamp 99 that fixes an in-flight cable 61 that is pulled from the base 9 to the second arm 2 through a flexible hose 50 to the side surface of the first shaft motor 92. Further, the second arm 2 includes a second clamp 29 for fixing the in-machine cable 61 to the side surface of the second shaft motor 22. That is, the in-flight cables 61 for the second axis, the third axis, and the fourth axis are fixed to the side surface of the first axis motor 92 inside the base housing 9c. Further, the in-flight cables 61 for the second axis, the third axis, and the fourth axis are fixed to the side surface of the second axis motor 22 inside the second arm housing 2c. Of the in-flight cables 61 for the second axis, the third axis, and the fourth axis, the portion between the fixed parts inside the base housing 9c and the second arm housing 2c is restrained. Absent. The in-machine cable 61 may be fixed to the end surface of the first shaft motor 92 on the opposite side of the shaft. Further, the in-machine cable 61 may be fixed to the end surface of the second shaft motor 22 on the opposite side of the shaft.

The upper surface 9b of the base housing 9c and the upper surface 2b of the second arm housing 2c are located on the same plane. Therefore, if the first rotating elbow 96 and the second rotating elbow 27 are the same parts, the heights of both ends of the flexible hose 50 are the same.

When the heights of both ends of the flexible hose 50 are different, when the first arm 1 and the second arm 2 operate, a moment around the horizontal axis acts on the first rotating elbow 96 and the second rotating elbow 27, and the first bearing Wear of 95 and the second bearing 26 is accelerated. Even if the height of the upper surface 9b of the base housing 9c and the height of the upper surface 2b of the second arm housing 2c are different, if the first rotating elbow 96 and the second rotating elbow 27 having different height dimensions are used, the flexible hose The heights of both ends of the 50 can be made the same, but since the first rotating elbow 96 and the second rotating elbow 27 are different parts, it hinders the reduction of the number of parts due to the common use of parts, and also At the time of assembly work, it becomes necessary to distinguish between the first rotating elbow 96 attached to the base housing 9c and the second rotating elbow 27 attached to the second arm housing 2c, which reduces the assembling workability. The horizontal articulated robot 10 according to the first embodiment has the same parts as the first rotating elbow 96 attached to the base housing 9c and the second rotating elbow 27 attached to the second arm housing 2c. Can be reduced. Further, in the horizontal articulated robot 10 according to the first embodiment, it is not necessary to distinguish between the first rotating elbow 96 attached to the base housing 9c and the second rotating elbow 27 attached to the second arm housing 2c, and the assembly work. The sex is not impaired.

In the horizontal articulated robot 10 according to the first embodiment, the first arm 1 is installed under the base 9, and the second arm 2 is installed on the first arm 1. Therefore, the tip of the first arm 1 is higher than the first axis AX1 as compared with a horizontal articulated robot having a known structure in which the first arm is installed on the base and the second arm is installed on the first arm. The height dimension of the entire horizontal articulated robot 10 on the side can be reduced.

In the horizontal articulated robot 10 according to the first embodiment, since the in-flight cable 61 is pulled into the second arm 2 through the flexible hose 50, it is not necessary to provide a structure for passing the in-flight cable 61 in the first arm 1, and the base 9 , The structure of the first arm 1 and the second arm 2 can be simplified. Therefore, the weight of the entire horizontal articulated robot 10 can be reduced, and the operating speed of the horizontal articulated robot 10 can be increased.

Further, in the horizontal articulated robot 10 according to the first embodiment, the rotation axis of the shaft 93 of the first axis motor 92 and the rotation axis of the first rotation elbow 96 are the same, and the rotation axis of the second axis motor 22 is the same. The rotating shaft of the shaft 23 and the rotating shaft of the second rotating elbow 27 are the same. In the horizontal articulated robot 10 according to the first embodiment, the in-flight cable 61 is fixed in the base housing 9c and the second arm housing 2c, and the portion of the in-flight cable 61 that is passed through the flexible hose 50 is , Not restrained. The flexible hose 50 through which the in-flight cable 61 passes is a first rotation elbow from a direction perpendicular to each of the rotation shaft of the shaft 93 of the first shaft motor 92 and the rotation shaft of the shaft 23 of the second shaft motor 22. It is connected to 96 and the second rotating elbow 27. Therefore, since the flexible hose 50 moves in the same manner as the first arm 1 when the horizontal articulated robot 10 is operated, it is not necessary to set a margin length due to the robot operation in the in-flight cable 61, and the weight of the horizontal articulated robot 10 can be reduced. Cost reduction can be realized.

Further, in the horizontal articulated robot 10 according to the first embodiment, since both ends of the flexible hose 50 are connected to the first rotating elbow 96 and the second rotating elbow 27, the flexible hose 50 flexes freely to the left and right according to the robot operation. It is possible. In the horizontal articulated robot 10 according to the first embodiment, the deflection of the flexible hose 50 does not protrude laterally from the first arm 1, so that the operating range of the horizontal articulated robot 10 is the path and length of the flexible hose 50. It can be set freely without being restricted by. Further, by changing the bending direction of the flexible hose 50 to the left and right, the twisted portion of the in-flight cable 61 is not fixed in one place, and the durability of the in-flight cable 61 is improved.

In the above description, the configuration in which the in-flight cable 61 is passed through the flexible hose 50 has been described as an example, but a pipe for transmitting oil pressure or air pressure may be passed through the flexible hose 50. Further, both the wiring for transmitting electricity and the piping for transmitting hydraulic pressure or air pressure may be passed through the flexible hose 50.

Further, in the above description, the configuration in which the rotation axis of the first rotation elbow 96 is the same as that of the first axis AX1 and the rotation axis of the second rotation elbow 27 is the same as that of the second axis AX2 is given as an example. If the rotation axis of the first rotation elbow 96 is the same as that of the first axis AX1, the rotation axis of the second rotation elbow 27 does not have to be the same as that of the second axis AX2, and the rotation axis of the second rotation elbow 27 is the first. If it is the same as the biaxial AX2, the rotating shaft of the first rotating elbow 96 does not have to be the same as the first axis AX1.

FIG. 5 is a side view of the horizontal articulated robot according to the modified example of the first embodiment. The base 9 may have a structure fixed to the floor surface 80. In the horizontal articulated robot 10 according to the modification according to the first embodiment, since a space is created below the first arm 1, the space can be effectively utilized by passing a conveyor under the first arm 1. ..

Embodiment 2.
FIG. 6 is a perspective view of the horizontal articulated robot according to the second embodiment. FIG. 7 is a top view of the horizontal articulated robot according to the second embodiment. FIG. 8 is a cross-sectional view of the horizontal articulated robot according to the second embodiment. In the horizontal articulated robot 10 according to the second embodiment, the opening 94 in which the first bearing 95 on the upper surface 9b of the base housing 9c is installed and the second bearing 26 on the upper surface 2b of the second arm housing 2c are installed. The opening 25 is an elongated hole. Further, the end of the first rotating elbow 96 and the end of the second rotating elbow 27 are connected by a non-flexible pipe 51.

The elongated hole of the opening 94 of the base 9 extends toward the center of the movable range of the first axis AX1. The elongated hole of the opening 25 of the second arm 2 extends along the longitudinal direction of the second arm housing 2c.

In the horizontal articulated robot 10 according to the second embodiment, since the opening 94 in which the first bearing 95 is installed and the opening 25 in which the second bearing 26 is installed are elongated holes, the mounting position of the first bearing 95 and the first By moving the mounting position of the two bearings 26 in the horizontal direction, the distance between the first bearing 95 and the second bearing 26 can be adjusted. Therefore, in the horizontal articulated robot 10 according to the second embodiment, the distance between the first axis AX1 and the second axis AX2 can be made to match the length of the pipe 51 through which the in-flight cable 61 is passed, and the pipe 51 is bent. No need. Since the horizontal articulated robot 10 according to the second embodiment does not need to use a flexible hose having flexibility, the manufacturing cost can be reduced.

In the above description, the configuration in which the opening 94 of the upper surface 9b of the base housing 9c and the opening 25 of the upper surface 2b of the second arm 2 are elongated holes has been described as an example, but if the opening 94 is an elongated hole, the opening 25 Does not have to be a long hole, and if the opening 25 is a long hole, the opening 94 does not have to be a long hole.

The configuration shown in the above embodiment is an example of the content, can be combined with another known technique, and a part of the configuration is omitted or changed without departing from the gist. It is also possible.

1 1st arm, 1b, 2b, 9b upper surface, 1c 1st arm housing, 2 2nd arm, 2a, 9a lower surface, 2c 2nd arm housing, 9 base, 9c base housing, 10 horizontal articulated robot, 11,13 reducer, 12,14 bearing, 21,23,93 shaft, 22 second shaft motor, 25,94 opening, 26 second bearing, 27 second rotation elbow, 29 second clamp, 30 robot controller, 40 Equipment cable, 50 Flexible hose, 51 Pipe, 61 In-flight cable, 62 Cable, 70 Wall surface, 80 Floor surface, 91 Cable entry, 92 First axis motor, 95 First bearing, 96 First rotation elbow, 97 board , 98a, 98b connector, 99 first clamp.

Claims (3)

With the first arm
A base that rotatably supports the first arm and
A second arm rotatably supported by the first arm,
A hose that accommodates at least one of the wiring and piping connecting the base and the second arm is provided.
The base is
With the base housing
A motor for the first shaft housed in the base housing and having a shaft protruding from the first surface of the base housing to the outside of the base housing.
It is provided with a first rotating elbow which is installed on the second surface of the base housing facing the first surface and whose end is directed in a direction perpendicular to the rotation axis of the shaft of the first shaft motor.
The second arm
Second arm housing and
A second shaft motor housed in the second arm housing and having a shaft protruding from the third surface of the second arm housing to the outside of the second arm housing.
A second rotating elbow which is installed on the fourth surface of the second arm housing facing the third surface and whose end is directed in a direction perpendicular to the rotation axis of the shaft of the second shaft motor. Prepare,
The hose connects the end of the first rotating elbow and the end of the second rotating elbow.
The second surface and the fourth surface are located on the same plane,
At least one rotating shaft of the first rotating elbow and the second rotating elbow Ri same der the rotation axis of the rotary shaft or said first shaft motor shaft second axis motor shaft,
The first rotating elbow is installed on the second surface via a first bearing installed in an opening formed on the second surface.
The second rotating elbow is installed on the fourth surface via a second bearing installed in the opening formed on the fourth surface.
It said at least one opening and the fourth side of the opening of the second surface is a long hole, a horizontal articulated robot distance between the second bearing and the first bearing and wherein the adjustable der Rukoto. With the first arm
A base that rotatably supports the first arm and
A second arm rotatably supported by the first arm,
A hose that accommodates at least one of the wiring and piping connecting the base and the second arm is provided.
The base is
With the base housing
A motor for the first shaft housed in the base housing and having a shaft protruding from the first surface of the base housing to the outside of the base housing.
It is provided with a first rotating elbow which is installed on the second surface of the base housing facing the first surface and whose end is directed in a direction perpendicular to the rotation axis of the shaft of the first shaft motor.
The second arm
Second arm housing and
A second shaft motor housed in the second arm housing and having a shaft protruding from the third surface of the second arm housing to the outside of the second arm housing.
A second rotating elbow which is installed on the fourth surface of the second arm housing facing the third surface and whose end is directed in a direction perpendicular to the rotation axis of the shaft of the second shaft motor. Prepare,
The hose connects the end of the first rotating elbow and the end of the second rotating elbow.
The second surface and the fourth surface are located on the same plane,
The rotation shaft of at least one of the first rotation elbow and the second rotation elbow is the same as the rotation shaft of the shaft of the first shaft motor or the rotation shaft of the shaft of the second shaft motor.
The hose is a flexible hose having flexibility.
The length of the flexible hose, rather long than a distance between said second axis and said first axis,
The flexible hose is provided with respect to a line segment connecting the rotating shaft of the shaft of the first shaft motor and the rotating shaft of the shaft of the second shaft motor on the second surface and the plane parallel to the fourth surface. that intersect at an angle Te characterized the water flat multi-joint robot. When the bending of the flexible hose between the first rotating elbow and the second rotating elbow is arcuate, the height of the arc of the flexible hose is not more than half the width of the base. Item 2. The horizontal articulated robot according to item 2.

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