JPS6312946Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a horizontally articulated industrial robot.

In general, the above-mentioned industrial robot has a second arm pivotably supported on the tip of a first arm that can rotate horizontally, and a hand unit, screw tightening unit, etc. is attached to the tip, and the base of the first arm A first arm drive motor is mounted on the pivot portion of the first arm and a second arm drive motor is mounted on the pivot portions of the first arm and the second arm.

By the way, when a drive motor is mounted on the pivot part of the first arm and the second arm as described above, the load on the pivot part of the first arm and the base body increases by at least the weight of the motor, and the control operation or strength increases. This will be disadvantageous for retention, etc.

In addition, in order to avoid the above-mentioned disadvantages, in the case where the second arm drive motor is mounted on the pivot portion of the first arm and the base body, and the first arm drive motor is mounted on the side of the base body, the first arm drive motor is mounted on the side of the base body. Since the arm drive motor protrudes laterally, there is a disadvantage that a large amount of installation space is required.

The purpose of this invention is to create an industrial robot that can be made compact as a whole, is safe by covering the motor for driving the first arm, can block noise, and can adjust the height of the arm with a simple mechanism. It is about providing.

In order to achieve this object, the present invention houses the first arm driving motor 28 in the hollow base 1 as shown in FIG. The keyway 15 of the support cylinder 11, which has a male thread 13 formed on the outer circumferential surface, and the tightening holder 2 are fixed to each other.
At the same time as fitting the key 17 of the
The support tube 11 is held tightly by the tightening holder 2 with the height adjustment nut 16 screwed into the nut 3.
In addition, the shaft 1 with the first arm 23 fixed horizontally
2 is rotatably supported by the support cylinder 11, and the lower end of the shaft 12 is connected to the first arm driving motor 28.

The illustrated embodiment will be described below.

Reference numeral 1 denotes a cylindrical base body, the lower end of which is screwed to a desired location, and the holder 2 is attached to the upper opening with a plurality of screws 3.

The holder 2 has a substantially hollow cylindrical shape, as if one part of a cylinder was cut vertically, and the bulges 4 (only one is shown) are formed symmetrically along both cut outer edges of the cylindrical part at opposing positions. Screw hole 5 provided
-7 are screwed with screws 8-10.

Reference numeral 11 denotes a support cylinder which rotatably fits and supports the shaft 12, and has a male thread 13 formed on the outer circumferential surface of approximately the upper half portion, a mounting portion 14 integrally protruding from the lower end, and a support tube extending vertically on the outer circumferential surface. A key groove 15 is formed.

The support tube 11 has an adjustment nut 16 for height adjustment screwed onto the upper end, and the upper half portion is inserted into the holder 2 while the key groove 15 is slidably fitted into a key 17 screwed to the holder 2. At the same time, the lower half portion is inserted into the base body 1.

That is, the support tube 11 is connected to the adjustment nut 16
are superimposed on the upper end of holder 2, and screws 8 to 10
is tightened by the holder 2, thereby fixing it to the base body 1 at a desired height.

In addition, to change the height of the support tube 11,
It is sufficient to loosen the holder 2 once, rotate the adjustment nut 16 in a desired direction, displace the support cylinder 11 to a desired height, and then tighten the holder 2.

The shaft 12 has a circular cross section, and a lower part 12a below a male thread 18 formed on the outer circumferential surface of the approximately central part is inserted into the support tube 11, and a pair of each are fitted into the upper and lower ends of the support tube 11. ball bearing 19,
The first arm is rotatably supported on the support tube 11 by 20, 21, and 22, and the first arm is horizontally supported by fixing its base end to the upper part 12b above the male screw 18. part and support tube 1
Pulleys 24 and 25 are rotatably fitted between the two pulleys 24 and 1, and these pulleys 24 and 25 are fixed to each other with screws 26.

27 is a reduction gearbox (partially not shown) screwed to the lower end of the shaft 12;
A motor 2 for driving the first arm 23 is located at the lower end of the support tube 11.
The rotating shaft 29 of this motor 28 is connected to the shaft 12 via a reduction gear box 27.

When the rotating shaft 29 of the motor 28 rotates in a predetermined direction, the reduction gear box 27 and the shaft 12 rotate in a predetermined direction, and the first arm 23 horizontally turns by a predetermined angle.

Reference numeral 30 denotes a second arm, the base end of which is horizontally pivotably supported on the tip of the first arm 23 by a support shaft 31, and a hand unit 32 having a hand 32a that can move up and down is detachably attached to the tip. are doing.

In addition to the hand unit 32, a screw tightening unit, a soldering unit, etc. (not shown) can be attached to the second arm 30 as appropriate.

33 is a motor for driving the second arm 30, which is mounted on the base end of the first arm 23 on the same axis as the shaft 12, and includes a pulley 35 fitted on the rotating shaft 34 of the motor 33; A belt 36 is stretched around a pulley (not shown) fitted to the support shaft 31 of the second arm 30, and the rotation shaft 34
By rotating the second arm 30, the second arm 30 can be horizontally pivoted.

The first and second arms 23 and 30 are
As shown in the figure, it has an operating area 37 that combines the respective rotation ranges (first arm 23, 200 degrees, second arm 30, 270 degrees), and can be adjusted to desired work using the adjustment nut 16. Can be adjusted to the optimal height.

38 is a motor for controlling the posture of the hand 32a;
It is suspended from a support plate 39 horizontally attached to the upper end of the holder 2, if necessary.

When controlling the posture of the hand 32a, remove the screw 26 fixing the pulleys 24, 25 to the support plate 39, and connect the pulleys 24, 25 with other screws (not shown) so that they rotate together. A motor 38 is suspended from a support plate 39, and a belt 42 is stretched between a pulley 41 fitted on a rotating shaft 40 of the motor 38 and a pulley 24.

Further, a belt 45 is stretched between the pulley 43 and the pulley 25 of the pulleys 43 and 44 which are rotatably supported on the lower end of the support shaft 31 of the second arm 30 and are connected to rotate integrally with each other. The pulley 46 and the pulley 4 are mounted on a shaft 32b and the hand 32a is attached to the tip of the shaft 32b.
A belt 47 is stretched between the two.

Tension rollers 48 and 49 are engaged with the belts 45 and 47.

When the rotating shaft 40 of the motor 38 rotates in a desired direction, each pulley 25, 24, 41, 4
3, 44, 46 and belts 42, 45, 47, the hand 32a is rotated 360 degrees in a predetermined direction and controlled to a desired posture.

When the posture control motor 38 is not used, it can be removed from the support plate 39 and the belt 4
2 is removed, the hand 32a is set in the desired position, and the pulleys 24 and 25 are fixed to the support plate 39 with the screws 26. This prevents the hand 32a from rotating blindly. do not have.

As is clear from the above description, the present invention has the following effects.

Since the first arm drive motor is housed within the hollow base and is completely covered by it, it does not take up much space, is safe from heat, and has a noise blocking effect.

A male thread is provided on the outer peripheral surface of the support tube that supports the shaft of the first arm, and a nut is screwed into this to adjust the height of the support tube. The height of the first arm can be adjusted by tightening it with a shaped tightening holder, so the overall height can be adjusted to any height depending on the installation location, and the adjustment is easy and the mechanism is simple. It is.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a front view, FIG. 2 is a plan view showing the operating area, and FIG. 3 is a longitudinal sectional view of the main part. DESCRIPTION OF SYMBOLS 1...Base body, 2...Tightening holder, 11...Support tube, 12...Shaft, 13...Male thread, 15...
...Keyway, 16...Nut, 17...Key, 23
...First arm, 28...First arm drive motor.

Claims (1)

[Scope of utility model registration request] A first arm drive motor 28 is installed inside the hollow base 1.
At the same time, a partially cylindrical tightening holder 2 that can be tightened and loosened with a screw is fixed to the upper end of the base 1, and the tightening holder is connected to the keyway 15 of the support cylinder 11 having a male thread 13 formed on the outer peripheral surface. 2 key 17
and a shaft with a height adjustment nut 16 screwed onto the male screw 13 thereof, the support tube 11 is held tightly by the tightening holder 2, and the first arm 23 is fixed horizontally. 12 is rotatably supported on this support cylinder 11, and the shaft 12
An industrial robot characterized in that a lower end of the robot is connected to the first arm driving motor 28.