JPS6138891A - Hollow arm type 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] [Industrial Application Field] The present invention is a hollow arm-shaped robot arm in which supply pipes for paint, compressed air, etc., wiring materials such as welding cables, etc. can be arranged inside the robot arm. The present invention relates to industrial robots, and more particularly to an overload protection mechanism for such hollow arm industrial robots.

[Prior art]

Industrial robots are widely used to save labor in painting and welding operations. This kind of industrial robot is
An upper arm pivotally attached to the robot base so as to be able to swing vertically, a forearm pivotably attached to the tip of the upper arm, a wrist provided at the tip of the forearm, and a wrist. It is equipped with robot working parts such as painting guns and welding guns that can be attached to the tip of the machine.

[Problem that the invention seeks to solve]

Piping materials, wiring materials, and the like are used to supply paint, compressed air, or welding power to painting guns, welding guns, and the like. Conventionally, these piping materials, wiring materials, etc. were placed on the outside of the robot's upper arm and forearm with ample space on the vines, so there was a risk that the piping materials, wiring materials, etc. would get caught on surrounding equipment. In addition, since the piping materials and the like are long, there is a drawback that there is a large amount of wasted material. Furthermore, in the case of paint supply pipes, when replacing the paint due to color changes, etc., a large amount of solvent is required to clean the remaining paint inside the pipe, and a large amount of the paint itself is also discarded.

[Means for solving problems]

As a means for solving the above problems, the present invention provides a cylindrical forearm base member rotatably supported at the distal end of the upper arm around an axis perpendicular to the longitudinal axis of the upper arm;
an outer hollow tube whose rear end side is rotatably held within the forearm base member and whose distal end side extends outward from the distal end of the forearm base member; and an outer hollow tube held at the distal end of the outer hollow tube. a wrist device having a hollow structure, a plurality of inner hollow tubes having a concentric structure held coaxially and rotatably inside the outer hollow tube, and a rear end of each inner hollow tube and the outer hollow tube. a hollow gear member attached to each of the forearm base members, and a gear rotatably installed in the rear end of the forearm base member and meshing with the hollow gear member on the rear end side of each of the inner hollow tubes and the outer hollow tube. and a hollow gear member that is attached to the tip of each of the inner hollow tubes and transmits rotational driving force to the wrist device, the hollow gear that is attached to the tip of each of the inner hollow tubes and the tip of the inner hollow tube. Provided is a hollow arm industrial robot characterized in that the members are connected to each other via a shear pin.

[Effect]

According to the above means, space for installing piping materials, wiring materials, etc. can be secured inside the hollow structure of the forearm and wrist device, so that the piping materials and wiring materials can be made to the minimum necessary length. can. Further, since piping materials, wiring materials, etc. can be disposed inside the robot forearm and wrist device, it is possible to prevent work problems caused by the robot getting caught on peripheral equipment, etc. In addition, since the tip of each inner hollow tube in the forearm and the hollow gear member attached to the tip are connected via a shear pin, the shear pin is broken and damage to robot components is kept to a minimum.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 shows the southern structure of a main part of a hollow-arm industrial robot according to an embodiment of the present invention, and FIG. 2 shows the overall appearance of the industrial robot. Referring to these figures, the industrial robot has a cylindrical forearm rotatably supported on the distal end of the upper arm 10 via a bearing 12.14 about an axis perpendicular to the longitudinal axis of the upper arm 10. A base member 16 is provided. Forearm base member 16
The rear end side of the outer hollow tube 18 of the forearm is rotatably held within the distal end portion of the forearm via bearings 20; 22.

The distal end side of the outer hollow tube 18 extends outward from the distal end of the forearm base member 16.

A hollow bevel gear member 2 is provided at the rear end of the outer hollow tube 18.
4 are provided. The gear member 24 meshes with a bevel-shaped gear member 28 rotatably held with respect to the forearm base member 16 via a bearing 26. A sprocket 3.0 is provided on the shaft portion of the gear member 28, and rotational driving force is transmitted to the sprocket 30.

Inside the outer hollow tube 18, two inner hollow tubes 32, 34 of a large diameter and a small diameter are arranged coaxially with each other and cut into the outer hollow tube 18. At the rear ends of the inner hollow tubes 32, 34 a respective hollow bevel gear member 36, 38 is attached.

The outer gear member 36 is rotatably held within the outer hollow tube 18 via a bearing 40 and the inner gear member 38 is rotatably held within the outer gear member 36 via a bearing 42. . These gear members 36.38 mesh with bevel gear members 48.5'O, which are rotatably held relative to the forearm base member 16 via bearings 44, 4.6, respectively. Sprockets 52, 54 are provided on the shafts of the gear members 48, 50, respectively,
Rotational driving force is transmitted to these sprockets 1-52 and 54.

A bent tube 56 is fixed to the tip of the outer hollow tube 18. Inside the bent tube 56, the large diameter inner hollow tube 32
Hollow bevel-shaped gear members 58 and 60 are attached to the tips of the small-diameter inner hollow tubes 34, respectively. The outer gear member 58 is connected to the bending tube 56 via a bearing 62.
The inner gear member 6o is rotatably held within the outer gear member 62 via a bearing 64.

A hollow wrist device 66 is provided at the tip of the forearm. Wrist device 66 includes a bent outer hollow base member 68. The rear end of the outer hollow base member 6 is rotatably held within the distal end of the bent tube 56 via a bearing 70. Furthermore, a hollow bevel-type gear member 72 is provided at the rear end of the outer hollow base member 68 and meshes with the hollow gear member 58 on the distal end side of the large-diameter inner hollow tube 32 .

A rear hollow tube 74 and a front hollow tube 76 are mounted in bearings 78.8 within the rear and distal ends of the outer hollow base member 68, respectively.
It is rotatably held through 0.

The distal end of the front hollow tube 76 projects outward from the distal end of the outer hollow base member 68 and has a mounting section 84 for a robot working section 82, such as a painting gun, welding gun, etc.

A hollow bevel gear member 86 is provided at the rear end of the front hollow tube 76.
is provided.

A hollow bevel-shaped gear member 88 that meshes with the hollow gear member 60 on the distal end side of the small-diameter inner hollow tube 34 is provided at the rear end of the rear hollow tube 74 . is provided with a hollow bevel-type gear member 90 that meshes with the hollow gear member 86 on the rear end side of the front hollow tube 76 .

The hollow gear member 3 is removed from the inside of the forearm base member 16 in the forearm.
8. The inner hollow tube 34 and the hollow gear member 60 as well as the front hollow tube 76 through the inside of the rear hollow tube 74 in the wrist device 66
An inner seal tube 92 is provided that leads to the inside of the tube. The rear end of this inner seal tube 92 is fixed to the forearm base member 16 by a port 94, and the distal end side is supported via ribs 96 and 98 to the forearm bending tube 56 and the outer hollow base member 68 of the wrist device. has been done. Along the inside of this inner seal pipe 92, piping materials such as a paint supply pipe, a compressed air supply pipe, etc.
Alternatively, a wiring material such as a power supply cable for welding can be arranged.

The wrist device 66 and the robot working unit 82 are configured to perform movements associated with the rotation of the outer hollow tube 18 and the bent tube 56 in the forearm, movements associated with the rotation of the large diameter inner hollow tube 32 and the outer hollow base member 68, and movements associated with the rotation of the large diameter inner hollow tube 32 and the outer hollow base member 68. Movement accompanying the rotation of the inner hollow tube 34, the rear hollow tube 74, and the front hollow tube 76 can be performed.

If an excessive load is applied to the robot working section 82,
Excessive load is transmitted to the hollow gear member 58 at the distal end of the large diameter inner hollow tube 32 through the outer hollow base 68 and the hollow gear member 72 at the rear end. Similarly, excessive load is transmitted to the hollow gear member 60 on the distal end side of the small-diameter inner hollow tube 34 through the front hollow tube 76, the rear hollow tube 74, and the hollow gear member 88 on the rear end side. Ru. In order to minimize damage to the robot components due to such excessive loads, the tips of the inner hollow tubes 32 and 34 and the hollow gear members 58 and 60 attached to the tips are connected to the shear pin 1.
00,102. In FIG. 2, reference numerals 104 indicate fixing bolts.

Due to the excessive loads mentioned above, these shear pins 100.10
2 breaks, thereby preventing damage to other robot components. Even if the shear pins 100, 102 break, the wrist device 66 is held by the bending tube 5G in the forearm, so that the wrist device 66 and the robot working unit 82 are prevented from falling off. In addition, if these shear pins 100 and 102 break, the shear pins 100 and 102 can be removed by removing the port 104 that fixes the outer hollow tube 18 and the bent tube 56.
．． 102 can be easily replaced.

Although one embodiment has been described above, the present invention is not limited to the embodiment described above, and various changes can be made to the constituent elements within the scope of the invention described in the claims. . For example, the number of inner hollow tubes in the forearm can be variously selected depending on the number of rotary drive power transmission systems required for the hollow wrist device.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, space for installing piping materials, wiring materials, etc. can be secured inside the hollow structure of the forearm and wrist device. It can be made to the minimum length required. Further, since piping materials, wiring materials, etc. can be arranged inside the robot forearm and wrist device, it is possible to prevent work problems caused by the robot getting caught on peripheral equipment, etc. Moreover, since the tip of each inner hollow tube in the forearm and the hollow gear member attached to the tip are connected via a shear pin, the shear pin is broken and damage to robot components is kept to a minimum. Therefore, it is possible to provide an industrial robot that can simplify piping, wiring, etc. and is highly safe against overload.

[Brief explanation of drawings]

FIG. 1 is a schematic cross-sectional diagram of essential parts of a hollow arm industrial robot showing an embodiment of the present invention, and FIG. 2 is an overall perspective view of the hollow arm industrial robot shown in FIG. 10-Upper arm, 16--Forearm base member, 18-
Outer hollow tube, 32.34-Inner hollow tube, 58.60--Hollow gear member, 66-Wrist device, 82-Robot working part, 100.
102-Shear pin.

Claims (1)

[Claims] 1. A cylindrical forearm base member rotatably supported at the distal end of the upper arm around an axis perpendicular to the longitudinal axis of the upper arm, and a rear end portion of the forearm base member; an outer hollow tube that is rotatably held by the forearm base member and whose distal end side extends outward from the distal end of the forearm base member; a wrist device having a hollow structure that is held at the distal end of the outer hollow tube; A plurality of inner hollow tubes having a concentric structure coaxially and rotatably held inside the hollow tube, and a hollow gear member attached to the rear end of each inner hollow tube and the outer hollow tube, respectively. a gear member rotatably provided within the rear end of the forearm base member and meshing with the hollow gear member on the rear end side of each of the inner hollow tubes and the outer hollow tube; a hollow gear member attached to the distal end and transmitting rotational driving force to the wrist device; the distal end of each inner hollow tube and the hollow gear member attached to the distal end are coupled via a shear pin; A hollow arm industrial robot. 2. The outer hollow tube is provided with the inner hollow tube of large diameter and small diameter with an inner and outer double structure, and the rear end of the bent tube is fixed to the tip of the outer hollow tube. The wrist device includes a bent outer hollow base member, and the rear end side of the outer hollow base member is rotatably held within the distal end of the bent tube, and the inner hollow base member has a large diameter. A hollow gear member is provided that meshes with a hollow gear member on the distal end side of the tube, and a rear hollow tube and a front hollow tube are rotatably held within the rear end and the distal end of the outer hollow base member, respectively. The front end of the front hollow tube projects outward from the front end of the outer hollow base member and has an attachment part for a robot working part, and the rear end of the front hollow tube has a A hollow gear member is provided at the rear end of the rear hollow tube, and a hollow gear member that meshes with a hollow gear member on the tip side of the inner hollow tube having a small diameter is provided at the rear end of the rear hollow tube. A hollow arm type industrial use according to claim 1, characterized in that a hollow gear member that meshes with a hollow gear member on the rear end side of the front hollow tube is provided at the distal end of the tube. robot.