JPS60213488A - Industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a horizontally articulated industrial robot, and particularly to a structure suitable for installing wrist twisting parts at both the upper and lower ends of a vertical movement axis.

[Background of the invention]

Conventionally, since horizontal articulated robots generally work downward, no consideration has been taken for upward work, and a special structure has been used for upward work. A dedicated structure inevitably increases costs, which is not desirable.

[Purpose of the invention]

An object of the present invention is to provide a downward-facing work type horizontal articulated robot with a structure that allows upward-facing work as is, without requiring a dedicated structure.

[Summary of the invention]

In other words, in a horizontal articulated robot that has a wrist twisting axis at the lower end of the vertical movement axis, the flange that fixes the wrist twisting axis and the bellows that protect the vertical axis are installed vertically symmetrically, making it easy to move the wrist. The twist shaft can also be attached to the upper end of the vertical shaft, making it possible to work both downward and upward.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2. 1 is a main body, 2 is a first arm that is supported so as to be horizontally pivotable relative to the main body 1, and 3 is a hole provided in the first arm 2 and supported so as to be pivotable parallel to the first arm 2. A third arm 4 that moves up and down is attached near the tip of the second arm. Also,
Flanges 5 of the same shape are fixed to the upper and lower ends of the third arm 4, respectively, and bellows 6 for protecting the third arm 4 are fixed between the flanges 5 and the upper and lower surfaces of the second arm 3. . Reference numeral 7 denotes a fourth arm that can be rotated independently and is fixed to the flange 5 with a mounting screw 8. The wiring 9 for driving the fourth arm 7 is connected to the side surface of the second arm 3 from approximately the center in the vertical direction. It is pulled out and connected to the fourth arm 7.

According to this embodiment, in order to use the fourth arm 7, which is installed at the lower end of the third arm 4 for downward work, for upward work, only the mounting screw 8 is removed from the lower flange 5. It is sufficient to simply fix the arm 7 to the upper flange 5 with the mounting screw 8, which has the effect of making it possible to easily work upward.

In addition, in FIG. 1, the dotted line shows the case where it is used for upward work.

〔Effect of the invention〕

As described above, according to the present invention, by arranging the flange for attaching the wrist twisting shaft and the bellows for protecting the vertical axis vertically symmetrically with respect to the second arm, twisting of the wrist can be done by simply removing a few screws. The shaft can be installed at the upper end of the vertical shaft, and it can be easily changed from downward work to upward work. In addition, by using flanges and bellows that share the upper and lower ends, there is an economical effect such as the ability to share parts, and the flange can be used both as a mounting member for the wrist twist shaft and as a cover for the upper and lower ends of the bellows. It's also effective.

[Brief explanation of the drawing]

FIG. 1 is a side view of a robot showing an embodiment of the present invention;
FIG. 2 is a detailed view of section A in FIG. 1. 1... Main body, 2... First arm, 3... Second arm, 4...
...3rd arm, 5...flange, 6...bellsock, 7
...Fourth arm, 8...Mounting screw, 9...Wiring.

Claims (1)

[Claims] A first arm is rotatably mounted on the main body, a second arm is rotatable in parallel with the first arm, and the second arm is movable up and down near the tip of the second arm. In a horizontal multi-joint robot, the robot has a third arm, and a fourth arm that can rotate independently of the first arm and the second arm at the lower end of the third arm. An industrial robot characterized in that a flange and a bellows for protecting the third arm are arranged vertically symmetrically with respect to the second arm, and the fourth arm can be attached to both the upper and lower ends of the third arm.