JPH074137Y2 - A floor-standing robot that can be used as a ceiling-mounted or wall-mounted robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to an industrial articulated robot, and more particularly to a floor-standing robot that can be diverted to a ceiling-suspended or wall-mounted robot.

(Prior Art) Conventional articulated robots are usually used in a "floor-mounted" state, that is, on the ground, but recently, they are often installed in a "ceiling-hung" or "wall-mounted" state. In this case, the operating range of the wrist supporting arm that supports the wrist is set when viewed from the floor, so that it is suspended from the ceiling or hung on the wall (see operating ranges 13 and 13 'in FIGS. 3 and 4). A wide motion range can be obtained in the range close to the ceiling (Fig. 4 Motion range 1
3 ') has a narrow motion range in the vicinity of the floor (Fig. 3, 11), and a proper desired motion range cannot be obtained in the working position normally designed on the floor.

For this reason, various measures have been taken in the past, for example, Jikkou Sho 62-312.
According to Japanese Patent Publication No. 66, the one side of a wrist supporting arm that forms one side of a parallelogram is extended at an angle with respect to the wrist supporting arm so that the wrist extends to near the floor when suspended from the ceiling. .

(Problems to be solved by the invention) However, even if the wrist support arm is provided with one angled side, the operating range as a whole cannot be greatly changed only by moving downward when the ceiling is hung, and the ceiling cannot be changed. It was difficult to obtain a desired range of motion without specially preparing a wrist support arm for hanging. Furthermore, when the same program is used, there is a problem that the wrist draws a motion range of a space different from the motion range of the angled one, whereas the angled one does not.

In JP-A-60-201892 and JP-A-62-282886, 2
Techniques for modular articulation units having more than one rotary / swing drive flange interface are disclosed. However, the technology of the module joint unit having these drive flange joint surfaces is standardized by incorporating a power source and a feedback unit in the joint portion.
In the 01892 publication, a combination of a plurality of module joint units and a plurality of arms has the objective effect of being able to selectively assemble a robot arm of any shape, degree of freedom, and size, and in JP-A-62-282886. The objective effect that the maintainability can be improved by constructing a manipulator by combining a plurality of identical module joint units and providing only one maintenance module joint unit for the failure of the manipulator. Therefore, the technology of these module joint units is the technology of the module joint unit having two or more rotation / swing drive flange joint surfaces, and the technology of selectively assembling the robot arm or the technology capable of improving the maintainability will be disclosed. However, a technique for diverting an assembled robot by providing two or more non-rotating joint surfaces, in particular, a swivel base pivotally supporting a lower arm, and two or more non-rotating bases supporting a swivel base. Joint surfaces are provided, the joint surfaces are changed so that the swivel base can be mounted, and the two or more non-rotating joint surfaces form an angle with each other, and the assembled floor-standing robot is diverted. , A technique for obtaining an optimal operating range necessary for a ceiling-mounted or wall-mounted robot is not disclosed, and further, it does not suggest even the problem of diversion. In view of the difficulty of solving the above-mentioned diversion problem, there is also a disclosure that motivates that the technology of the module joint unit having these rotary / swing drive flange joint surfaces can be diverted to solve the problem. Absent.

An object of the present invention is to provide a floor-standing robot that can be diverted to a ceiling-mounted or wall-mounted robot so that the assembled floor-mounted robot can be diverted to obtain an optimum operation range required for the ceiling-mounted or wall-mounted robot. Especially.

(Means for Solving the Problems) For this reason, the present invention provides a swivel base pivotally supporting a lower arm of a robot having an articulated lower arm, and two or more non-rotating joint surfaces for a swivel base supporting the swivel base. Are provided so that the swivel base can be mounted by changing these joint surfaces, and the two or more non-rotating joint surfaces form an angle with respect to the other, and the assembled floor-standing robot is diverted to the ceiling. The above-mentioned problems of the prior art have been solved by providing a floor-standing robot that can be converted into a ceiling-mounted or wall-mounted robot that can obtain an optimum operation range required for the hanging or wall-mounted robot.

(Embodiment) Next, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a horizontal swivel base 1 which is a mounting member used in a robot according to an embodiment of the present invention. The horizontal swivel base 1 is a swivel base of a base portion 7 in the embodiment as shown in FIG. It is rotatably supported by a vertical axis 4. The hole 3 of the horizontal swivel 1 supports the lower arm 8 of the robot so as to be rotatable about the second horizontal axis 15, and the joint 2
Forming a part of. The lower arm 8 has a horizontal third axis 16
A wrist support arm 9 is supported around the joint via a joint 10. Horizontal swivel 1, lower arm 8 and wrist support arm 9
Are operated by independent actuators (not shown), and those actuators are controlled by a control unit including a program. The horizontal swivel base 1 shown in FIG. 1 has two non-rotating joint surfaces 21 and 22, which are non-rotating joint surfaces 21 and 22.
Make an angle of 90 ° with each other, but 80 °, 60 °
Alternatively, it may be 100 °, but 90 ° has an advantage that the operating range can be easily calculated. Three or more joining surfaces 21 and 22 may be provided. When the joint surface 22 of the horizontal swivel base 1 is joined to the upper surface of the swivel base 4, the operating ranges 13 and 13 'can be obtained in a floor-standing and ceiling-hung state as shown in FIG. In each drawing (including FIG. 2), the movement ranges 13 and 13 'are indicated by movement loci of the center A of the wrist 17 supported by the wrist support arm 9. As shown in FIG. 4, when hung on the ceiling 12, the operating range 13 'is narrow near the floor 11, and it can be seen that the practical working range is unsuitable.

FIG. 2 shows an operating range 14 in the case where the joint surface 22 of the horizontal swivel base 1 is joined to the upper surface of the swivel base 4 which is the mating mounting surface and the ceiling is suspended. The operating range 14 is the operating range 13 'in FIG.
It is the same space as the above, and is moved by 90 ° by the positional relationship of the hole 3 due to the change of the joining surface with respect to the swivel base 4. The operating range 14 has become extremely suitable as a practical working range on the floor.

(Effect of the Invention) As described above, in the present invention, the swivel for pivotally supporting the lower arm is provided with two or more non-rotating joint surfaces for the swivel base supporting the swivel, and these joint surfaces are changed. The swivel base is attached, and the two or more non-rotating joint surfaces are angled with respect to each other.
It is intended to provide a floor-standing robot that can be diverted to a ceiling-mounted or wall-mounted robot, which can convert the assembled floor-mounted robot to obtain an optimum operation range required for the ceiling-mounted or wall-mounted robot.

[Brief description of drawings]

FIG. 1 is a perspective view showing a swivel base used in a robot according to an embodiment of the present invention, and FIGS. 2 to 4 are ceiling suspension or wall-mounted robots according to an embodiment of the present invention using the swivel base shown in FIG. FIG. 2 is an elevational view showing a floor-standing robot that can be diverted to, FIG. 2 and FIG. 4 show a ceiling hanging robot, and FIG. 3 shows a floor-standing robot. 1 ... Revolving base, 4 ... Revolving base, 8 ... Lower arm 21, 22 ... Non-rotating joint surface

Claims (2)

[Scope of utility model registration request] 1. A swivel for pivotally supporting a lower arm of a robot having an articulated lower arm is provided with two or more non-rotating joint surfaces for a swivel base for supporting the swivel, and these joint surfaces are changed. So that the swivel can be attached,
The two or more non-rotating joint surfaces are angled with respect to each other, so that the assembled floor-standing robot can be diverted to obtain the optimum operating range required for a ceiling-suspended or wall-mounted robot. A floor-standing robot that can be used as a ceiling-mounted or wall-mounted robot. 2. A floor-standing robot that can be diverted to a ceiling-mounted or wall-mounted robot according to claim 1, wherein the angle is 90 °.