JPH07237157A - Joining device for divided type robot - Google Patents

Abstract

PURPOSE:To reliably hold a joining condition of a base part and an arm part even in any installed attitude. CONSTITUTION:In a divided type robot where a base part 1 and an arm part 2 are divisibly joined together through a joining device 3, the joining device 3 is composed of a base side joining member 10 arranged in the base part 1 and an arm side joining member 11 arranged in the arm part 2. Both joining members 10 and 11 come into contact with each other, and an annular groove 12 is formed in one of both contact surfaces 10A and 11A, and an annular protrusive part 13 to be fitted to the annular groove 12 so as to be freely fitted and extracted, is protrusively arranged in the other, and lock holes 14 in parallel to the contact surfaces 10A and 11A are formed in the arm side joining member 11, and lock pins 18 to be fitted in the lock holes 14 so as to be freely fitted and extracted, are arranged in the base side connecting member 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used for arc welding, for example, in shipbuilding and assembling automobile parts, and in a split type robot in which a base portion and an arm portion are separable. The present invention relates to a coupling device that can securely hold the coupled state of the base portion and the arm portion and can easily release the coupled state regardless of the posture of the movable body or the moving device.

[0002]

2. Description of the Related Art As a split type robot of this type, in order to allow only one worker to carry it into a narrow space such as a work, the base portion and arm portion of the robot are configured to be separable. There are bolts and nuts fixed to the base and the arm. According to this, since the base portion and the arm portion are integrally coupled, there is no fear that the arm portion will come off from the base portion even if the base portion and the arm portion are installed in a moving carriage or a moving device in any posture. On the other hand,
The problem is that it takes time and effort to stop and release the bolts and nuts.

As a means for solving the above-mentioned drawbacks, there is one described in Japanese Patent Laid-Open No. 5-285869. This is one in which the base portion and the arm portion are integrally connected by projecting a guide pin on the base portion of the split robot and fitting a guide hole formed in the arm portion with the guide pin. Is.

[0004]

According to the above-mentioned conventional structure, the arm portion can be coupled to the base portion only by fitting the guide pin of the base portion in the horizontal posture into the guide hole of the arm portion. You can easily release the joined state by simply pulling up the arm from this state.However, if you try to join the arm to the base in an inclined or suspended state, depending on the welding position of the workpiece. Is
There is a drawback that the guide pin and the guide hole cannot be maintained in a fitted state, and the arm portion is disengaged from the base portion, so that the installation posture of the robot is restricted.

In view of the above-mentioned drawbacks, the present invention makes it possible to reliably hold the connected state of the base portion and the arm portion in any installation posture and to easily release the connected state. An object of the present invention is to provide a connecting device for the divided robots.

[0006]

In order to achieve the above object, the present invention provides a split type robot in which a base portion and an arm portion are separably coupled via a coupling device, wherein the coupling device is the base. Consisting of a base side coupling member provided on the arm part and an arm side coupling member provided on the arm part side,
The two coupling members are in contact with each other, and an annular groove is formed in either one of the contact surfaces, and an annular projection that fits in the annular groove is provided in the other side so as to project. In addition, at least a pair of lock holes parallel to the abutting surface are formed at predetermined intervals, and the base-side coupling member is provided with a lock pin that is removably fitted into each lock hole. It has a feature.

[0007]

In the above structure, when the split type robot is carried into a narrow space such as a work, the robot is divided into a base part and an arm part and carried in separately, and the base side provided on the base part is provided. The arm member is formed simply by bringing the joining member and the arm-side joining member provided on the arm portion into contact with each other and fitting the annular projection portion provided on the other side into the annular groove formed on one of the contact surfaces. It can be positioned on the base as desired. Then, the robot can be assembled by simply connecting the base portion and the arm portion by simply inserting the lock pin provided in the base side connecting member into the lock hole formed in the arm side connecting member.

Further, in the coupled state, the fitting direction of the annular projection with respect to the annular groove and the fitting direction of the lock pin with respect to the lock hole are orthogonal to each other, so that the arm portion is inclined or hung from the base portion. Even if they are combined in a state, it is possible to reliably hold the combined state of both,
The robot can be placed in any posture depending on the workpiece.

Further, even if the excessive load is applied in any direction parallel to the contact surfaces of the two coupling members, the excessive load is equally supported by the annular projection and the annular groove, and the base is supported. It is possible to reliably hold the connected state of the arm and the arm.

Furthermore, when the robot is carried out from the work, the robot can be divided into a base portion and an arm portion and simply carried out separately by simply pulling out the lock pin from the lock hole.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 4 shows a split-type robot, in which a base portion 1 and an arm portion 2 are separably coupled via a coupling device 3. The base unit 1 includes a machine frame 4 attached to a moving carriage (slider) and a moving device, and a swing shaft that is rotatably supported by the machine frame 4 and is normally and reversely rotated by a drive motor via a bevel gear 5. 6, the arm portion 2 is attached to the revolving shaft 6 through the coupling device 3, and is reciprocally rocked by a drive motor. A second arm 8 reciprocally rocked in the same direction as the first arm 7 by a motor, and a rocking direction of the first and second arms 7, 8 attached to the tip of the second arm 8 by a drive motor. An arc welding machine (not shown) is attached to the third arm 9. The third arm 9 swings back and forth in the orthogonal direction.

The coupling device 3, as shown in FIGS.
It is composed of a base-side coupling member 10 provided on the base portion 1 and an arm-side coupling member 11 provided on the arm portion 2.
The two connecting members 10 and 11 are in contact with each other.

The base-side coupling member 10 faces a circular support base 10a fixed concentrically to the tip of the swivel shaft 6, and faces the side edge of the support base 10a with the axis O of the support base 10a interposed therebetween. At least a pair of pillars 10b, 10b arranged
And a circular projecting portion 10c projectingly provided at the center of the upper surface of the support base 10a, and the contact surface 10A of the projecting portion 10c with the arm-side coupling member 11 has an annular groove concentric with the swivel shaft 6. 12
Are formed.

The arm-side coupling member 11 is concentrically fixed to the base end portion of the first arm 7, and has a circular abutment base 11a that abuts the protrusion 10c and a side edge portion of the corresponding abutment base 11a. It has fitting frame parts 11b and 11b which are substantially U-shaped in a plan view and are arranged so as to face the pillar parts 10b and 10b, and the contact surface 11A of the contact base 11a with the base-side coupling member 10 is annular. An annular protrusion 13 is integrally projectingly provided so as to face the groove 12.

In the above structure, the fitting frame portions 11b and 11b are fitted to the support pillar portions 10b and 10b from the state shown in FIG. 3, and the annular projection 13 is fitted to the annular groove 12, so that both connecting members are joined. Contact surfaces 10A and 11A of 10 and 11
Can be brought into contact with each other to position the first arm 7 and the pivot shaft 6 concentrically. Also, both connecting members 1
Even if an excessive load is applied from any direction in parallel with the contact surfaces 10A and 11A of 0 and 11, the excessive load is equally supported by the annular projection 13 and the annular groove 12 to form a base. It is possible to reliably hold the connected state of the portion 1 and the arm portion 2.

A contact surface 10 is attached to the fitting frame portions 11b and 11b.
A lock hole 14 is formed in parallel with A and 11A, and a lock pin withdrawal operation means 15 is provided on each of the support columns 10b and 10b so as to face the lock hole 14, and the means 15 includes each support column 10b. , 10b, an operating shaft portion 17 screwed into a screw hole 16a formed in the screw hole 16a and a nut 16b concentric with the screw hole 16a, and a lock pin 18 provided on the distal end side of the operating shaft portion 17 so as to be retractable. An operation lever 19 that is rotatably provided at the base end of the operation shaft 17 and that allows the lock pin 18 to move in and out through a screw mechanism in the operation shaft 17;
By operating the operating lever 19 in the forward direction, as shown in FIGS. 1 and 2, the lock pin 18 is projected and fitted into the lock hole 14, whereby the base side coupling member 1
0 and the arm side coupling member 11 can be integrally coupled, and by operating the operating lever 19 in the reverse direction from the coupled state, the lock pin 18 is retracted into the operating shaft portion 17 and locked. The robot can be pulled out from the hole 14, whereby the connection state is released, and the robot can be divided into the base portion 1 and the arm portion 2.

In the above embodiment, the annular groove 12 is formed in the base-side connecting member 10 and the annular protrusion 13 is provided on the arm-side connecting member 11. However, conversely, the annular protrusion is formed on the base-side connecting member 10. The portion 13 may be provided so as to project, and the annular groove 12 may be formed in the arm-side coupling member 11. Also, the annular groove 12
Although the annular protrusion 13 is formed in a circular shape, it may be formed in a polygonal shape including a triangle or more.

[0018]

According to the present invention, of the base-side coupling member provided on the base portion and the arm-side coupling member provided on the arm portion, the annular groove formed on one side of the base side coupling member and the annular projection portion on the other side. The arm part can be positioned on the base part in a predetermined manner simply by fitting, and the lock pin provided on the base-side coupling member can be simply fitted into the lock hole formed on the arm-side coupling member. The robot can be assembled by simply connecting the and arm parts.

Further, in the coupled state, the fitting direction of the annular projection portion with respect to the annular groove and the fitting direction of the lock pin with respect to the lock hole are orthogonal to each other, so that the arm portion is inclined or suspended from the base portion. Even if they are combined in a state, it is possible to reliably hold the combined state of both,
The robot can be placed in any posture depending on the workpiece.

Furthermore, even if an excessive load is applied in any direction parallel to the contact surfaces of both coupling members, the excessive load is equally received by the annular projection and the annular groove, and the base is supported. It is possible to reliably hold the connected state of the arm and the arm.

Furthermore, the robot can be easily divided into the base portion and the arm portion only by pulling out the lock pin from the lock hole.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view showing a state in which a base portion and an arm portion of a split type robot are connected by a connecting device that is an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is an exploded perspective view of the same.

FIG. 4 is an overall front view of the split type robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 base part 2 arm part 3 coupling device 10 base side coupling member 10A contact surface 11 arm side coupling member 11A contact surface 12 annular groove 13 annular protrusion 14 lock hole 18 lock pin

Claims (1)

[Claims] 1. A split-type robot in which a base portion and an arm portion are separably coupled via a coupling device, wherein the coupling device is provided on a base-side coupling member provided on the base portion and on an arm portion side. The arm side connecting member,
The two coupling members are in contact with each other, and an annular groove is formed in either one of the contact surfaces, and an annular projection that fits in the annular groove is provided in the other side so as to project. In addition, at least a pair of lock holes parallel to the abutting surface are formed at predetermined intervals, and the base-side coupling member is provided with a lock pin that is removably fitted into each lock hole. Characteristic split type robot coupling device.