JPS60221276A - Ceiling hanging structure of 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 mounting the robot on a ceiling.

[Background of the invention]

The installation form of conventional horizontal articulated robots is as follows:
Most of the time, they are placed on the floor, but in recent years, there has been a need to mount them on the ceiling in order to make better use of space on assembly lines. In order to install a robot on a ceiling, consideration must be given to the arrangement of the thrust bearing and the lubricating oil box for the reducer, as the vertical direction is reversed, and the wiring position. Therefore, a structure dedicated to ceiling hanging is inevitable, but a dedicated structure inevitably increases the number of parts and costs, which is not preferable.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a structure that allows a floor-standing type horizontal articulated robot to be suspended from the ceiling without requiring a dedicated structure.

[Summary of the invention]

That is, holes for wiring are drilled in the lower part, center part, and support cover of the support made of a hollow cylinder, and a hole is provided at the same position as the center hole of the support member of the first arm fixed to the support. By wiring the inside of the support and installing a connector in the middle of the wiring for the drive motor, it is possible to easily install it on the floor or on the ceiling.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. Reference numeral 1 denotes a first arm that is horizontally rotatably supported with respect to a support member 4, 2 is a second arm that is supported by the first arm 1 so as to be horizontally rotatable, and a Z-axis 3 that moves up and down is attached to the tip. installed.

The support member 4 is fixed to a hollow cylindrical column 5 that is detachably attached to the base 6. Reference numeral 7 designates a first arm driving motor fixed to the upper part of the first arm 1 rotation axis of the support member 4, and 7a a first arm driving motor connector provided in the middle of the Lt%-ter wiring. 8 is a second arm driving motor fixed on the second arm rotation axis of the first arm 1, and 8a is a second arm driving motor connector provided in the middle of the motor wiring. 9 is a Z-axis rotation drive motor fixed to the lower part of the support member 4, and 9a is a Z-axis rotation drive motor connector provided in the middle of the motor wiring. A terminal box 10 is attached to the rear part of the support member 4, and is a relay terminal section for connecting a motor power line, various signal lines, etc. to a control panel (not shown). Also 11
is a column cover detachably attached to the upper end of the column 5, and has a hole 11a for wiring. Here, to explain the hollow cylindrical support in detail, the support 5 has a hole 5a for wiring in the lower part of the front facing the arm side and a hole 5b for wiring in the approximately central side part. Furthermore, a hole 4b is bored in the side of the support member 4 at the same position as the hole 5b.

Therefore, the drive motor 7.8 for the first and second arms
The power line etc. are the first arm drive motor connector 7a,
and the side hole 5b14 from the hole 11a provided in the column cover 11 via the second arm drive motor connector 8a.
The power line of the Z-axis rotational drive motor 9, which is guided to the terminal box 10 through the terminal box 10 and fixed to the lower part of the support member 4, is connected to the support 5 from the lower hole 5a via the Z-axis rotational drive motor connector 9a. It passes through the inside and is led to the terminal box. To install a floor-mounted device on a ceiling, first connect the motor connector 7a,
By removing 3a, 9a and the column cover 11, the column 5 is extracted from the support member 4. Next, the column 5 is inserted and fixed into the support member 4 from the opposite direction, the column cover 11 is attached to the lower end of the column 5, and the power lines of the first arm drive motor 7 and the second arm drive motor 8 are connected to the column 5. Connector 7a through hole 5a.

8a, and the power line of the Z-axis rotation drive motor 9 may be connected to the connector 9a through the hole 11a of the column cover 11.

According to the above configuration, the support column 5 can be
, strut cover 11 and motor connector 7a18°a
, 9a can be easily installed on the ceiling (Fig. 3) by simply replacing the attachments.

〔Effect of the invention〕

As described above, according to the present invention, the support 5 made of a hollow cylinder, the support cover 11, and the support member 4 have holes 5a for wiring.
, 5b, 11a', and 4b, and by providing connectors 7a, 8a, and 9a in the middle of the drive motor's power line, the support column 5, support cover 11, and connectors 7a, 8a, and 9a can be attached interchangeably. Since it can be hung from the ceiling, it is easy to install from the floor to the ceiling, and there are economic benefits such as the ability to share parts.

[Brief explanation of the drawing]

FIG. 1 is a side view of a robot showing an embodiment of the present invention;
2 is a cross-sectional view taken along the line A--A in FIG. 1, and FIG. 3 is a side view of the robot shown in FIG. 1 when it is mounted on a ceiling. 1...First arm, 2...Second arm, 3...Z
Shaft, 4... Support member, 4b... Hole, 5... Support column,
5a, 5b... Hole, 6... Base, 7... First arm drive motor, 7a... Connector, 8... Second
Arm drive motor, 8a...connector, 9...
Z-axis rotation drive motor, 9a...connector, 10.
...terminal box, 11...post cover, lla...hole. Agent Patent Attorney Akio Takahashi

Claims (1)

[Claims] The first arm rotates horizontally, the second arm moves vertically, and the Z moves vertically.
A support member such as a first arm, a drive motor, etc., which includes a shaft and a Z-axis rotation drive unit and is fixed to a support made of a hollow cylinder;
In a horizontally articulated robot having a bar and a base with columns fixed to the top and bottom of the column, holes for wiring are drilled in the lower part of the hollow cylindrical column, approximately at the center side, and in the column cover. A ceiling-suspended structure for an industrial robot, characterized in that a hole is bored in the side of the support member at the same position as the hole in the center of the support, and a connector is provided in the middle of the wiring of the drive motor.