JPS6150759B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a highly versatile industrial robot used for inserting, extracting, assembling, etc. parts in high-mix, low-volume production.

BACKGROUND OF THE INVENTION Recently, this type of highly versatile industrial robots have been attracting attention, and as the use of industrial robots increases, various robots are being developed. In particular, when multiple work stations are installed around one robot, the robot needs to have a small ground contact area and a wide work area, so it is necessary to have multiple arms that can freely rotate in the horizontal direction. Many articulated robots have been developed. Among these types of robots, the articulated robot 1 shown in Fig. 6 has the first
Since the arm 2 is inserted through the support column 6 fixed to the base 5 and is configured to rotate around it, the first arm 2 can rotate approximately once, and its working range is extremely wide. It's summery.

Problems to be Solved by the Invention In this robot 1, in order to restrict the working range of the first arm 2, a stopper device 51 is fixed to the support column 6 as shown in FIG. This stopper device 51 has a stopper ring 52 fixed to the column 6 so as not to rotate, and notches 53 are cut at equal intervals on the outer periphery of the stopper ring 52 to fix the stopper 33. Fixed. Therefore, a special stopper ring 52 is required as the stopper device 51, and the outer periphery of the stopper ring 52 must be specially processed, resulting in drawbacks such as increased cost of the stopper device.

Means for Solving the Problems The present invention aims to eliminate the above-mentioned drawbacks.
A flange is provided on the support, screw holes and pilot holes are alternately drilled in the flange, and bolts are inserted into the pilot holes to secure the support to the base.
A stopper is fixed to one of the bolts, a prepared hole in the stopper is arranged corresponding to the screw hole, and these are fixed by another bolt.

Function Therefore, when installing the stopper, one side of the stopper is fixed with the bolt for attaching the column to the base, while the pilot hole of the stopper is placed corresponding to the screw hole of the flange part, and this is secured with another bolt. Can be fixed. In addition, the stopper has prepared holes drilled at positions corresponding to the two adjacent through holes in the flange, so the stopper can be fixed to each of the bolts used to connect the base and the support. .

Embodiment An embodiment of the present invention will be described below based on the drawings. In FIGS. 1 to 3, reference numeral 1 denotes an articulated industrial robot, which has a first arm 2 and a second arm 3. As shown in FIG. The base of the first arm 2 has a first hole 4, and the first arm 2 has a base 5.
The first arm 2 is inserted through a column 6 fixed to the first arm 2, and the column 6 is positioned below the first arm 2. Moreover, a cross roller bearing 7 is disposed between the upper part of the support column 6 and the lower part of the first arm 2, and the first arm 2 is held so as to be able to rotate around the support column 6. Further, a flexspline 9 of a reduction gear 8 is fixed to the upper end of the support column 6,
Furthermore, a circular spline 10 is fixed to the first arm 2 so as to surround this. On the other hand, a first motor 11 is directly fixed to the first arm 2, and a wave generator 13 is fixed to its first drive shaft 12, and the rotation of the wave generator 13 causes the flexspline 9 to move. It is configured to mesh with the circular spline 10 to reduce the rotation of the first motor 11 and transmit this to the first arm 2. Additionally, a pulse encoder (not shown) is provided at the upper end of the first motor 11.
is fixed, and the rotation angle of the first motor 11 is configured to be detected.

On the other hand, a second arm 3 is inserted through the tip of the first arm 2 from below. This second arm 3 has a rotating shaft portion 20, and this rotating shaft portion 20
It is held rotatably below the first arm 2 about the center. The rotating shaft portion 20 is configured to rotate in response to rotation of a second motor 22 fixed to the tip of the first arm 2 via a speed reducer (not shown). Further, the second motor 22
A second pulse encoder (not shown) is fixed to the upper end of the motor 22, and is configured to detect the rotation angle of the second motor 22.

A screw tightening unit 25 is fixed to the tip of the second arm 3. This screw tightening unit 2
Reference numeral 5 has a rotatable driver bit (not shown), which is configured to descend and screw into a predetermined position a screw held by a chuck pawl 27 of a chuck unit 26.

Next, the main parts of the present invention will be explained. As shown in FIGS. 4 and 5, the support column 6 has a flange portion 28 at its lower end, and the support column 6 is arranged so that the flange portion 28 comes into contact with the base 5. This flange portion 28 has 12
Through-holes are drilled, and these through-holes alternately include a first screw hole 29 into which a first bolt 32 (to be described later) can be screwed, and a first prepared hole 30 without an internal thread into which the first bolt 32 can be inserted. is formed.

On the other hand, six second screw holes 31 are bored in the base 5 in correspondence with the six first prepared holes 30 of the flange portion 28, and the first prepared holes 30 are sewn into the respective first prepared holes 30. 1 bolt 32 is screwed into the second screw hole 31.

Further, a stopper 33 is arranged on the upper part of the flange portion 28, and a second pilot hole 34 without an internal thread is bored in this stopper 33 at a position corresponding to two adjacent through holes of the flange portion 28. It is set up. One of the first bolts 32 is inserted into one of the second prepared holes 34 of the stopper 33, and the other second prepared hole 34 is located at a position corresponding to the second screw hole 31 of the flange portion 28. Another second bolt 35 is screwed into the second screw hole 31 by sewing the second prepared hole 34. Further, the upper end of this stopper 33 is located within the rotation range of the base of the first arm 2, and the first arm 2 is configured to come into contact with this stopper 33 to restrict its rotation range. .

A dog 36 is fixed to the upper part of the stopper 33, and is configured to detect the origin of the first arm 2 together with a sensor 37 fixed to the base of the first arm 2.

Effects of the Invention In the above-mentioned industrial robot, when installing the stopper 33, one side of the stopper 33 is fixed by the first bolt 32 for attaching the support column 6 to the base 5, while the second screw hole 31 of the flange portion 28 is fixed. Then, the second pilot hole 34 of the stopper 33 can be arranged and fixed with another second bolt 35. Moreover, since the second prepared hole 34 is bored in the stopper 33 at a position corresponding to the two adjacent through holes of the flange portion 28, six holes for fastening the base 5 and the support column 6 are formed. This stopper 3 is attached to each bolt 32.
3 can be fixed. Therefore, the stopper 33 can be securely fixed only with the first bolt 32 for fixing the base 5 and the column 6, and no extra parts are required.The number of parts of the stopper device is reduced, and an extremely inexpensive stopper device can be achieved. There are many advantages that can be provided. Furthermore, since the stopper 33 is fixed by the first bolt 32 that fixes the column 6 and the base 5, even if the first arm 2 comes into contact with the stopper 33 at high speed, the stopper 33 will not loosen. Continuously and reliably become the first
There are advantages such as being able to restrict the working range of the arm 2.

[Brief explanation of the drawing]

FIG. 1 is an enlarged sectional view of the main part of the present invention, FIG. 2 is an overall explanatory diagram of the invention, FIG. 3 is an enlarged sectional view of the main part of the first arm according to the invention, and FIG. A-A
A sectional view of the main part along the line, Figure 5 is B-B in Figure 1.
FIG. 6 is an overall explanatory view of the conventional example, and FIG. 7 is a perspective view of the main portion of FIG. 6. 1...Industrial robot, 2...First arm, 3
...Second arm, 4...First hole, 5...Base,
6...Strut, 7...Cross roller bearing, 8
...Reduction gear, 9...Flex spline, 10...
Circular spline, 11...1st motor, 1
2...First drive shaft, 13...Wave generator, 20...Rotating shaft portion, 25...Screw tightening unit, 26...Chuck unit, 27...Chuck pawl, 28...Flange portion, 29...No. 1 screw hole, 30...1st prepared hole, 31...2nd screw hole, 3
2...First bolt, 33...Stopper, 34...
2nd pilot hole, 35...2nd bolt, 36...dog,
37...sensor, 51...stopper device, 52...
...stopper ring, 53...notch.

Claims (1)

[Scope of Claims] 1. A first arm is fitted into a support column, and the first arm is configured to be rotatable along the support support, while a flange portion is provided at the lower end of the support support, and the flange portion is configured to abut against the base. The support is placed in the flange, and a plurality of through holes are drilled at equal intervals in this flange, and the through holes are alternately used as screw holes and pilot holes, while the base is provided with holes corresponding to the pilot holes. The same number of screw holes are drilled through the lever and these are fixed with bolts, and a stopper having a pilot hole at a position corresponding to the two adjacent through holes is fixed to one of the bolts, and this stopper is fixed to one of the bolts. An industrial robot characterized in that the other pilot hole of the flange portion is arranged in correspondence with the screw hole of the flange portion, and these are fixed with another bolt.