JPH01216786A - Horizontal multiple joint robot - Google Patents

Abstract

PURPOSE:To reduce the moment of inertia of the load of motors for driving the revolutions of first and second arms by placing the motors for driving the revolutions of the first and second arms and the rotation of an up/down shaft, being collected in the vicinity of the revolution center of the first arm. CONSTITUTION:Tie revolution of a first arm 2 is carried out by a motor 3 installed in a supporting body 1, and the revolution of a second arm 12 and the rotation of an up/down shaft 6 are carried out by motors 5, 7 placed on the revolution center of the first arm 2 respectively. Only a motor 18 for carrying out the up/down action of the up/down shaft 6 is placed on the second arm 12 apart from the revolution center of the arms of a robot. As a result, the moment of inertia of the load of each arm 2, 12 can be reduced enabling the capacities of the motors 3, 5 for driving the revolutions of the arms 2, 12 to be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an industrial robot capable of high-speed, high-precision operation used for assembly work, handling, material handling, etc.

(Prior Art) In general, a horizontally articulated robot has a bracket 22 attached to a support body 21 as shown in FIG.
2, one end 23a of the first arm 23, a motor 24 for rotating the first arm, and a speed reducer 25 are arranged with their axes offset from the support 21, and the other end 23 of the first arm 23
3b, one end 26a of the second arm 26, a motor 27 for driving this second Anim rotation, and a reduction gear 28 are arranged,
A drive motor 30 for rotating the vertical shaft 29 and a drive monitor 31 for vertical movement are integrally disposed at the other end of the second arm 26.

(Problem to be solved by the invention) In recent years, there has been a demand for shorter operating times due to higher speed and higher acceleration of industrial robots. There is a tendency to However, increasing the capacity of the arm drive motor and reducer leads to an increase in weight and the moment of inertia, so the motor and reducer must be made even larger in capacity, and the robot itself becomes larger. There was a problem with putting it away.

For this reason, it has been considered to attach the motor for driving the rotation of the second arm closer to the support body side of the first arm. However, if the motor is attached to the support body with the structure shown in FIG. 2, there is a problem that the motor and the arm or the support body will interfere with each other.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an industrial robot capable of high-speed, highly accelerated operation without increasing its size or causing interference between the motor and the arm or support.

[Structure of the Invention] (Means for Solving the Problems) That is, the present invention has a structure in which a first arm and a second arm are sequentially attached to a support so as to be horizontally rotatable, and a vertical shaft is attached to the tip of the second arm. In this device, a gripping device is attached to the lower end of the vertical axis, and the support body accommodates a motor for rotating the first arm, and one end of the first arm is mounted on the upper part via a first reduction gear. A motor for rotating the second arm and a motor for rotating the vertical axis are housed in one end of the first arm, and a second reducer having a through hole in the center in the axial direction is installed in the lower part of the other end. The motor for rotating the second arm and the second reducer are connected by a belt, and the second
The intermediate shaft is passed through the through hole of the reducer and connected to the motor for rotating the vertical axis by a belt, and one end is connected to the lower part of the other end of the first arm via the second reducer, and the horizontal It is characterized in that it is rotatably mounted, has a vertical shaft and a motor for vertical movement disposed at the other end, and has a second arm connected from the intermediate shaft to the vertical shaft by a belt.

(Function) According to the above-described configuration, the first arm is rotated by a motor installed in the support, and the second arm is rotated and the vertical axis is rotated by a motor placed at the center of rotation of the first arm. By placing only the motor that performs the vertical movement of the vertical axis on the second arm, which is located away from the center of rotation of the robot arm, the load inertia moment of each arm is reduced, so the capacity of the rotation drive motor can be reduced. In addition, even when the motor is made larger for higher speed and higher acceleration, the increase in load inertia moment can be reduced. In addition, by arranging the first arm on the support and integrally attaching a motor for driving the second arm to rotate the second arm and rotate the vertical axis, interference between the motor and the arm or the support can be avoided. Since the rotation range of each arm can be prevented, there are fewer restrictions on the rotation range of each arm.

(Example) The present invention will be described below with reference to an example shown in FIG. FIG. 1 is a sectional view of the robot of the present invention. In the figure, reference numeral 1 denotes a support body, and a swing drive motor 3 for the first arm 2 is housed in the upper part of the support body 1, and a first reduction gear 4 is attached to this rotating shaft. One end 2a of the first arm 2 is attached to the output side of the reducer 4, and the first arm is driven by a swing drive motor 3 so that it can swing around this end. A motor 5 for rotating the second axis and a motor 7 for rotating the vertical axis 6 are housed in one end portion 2a of the first arm near the center of rotation. Also,
The driving force of the second shaft rotation motor is applied to the other end 2b of the belt 8.
A hollow shaft 9 is supported by a bearing 10, and a hollow speed reducer 1 is mounted concentrically with the hollow shaft 9 on the lower side.
One end 12a, which is the center of rotation of the second arm 12, is attached to the output side of this reducer 11. Further, the intermediate shaft 13 passes through the center of the hollow shaft 9 and the reducer 11, and the bearing 1 is inserted between the hollow shaft and the second arm.
4. Motor 7 supported by 14 for vertical axis rotation operation
The driving force is transmitted via the belt 15. A screw nut 16 is attached above and a spline nut 17 is attached below via bearings to the other end 12b of the second arm, respectively, and the vertical shaft 6 is fitted and supported by these.

A motor 18 is attached adjacent to the screw nut 16, and the motor 18 rotates the screw nut 16 via a belt 19 to move the vertical shaft 6 up and down. The driving force transmitted to the intermediate shaft 13 is transmitted to the spline nut 17 via the belt 20, causing the vertical shaft 6 to rotate around the axis.

In the horizontal articulated robot configured in this way, the first arm 2 is rotated by the motor 3 installed in the support 1, and the second arm 12 is rotated and the vertical axis 6 is rotated by the first arm. The motors 5 and 7 placed in the center perform this operation, and by placing only the motor that performs the vertical movement of the vertical axis on the second arm, which is away from the rotation center of the robot arm, the load inertia moment of each arm is reduced. Therefore, the capacity of the swing drive motor can be reduced, and even when the motor is increased in size for high speed and high acceleration, the increase in load inertia moment can be reduced.

[Effect of the invention] As explained above, according to the present invention, the rotation of the 17th arm,
By arranging the motors for driving the rotation of the second arm and the rotation of the vertical axis together near the rotation center of the first arm, the load inertia moment of the motors for driving the rotation of the first arm and the second arm is reduced. be able to. Further, a first arm is arranged on the support body, and a second arm is integrally attached to this first arm.
By installing motors for driving the arm rotation and vertical axis rotation, interference between the motor and the arm or support can be prevented.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of an embodiment of the present invention, and FIG. 2 is an explanatory diagram of the configuration of a conventional example. 1... Support body, 2... First arm, 3.5, 7.1
8...Motor, 4.11...Reducer, 6...Vertical shaft, 9...Hollow shaft, 12...First arm, 16...Screw nut, 17...Spline nut . 1-...Support 2...-First frame 3. ,f,7
．． tlJ--Motor J, /l--...Gibiho
g...Vertical axis z-...Medium i-axis/2-=-'127
4 /6-sk'b-f-t'7=-nu7'7(
7+, /l-Figure 2

Claims (1)

[Scope of Claims] A support body that accommodates a motor for rotating a first arm and has a first reduction gear on the upper part, and one end of which is placed on the support body via the first reduction gear to horizontal rotation. A motor for rotating the second arm and a motor for rotating the vertical axis are housed in one end, and a second reducer having a through hole in the center in the axial direction is disposed at the lower part of the other end. The motor for rotating the second arm and the second reducer are connected by a belt, and the intermediate shaft is passed through the through hole of the second reducer, and the motor for rotating the vertical shaft is connected to the motor for rotation of the vertical shaft. a first arm connected to the lower end of the first arm via the second reducer, and mounted so as to be horizontally swingable, and the other end has a vertical axis and a vertical axis. 1. A horizontal multi-joint robot, comprising: a second arm having an operating motor and connecting the intermediate shaft to the upper and lower shafts with a belt.