JPS60221285A - Arm for robot - Google Patents
Arm for robotInfo
- Publication number
- JPS60221285A JPS60221285A JP7646584A JP7646584A JPS60221285A JP S60221285 A JPS60221285 A JP S60221285A JP 7646584 A JP7646584 A JP 7646584A JP 7646584 A JP7646584 A JP 7646584A JP S60221285 A JPS60221285 A JP S60221285A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- robot
- strength
- weight
- materials
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、ロボット用アームの製造方法に係り特に、発
泡ポリウレタンを原料とする反応性射出成形、いわゆる
ＲＩＭ成形成形相いて、超軽量を図り、なおかつアーム
の剛性を向上させるロボット用アームに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a method for manufacturing a robot arm, and in particular, involves reactive injection molding using foamed polyurethane as a raw material, so-called RIM molding, to achieve ultra-lightweight, Furthermore, the present invention relates to a robot arm that improves the rigidity of the arm.
従来のロボット用アームは、スチール製（比重＝７）、
アルミ合金製（比重＝２．７）、最近ではＦＲＰ製（比
重＝１．５）と軽量化を図る傾向にある。これは軽量化
することにより動作速度の高速化、吊り上げ荷重の増加
等の能方向上を図ｎるためであるか、さらに特性を改善
するためには大幅な軽量化が必要となった。そこでＲＩ
、Ｍ（比重＝０．５〜１，０）が注１」されてきたが松
科的には」二記材料と比較し強度、剛性が劣る。特に応
力か集中する回転軸および軸受は付近が、強度的に矧点
であった。また、ＦＲＰは軽量でかつ強度的にも問題が
少ないが、ガラス繊組°布とポリエステル樹脂とを何層
にも重ね合せる必要があり、この作業をほとんど手作業
で行なっているため高価になる欠点かある。Conventional robot arms are made of steel (specific gravity = 7),
There is a trend toward lighter weight products, such as aluminum alloys (specific gravity = 2.7) and, recently, FRP products (specific gravity = 1.5). This may be due to the fact that by reducing the weight, it is possible to increase the operating speed, increase the lifting load, etc., or to further improve the characteristics, it is necessary to significantly reduce the weight. So R.I.
, M (specific gravity = 0.5 to 1.0) has been used as Note 1, but in terms of pinecology, it is inferior in strength and rigidity compared to materials listed in Note 2. In particular, the areas near the rotating shaft and bearings, where stress is concentrated, were weak in terms of strength. In addition, FRP is lightweight and has few problems in terms of strength, but it is expensive because it requires laminating multiple layers of glass fiber fabric and polyester resin, and this work is mostly done by hand. There are some drawbacks.
本発明の目的は、発泡ポリウレタンを原料とする。いわ
ゆるＲＩＭ材により成形される製品の強度的難点を効率
良く補うことにより、超軽量、高強度のロボット用アー
ムを提供することにある。The object of the present invention is to use foamed polyurethane as a raw material. The purpose of this invention is to provide an ultra-lightweight, high-strength robot arm by efficiently compensating for the strength disadvantages of products molded from so-called RIM materials.
従来、発泡プラスチック材料を構造材として用いる場合
に強度不足になりがちであり、そこで原料に種々のフィ
ラーを添加することが行われている。しかしこの方法で
強度を増すためには、樹脂密度を増すか、フィラー含有
量を増加するか、又−両材料を併用するかであるが、い
ずれの材料も成形品重量が増大してしまう。本発明はロ
ボット用アームを発泡プラスチック材料としてスキン層
とコア層を有するサンドウィンチ構造ができる。いわゆ
る発泡ウレタンを原料とするＲＩＭ成形注形法い、なお
かつ強度的に不充分な部分すなわち構造的に応力が集中
する部分のみを補強することにより、応力分散を図り、
ロボットとしての吊上げ時のたわみ量を減少することが
でき、その分、材料密度を小さくでき、全体重量の減少
化も図れるものである。Conventionally, when foamed plastic materials are used as structural materials, they tend to lack strength, so various fillers have been added to the raw materials. However, in order to increase the strength with this method, the resin density must be increased, the filler content must be increased, or both materials must be used in combination, but either material increases the weight of the molded product. In the present invention, a sandwich structure having a skin layer and a core layer can be obtained by using a foamed plastic arm as a robot arm. The RIM molding method uses so-called urethane foam as a raw material, and by reinforcing only the areas with insufficient strength, that is, the areas where stress is concentrated structurally, we aim to disperse stress.
The amount of deflection during lifting as a robot can be reduced, the material density can be reduced accordingly, and the overall weight can also be reduced.
以下本発明の実施例について第１図〜第３図により説明
する。まず発泡ポリウレタンを原料とする反応射出成形
法すなわちＲＩＭ成形注形法り成形されたロボット用第
１アーム３に成形時インサートされた回転用軸１がある
。この軸に溶接した鉄板２が軸と同時にｔＭ内にインサ
ートしたものである。又第１アーム１および第２アニム
６は、」二部、下部の２ピース形としており上下各々に
上−記聞様鉄板をインサートしであるか、輔１と下部鉄
板は溶接ではなくはめ合いとした。さらに軸受５および
第２アームの軸受部にも鉄板をインサートした。ＲＩＭ
材のみの密度はＱ、６ｆ／ａｄとした。Embodiments of the present invention will be described below with reference to FIGS. 1 to 3. First, there is a rotating shaft 1 inserted during molding into a first arm 3 for a robot, which is molded by reaction injection molding, ie, RIM molding, using polyurethane foam as a raw material. A steel plate 2 welded to this shaft is inserted into tM at the same time as the shaft. In addition, the first arm 1 and the second arm 6 are in the form of two pieces, the lower part of which is a two-piece type, with iron plates like those described above inserted in the upper and lower parts, respectively, or the arm 1 and the lower iron plate are fitted together rather than welded. did. Furthermore, iron plates were also inserted into the bearing portion of the bearing 5 and the second arm. RIM
The density of the material alone was Q, 6f/ad.
以上によりＲＩＭにて成形したロボット用アームにおい
て集中応力を受け最も変形および歪の発生しゃすい輔お
よび軸受付近を高強度の鉄板を補強材として用いること
で、全体密度を増すことなく高強度なロボット用アーム
をｉｌることかできる。As described above, by using high-strength steel plates as reinforcing materials near the heel and bearings, where the most deformation and strain occurs due to concentrated stress in a robot arm formed using RIM, a high-strength robot can be created without increasing the overall density. You can also use the arm for use.
本発明によれば製品密度０．５〜１において、軽量化と
高強度を両立できるもので、ロボッｌ−ＩＩＩアームと
して実用範囲の密度Ｑ、 ５ ？／ｃｒｌとすると従来
のアルミ合金材に比ベア８９６重量減、ＦＲＰに比ベロ
０％重量減となり、動作物性か大幅に改善され、また、
吊り」ユげ重油も増加し、付加価値が一段と高めること
ができる。According to the present invention, it is possible to achieve both light weight and high strength at a product density of 0.5 to 1, and the density Q, 5? is within the practical range as a robot l-III arm. /crl, the weight is reduced by 896 compared to conventional aluminum alloy materials, and the weight is reduced by 0% compared to FRP, and the operating properties are greatly improved.
Hanging heavy oil will also increase, further increasing added value.
第１図はロボット用アームを組立てた状態の斜視図であ
る。第２図および第３図は第１図のＡ部の詳細図であり
第２図は正面の断面図、第３図は平面図である。
１・・・アーム回転用軸、２・・・インサートされた補
強用鉄板、３・・・ロボット用第１アーム本体、４・・
・第１・第２アーム連結軸用軸、５・・・軸４用軸受け
、６・・・第２アーム本体、７・・・ＲＩＭ材、８・・
・スキン層。
代理人 弁理士 高 橋 明 夫
隼 ＩＩ￥１
第 ２ 回
箔３０FIG. 1 is a perspective view of the assembled robot arm. 2 and 3 are detailed views of section A in FIG. 1, with FIG. 2 being a front sectional view and FIG. 3 being a plan view. DESCRIPTION OF SYMBOLS 1... Axis for arm rotation, 2... Inserted reinforcing steel plate, 3... First arm body for robot, 4...
・Shaft for connecting the first and second arms, 5... Bearing for shaft 4, 6... Second arm body, 7... RIM material, 8...
・Skin layer. Agent Patent Attorney Akira Takahashi Hayabusa II ¥1 2nd Haku 30
Claims (1)
ームの軸受部に介在物を埋設したことを特徴とするロボ
ット用アーム。A robot arm characterized in that an inclusion is embedded in a bearing part of a robot arm made of RIM material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7646584A JPS60221285A (en) | 1984-04-18 | 1984-04-18 | Arm for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7646584A JPS60221285A (en) | 1984-04-18 | 1984-04-18 | Arm for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60221285A true JPS60221285A (en) | 1985-11-05 |
Family
ID=13605910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7646584A Pending JPS60221285A (en) | 1984-04-18 | 1984-04-18 | Arm for robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60221285A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005103751A (en) * | 2003-10-01 | 2005-04-21 | Korea Advanced Inst Of Science & Technol | Robot arm having shock absorbing structure |
| JP2018167338A (en) * | 2017-03-29 | 2018-11-01 | 積水化成品工業株式会社 | Arm for connection |
| US10456907B2 (en) | 2017-04-10 | 2019-10-29 | Fanuc Corporation | Robot arm and robot |
| US11926050B2 (en) | 2018-07-25 | 2024-03-12 | Fanuc Corporation | Robot arm, manufacturing method therefor, and robot |
-
1984
- 1984-04-18 JP JP7646584A patent/JPS60221285A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005103751A (en) * | 2003-10-01 | 2005-04-21 | Korea Advanced Inst Of Science & Technol | Robot arm having shock absorbing structure |
| JP2018167338A (en) * | 2017-03-29 | 2018-11-01 | 積水化成品工業株式会社 | Arm for connection |
| US10456907B2 (en) | 2017-04-10 | 2019-10-29 | Fanuc Corporation | Robot arm and robot |
| US11926050B2 (en) | 2018-07-25 | 2024-03-12 | Fanuc Corporation | Robot arm, manufacturing method therefor, and robot |
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