JPH11309688A - Link arm robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To freely turn a first arm and a second arm along the periphery of a base arm without interfering each other by arranging a first arm driving motor for driving a first rotary shaft and a second arm driving motor for driving a second rotary shaft in the base arm. SOLUTION: When a first arm driving motor 5 is driven, a first rotary shaft 3 is rotated by a belt 6 so as to rotate a first arm 7. When a second arm driving motor 10 is driven, a pulley 9 integrated with a pulley 8 loosely fitted to the first rotary shaft 3 is turned by a belt 16, and a second arm 12 is rotated by a belt 14. Since the first arm 7 and the second arm 12 are arranged outside in order, the first arm 7 can be freely rotated without being interfered by a base arm 2, and the second arm 12 can be freely turned without being interfered by the first arm 7. Consequently, a chuck fitted to a tip of the second arm 12 can be freely turned along a side surface of the base arm.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a first arm having a first arm rotatably disposed at one end thereof and a second arm rotatably disposed at one end of the first arm. The present invention relates to a link arm robot having a small size and a wide working range in which a first arm is driven by an arm drive motor and a second arm is driven by a second arm drive motor so that the first arm and the second arm do not interfere with each other. .

[0002]

2. Description of the Related Art As shown in FIG. 6, a conventional link arm robot has a first arm 10 in substantially the same plane as a base 100.
1 is rotatably mounted, and the second arm is rotatably mounted in substantially the same plane as the first arm 101.

[0003]

In the above prior art, the base, the first arm, and the second arm are disposed in substantially the same plane.
The second arm interferes with the first arm at the downward rotation position and cannot rotate freely, so that the work dead space is increased, and the second arm is unsuitable as a link arm robot used on a table.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and a first arm is fixed to a first rotating shaft pivotally attached to a tip of a base arm protruding from a base. And a second arm pivotally attached to the end of the first arm.
The second arm is fixed to the rotating shaft, and is disposed on one side of the first arm as described above, so that the first arm and the second arm can rotate freely without interference, and the first rotating shaft is driven. A first arm drive motor for driving and a second
The arm drive shaft is provided on the base arm.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to one embodiment shown in FIGS. Reference numeral 1 denotes a base on which a base arm 2 is vertically projected and fixed. A first rotating shaft 3 is pivotally attached to the distal end of the base arm 2, and a pulley 4 is fixed to the right end, and a first rotary shaft 3 is provided on the base arm 2.
It is linked with the arm drive motor 5 and the belt 6. The left end of the first rotating shaft 3 projects to the left of the base arm 2, and the base of the first arm 7 is fixed. Pulleys 8 and 9 are loosely fitted integrally on both sides of the first rotary shaft 3, and a second arm drive motor 10 disposed on the base arm 2 and the right pulley 8 are interlocked by a belt 16. doing. A second rotation shaft 11 is pivotally attached to the tip of the first arm 7.
Protrudes further to the left than the first arm 7, the base of the second arm 12 is fixed to the tip, the pulley 13 is fixed to the right end, and the pulley 9 loosely fitted to the pulley 13 and the first rotating shaft 3. Is linked with the belt 14. Reference numeral 20 denotes a chuck at the tip of the second arm.

Next, the operation will be described. When the first arm drive motor 5 is driven, the first rotating shaft 3 is rotated by the belt 6 and the first arm 7 is rotated. When the second arm drive motor 10 is driven, the pulley 8 loosely fitted to the first rotating shaft 3
The pulley 9 is rotated by a belt 16 and the second arm 12 is further rotated by a belt 14. Since the first arm 7 and the second arm 12 are sequentially arranged on the outside, the first arm 7 can freely rotate without being interfered by the base arm 2, and the second arm 12 is connected to the first arm 7. Can rotate freely without interference. Therefore, the chuck 20 attached to the tip of the second arm 12 can be freely rotated to any position along one side surface of the base arm without interfering with each other, so that dead space for work can be eliminated.

[0007]

According to the present invention, a first arm is fixed to a first rotating shaft pivotally attached to a tip of a base arm protruding from a base, and is disposed on one side of the base arm. A second arm is fixed to the pivoted second rotation shaft, and is disposed on one side of the first arm as described above, so that the first arm and the second arm can rotate freely without interference. Since the first arm drive motor for driving one rotation axis and the second arm drive axis for driving the second rotation axis are provided on the base arm, the first arm and the second arm are arranged along the outer circumference of the base arm. Since it can rotate freely without interfering with each other, there is no dead space for work, and it is suitable for a desktop type small link arm robot.

[Brief description of the drawings]

FIG. 1 is a front view of one embodiment of the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is a rear view of FIG. 1;

FIG. 4 is a sectional view taken along line AA of FIG. 2;

FIG. 5 is an operation explanatory view of the present invention.

FIG. 6 is an external perspective view of a conventional link arm robot.

[Explanation of symbols]

 Reference Signs List 1 base 2 base arm 3 first rotating shaft 4 pulley 5 first arm driving motor 6 belt 7 first arm 8, 9 pulley 10 second arm driving motor 11 second rotating shaft 12 second arm 13 pulley 14 belt 16 belt

Claims (1)

[Claims] 1. A first arm fixed to a first rotation shaft pivotally attached to a tip of a base arm protruding from a base, disposed on one side of the base arm, and pivotally attached to a tip of the first arm. The second arm is fixed to the two rotation shafts, and is disposed on one side of the first arm as described above, so that the first arm and the second arm can rotate freely without interference, and the first rotation shaft is formed. A link arm robot, wherein a first arm drive motor for driving and a second arm drive shaft for driving a second rotation axis are arranged on a base arm.