JPS6243739Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to an articulated robot.

<Prior art> A swing base is supported on a fixed base so as to be able to swing around a vertical axis, and a first arm is mounted on the swing base, and a second arm is mounted on the first arm and pivoted around horizontal axes that are parallel to each other. support possible,
In a conventional articulated robot in which the first and second arms are driven to rotate via a screw feed mechanism by drive motors installed in parallel on a rotation base, a pair of Support parts are formed, split support shafts are fixed to these support parts on the same axis, and the first arm is rotatably supported at each tip of the split support shafts. A nut that is threaded onto a screw shaft rotationally driven by a drive motor is connected to a connecting arm protruding from the first arm, and the first arm is rotated by the axial movement of this nut. On the other hand, in order to rotate the second arm, a second arm drive link is pivotally supported on the split support shaft, and a nut that is threaded onto a screw shaft rotationally driven by a drive motor is connected to this drive link. The axial movement of the nut causes the second arm to pivot via a connecting link connected to the drive link.

In this type of robot, the first arm is supported by a split shaft, and the support span is short, so the support rigidity cannot be increased, and the first arm and drive link are attached to the support shaft. Since the bearings are supported side by side in the same direction, if the bearing width of these bearings is made large, there is a problem that the supporting portion of the first arm becomes large.

<Purpose of the invention> An object of the invention is to increase the support rigidity of the first arm and to make the support portion compact.

<Structure of the invention> In order to achieve the above-mentioned object, the present invention has a pair of support parts formed at an interval in the upper part of the revolving base, through which the support shaft is rotatably supported by penetrating the support shaft in the horizontal direction. , a first arm is disposed between the pair of support shafts, both ends of the first arm are fitted and fixed to the support shaft, and a first arm is disposed in a recess formed between both ends of the first arm. A two-arm drive link is provided, and one end of the drive link is rotatably supported on the support shaft.

<Examples> Examples of the present invention will be described below based on the drawings. In Figures 1 and 2, the fixed base 1
0, a swing base 11 is supported so as to be able to swing around a vertical axis A1, and is driven to swing by a first shaft drive motor 12 installed on the swing base 11. As will be described later, a first arm 13 is supported at the upper end of the swing base 11 so as to be able to swing around a horizontal axis A2.
A second arm 14 is attached to the tip of the horizontal axis A2.
It is supported so as to be pivotable around an axis A3 parallel to .

A pair of brackets 15 and 16 are protruded from the side surface of the swing base 11, and these brackets 15,
16, the swinging supports 17 and 18 are aligned with the horizontal axis A2.
They are each supported so as to be swingable around axes parallel to the . The swing supports 17 and 18 have screw shafts 1
One ends of screw shafts 9 and 20 are rotatably supported, and these screw shafts 19 and 20 are rotationally driven by a second shaft drive motor 21 and a third shaft drive motor 22 installed on the swing supports 17 and 18. It's getting old. The screw shafts 19 and 20 are adapted to be screwed into nuts, which will be described later, respectively.

As shown in FIG. 3, on the upper part of the swing base 11, there are a pair of support parts 11a, which are spaced apart from each other by a predetermined distance.
11b is formed, and these supporting parts 11a, 11b
A support shaft 26 passing through the horizontal axis A2 is connected to the support parts 11a and 11b via bearings 51 and 52.
is rotatably supported around the Support part 1
A base portion of the first arm 13 is disposed between 1a and 11b, and both ends 13a and 13b of this base portion are fitted and fixed to the support shaft 26. Therefore, a collar 5 is provided between both ends 13a, 13b of the first arm 13 and the inner rings of the bearings 51, 52.
3 and 54 are interposed, and the outer rings of the bearings 51 and 52 are pressed by the caps 55 and 56 fixed to the respective support parts 11a and 11b.
It is now possible to add preload to 2. A connecting arm 27 is protruded from the base of the first arm 13 in a direction substantially perpendicular to the direction of extension of the first arm 13 and approaches one of the supporting parts 11a. A shaft 28 is rotatably supported around an axis parallel to the support shaft 26, and a nut 29 that is screwed onto the threaded shaft 19 is fixed to one end of the first shaft 28.

The first arm 13 has both ends 13a and 13b.
A recess 31 is formed between them, and one end of a second arm drive link 32 is rotatably supported in this recess 31 in parallel to the connecting arm 27 via bearings 57 and 58. A disc spring 59 is interposed between the inner ring of one bearing 57 and the stepped surface of the support shaft 26, and the repulsive force of the disc spring 59 presses the inner ring of the other bearing 58 against the collar 57. A preload is applied to the bearings 57 and 58. The drive link 3
2, a second shaft 33 is rotatably supported around an axis parallel to the support shaft 26, and a connecting link 34 is attached to one end of the second shaft 33 on the connecting arm 27 side.
One end is pivotally supported, and the other end is fixedly provided with a nut 35 that is screwed into the screw shaft 20, and the connecting link 3
4 is the second arm 13 parallel to the first arm 13.
It is pivotally supported by the rear end of the arm 14. Thus, the above-described first arm 13, connecting arm 27, connecting link 34, and a portion of the first arm 14 constitute a parallel link mechanism.

In addition, 41 in FIG. 1 indicates a wrist portion provided at the tip of the second arm 14, and this wrist portion 41
The twist part 42 is rotatably supported by the second arm 14 around an axis A4 perpendicular to the support shaft 26, and the twist part 42 is connected to the axis A4.
A bend portion 43 rotatably supported around an axis A5 inclined with respect to the bend portion 43;
and a swivel part 44 rotatably supported around an axis A6 inclined with respect to the axis A5, and these twist part 42, bend part 43 and swivel part 44 are connected to the second arm 1.
4, and is rotatably driven by fourth, fifth, and sixth shaft drive motors 45, 46, and 47 installed at the rear end of the motor.

In the above configuration, the second axis drive motor 21
When the screw shaft 19 is driven to rotate, the nut 29 is pivoted, the connecting arm 27 is rotated together with the support shaft 26, and the first arm 13 is pivoted.
Thus, the second arm 14 is held at a constant angular posture by a parallel link mechanism constituted by the first arm 13, the connecting arm 27, the connecting link 34, and the second arm 14. Further, when the third shaft drive motor 22 is started and the screw shaft 20 is rotationally driven, the nut 35 is axially moved and the drive link 32 is connected to the support shaft 20.
6, and the second arm 14 is pivoted around the axis A3 via the connecting link 34. In this case, the first arm 13 is
Since the drive link 32 is fixed to the support shaft 26 which is rotatably supported by the support parts 11a and 11b of the first arm, the swing support span of the first arm can be increased and the support rigidity can be increased. Since the support portions 11a and 11b are disposed in the recessed portion 31 and rotatably supported by the support shaft 26, even if the support width of the first arm 13 with respect to the support shaft 26 is increased, the support portions 11a and 11b
Since there is no need to make the interval between them larger than the support width, it is possible to make the first arm support part more compact without reducing the support rigidity of the first arm support part.

<Effects of the invention> As described above, in the invention, the support shaft is rotatably supported through a pair of support parts provided at a distance on the revolving base, and the first support shaft is rotatably supported between the support parts.
Since the arm is fixed to the support shaft, the span of the pivot support point of the first arm can be increased, and since the support shaft is a single through shaft, the support rigidity can be increased. Furthermore, the first arm is fixed to the support shaft at two locations close to the pair of support parts, and the second arm drive link is rotatably supported between the two locations, so that
It is also possible to increase the support rigidity of the first arm with respect to the support shaft without increasing the size of the support portion.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; Fig. 1 is a front view showing the entire articulated robot, Fig. 2 is a side view thereof, and Fig. 3 is an enlarged view taken along the - line in Fig. 2. FIG. 10...Fixed base, 11...Swivel base, 1
1a, 11b...support part, 13...first arm,
14... Second arm, 19, 20... Screw shaft, 2
1, 22... Drive motor, 26... Support shaft, 27
...Connection arm, 28...First axis, 29, 35...
... nut, 31 ... recess, 32 ... drive link,
33...Second axis, 34...Connection link.

Claims (1)

[Scope of utility model registration request] a pivot base supported to be pivotable about an axis perpendicular to a fixed base; a first arm supported pivotable to the pivot base about an axis horizontal to the pivot base; a second rotatably supported about an axis parallel to the axis;
an articulated robot comprising an arm, wherein the first and second arms are respectively rotated by a screw feed mechanism driven by a drive motor installed in parallel with the rotation base, the rotation base having a space therebetween. to form a pair of support parts, a support shaft is rotatably supported by penetrating these support parts in the horizontal direction, and a first arm is disposed between the pair of support parts. Both ends of the arm are fitted and fixed to the support shaft, a connecting arm is provided on the first arm in a direction substantially perpendicular to the direction of extension of the first arm, and the first shaft is connected to the supporting shaft at the tip of the connecting arm. The first
A recess is formed between both ends of the arm, a second arm drive link is disposed in the recess, one end of the drive link is rotatably supported on the support shaft, and a second arm drive link is provided at the other end of the drive link. A shaft is rotatably supported around an axis parallel to the support shaft, a connecting link connected to the second arm is rotatably supported at one end of the second shaft, and the first shaft and the second shaft are rotatably supported. An articulated robot having nuts of the screw feeding mechanism fixedly attached to each end of the robot.