JPH0529828Y2 - - Google Patents

Description

[Detailed explanation of the idea] Technical field The present invention relates to an articulated robot.

Background Art An articulated robot is called a scalar robot, and it moves just like a human arm. Figures 3 to 5c show articulated robots that have already been developed.

As shown in FIGS. 3 and 4, the articulated robot has a base portion consisting of a shaft 1 serving as a rotation support shaft and a base 2 supporting the shaft. A first arm 3 is rotatably attached to the shaft 1 at one end thereof via a bearing member (not shown) or the like. Note that the first arm 3 is rotated along a plane perpendicular to the central axis of the shaft 1. A second arm 4 is attached at one end to the other end of the first arm 3 so as to be rotatable along a plane perpendicular to the central axis of the shaft 1. On both ends of the first arm 3, servo motors 5 and 6 are provided as driving means for rotationally driving the first arm and the second arm 4. In addition, in FIG. 3, the working range of the multi-jointed robot is indicated by a chain double-dashed line.

As is clear from FIGS. 5a to 5c, the first arm 3 is entirely integrally molded by casting.

When changing the working range indicated by the two-dot chain line in FIG. 3, the dimension indicated by L in FIG. 5b, that is, the effective length of the first arm 3, is changed. Since the first arm 3 is a cast product as described above, in order to change the above-mentioned work range, it is necessary to perform casting work such as manufacturing a mold anew. In addition, the counterbore parts 3a, 3b, 3c (shown in FIGS. 5a and c) for inserting the bearing member are formed by cutting, but the first arm is integrally molded as a whole. 3
It was not always easy to form these parts with high precision in different parts of the body.

For this reason, a large amount of expense was required when changing the scope of work.

The present invention has been devised in view of the above-mentioned points, and its purpose is to provide an articulated robot that is inexpensive in terms of changing the work range.

The articulated robot according to the present invention includes a base portion including a rotation support shaft, a first arm rotatably attached to the rotation support shaft at one end along a predetermined plane, and other parts of the first arm. a second arm rotatably attached to one end of the arm along the predetermined plane; and a driving means for rotationally driving the first and second arms, the first arm being an arm. a main body; a pair of housings provided at least one end of the arm main body so as to sandwich the arm main body in a direction perpendicular to the predetermined plane;
A fastening member that fastens the arm body and the pair of housings in a direction perpendicular to the predetermined plane, and a slip prevention means that prevents the housing and the arm body from shifting in a direction parallel to the predetermined plane. It is characterized by having

Embodiment Hereinafter, an articulated robot as an embodiment of the present invention will be described with reference to FIGS. 1 and 2. Although not shown in the drawings as a whole, the articulated robot has the same structure as the articulated robot shown in FIGS. 3 to 5 except for the parts explained below. The same reference numerals are used for the same parts as in the articulated robot shown in FIGS. 3 to 5.

As shown in FIGS. 1a, b and 2, in the articulated robot, a first arm 11 is attached to a shaft 1 as a rotation support shaft.
The arm main body 11a has a pair of housings 11b and 11c provided at one end of the arm main body so as to sandwich the arm main body in a direction parallel to the central axis of the shaft 1. The arm body 11a is formed by casting and cutting, and the housings 11b and 11c are obtained by cutting a round material. Housing 1
1b and 11c have bearing members (not shown)
Counterbore portions 11d and 11e are formed into which the housings are fitted, and both housings are attached to the shaft 1 via the bearing member.

Arm body 11a and housing 11b, 11
c is fastened in a direction parallel to the central axis of the shaft 1 by a total of eight bolts 11f and 11g as fastening members, two types of four each. A recess 11h is formed in the lower surface of the housing 11b located above the arm main body 11a, and the arm main body 11a is tightly fitted into the recess 11h. This recess 11h functions as a slip prevention means for preventing the housings 11b and 11c from slipping relative to the arm body 11a. However, the direction of the anti-slip direction is perpendicular to the central axis of the shaft 1.

When changing the working range of the articulated robot configured as described above, loosen bolts 11f and 11g,
The housings 11b, 11c may be moved relative to the arm body 11a, and the bolts 11f, 11g may be tightened again.

Note that in the above-mentioned articulated robot, the recess 11h is formed as a slip prevention means for preventing the housings 11b, 11c and the arm body 11a from slipping, but the structure is not limited to this, and a structure using, for example, a positioning pin etc. You can also use it as Further, although the recess 11h is formed only in the housing 11b disposed above the arm main body 11a, a similar recess is also formed in the lower housing 11c, and the arm main body 11a is fitted into both recesses. You can also do it.

In addition, in the above-mentioned articulated robot, the first
Although the housing is provided at one end of the arm 11, that is, on the shaft 1 side, the housing may be provided at the other end or both ends.

Effects of the Invention As detailed above, the articulated robot according to the present invention includes a base portion including a rotation support shaft, and a base portion that is rotatably attached to the rotation support shaft at one end along a predetermined plane. a second arm rotatably attached to the other end of the first arm at one end and along the predetermined plane;
and a drive means for rotationally driving the second arm, the first arm being provided with an arm body and at least one end of the arm body so as to sandwich the arm body in a direction perpendicular to the predetermined plane. a pair of housings, a fastening member for fastening the arm body and the pair of housings in a direction perpendicular to the predetermined plane, and a slip prevention member for the housing and the arm body in a direction parallel to the predetermined plane. and anti-slip means.

That is, when changing the working range of the multi-jointed robot, there is no need to newly manufacture the entire first arm, and the pair of housings can be moved relative to the arm body by operating the fastening member. This is done only by In other words, it costs almost nothing to change the scope of work.

Furthermore, since the scope of work can be changed just by performing such operations, for example, processes on a production line can be quickly rearranged, improving efficiency.

[Brief explanation of the drawing]

Figures 1a and b are front and side views of the main parts of an articulated robot as an embodiment of the present invention, Figure 2 is a cross-sectional view of Figure 1a, and Figures 3 to 5c. is a diagram for explaining an already developed articulated robot. Explanation of symbols of main parts, 11...first arm,
11a...Arm body, 11b, 11c...Housing.

Claims (1)

[Scope of utility model registration request] a base portion including a rotation support shaft; a first arm rotatably attached to the rotation support shaft at one end and along a predetermined plane; and a first arm having one end attached to the other end of the first arm and the a second arm rotatably attached along a predetermined plane; and the first and second arms.
The first arm is an articulated robot including a drive means for rotationally driving the arm, the first arm having an arm body and a direction perpendicular to the predetermined plane, the arm body being attached to at least one end of the arm body. a pair of housings that are arranged to be sandwiched between the housings, a fastening member that fastens the arm main body and the pair of housings in the perpendicular direction, and a slip prevention member for the housing and the arm main body in a direction parallel to the predetermined plane. 1. An articulated robot characterized by having a slip prevention means.