JP6952496B2 - Industrial robot - Google Patents

Description

The present invention relates to an industrial robot that performs various tasks using a manipulator in a work environment in a volatile atmosphere.

Industrial robots are generally equipped with an articulated manipulator, and an electric motor is mounted on each joint, and the electric motor can operate the articulated manipulator. As such an industrial robot, there is one described in Patent Document 1 below.

Further, when performing various operations using this industrial robot, if the work environment is a volatile atmosphere, sparks generated when the manipulator is operated may ignite and cause a fire. Therefore, industrial robots require an explosion-proof structure. As an explosion-proof structure of a conventional industrial robot, for example, there is one described in Patent Document 2 below.

Japanese Unexamined Patent Publication No. 2013-22501 Japanese Patent No. 2796482

For industrial robots that work in a volatile atmosphere, the electric motor for operating the manipulator needs to have an explosion-proof structure. In this case, the electric motor is covered with a container to protect it, and the inside is scavenged to increase the pressure. It is conceivable to adopt a pressure-resistant internal pressure explosion-proof structure. However, in the case of a manipulator having many joints, it is necessary to adopt an internal pressure explosion-proof structure or a pressure-resistant internal pressure explosion-proof structure for a large number of electric motors, which causes a problem that the manipulator becomes large and heavy.

The present invention solves the above-mentioned problems, and an object of the present invention is to provide an industrial robot that improves the safety of various operations in an environment of a volatile atmosphere and suppresses the increase in size and weight of the device. ..

The industrial robot of the present invention for achieving the above object has a housing having an explosion-proof structure and a hollow shape, and a joint portion provided outside the housing and provided between a plurality of arms. A manipulator having a hand portion provided at the tip end portion of the arm, a plurality of electric drive portions provided inside the housing, a plurality of non-electric drive portions for driving the joint portion and the hand portion, and the plurality of electric drive portions. It is characterized by including a plurality of driving force transmitting units for transmitting the driving force of the electric driving unit to the plurality of non-electric driving units.

Therefore, while a plurality of electric drive units are provided inside the housing, a plurality of non-electric drive units for driving the joints and hands of the manipulator are provided outside the housing, and a plurality of driving forces of the plurality of electric drive units are provided. It is possible to transmit to a plurality of non-electric drive units by the drive force transmission unit of. Therefore, it is possible to improve the safety of various operations in an environment of a volatile atmosphere by using a plurality of electric drive units as an explosion-proof structure. Further, it is not necessary to provide an electric drive unit at the joint portion and the hand portion of the manipulator to form an explosion-proof structure, and it is possible to suppress an increase in size and weight of the device.

In the industrial robot of the present invention, in the manipulator, a support shaft provided at a base end portion is rotatably supported through the housing, and is rotatable by a rotation drive unit, and the support shaft is rotatable. It is characterized in that a sealing mechanism is provided between the housing and the housing.

Therefore, since the support shaft of the manipulator is supported through the housing and is rotatable by the rotation drive unit, the entire manipulator can be easily rotated by the rotation drive unit, and the support shaft and the support shaft can be rotated. The sealing mechanism provided between the housing and the outside suppresses the flow of fluid to the outside, and high explosion-proof performance can be ensured.

In the industrial robot of the present invention, the non-electric drive unit is a fluid pressure cylinder, and the drive force transmission unit is a tube that supplies the fluid pressure generated by the electric drive unit to the fluid pressure cylinder. It is characterized by.

Therefore, the non-electric drive unit is a fluid pressure cylinder, and the fluid pressure generated by the electric drive unit can be supplied to the fluid pressure cylinder by a tube as a driving force transmission unit. In addition to being able to form a part, the fluid pressure can be easily supplied to the fluid pressure cylinder by a tube, and high explosion-proof performance can be ensured.

In the industrial robot of the present invention, a drive-side fluid pressure cylinder in which a piston is operated by the electric drive unit is provided, and the fluid pressure generated by the drive-side fluid pressure cylinder is supplied to the fluid pressure cylinder via the tube. It is characterized by that.

Therefore, the fluid pressure cylinder on the drive side is operated by the electric drive unit inside the housing, and the fluid pressure generated by the fluid pressure cylinder on the drive side is supplied from the tube to the fluid pressure cylinder, so that the rotational driving force is linearized with a simple configuration. It can be converted into driving force to operate the fluid pressure cylinder.

In the industrial robot of the present invention, a cylinder for storing a pressurized fluid and a connecting tube for connecting the cylinder and the tube are provided, and the electric drive unit transfers the cylinder to the fluid pressure cylinder. It is characterized by switching between supply and discharge of fluid.

Therefore, by connecting the cylinder and the tube in which the pressurized fluid is stored and switching the supply and discharge of the fluid to the fluid pressure cylinder by the electric drive unit, the fluid pressure cylinder can be easily operated with a simple configuration. be able to.

In the industrial robot of the present invention, the non-electric drive unit is a rotation shaft provided on the joint portion, and the drive force transmission unit uses the rotational force generated by the electric drive unit on the rotation shaft. It is characterized by being a cord to be transmitted.

Therefore, the drive force transmission unit transmits the rotational force generated by the electric drive unit to the rotation shaft of the non-electric drive unit by means of a cord, so that the structure of the drive force transmission unit can be simplified.

In the industrial robot of the present invention, the driving force transmitting unit has a first pulley rotated by the electric driving unit and a second pulley fixed to the rotating shaft, and the first pulley and the first pulley are fixed. It is characterized in that the endless cord is hung between the two pulleys.

Therefore, the structure of the driving force transmitting unit is simplified by forming the driving force transmitting unit by hanging an endless cord around the first pulley rotated by the electric driving unit and the second pulley fixed to the rotating shaft. Can be achieved.

In the industrial robot of the present invention, the non-electric drive unit is a grip portion provided on the hand unit, and the drive force transmission unit is a cord that transmits the traction force generated by the electric drive unit to the grip unit. It is characterized by being an article.

Therefore, by transmitting the traction force generated by the electric drive unit to the grip portion by the cord , the structure of the drive force transmission unit can be simplified.

According to the industrial robot of the present invention, it is possible to improve the safety of various operations in an environment of a volatile atmosphere, and it is possible to suppress an increase in size and weight of the device.

FIG. 1 is a schematic configuration diagram showing an industrial robot according to the first embodiment. FIG. 2 is a plan view showing the joint portion of the manipulator. FIG. 3 is a schematic configuration diagram showing the industrial robot of the second embodiment. FIG. 4 is a schematic configuration diagram showing an industrial robot according to a third embodiment. FIG. 5 is a plan view showing the driving force transmitting unit. FIG. 6 is a side view showing the driving force transmitting unit. FIG. 7 is a side view showing a modified example of the driving force transmitting unit.

A preferred embodiment of the industrial robot according to the present invention will be described in detail below with reference to the accompanying drawings. The present invention is not limited to this embodiment, and when there are a plurality of embodiments, the present invention also includes a combination of the respective embodiments.

[First Embodiment]
FIG. 1 is a schematic configuration diagram showing an industrial robot according to the first embodiment, and FIG. 2 is a plan view showing a joint portion of a manipulator.

In the first embodiment, as shown in FIGS. 1 and 2, the industrial robot 10 includes a housing 11, a manipulator 12, and a plurality of (two in this embodiment) electric drive units 13 and 14. A plurality of (two in this embodiment) non-electric drive units 15 and 16 and a plurality of (two in this embodiment) driving force transmission units 17 and 18 are provided.

The housing 11 has a hollow shape, and a moving device 21 is provided at the lower portion. The moving device 21 is composed of a plurality of drive wheels 22 provided in the lower part of the housing 11 and an electric motor 23 arranged inside the housing 11, and the drive wheels 22 are driven and rotated by the electric motor 23. By doing so, the housing 11 can move forward and backward. A crawler may be provided instead of the drive wheel 22. Further, the front wheels of the plurality of drive wheels 22 can be steered by a steering device (not shown).

Further, the housing 11 has an explosion-proof structure. In the present embodiment, the housing 11 has an internal pressure explosion-proof structure . That is, the housing 11 is provided with an air supply device (pressurizing device) 31. In the air supply device 31, the housing 11 has an air tank 32 fixed to the outside, and an air supply line 33 is provided so as to penetrate the housing 11 via a shield 34. One end of the air supply line 33 is connected to the air tank 32 outside the housing 11, the other end is opened inside the housing 11, and an on-off valve (solenoid valve) 35 is provided. Therefore, by opening the on-off valve 35, the air in the air tank 32 is supplied to the inside of the housing 11 through the air supply line 33, and the pressure inside the housing 11 can be increased.

Further, the housing 11 is provided with a ventilation device 36. In the ventilation device 36, an air discharge line 37 is provided so as to penetrate the housing 11 via a shield 38. One end of the air discharge line 37 is opened to the outside of the housing 11, the other end is opened to the inside of the housing 11, and an on-off valve (solenoid valve) 39 is provided. Therefore, when the pressure inside the housing 11 is high, the internal air can be discharged from the air discharge line 37 to the outside of the housing 11 by opening the on-off valve 39.

The manipulator 12 is configured such that the first arm 41 and the second arm 42 are connected by a joint portion 43, and a hand portion 44 is provided at the tip end portion of the second arm 42. The manipulator 12 is provided on the ceiling outside the housing 11 and extends substantially horizontally to the front side. A support shaft 45 is fixed to the base end portion of the first arm 41, and the lower portion of the support shaft 45 penetrates the housing 11 and is rotatably supported by a bearing (not shown). The base end portion of the second arm 42 is rotatably connected to the tip end portion of the first arm 41 by a connecting shaft 46 constituting the joint portion 43. Further, the second arm 42 is provided with a hand portion 44 at the tip end portion. The hand portion 44 is composed of two grip portions 47 and 48.

Further, in the manipulator 12, a support shaft 45 fixed to the base end portion of the first arm 41 is rotatably supported by the housing 11, and the support shaft 45 is an electric motor provided inside the housing 11. The drive can be rotated by the (rotation drive unit) 49. Further, a seal mechanism 50 is provided between the housing 11 and the support shaft 45. Therefore, when the electric motor 49 is driven, the manipulator 12 (first arm 41) can be rotated via the support shaft 45.

The electric drive units 13 and 14 are provided inside the housing 11, and have substantially the same configuration. The first electric drive unit 13 is a first electric motor 51, and a first drive side fluid pressure cylinder (air cylinder) 53 is connected via a first ball screw mechanism 52. The first electric motor 51 has a rotatable output shaft 54. In the first drive-side fluid pressure cylinder 53, the piston 56 is movably supported in the cylinder 55, and the rod 57 is connected to the piston 56. A seal 58 is provided at the penetrating portion of the rod 57 in the cylinder 55. The first ball screw mechanism 52 converts the driving force in the rotational direction of the output shaft 54 of the first electric motor 51 into the driving force in the axial direction and transmits the driving force to the rod 57 of the first driving side fluid pressure cylinder 53.

The second electric drive unit 14 is a second electric motor 61, and a second drive side fluid pressure cylinder (air cylinder) 63 is connected via a second ball screw mechanism 62. The second electric motor 61 has a rotatable output shaft 64. In the second drive-side fluid pressure cylinder 63, the piston 66 is movably supported in the cylinder 65, and the rod 67 is connected to the piston 66. The cylinder 65 is provided with a seal 68 at the penetrating portion of the rod 67. The second ball screw mechanism 62 converts the driving force in the rotational direction of the output shaft 64 of the second electric motor 61 into the driving force in the axial direction and transmits the driving force to the rod 67 of the second driving side fluid pressure cylinder 63.

The non-electric drive units 15 and 16 are provided outside the housing 11, and have substantially the same configuration. The first non-electric drive unit 15 operates the joint portion 43 of the manipulator 12, and is installed between the first arm 41 and the second arm 42. The first non-electric drive unit 15 is a first air cylinder (fluid pressure cylinder) 71, in which a piston 73 is movably supported in the cylinder 72, and a rod 74 is connected to the piston 73. The base end of the first air cylinder 71 is rotatably connected to the tip of the first arm 41 by the connecting shaft 75, and the tip of the rod 74 is rotated to the base end of the second arm 42 by the connecting shaft 76. It is connected freely.

The second non-electric drive unit 16 operates the hand unit 44 in the manipulator 12, and is provided between the second arm 42 and the hand unit 44. The second non-electric drive unit 16 is a second air cylinder (fluid pressure cylinder) 81, in which a piston 83 is movably supported in the cylinder 82, and a rod 84 is connected to the piston 83. In the second air cylinder 81, the cylinder 82 is fixed to the tip of the second arm 42. Then, in the hand portion 44, the base end portion of one grip portion 47 is fixed to the tip end portion of the rod 84, and the base end portion of the other grip portion 48 is fixed to the cylinder 82.

The driving force transmitting units 17 and 18 transmit the driving force of the electric driving units 13 and 14 to the non-electric driving units 15 and 16, and are provided outside the housing 11 and are substantially the same. It is composed.

The first driving force transmission unit 17 supplies the air pressure generated by the first drive side fluid pressure cylinder 53 by the first electric drive unit 13 to the first air cylinder 71 of the first non-electric drive unit 15. , 92. The first tubes 91 and 92 penetrate the housing 11 via the shield 93. One end of the first tube 91 is connected to the first chamber R1 of the first drive-side fluid pressure cylinder 53, and the other end is connected to the first chamber R11 of the first air cylinder 71. Further, one end of the first tube 92 is connected to the second chamber R2 of the first drive-side fluid pressure cylinder 53, and the other end is connected to the second chamber R12 of the first air cylinder 71.

Therefore, when the output shaft 54 is rotated forward by the first electric motor 51, the piston 56 is moved in one direction (upward in FIG. 1) via the rod 57 by the first ball screw mechanism 52, and the first chamber R1 is moved. It is pressurized. When the first chamber R1 is pressurized, the pressurized air (air pressure) of the first chamber R1 is supplied to the first chamber R11 of the first air cylinder 71 via the first tube 91, and the first chamber R11 becomes It is pressurized. When the first chamber R11 is pressurized, the piston 73 moves in one direction (left in FIG. 1), and the rod 74 moves in the same direction. Then, the manipulator 12 can rotate the second arm 42 in the clockwise direction with respect to the first arm 41 by the extension operation of the first air cylinder 71. On the other hand, when the output shaft 54 is rotated in the reverse direction by the first electric motor 51, the piston 56 is moved in the other direction (downward in FIG. 1) via the rod 57 by the first ball screw mechanism 52, and the second chamber R2 is moved. It is pressurized. When the second chamber R2 is pressurized, the pressurized air (air pressure) of the second chamber R2 is supplied to the second chamber R12 of the first air cylinder 71 via the first tube 92, and the second chamber R12 becomes It is pressurized. When the second chamber R12 is pressurized, the piston 73 moves in the other direction (to the right in FIG. 1), and the rod 74 moves in the same direction. Then, the manipulator 12 can rotate the second arm 42 in the counterclockwise direction with respect to the first arm 41 by the contraction operation of the first air cylinder 71.

The second driving force transmission unit 18 supplies the air pressure generated by the second drive side fluid pressure cylinder 63 by the second electric drive unit 14 to the second air cylinder 81 of the second non-electric drive unit 16 in the second tube 94. , 95. The second tubes 94 and 95 penetrate the housing 11 via the shield 96. One end of the second tube 94 is connected to the third chamber R3 of the second drive-side fluid pressure cylinder 63, and the other end is connected to the third chamber R13 of the second air cylinder 81. Further, one end of the second tube 95 is connected to the fourth chamber R4 of the second drive side fluid pressure cylinder 63, and the other end is connected to the fourth chamber R14 of the second air cylinder 81.

Therefore, when the output shaft 64 is rotated forward by the second electric motor 61, the piston 66 is moved in one direction (upward in FIG. 1) via the rod 67 by the second ball screw mechanism 62, and the third chamber R3 is moved. It is pressurized. When the third chamber R3 is pressurized, the pressurized air (air pressure) of the third chamber R3 is supplied to the third chamber R13 of the second air cylinder 81 via the second tube 94, and the third chamber R13 becomes It is pressurized. When the third chamber R13 is pressurized, the piston 83 moves in one direction (upward in FIG. 1), and the rod 84 moves in the same direction. Then, the manipulator 12 can separate the grip portion 47 of the hand portion 44 from the grip portion 48 by the extension operation of the second air cylinder 81. On the other hand, when the output shaft 64 is rotated in the reverse direction by the second electric motor 61, the piston 66 is moved in the other direction (downward in FIG. 1) via the rod 67 by the second ball screw mechanism 62, and the fourth chamber R4 is moved. It is pressurized. When the fourth chamber R4 is pressurized, the pressurized air (air pressure) of the fourth chamber R4 is supplied to the fourth chamber R14 of the second air cylinder 81 via the second tube 95, and the fourth chamber R14 becomes It is pressurized. When the fourth chamber R14 is pressurized, the piston 83 moves in the other direction (downward in FIG. 1), and the rod 84 moves in the same direction. Then, the manipulator 12 can bring the grip portion 47 of the hand portion 44 closer to the grip portion 48 by the contraction operation of the second air cylinder 81.

A control device 101 and a battery ( storage battery ) 102 are mounted inside the housing 11. The control device 101 can drive and control each of the electric motors 23, 49, 51, 61. Further, the control device 101 can control the opening and closing of the on-off valves 35 and 39. The housing 11 is provided with a window portion 103 at the front portion, and a photographing device (camera and lighting) 104 is provided at the window portion 103. The control device 101 can drive and control the photographing device 104. Then, the control device 101 can supply the electric power of the battery 102 to the electric motors 23, 49, 51, 61 and the photographing device 104.

Although not shown, the housing 11 has a transmitter / receiver inside and an antenna is connected to the housing 11. The transmitter / receiver is connected to the control device 101. Therefore, the control device 101 drives and controls the electric motors 23, 49, 51, 61, the on-off valves 35, 39, and the photographing device 104 based on the operation signal received from the outside via the transmitter / receiver from the antenna. Further, the control device 101 transmits the captured image of the photographing device 104 to the outside via the antenna by the transmitter / receiver. The external operating device and the control device 101 may be connected by a communication optical fiber.

Before the work, the industrial robot 10 configured in this way first supplies electric power from the battery 102 to the electric motors 23, 49, 51, 61 and the like via the control device 101 in a safe place where the atmosphere is not volatile. The supply is started, and internal pressure explosion-proof work is performed to prevent flammable gas from entering the housing 11. That is, the control device 101 opens the on-off valve 35 and supplies the air in the air tank 32 from the air supply line 33 to the inside of the housing 11. Further, the on-off valve 39 is opened, and the internal air is discharged from the air discharge line 37 to the outside of the housing 11. Then, the inside of the housing 11 is pressurized, so that the air remaining inside is discharged and scavenging is executed.

At this time, the control device 101 sets the amount of air supplied from the air supply line 33 into the housing 11 to be larger than the amount of air discharged from the air discharge line 37 to the outside of the housing 11. Residual air is discharged as the internal pressure rises. Then, the control device 101 closes the on-off valve 39 when the residual air in the housing 11 is discharged, and closes the on-off valve 35 when the internal air pressure becomes higher than a preset predetermined value. After that, the control device 101 controls the opening and closing of the on-off valve 35 so that the pressure inside the housing 11 is maintained at a predetermined value higher than the external pressure.

When the scavenging work and the internal pressure explosion-proof work in the housing 11 are completed, the control device 101 moves to the work place and performs various works using the manipulator 12. At this time, the housing 11 contains the electric motors 23, 49, 51, 61 and the like as electric parts inside, and the air cylinders 71 and 81 and the tubes as non-electric parts that operate the manipulator 12 outside. Since 91, 92, 94, and 95 are arranged and have an internal pressure explosion-proof structure, even if the outside of the housing 11 has a volatile atmosphere, it will not catch fire.

As described above, in the industrial robot of the first embodiment, the housing 11 having an explosion-proof structure and having a hollow shape and the joint portion provided between the plurality of arms 41 and 42 outside the housing 11 A manipulator 12 having a hand portion 44 provided at the tip of the 43 and the second arm 42, electric drive portions 13 and 14 provided inside the housing 11, and a non-electric drive for driving the joint portion 43 and the hand portion 44. The units 15 and 16 and the driving force transmitting units 17 and 18 for transmitting the driving force of the electric driving units 13 and 14 to the non-electric driving units 15 and 16 are provided.

Therefore, while the electric drive units 13 and 14 are provided inside the housing 11, the non-electric drive units 15 and 16 for driving the joint 43 and the hand 44 of the manipulator 12 are provided outside the housing 11 and the electric drive unit is provided. The driving force of 13 and 14 can be transmitted to the non-electric driving units 15 and 16 by the driving force transmitting units 17 and 18. Therefore, the electric drive units 13 and 14 can be used as an explosion-proof structure to improve the safety of various operations in an environment with a volatile atmosphere. Further, it is not necessary to provide an electric drive unit in the joint portion 43 and the hand portion 44 of the manipulator 12 to have an explosion-proof structure, and it is possible to suppress an increase in size and weight of the device.

In the industrial robot of the first embodiment, in the manipulator 12, the support shaft 45 provided at the base end portion is rotatably supported through the housing 11 and is rotatably supported by the electric motor 49. A sealing mechanism 50 is provided between the support shaft 45 and the housing 11. Therefore, the electric motor 49 can easily rotate the entire manipulator 12, and the seal mechanism 50 provided between the support shaft 45 and the housing 11 suppresses the flow of fluid to the outside, resulting in high explosion resistance. Performance can be ensured.

In the industrial robot of the first embodiment, the non-electric drive unit 15 is an air cylinder 71, and the tubes 91 and 92 that supply the air pressure generated by the electric drive unit 13 to the air cylinder 71 are used as the driving force transmission unit 17. It is provided. Therefore, the non-electric drive unit 15 can be externally configured by the air cylinder 71 with a simple configuration, and the air pressure can be easily supplied to the air cylinder 71 by the tubes 91 and 92, resulting in high explosion-proof performance. Can be secured.

In the industrial robot of the first embodiment, the drive-side fluid pressure cylinders 53 and 63 in which the pistons 56 and 66 are operated by the electric drive units 13 and 14 are provided, and the air pressure generated by the drive-side fluid pressure cylinders 53 and 63 is supplied to a tube. It is supplied to the air cylinders 71 and 81 via 91, 92, 94 and 95. Therefore, it is possible to convert the rotational driving force of the electric driving units 13 and 14 into a linear driving force and operate the air cylinders 71 and 81 with a simple configuration.

[Second Embodiment]
FIG. 3 is a schematic configuration diagram showing the industrial robot of the second embodiment. Members having the same functions as those in the above-described embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

In the second embodiment, as shown in FIG. 3, the industrial robot 110 includes a housing 11, a manipulator 12, a plurality of (two in the present embodiment) electric drive units 111 and 112, and a plurality of non-industrial robots 110. It includes electric drive units 15 and 16 and a plurality of drive force transmission units 17 and 18.

The housing 11 has a hollow shape, and a moving device 21 is provided at the lower portion. Further, the housing 11 has an explosion-proof structure and has an internal pressure explosion-proof structure . That is, the housing 11 is provided with an air supply device 31 and a ventilation device 36.

The manipulator 12 is configured such that the first arm 41 and the second arm 42 are connected by a joint portion 43, and a hand portion 44 is provided at the tip end portion of the second arm 42. In the first arm 41, a support shaft 45 fixed to a base end portion is rotatably supported by a housing 11. The base end portion of the second arm 42 is rotatably connected to the tip end portion of the first arm 41 by a connecting shaft 46 as a joint portion 43. The second arm 42 is provided with a hand portion 44 at the tip end portion, and the hand portion 44 is composed of two grip portions 47 and 48. The manipulator 12 can be driven and rotated by an electric motor 49 via a support shaft 45.

The electric drive units 111 and 112 are provided inside the housing 11, and have substantially the same configuration. The first electric drive unit 111 is a first electric switching valve (for example, a solenoid valve) 121, and the second electric drive unit 112 is a second electric switching valve (for example, a solenoid valve) 122. The first electric switching valve 121 and the second electric switching valve 122 are connected to the air supply switching valve 125 via the connecting tubes 123 and 124. An air bomb 126 is mounted on the outside of the housing 11, and the air supply switching valve 125 and the air bomb 126 are connected by a connecting tube 128 penetrating a shield 127 provided in the housing 11. The air cylinder 126 stores pressurized air (fluid), and the pressured air is supplied to between the first electric switching valve 121 and the second electric switching valve 122 by the air supply switching valve 125. It can be switched.

The first non-electric drive unit 15 operates the joint portion 43 of the manipulator 12, and is installed between the first arm 41 and the second arm 42. The first non-electric drive unit 15 is a first air cylinder 71. The second non-electric drive unit 16 operates the hand unit 44 in the manipulator 12, and is provided between the second arm 42 and the hand unit 44. The second non-electric drive unit 16 is a second air cylinder 81.

The first driving force transmission unit 17 is a first tube 91, 92 that supplies the pressurized air stored in the air cylinder 126 by the first electric drive unit 111 to the first air cylinder 71 of the first non-electric drive unit 15. .. One end of the first tube 91 is connected to the first electric switching valve 121, and the other end is connected to the first chamber R11 of the first air cylinder 71. Further, one end of the first tube 92 is connected to the first electric switching valve 121, and the other end is connected to the second chamber R12 of the first air cylinder 71. The first electric switching valve 121 can switch the supply destination and the discharge destination of the pressurized air from the air cylinder 126 between the first chamber R11, the second chamber R12, and the stop of the first air cylinder 71.

The second driving force transmission unit 18 is a second tube 94, 95 that supplies the pressurized air stored in the air cylinder 126 by the second electric drive unit 112 to the second air cylinder 81 of the second non-electric drive unit 16. .. One end of the second tube 94 is connected to the second electric switching valve 122, and the other end is connected to the third chamber R13 of the second air cylinder 81. Further, one end of the second tube 95 is connected to the second electric switching valve 122, and the other end is connected to the fourth chamber R14 of the second air cylinder 81. The second electric switching valve 122 can switch the supply destination and the discharge destination of the pressurized air from the air cylinder 126 between the third chamber R13 and the fourth chamber R14 of the second air cylinder 81 and the stop.

Therefore, the air supply switching valve 125 switches the supply destination of the pressurized air to the first electric switching valve 121, and the first electric switching valve 121 switches the supply destination of the pressurized air to the first chamber of the first air cylinder 71. When switching to R11, pressurized air (air pressure) is supplied to the first chamber R11 of the first air cylinder 71 via the first tube 91, and the first chamber R11 is pressurized. When the first chamber R11 is pressurized, the piston 73 moves in one direction (left in FIG. 3), and the rod 74 moves in the same direction. Then, the manipulator 12 can rotate the second arm 42 with respect to the first arm 41 by the extension operation of the first air cylinder 71. On the other hand, when the supply destination of the pressurized air is switched to the second chamber R12 of the first air cylinder 71 by the first electric switching valve 121, the pressurized air (air pressure) is sent to the first air cylinder via the first tube 92. It is supplied to the second chamber R12 of 71, and the second chamber R12 is pressurized. When the second chamber R12 is pressurized, the piston 73 moves in the other direction (to the right in FIG. 3), and the rod 74 moves in the same direction. Then, the manipulator 12 can rotate the second arm 42 with respect to the first arm 41 by the contraction operation of the first air cylinder 71.

Further, the air supply switching valve 125 switches the supply destination of the pressurized air to the second electric switching valve 122, and the second electric switching valve 122 switches the supply destination of the pressurized air to the third chamber of the second air cylinder 81. When switching to R13, pressurized air (air pressure) is supplied to the third chamber R13 of the second air cylinder 81 via the second tube 94, and the third chamber R13 is pressurized. When the third chamber R13 is pressurized, the piston 83 moves in one direction (upward in FIG. 3), and the rod 84 moves in the same direction. Then, the manipulator 12 can separate the grip portion 47 of the hand portion 44 from the grip portion 48 by the extension operation of the second air cylinder 81. On the other hand, when the supply destination of the pressurized air is switched to the fourth chamber R14 of the second air cylinder 81 by the second electric switching valve 122, the pressurized air (air pressure) is sent to the second air cylinder via the second tube 95. It is supplied to the fourth chamber R14 of 81, and the fourth chamber R14 is pressurized. When the fourth chamber R14 is pressurized, the piston 83 moves in the other direction (downward in FIG. 3), and the rod 84 moves in the same direction. Then, the manipulator 12 can bring the grip portion 47 of the hand portion 44 closer to the grip portion 48 by the contraction operation of the second air cylinder 81.

The control device 101 can drive and control the electric motors 23 and 49, and can also open and close the first electric switching valve 121, the second electric switching valve 122, and the air supply switching valve 125.

As described above, in the industrial robot of the second embodiment, the air cylinder 126 in which the pressurized air is stored, and the connecting tubes 123, 124, which connect the air cylinder 126 and the tubes 91, 92, 94, 95, 128 is provided, and the supply and discharge of air from the air cylinder 126 to the air cylinders 71 and 81 can be switched by the electric switching valves 121 and 122 as the electric drive units 111 and 112.

Therefore, it is easy to connect the air cylinder 126 in which the pressurized air is stored and the connecting tubes 123, 124, 128, and switch the supply and discharge of air to the air cylinders 71 and 81 by the electric switching valves 121 and 122. The air cylinders 71 and 81 can be easily operated with such a configuration.

[Third Embodiment]
FIG. 4 is a schematic configuration diagram showing an industrial robot according to a third embodiment, FIG. 5 is a plan view showing a driving force transmitting unit, and FIG. 6 is a side view showing a driving force transmitting unit. Members having the same functions as those in the above-described embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

In the third embodiment, as shown in FIGS. 4 to 6, the industrial robot 130 includes a housing 11, a manipulator 131, and a plurality of (two in this embodiment) electric drive units 132 and 133. It includes a plurality of (two in the present embodiment) non-electric drive units 134 and 135, and a plurality of (two in the present embodiment) drive force transmission units 136 and 137.

The housing 11 has a hollow shape, and a moving device 21 is provided at the lower portion. Further, the housing 11 has an explosion-proof structure and has an internal pressure explosion-proof structure . That is, the housing 11 is provided with an air supply device 31 and a ventilation device 36.

The manipulator 131 is configured by connecting the first arm 141 and the second arm 142 by a joint portion 143, and providing a hand portion 144 at the tip end portion of the second arm 142. The manipulator 131 is provided on the ceiling outside the housing 11 and extends substantially horizontally to the front side. A support shaft 145 is fixed to the base end portion of the first arm 141, and the lower portion of the support shaft 145 penetrates the housing 11 and is rotatably supported by a bearing (not shown). The base end portion of the second arm 142 is rotatably connected to the tip end portion of the first arm 141 by a connecting shaft 146 forming the joint portion 143. Further, the second arm 142 is provided with a hand portion 144 at the tip end portion. In this hand portion 144, two grip portions 147 and 148 intersect in an X shape, are rotatably connected by a connecting shaft 149, and the tip portion is opened by a compression coil spring 150 as an urging member. It is configured to be urged and supported in the direction of (separation).

Further, in the manipulator 131, a support shaft 145 fixed to the base end portion of the first arm 141 is rotatably supported by the housing 11, and the support shaft 145 is provided with a driven gear 151 at the end portion. .. In the electric motor (rotary drive unit) 152 provided inside the housing 11, the drive gear 154 is fixed to the output shaft 153, and the drive gear 154 meshes with the driven gear 151. Further, a seal mechanism 155 is provided between the housing 11 and the support shaft 145. Therefore, when the electric motor 152 is driven, the drive gear 154 is driven and rotated together with the output shaft 153, the driven gear 151 that meshes with the drive gear 154 is driven and rotated, and the manipulator 131 (first arm 141) is rotated via the support shaft 145. Can move.

The electric drive units 132 and 133 are provided inside the housing 11. The first electric drive unit 132 is the first electric motor 161 and can rotate the drive shaft 162 in the forward direction and the reverse direction. The drive shaft 162 is rotatably provided so as to penetrate the axial center portion of the support shaft 145, and the output shaft 163 of the first electric motor 161 is connected to the lower end portion. Further, a seal mechanism 164 is provided between the support shaft 145 and the drive shaft 162.

The second electric drive unit 133 is the second electric motor 171 to which the traction device 172 is connected. The second electric motor 171 has a rotatable output shaft 173. The traction device 172 is configured by connecting a moving shaft 176 to the outer peripheral portion of the rotating plate 174 via a connecting link 175. One end of the connecting link 175 is rotatably connected to the rotating plate 174 by the connecting shaft 177, and the other end is rotatably connected to the moving shaft 176 by the connecting shaft 178. The moving shaft 176 is supported so as to be movable in the axial direction through the housing 11, and the housing 11 is provided with a seal 179 at the penetrating portion of the moving shaft 176. The traction device 172 converts the driving force in the rotational direction of the output shaft 173 of the second electric motor 171 into the driving force in the axial direction and transmits the driving force to the moving shaft 176.

The non-electric drive units 134 and 135 are provided outside the housing 11. The first non-electric drive unit 134 operates the joint portion 143 of the manipulator 131, and is a connecting shaft (rotating shaft) 146 fixed to the base end portion of the second arm 142. Further, the second non-electric drive unit 135 operates the hand unit 144 in the manipulator 131, and is provided between the second arm 142 and the hand unit 144. The hand portion 144 is configured such that the grip portions 147 and 148 are rotatably connected by a connecting shaft 149 and a compression coil spring 150 is interposed at the base end portions of both. Then, in the hand portion 144, the base end portion of one grip portion 148 is fixed to the tip end portion of the second arm 142.

The driving force transmitting units 136 and 137 transmit the driving force of the electric driving units 132 and 133 to the non-electric driving units 134 and 135, and are provided outside the housing 11. The first driving force transmitting unit 136 is a wire (cord) that transmits the rotational force generated by the first electric driving unit 132 to the connecting shaft 146. That is, the drive shaft 162 connected to the first electric motor 161 has a drive pulley (pulley) 181 as the first pulley fixed to the upper end portion. A driven pulley (pulley) 182 as a second pulley is fixed to the upper end of the connecting shaft 146 fixed to the second arm 142. Then, an endless wire 183 is hung between the drive pulley 181 and the driven pulley 182.

Therefore, when the output shaft 163 is rotated forward by the first electric motor 161, the drive pulley 181 rotates in the same direction, and this rotational power is transmitted to the driven pulley 182 via the wire 183, and the driven pulley 182 is in the same direction. Rotates to. Then, the manipulator 131 can rotate the second arm 142 with respect to the first arm 141 with the connecting shaft 146 as a fulcrum. On the other hand, when the output shaft 163 is rotated in the reverse direction by the first electric motor 161, the drive pulley 181 rotates in the same direction, and this rotational power is transmitted to the driven pulley 182 via the wire 183, and the driven pulley 182 is in the same direction. Rotates to. Then, the manipulator 131 can rotate the second arm 142 in the direction opposite to the above with respect to the first arm 141 with the connecting shaft 146 as a fulcrum.

The second driving force transmitting unit 137 is a wire (cord) that transmits the rotational force generated by the second electric driving unit 133 to the gripping unit 147. That is, the guide pipe 187 is arranged between the base end portion of the grip portion 148 of the hand portion 144 and the mounting portion 186 of the housing 11, and the guide pipe 187 is provided with the wire 188 movably inside. There is. One end of the wire 188 is connected to the moving shaft 176, and the other end of the wire 188 penetrates the base end of the grip 148 and is connected to the base end of the grip 147.

Therefore, when the output shaft 173 is rotated forward by the second electric motor 171, the moving shaft 176 is towed by the traction device 172, and this traction force is transmitted to the grip portion 147 of the hand portion 144 via the wire 188. Then, the manipulator 131 can bring the grip portion 147 of the hand portion 144 closer to the grip portion 148 by this traction force. On the other hand, when the output shaft 173 is rotated in the reverse direction by the second electric motor 171, the traction of the moving shaft 176 by the traction device 172 is released, and the release of the traction force is transmitted to the grip portion 147 of the hand portion 144 via the wire 188. .. Then, the manipulator 131 can separate the grip portion 147 of the hand portion 144 from the grip portion 148 by the urging force of the compression coil spring 150.

The housing 11 has a control device 101 and a battery 102 mounted therein. The control device 101 can drive and control each of the electric motors 23, 152, 161 and 171. Further, the control device 101 can control the opening and closing of the on-off valves 35 and 39.

The traction device 172 of the second electric drive unit 133 described above is not limited to the configuration described above. FIG. 7 is a side view showing a modified example of the driving force transmitting unit.

As shown in FIG. 7, the second electric drive unit 133A is the second electric motor 171 to which the traction device 191 is connected. The second electric motor 171 has a rotatable output shaft 173. The traction device 191 is composed of a rotary shaft 192 that is rotatably supported through the housing 11 and a pulley (pulley) 193 fixed to an upper end portion of the rotary shaft 192 that protrudes to the outside of the housing 11. ing. The housing 11 is provided with a seal 194 at a penetrating portion of the rotating shaft 192. Then, the end of the wire 188 drawn out from the end of the guide pipe 187 is wound around the pulley 193 and fixed. The traction device 191 converts the driving force in the rotational direction of the output shaft 173 of the second electric motor 171 into the driving force in the axial direction and transmits the driving force to the wire 188 as the traction force.

As described above, in the industrial robot of the third embodiment, the non-electric drive unit 134 is the connecting shaft 146 provided in the joint unit 143, and the drive force transmission unit 136 is the rotational force generated by the electric drive unit 132. The wire 183 is transmitted to the connecting shaft 146.

Therefore, the structure can be simplified by using the driving force transmission unit 136 as the wire 183.

In the industrial robot of the third embodiment, as the driving force transmitting unit 136, the driving pulley 181 rotated by the electric driving unit 132, the driven pulley 182 fixed to the connecting shaft 146, and the driving pulley 181 and the driven pulley 182 are provided. An endless wire 183 that is hung between them is provided. Therefore, the structure of the driving force transmission unit 136 can be simplified.

In the industrial robot of the third embodiment, the non-electric drive unit 135 is a grip portion 147 provided in the hand unit 144, and the drive force transmission unit 137 is a wire that transmits the traction force generated by the electric drive unit 133 to the grip unit 147. It is set to 188. Therefore, the structure of the driving force transmission unit 137 can be simplified.

In the above-described embodiment, the fluid pressure of the fluid pressure cylinder has been described as the air pressure, but the pressure is not limited to the air pressure, and for example, water pressure or oil pressure may be applied.

Further, in the above-described embodiment, the manipulator is composed of two arms and is rotatable with respect to the housing, but the present invention is not limited to this configuration, and the manipulator is composed of three or more arms. Or it may be fixed to the housing.

Further, in the above-described embodiment, the housing is movable, but it may be installed at a predetermined position.

Further, in the above-described embodiment, the hand portion is composed of two grip portions, but the present invention is not limited to the grip portion, and various work tools and jigs may be used.

10,110,130 Industrial robot 11 Housing 12,131 Manipulator 13,111,132 First electric drive unit 14,112,133,133A Second electric drive unit 15,134 First non-electric drive unit 16,135 2 Non-electric drive unit 17,136 1st drive force transmission unit 18,137 2nd drive force transmission unit 21 Moving device 31 Air supply device (pressurization device)
36 Ventilation device 41,141 1st arm 42,142 2nd arm 43,143 Joint part 44,144 Hand part 45,145 Support shaft 46,146 Connecting shaft (rotating shaft)
47,48,147,148 Grip part 49,152 Electric motor (rotary drive part)
50,155,164 Seal mechanism 51,161 1st electric motor 52 1st ball screw mechanism 53 1st drive side fluid pressure cylinder 61,171 2nd electric motor 62 2nd ball screw mechanism 63 2nd drive side fluid pressure cylinder 91 , 92 1st tube 94,95 2nd tube 101 Control device 102 Battery 121 1st electric switching valve 122 2nd electric switching valve 123, 124, 128 Connecting tube 125 Air supply switching valve 126 Air bomb 150 Compression coil spring 172 191 Towing device 181 Drive pulley (1st pulley)
182 Driven pulley (second pulley)
183,188 wire

Claims (10)

A hollow housing with an explosion-proof structure,
A manipulator having a joint portion provided outside the housing and provided between a plurality of arms and a hand portion provided at the tip portion of the arm located on the most tip end side of the plurality of arms.
A plurality of electric drive units provided inside the housing and
A plurality of non-electrically driven parts that drive the joint part and the hand part,
A plurality of driving force transmitting units for transmitting the driving force of the plurality of electric driving units to the plurality of non-electric driving units, and a plurality of driving force transmitting units.
It is an industrial robot equipped with
Of the plurality of arms, the arm extending from the housing extends from the ceiling portion of the housing, and a support shaft penetrating the housing is fixed to a base end portion located on the ceiling portion. ,
The support shaft is connected to and rotated by a rotation drive unit of one of the plurality of electric drive units.
An industrial robot characterized by that. The industrial robot according to claim 1, wherein the housing can move forward and backward, and an arm extending from the housing extends forward. A control device for supplying electric power to the plurality of electric drive units is provided inside the housing, and the control device and the plurality of electric drive units are each fixed to the housing, and the control device The industrial robot according to claim 1 or 2, wherein the plurality of electric drive units are connected to each other by a line for supplying electric power. In the manipulator, a support shaft provided at a base end portion is rotatably supported through the housing, and is rotatable by a rotation driving unit, and between the support shaft and the housing. The industrial robot according to any one of claims 1 to 3, wherein a sealing mechanism is provided. The non-electric drive unit is a hydraulic cylinder, the driving force transmitting unit includes the preceding claims, characterized in that the fluid pressure generated by the electric drive unit is a tube supplied to the fluid pressure cylinder The industrial robot according to any one of claim 4. The claim is characterized in that a drive-side fluid pressure cylinder in which a piston is operated by the electric drive unit is provided, and the fluid pressure generated by the drive-side fluid pressure cylinder is supplied to the fluid pressure cylinder via the tube. 5. The industrial robot according to 5. A cylinder for storing the pressurized fluid and a connecting tube for connecting the cylinder and the tube are provided, and the electric drive unit switches the supply and discharge of the fluid from the cylinder to the fluid pressure cylinder. The industrial robot according to claim 5 , wherein the industrial robot is characterized. The non-electric drive unit is a rotation shaft provided in the joint portion, and the drive force transmission unit is a cord for transmitting the rotational force generated by the electric drive unit to the rotation shaft. The industrial robot according to any one of claims 1 to 3, which is characterized. The driving force transmitting unit has a first pulley that is rotated by the electric driving unit and a second pulley that is fixed to the rotating shaft, and is endless between the first pulley and the second pulley. The industrial robot according to claim 8 , wherein the cord is hung around. The non-electrically driven portion is a grip portion provided on the hand portion, and the driving force transmitting portion is a cord that transmits a traction force generated by the electrically driven portion to the grip portion. The industrial robot according to any one of claims 1 to 3.

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