JPH09285980A - Robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily carry out disassembly/assembly even in a belt driving system one by forming respective joint parts and respective arm parts separately as units which can be freely disassembled/assembled. SOLUTION: A wrist joint side of a lower arm frame 47 is notched, and a flange 48 in a wrist joint unit 45, which is previously assembled on the outside, is inserted into the lower arm frame 47 so as to be fitted in the notched part 49, and the lower arm frame 47 and the flange 48 are fixed by means of a bolt. On an elbow joint side of the lower arm frame 47, a notch 51 is arranged, and a shaft 28 of an elbow joint unit 46, which is previously assembled on the outside, is inserted into the lower arm frame 47 so as to be fitted in the notch 51, and the lower arm frame 47 and a pulley 20 are fixed by means of a bolt similarly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot arm used for a ceiling-mounted painting robot for painting various works.

[0002]

2. Description of the Related Art In recent years, coating work has been robotized for the purpose of releasing workers from adverse environments, making quality uniform, and reducing costs. Of these, a small type with multiple axes
In a painting system in which a lightweight ceiling-mounted robot arm is attached to the traverse axis installed in the painting booth, all the functions required for painting are built into a small space, and the space can be used effectively. It has the outstanding features not found in the balance arm type robots, such as painting work immediately after the booth is installed.

As a conventional ceiling-mounted robot arm,
Shoulder and elbow joints that determine the position of the spray gun for painting, and wrist joints (swing + swivel) that determine the direction of the spray gun, all of which are pneumatically driven using artificial muscles with rubber tubes, and shoulders. Motor driven elbow joints have been developed.

Since these robot arms have their wrist joints driven by air, they are basically non-spark, and there is a concern that sparks may scatter and explode due to cable breakage like a motor drive in a flammable coating atmosphere. Absent.
Further, there is an advantage that the weight increase due to the motorization can be avoided and the weight can be reduced.

[0005]

However, for example, when painting is performed by a robot, the splash of the sprayed paint may cause the paint to adhere to the robot arm itself, especially near the wrist, and sometimes the paint may come from the joints inside the robot arm. May invade. In these cases, it may be necessary to clean or replace the robot arm.

Further, even when it is used for a purpose other than painting work, dust may enter the inside of the robot arm depending on the working environment, and in some cases, cleaning or replacement may be necessary.

Therefore, if the robot arm is not easily disassembled and assembled, it takes much time and labor to work, such as disassembling a problem-free portion. Also,
In the case of a belt-driven robot, there is also a problem that when a defective drive belt is replaced, it cannot be removed unless the joints associated therewith are disassembled.

When an artificial muscle is used like a conventional robot, the stroke obtained by this muscle is limited by the length of the artificial muscle itself. Therefore, when trying to obtain a large joint angle, the artificial muscle is enlarged. It is necessary to increase the operation area of the robot arm. Further, since the artificial muscle is air-driven, which has low rigidity, vibrations may occur, especially during low-speed traveling, which may affect work.

Further, in the case of a motor-driven robot, the motor cable may be twisted and broken by the operation of the arm, sparks may fly, and an explosion may occur in a work environment such as a painting atmosphere.

Therefore, in view of the above problems, the present invention is easy to disassemble and assemble even if it is a belt drive system, has excellent maintainability, can secure a sufficient operating region and high rigidity, and An object of the present invention is to provide a robot arm that can easily perform work without ingress of dust or the like.

[0011]

A first aspect of the present invention is a wrist joint that holds a spray gun for painting and determines the direction thereof,
In the robot arm consisting of multiple joints that determine the position of the wrist joint, each joint part and each arm part can be disassembled and assembled as individual units, so even if part of the robot arm is replaced ,
It is only necessary to replace a necessary part or its vicinity, and it is possible to obtain a robot arm having excellent maintainability.

According to the second aspect of the invention, since each part of the robot arm can be disassembled and assembled as an individual unit, even when a part of the robot arm is replaced, only a necessary part or its vicinity can be replaced. It is only necessary to obtain a robot arm that is easy to maintain.

According to a third aspect of the present invention, each shaft is driven by a motor, and all the motors are arranged at the base so that cables such as the motor are not routed to a movable part, and the power of the motor is transmitted by a drive belt. Since each axis has high rigidity and a sufficient operating area can be taken, and there is no need to route the motor cable around the moving part, the cable does not twist and the cable can be used even in an environment such as a painting atmosphere. There is no disconnection, no sparks and no explosion.

According to a fourth aspect of the invention, a plurality of pulleys are used to transmit the power of the motor, and the number of teeth is equalized for each axis. Therefore, even if a plurality of joints that determine the position of the wrist joint are used, Even if the robot is moved in various ways, as long as it does not drive its own motor, it does not interfere with the movements of the other joints and always maintains the posture at that time, so that the work can be easily executed.

According to the fifth aspect of the present invention, since each type of driving belt for transmitting power uses a belt in which a linear type belt is detachably connected by a connecting mechanism, the driving belt hanging between the pulleys when the belt is replaced is used. By removing the connecting mechanism, the belt can be replaced without disassembling each joint and maintenance is easy. The same applies when attaching.

In the sixth aspect of the invention, since the drive belt connecting mechanism is provided with a mechanism for adjusting the belt tension, it is unnecessary to apply tension to the belt by using an idler or by changing the axial distance. It is possible to adjust the tension of the drive belt without adding any special mechanism.

According to a seventh aspect of the invention, a plate meshed with the teeth of one end of the belt and a plate meshed with the teeth of the other end of the belt are overlapped with each other, and a jack bolt is provided between the plates in the longitudinal direction of the belt. By changing the distance,
Since the tension of the belt is adjusted, when the jack bolt passed between both plates is tightened, the distance between the plates in the belt longitudinal direction is shortened and the belt is pulled and tension is applied.

In the eighth aspect of the invention, since the cover having the shutter mechanism composed of the bellows and the sliding plate is attached to each joint, it is possible to prevent the intrusion of dust and the like.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 is a plan view of a coating robot arm according to a first embodiment of the present invention, and FIG. 2 is a side view thereof.

The coating robot arm 1 includes a shoulder joint SH that swings the upper arm 2 in the direction of arrow A, an elbow joint EL that swings the lower arm 3 in the direction of arrow B, and a coating spray gun 4 in the direction of arrow C. It has a total of four degrees of freedom including a wrist swing joint SN that swings in the direction and a wrist rotary joint SC that rotates the coating spray gun 4 in the direction of arrow D. Further, the base frame portion 5 of the painting robot arm 1 is fixed to the transverse axis D provided in the painting booth (not shown) and moves in the direction of arrow E. Therefore, the painting work is executed as a robot system having a total of 5 degrees of freedom.

FIG. 3 is an enlarged view of the base frame part 5 and the elbow joint drive part 6 which is detachably fixed to the base frame part 5 with bolts (not shown) or the like. The upper arm drive motor 7 is arranged in the base frame portion 5, and the power thereof is transmitted from the pulley 9 to the pulley 10 and the speed reducer 11 via the drive belt 8. Since the upper arm 2 is fixed to the output shaft of the speed reducer 11, the upper arm 2 is swung in the direction of arrow A by moving the upper arm driving motor 7.

The lower arm drive motor 12 is arranged in the elbow joint drive section 6 which is detachably fixed to the base frame section 5,
The power is transmitted from the pulley 14 to the pulley 15 and the speed reducer 16 via the drive belt 13. A shaft 17 that is rotatable with respect to the upper arm 2 is fixed to the output shaft of the speed reducer 16,
The rotation of the pulley 18 fixed to the shaft 17 is shown in FIG. 4 (elbow joint enlarged view) via the drive belt 19
0 is transmitted. The lower arm 3 is attached to the pulley 20 by the bolt 21.
The lower arm 3 is swung in the direction of arrow B by moving the lower arm drive motor 12.

The wrist swing motor 22 is arranged in the base frame portion 5, and the power from the speed reducer 23 is used to drive the drive belt 2.
4 is transmitted from the pulley 25 to the pulley 26 rotatably attached to the shaft 17. Further, it is transmitted to a pulley 29 rotatably attached to a shaft 28 shown in FIG. 4 via a drive belt 27, and is transmitted to a shaft 31 shown in FIG. 5 (enlarged view of wrist joint) via a drive belt 30. It is transmitted to the pulley 32 rotatably attached. Since the grip portion 33 of the spray gun 4 is attached to the bevel gear 35 rotatably fixed to the shaft 34 of the pulley 32, when the pulley 32 rotates, it swings in the direction of arrow C.

The spray gun 4 is attached to the grip portion 33 by a jig (not shown). Wrist rotation motor 36
Is arranged in the base frame portion 5, and the power from the speed reducer 37 is transmitted from the pulley 39 via the drive belt 38 to the pulley 40 rotatably attached to the shaft 17. Further, the shaft 28 shown in FIG.
A pulley 44 fixed to a shaft 31 rotatably attached to a lower arm 3 shown in FIG.
Is transmitted to The rotation of the pulley 44 is transmitted to the bevel gear 35 rotatably attached to the shaft 34 of the pulley 32 via the bevel gear 45 fixed thereto, and the grip portion 33 of the spray gun 4 is directed in the direction of arrow D. Rotate to.

The spray gun 4 can be swung (in the direction of arrow C) or rotated (in the direction of arrow D) by giving various rotational speed differences between the pulley 32 and the pulley 44 for cooperative operation. Alternatively, a combined motion of swing and rotation can be performed.

Further, as shown in FIG. 3, all four motors for driving the coating robot arm 1 are arranged in the base frame portion 5 or the shoulder joint drive portion 6 fixed to the base frame portion 5. .

Therefore, since all the axes are driven by a motor, each axis has a high rigidity and a sufficient operation area can be taken.
Further, since all the motors are at the root, it is not necessary to route the motor cable around the movable part, and the cable is not twisted to break the wire and sparks to prevent explosion in the painting atmosphere. Further, since a heavy motor is not arranged on the upper arm 2 or the lower arm 3, the weight of the arm itself and the capacity of the drive motor can be reduced.

Further, the drive pulley 18 and the pulley 20 of the lower arm 3 shown in FIGS. 3 to 5 have the same number of teeth. Similarly, the wrist swing pulley 26, the pulley 29, and the pulley 32 have the same number of teeth. Also, a wrist rotation pulley 40 and a pulley 4
2. The pulleys 44 have the same number of teeth. The lower arm drive pulley, the wrist swing pulley, and the wrist rotation pulley do not necessarily have the same number of teeth.

The number of teeth of the pulley 18 is A, the number of teeth of the pulley 20 is B, the number of teeth of the pulley 26 is C, the number of teeth of the pulley 29 is D,
The number of teeth of the pulley 32 is E, the number of teeth of the pulley 40 is F, the number of teeth of the pulley 42 is G, and the number of teeth of the pulley 44 is H. From the motor output shaft of the upper arm drive motor 7 to the output shaft of the speed reducer 11. Is J, the reduction ratio from the motor output shaft of the lower arm drive motor 12 to the output shaft of the reducer 16 is J, the reduction ratio from the motor output shaft of the wrist swing motor 22 to the pulley 26 is K, and the wrist is From the motor output shaft of the rotation motor 36 to the pulley 4
When the reduction ratio up to 0 is L and the reduction ratio between the bevel gear 68 and the bevel gear 35 is M, the conversion formula of each joint is expressed as follows.

[0030]

[Equation 1]

Therefore, each joint can be represented by a simple conversion equation as shown in the above equation. In addition, each joint does not interfere with the movement of the shoulder joint or the elbow joint, and as long as it does not move its own joint, it always keeps the posture at that time. Therefore, in the case of a painting robot arm that often performs work by moving the arm while keeping the wrist fixed, it is possible to perform the work by simply moving the arm without driving the wrist motor.

Next, the unitization of the coating robot arm 1 will be described with reference to the drawings. As shown in FIGS. 6 to 9, the coating robot arm 1 can be divided into four units, which can be individually disassembled and assembled. 6 shows the base frame portion 5, FIG. 7 shows the elbow joint driving portion 6, and FIG.
Shows the upper arm 2, and FIG. 9 shows the lower arm 3.

Further, as shown in FIGS. 10 to 12, the lower arm 3 has a structure in which a wrist joint (swing & rotation) unit 45 and an elbow joint unit 46 can be attached to and detached from a lower arm frame 47.

As shown in FIG. 10, the wrist joint side of the lower arm frame 47 is notched, and the flange 48 of the wrist joint unit 45 which has been assembled outside beforehand is fitted into the notch 49. The lower arm frame 47 is inserted into the lower arm frame 47 (FIG. 11), and the lower arm frame 47 and the flange 48 are fixed with bolts 50.

Further, as shown in FIG. 13, the lower arm frame 47
A notch 51 is also provided on the elbow joint side of the elbow joint, and the shaft 28 of the elbow joint unit 46, which has been assembled externally in advance, is inserted into the lower arm frame 47 so as to be fitted into the notch 51 (FIG. 13). Lower arm frame 47 with bolt 21
And fix the pulley 20.

An example of the procedure for assembling the painting robot arm 1 is shown below. First, the lower arm 3 is rotatably fixed to the upper arm 2. As shown in FIG. 14, the lower arm 3 is inserted into the tip of the upper arm 2 on the elbow joint side, and the stop flange 52 and the stop flange 53 are inserted.
Is inserted from the outside of the upper arm frame 54 to fit both flanges to the shaft 28. At this time, the bearing 55 is the upper arm frame 5
It goes through the hole 4 and fits into the hole of the lower arm frame (Fig. 4). Both flanges and shaft 28 are fixed by bolts 56 and 57, and both stop flanges are fixed to upper arm frame 54 by bolts 21 and 51 as shown in FIG.

Next, as shown in FIG. 15, the upper arm frame 54 of this unit and the output shaft of the speed reducer 11 of the base frame portion 5 shown in FIG. 6 are fixed by bolts (not shown).

Further, the shoulder joint unit 58 of the elbow joint drive unit 6 shown in FIG. 16 is inserted through a hole 59 formed in the side surface of the upper arm frame 54, and the bearing 60 is fitted in the flange 61 and the bearing 62 is fitted in the hole 59. And the shoulder 64 of the elbow joint drive unit 6 is hooked on the shoulder 63 of the base frame unit 5 to position the elbow joint drive unit 6 with respect to the base frame unit 5, and the shaft centers of the reduction gear 11 and the reduction gear 16 are aligned. To match.

After that, the elbow joint drive section 6 is fixed to the base frame section 5 with bolts (not shown). When the shoulder joint unit 58 is inserted through the hole 59, the elbow joint drive section 6 is rotated in the direction of arrow A to a position where the lower arm drive motor 12 does not interfere with the side surface 62 of the base frame section 5. Insert through hole 59.

The constricted portion 66 of the motor flange 65
When it reaches a position where it can be inserted into the notch 67 opened in the side face 62, the shoulder joint unit 58 is rotated in the direction of arrow A, and returned to a position where the shoulder 64 can be hooked on the shoulder 63. At this time, the constricted portion 66 is formed on the side surface 6 of the base frame portion 5.
It fits in the notch 67 opened in 2.

Further, the shoulder joint unit 58 is inserted and fixed to the base frame portion 5 (FIG. 3). According to the present embodiment, the painting robot arm 1 is divided into four units as shown in FIGS. 6 to 9, and the wrist joint unit 45 and the elbow joint unit 46 can be externally assembled as separate units. Easy disassembly and assembly for each joint.

Therefore, even when a part of the robot arm is replaced due to adhesion of paint or the like, it is only necessary to replace the necessary part or its vicinity, and the robot arm having excellent maintainability can be obtained.

(Second Embodiment) FIG. 17 is a side view of a drive belt connecting mechanism of a coating robot arm according to a second embodiment of the present invention.

As shown in the figure, the connecting mechanism 69 is composed of three parts, an upper plate 70, a middle plate 71 and a bottom plate 72, and a bolt 73 for fixing the belt. Of these, the middle plate 71 and the bottom plate 72 are cut with teeth suitable for the drive belt used in order to mesh with the drive belt.

The method of attaching the belt will be described below. Hang one linear type belt between the pulleys,
One of the tooth ends 74 meshes with the teeth of the bottom plate 72, and the other tooth end 75 meshes with the teeth of the middle plate 71. Overlay both,
The belt is sandwiched between the upper plate 70 and the bolts 73 and completely fixed so that both ends of the belt are not displaced.

The adjustment of the initial tension of the belt at this time is as follows.
It is performed by an idler (not shown). Alternatively, as shown in FIG. 3, in the case of the drive belt 8 and the drive belt 13, the upper arm drive motor 7 and the lower arm drive motor 12 with respect to the base frame portion 5 and the elbow joint drive portion 6 in the vertical direction. It is also possible to adjust the initial tension of the drive belt by slidably mounting these motors by jack bolts or the like (not shown) to change the axial distance. In this case, the drive belt can be easily removed by sliding each drive motor to loosen the tension of the belt.

Further, in the case of the drive belt 24 and the drive belt 38, similarly, the wrist swing motor 22 and the wrist rotation motor 36 are attached to the base frame portion 5 so as to be movable in the vertical direction, and the jack is used. The initial tension of the drive belt can be adjusted by sliding the bolt to change the distance between the shafts.

According to the present embodiment, since the one tooth end 74 and the other tooth end 75 of the belt are overlapped and fixed, the length of the coupling mechanism 69 itself is shortened, and the movable range is correspondingly reduced. Can be taken large. Also, since one linear type belt is used, the belt can be attached and detached without disassembling the arms and joints, and the maintainability is excellent in terms of belt replacement.

(Third Embodiment) FIG. 18 is a side view of a drive belt connecting mechanism of a coating robot arm according to a third embodiment of the present invention.

The drive belt for transmitting power to each shaft has a structure in which one belt is connected by a connecting mechanism 69.
As shown in FIG. 8, the mechanism is provided with an adjusting mechanism. As shown in the figure, the connecting mechanism 69 is composed of three parts, an upper plate 70, a middle plate 71, and a bottom plate 72, a jack bolt 77 for adjusting the belt length, and a bolt 73 for fixing the belt. Of these, the middle plate 71 and the bottom plate 72 are cut with teeth suitable for the drive belt used in order to mesh with the drive belt.

The method of attaching the belt and adjusting the tension will be described below. One drive belt is hung between the pulleys, one tooth of the drive belt is engaged with the tooth of the bottom plate 72, and the other tooth is engaged with the tooth of the intermediate plate 71. By stacking the two and adjusting the jack bolt 77, the bottom plate 72
On the other hand, the intermediate plate 71 is slid to change the length of the drive belt stretched between the shafts to adjust the tension.

After obtaining a predetermined tension, the upper plate 70 is piled up and completely fixed with the bolts 73 so that the middle plate 71 does not slide on the bottom plate 72. As shown, the middle plate 71 has a bottom plate 72.
An elongated hole 78 for sliding is formed on the belt, and the belt length can be adjusted by the stroke of the elongated hole 78.

According to the present embodiment, since one linear type belt is used, the belt can be attached and detached without disassembling the arm and each joint, and the maintenance of the belt is excellent. Furthermore, since there is a mechanism for adjusting the initial tension, it is not necessary to add an idler mechanism for adjustment or change the distance between the shafts for adjustment. It is also effective when the axial distance cannot be changed, as in the robot arm.

(Fourth Embodiment) FIG. 19 is a perspective view of a shutter mechanism of a coating robot arm according to a fourth embodiment of the present invention.

As shown in FIG. 19, the shutter mechanism comprises a bellows 79 and a slide plate 80. The slide plate 80 has a plurality of folds 81, and can be bent freely in this direction.

Further, FIG. 20 shows a perspective view of the cover in the joint portion. The slide plate 8 is provided on the surface of the cover 82.
A 0 guide 83 is attached. Further, a notch 84 is opened to avoid interference with the drive belt when the joint moves.

Further, FIG. 21 shows a sectional view when the present shutter mechanism is attached to the shoulder joint. When covering the shoulder joint, first, the cover 82 is covered on the upper arm 2, and the slide plate 80 is inserted so that the guides 83 on both sides are hooked by the portions 85 at both ends of the slide plate 80. Since the slide plate 80 is bent according to the shape of the cover 82 by the function of the fold 81, there is no gap between the slide plate 80 and the cover 82 where paint, dust, and the like enter, and the slide plate 80 can freely move along the guide 83. It can be moved over the cover 82.

The upper end 86 of the bellows 79 is fixed to the base frame portion 5, as shown in FIG. Incidentally, the cover 82
The notch 84 is opened so as not to interfere with the drive belt 24 or the drive belt 38 when the upper arm frame 54 moves within the operation limit.

22 and 23 show the state of the shutter mechanism when the upper arm 2 is moved. As shown in FIGS. 22 and 23, even if the upper arm 2 swings, the slide plate 80 moves along the guide 83 of the cover 82, and the bellows 79 expands and contracts in the vicinity of the base frame portion 5. There is no gap between them.

Instead of fixing the upper end 86 of the bellows 79 to the base frame portion 5, a screw portion 87 indicated by a broken line is provided on the slide plate 80 as shown in FIG.
The screw portion 87 and the base frame portion 5 may be fixed with a bolt 88 shown by a broken line in FIG. As a result, no matter how the upper arm 2 moves, the base frame portion 5 and the slide plate 80 are fixed, so that the bellows 79 receives a shearing force when the slide plate 80 moves along the guide 83 of the cover 82. Will not be added. According to the present embodiment, even if the upper arm 2 swings, no gap is formed between the upper arm 2 and the base frame portion 5, so it is possible to prevent the ingress of paint, dust, etc. floating in the air.

[0061]

The present invention has a structure in which each joint portion can be individually disassembled and assembled as an independent unit, and a belt is used as the power transmission means of each shaft, but the linear portion is used as the belt. Since a belt in which a type of belt is detachably connected by a connecting mechanism is used and a belt tension adjusting mechanism is added to the connecting mechanism, it is possible to obtain a painting robot arm that is easy to disassemble and assemble and has excellent maintainability. .

Further, by adjusting the number of teeth of the pulley used when the belt is driven for each axis, it is possible to obtain a coating robot arm which can be easily worked. In addition, each axis is driven by a motor, and the motors are all placed at the root, so a sufficient operating area and high rigidity can be secured, and there is no risk of explosion due to cable breakage, etc. even in a coating atmosphere. Arms can be obtained.

Since the cover having the shutter mechanism composed of the bellows and the slide plate is mounted, it is possible to prevent paint, dust and the like from entering the robot arm even if there is a movable portion.

[Brief description of drawings]

FIG. 1 is a plan view of a painting robot arm according to a first embodiment of the present invention.

FIG. 2 is a side view of the painting robot arm according to the first embodiment of the present invention.

FIG. 3 is an enlarged view of a base frame portion and an elbow joint driving portion of the painting robot arm according to the first embodiment of the present invention.

FIG. 4 is an enlarged view of an elbow joint of the painting robot arm according to the first embodiment of the present invention.

FIG. 5 is an enlarged view of a wrist swing joint and a wrist rotary joint of the painting robot arm according to the first embodiment of the present invention.

FIG. 6 is an enlarged view of a base frame portion of the painting robot arm according to the first embodiment of the present invention.

FIG. 7 is an enlarged view of an elbow joint drive unit of the painting robot arm according to the first embodiment of the present invention.

FIG. 8 is an enlarged view of the upper arm of the painting robot arm according to the first embodiment of the present invention.

FIG. 9 is an enlarged view of a lower arm portion of the coating robot arm according to the first embodiment of the present invention.

FIG. 10 shows a wrist swing joint and a wrist rotary joint of the painting robot arm according to the first embodiment of the present invention, (a)
Is a side view of the lower arm frame, (b) is a front view of the lower arm frame, and (c) is a front view of the wrist joint unit.

FIG. 11 shows a wrist swing joint and a wrist rotary joint of the painting robot arm according to the first embodiment of the present invention;
Is a side view of the lower arm frame and the flange, and (b) is a front view of the lower arm frame and the wrist joint unit.

FIG. 12 shows an elbow joint of a painting robot arm according to the first embodiment of the present invention, (a) is a front view of an elbow joint unit, (b) is a front view of a lower arm frame, and (c) is a front view. Side view of lower arm frame

FIG. 13 is an elbow joint assembly diagram of the painting robot arm according to the first embodiment of the present invention.

FIG. 14 is an assembly diagram of the upper arm portion and the lower arm portion of the coating robot arm according to the first embodiment of the present invention.

FIG. 15 is an assembly diagram of a base frame portion and an upper arm portion of the painting robot arm according to the first embodiment of the present invention.

FIG. 16 is an assembly diagram of a base frame portion, an elbow joint driving portion, and an upper arm portion of the painting robot arm according to the first embodiment of the present invention.

FIG. 17 shows a drive belt connecting mechanism of a robot arm for painting according to a second embodiment of the present invention, (a) is a side view thereof, and (b) is a front view thereof.

FIG. 18 shows a drive belt connecting mechanism of a coating robot arm according to a third embodiment of the present invention, (a) is a side view thereof, and (b) is a front view thereof.

FIG. 19 is a perspective view of a shutter mechanism of a coating robot arm according to a fourth embodiment of the present invention.

FIG. 20 is a perspective view of a cover at a joint portion of a coating robot arm according to a fourth embodiment of the present invention.

FIG. 21 is a side view of a shutter mechanism provided at a shoulder joint portion of a coating robot arm according to a fourth embodiment of the present invention.

FIG. 22 is a side view of a shutter mechanism provided at a shoulder joint portion of a painting robot arm according to a fourth embodiment of the present invention.

FIG. 23 is a side view of the shutter mechanism of the shutter mechanism provided at the shoulder joint of the painting robot arm according to the fourth embodiment of the present invention.

[Explanation of symbols]

1 ... Painting robot arm, 2 ... Upper arm, 3 ... Lower arm, 4 ...
Spray gun, 5 ... Base frame part, 6 ... Shoulder joint drive part, 7 ... Upper arm drive motor, 12 ... Lower arm drive motor,
22 ... Wrist swing motor, 36 ... Wrist rotation motor, 4
1 ... Upper arm frame, 45 ... Wrist joint unit, 46 ... Elbow joint unit, 51 ... Lower arm frame, 57 ... Shoulder joint unit, 69 ... Connecting mechanism, 79 ... Bellows, 80 ... Slide plate, 82 ... Cover, 83 ... Guide , SH ... Shoulder joint, EL ... Elbow joint, SN ... Wrist swing joint, SC ... Wrist rotary joint

Claims (8)

[Claims] 1. In a robot arm having a wrist joint that holds a spray gun for painting and determines its direction, and a plurality of joints that determines the position of this wrist joint, each joint portion and each arm portion are individually provided. A robot arm characterized by being configured as a unit that can be disassembled and assembled. 2. The robot arm according to claim 1, wherein a wrist joint portion for gripping a coating spray gun or the like and swinging or rotating it, a lower arm portion for swinging the wrist joint portion, and a lower arm portion for swinging or rotating the wrist joint portion. An upper arm portion that swings the arm portion, an elbow joint portion that is a swing shaft of the lower arm portion, and a shoulder joint portion that is a swing shaft of the upper arm portion are individually configured as units that can be disassembled and assembled. A robot arm characterized by that. 3. The robot arm according to claim 1 or 2, further comprising: a cover having a shutter mechanism configured by a plate that slides with a bellows on the joint portion. 4. The robot arm according to claim 1, further comprising a motor that drives each axis and a drive belt that transmits the power of the motor, and the cables of the motor are routed to a movable portion. A robot arm characterized in that the motor is arranged at the base of each of the axes so that there is no case. 5. The robot arm according to claim 4, further comprising a plurality of pulleys for transmitting the power of the motor, wherein the number of teeth of the pulleys is the same for each axis. . 6. The robot arm according to claim 4 or 5, further comprising a connecting mechanism for connecting drive belts for transmitting power, wherein a linear type belt is detachably connected by the connecting mechanism. A robot arm characterized by being formed. 7. The robot arm according to claim 6, wherein the drive belt connecting mechanism includes an adjusting mechanism for adjusting the tension of the drive belt. 8. The robot arm according to claim 7, wherein a plate meshed with a tooth at one end of the drive belt and a plate meshed with a tooth at the other end of the drive belt are overlapped with each other and jack plates are used to form both plates. A robot arm characterized in that the tension of the drive belt is adjusted by changing the distance in the longitudinal direction of the belt between them.