JPS63180490A - Arm for industrial robot - Google Patents
Arm for industrial robotInfo
- Publication number
- JPS63180490A JPS63180490A JP1152487A JP1152487A JPS63180490A JP S63180490 A JPS63180490 A JP S63180490A JP 1152487 A JP1152487 A JP 1152487A JP 1152487 A JP1152487 A JP 1152487A JP S63180490 A JPS63180490 A JP S63180490A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- pipe
- industrial robot
- wrist
- lightweight
- 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.)
- Granted
Links
- 239000007787 solid Substances 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 239000006260 foam Substances 0.000 claims description 5
- 239000004918 carbon fiber reinforced polymer Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000011148 porous material Substances 0.000 claims description 3
- 229920003002 synthetic resin Polymers 0.000 claims 1
- 239000000057 synthetic resin Substances 0.000 claims 1
- 210000000707 wrist Anatomy 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 229920000915 polyvinyl chloride Polymers 0.000 description 5
- 239000004800 polyvinyl chloride Substances 0.000 description 5
- 239000000945 filler Substances 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000000956 alloy Substances 0.000 description 2
- 239000011152 fibreglass Substances 0.000 description 2
- 239000006261 foam material Substances 0.000 description 2
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 229920005830 Polyurethane Foam Polymers 0.000 description 1
- BZHJMEDXRYGGRV-UHFFFAOYSA-N Vinyl chloride Chemical compound ClC=C BZHJMEDXRYGGRV-UHFFFAOYSA-N 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004088 foaming agent Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000011496 polyurethane foam Substances 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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】
〔産業上の利用分野〕
本発明は、産業用ロボットに利用されるものであり、ロ
ボットのアームの改良に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is used in industrial robots and relates to improvement of robot arms.
従来の産業用ロボットにあっては手首部に一定の位置移
動を付与するために、手首部を支持しているアームに所
望の運動を行なわせており、アームをパイプ構造として
軽量化したり、アームのパイプの材質に軽量金属を使用
したりしている。In conventional industrial robots, in order to give a certain positional movement to the wrist, the arm that supports the wrist is made to perform the desired movement. The pipes are made of lightweight metal.
従来の産業用ロボットのアームに於ては、曲げ剛性の必
要値を維持しつつ軽量化を達成するために、パイプの肉
厚をあまり薄くすることが出来ず、また軽量金属材を用
いても結局かなりの肉厚のパイプになった。そしてアー
ムパイプの軽量化のために肉厚を減少することが同時に
高速作業時に発生する振動の伝達を増大する。In conventional industrial robot arms, in order to achieve weight reduction while maintaining the required bending rigidity, the wall thickness of the pipe cannot be made very thin, and even if lightweight metal materials are used. In the end, it turned out to be a fairly thick pipe. Reducing the wall thickness to reduce the weight of the arm pipe also increases the transmission of vibrations generated during high-speed work.
〔問題点を解決するための手段及び作用〕本発明は、手
首部を振る第2アームを軽量化し且つ剛性を付与すると
共に、アームの共振振動を抑えるために、例えば第1A
図、第1B図に示す如く、アルミニウム合金材から成る
パイプ2内に塩化ビニルフオーム又はウレタンフオーム
21を充填して、アーム自体を積層中実円柱構造とする
ものである。[Means and effects for solving the problems] The present invention provides a second arm that swings the wrist portion, for example, in order to reduce the weight and give rigidity to the second arm, and to suppress resonance vibration of the arm.
As shown in FIG. 1B, a pipe 2 made of an aluminum alloy material is filled with vinyl chloride foam or urethane foam 21, so that the arm itself has a laminated solid cylindrical structure.
そして、アームが中実構造であるために、曲げ剛性、特
に座屈強度が高まるので、パイプの肉厚を薄く出来、且
つ多孔質充填材が共振振動を吸収する。Since the arm has a solid structure, the bending rigidity, especially the buckling strength, is increased, so the pipe can be made thinner, and the porous filler absorbs resonance vibrations.
第2図及び第3図に示す如く、胴部1o上に第1アーム
1を第1関節J、を介して連結し、第1アームl上に第
2アーム2を第2関節J2を介して前方に延出し、第2
アーム2先端に手首関節J3を介して手首部3を連結す
ると共に手首端部4に作業片(end effecto
r)を取付けるようにして多関節型ロボットとした。As shown in FIGS. 2 and 3, the first arm 1 is connected to the trunk 1o via the first joint J, and the second arm 2 is connected to the first arm L via the second joint J2. Extending forward, the second
A wrist part 3 is connected to the tip of the arm 2 via a wrist joint J3, and an end effector is attached to the wrist end 4.
r) to create an articulated robot.
そして、第2アーム2として、第1A図及び第1B図に
示す如く、アルミニウム合金材の薄肉パイプを用意し、
発泡剤を混入したポリ塩化ビニル溶液を該パイプ内に流
入した後、加熱発泡処理して、アルミニウム合金パイプ
を塩ビフオームの充填で中実構造化した物を組み付けた
。Then, as the second arm 2, as shown in FIGS. 1A and 1B, a thin-walled pipe made of aluminum alloy material is prepared,
A polyvinyl chloride solution mixed with a foaming agent was poured into the pipe, and then heated and foamed to form an aluminum alloy pipe into a solid structure filled with PVC foam.
得られたロボットにあっては、第2アーム2は胴部10
の旋回と第1アーム1の前後回動を受けると共に更に第
2アーム自体も上下回動することにより、手首部3を上
下左右の適宜位置に振り廻すのであるが、高速回動後の
急停止時に発生する第2アームの共振振動がアーム構造
体内部のポリ塩ビフオーム材によって好適に吸収出来た
。In the obtained robot, the second arm 2 is connected to the trunk 10.
In addition to the rotation of the first arm 1 and the back-and-forth rotation of the first arm 1, the second arm itself also moves up and down, swinging the wrist 3 to an appropriate position in the vertical and horizontal directions. The resonant vibration of the second arm, which occurs at times, could be suitably absorbed by the polyvinyl chloride foam material inside the arm structure.
また、ポリ塩ビフオーム材の充填によって第2アームの
座屈強度が向上したため、外側のパイプ材2の肉厚が薄
く出来、結局アーム構造体全体として従来のパイプより
も軽ff1F![固化したにもかかわらず、充分な曲げ
剛性を備えることが出来、且2作業速度と作業精度の阻
害要因であった共振振動の伝達を減少することが出来た
。Also, since the buckling strength of the second arm is improved by filling it with polyvinyl chloride foam material, the wall thickness of the outer pipe material 2 can be made thinner, and as a result, the entire arm structure is lighter than the conventional pipe! [Despite the solidification, it was possible to provide sufficient bending rigidity, and to reduce the transmission of resonance vibration, which was a factor that inhibited work speed and work accuracy.
なお、第2アームの外側のパイプ材として、アルミニウ
ム合金にかえてCFRP (炭素繊維強化プラスチック
)又はGFRP (ガラス繊維強化プラスチック)を適
用しても同効機能を奏した。Note that the same effect was achieved even when CFRP (carbon fiber reinforced plastic) or GFRP (glass fiber reinforced plastic) was used instead of aluminum alloy as the pipe material on the outside of the second arm.
また、充填材のポリ塩ビフオームにかえてポリウレタン
フォームを適用しても同効機能を奏した。Furthermore, the same effect was achieved even when polyurethane foam was used instead of polyvinyl chloride foam as a filler.
但し軽量のソリッドプラスチックスを充填した場合は、
軽量化と座屈強度の増大は認められたが、振動伝達の減
少効果は得られなかった。However, when filled with lightweight solid plastics,
Although a reduction in weight and an increase in buckling strength were observed, the effect of reducing vibration transmission was not achieved.
高速振り運動を行なう第2アームが、剛性材のパイプと
、軽量多孔質材の充填材との中実構造体であるため、多
孔質材が振動の伝達を吸収し、減少する。また中実構造
により座屈強度の向上のために外側パイプの肉厚を従来
のパイプの肉厚よりも薄く出来、しかも第2アーム全体
として従来のものより軽量化出来る。Since the second arm that performs high-speed swinging motion is a solid structure made of a rigid pipe and a lightweight porous filler, the porous material absorbs and reduces vibration transmission. Further, due to the solid structure, the wall thickness of the outer pipe can be made thinner than that of a conventional pipe in order to improve buckling strength, and the second arm as a whole can be made lighter than the conventional one.
第2アームが軽量化出来、且つ振動伝達を減少出来るの
で、高精度の作業をより高速に達成出来る。Since the second arm can be made lighter and vibration transmission can be reduced, highly accurate work can be accomplished faster.
第1A図は、本発明を実施した第2アームの部分縦断面
図であり第2図のA−A線断面図である。
第1B図は、第2図に於けるB−B線断面図である。
第2図は、本発明アームを適用した産業用ロボットの全
体概略側面図。
第3図は、本発明アームを適用した産業用ロボットの全
体概略正面図。
1・・・第1アーム、 2・・・第2アームパイプ、
3・・・手首部、 4・・・手首端部、21・
・・多孔質充填材。FIG. 1A is a partial vertical cross-sectional view of the second arm embodying the present invention, and is a cross-sectional view taken along the line A--A in FIG. 2. FIG. 1B is a sectional view taken along the line B--B in FIG. 2. FIG. 2 is an overall schematic side view of an industrial robot to which the arm of the present invention is applied. FIG. 3 is an overall schematic front view of an industrial robot to which the arm of the present invention is applied. 1...First arm, 2...Second arm pipe,
3...Wrist part, 4...Wrist end part, 21.
...Porous filler.
Claims (1)
プ(2)内に、剛性付与のための軽量多孔質材(21)
を充填して中実構造体となした産業用ロボットのアーム
。 2、軽量多孔質材(21)が合成樹脂フォームである特
許請求の範囲第1項に記載のアーム。[Claims] 1. A lightweight porous material (21) for imparting rigidity in a pipe (2) made of a lightweight rigid material such as an Al alloy or CFRP.
An industrial robot arm made of a solid structure filled with 2. The arm according to claim 1, wherein the lightweight porous material (21) is a synthetic resin foam.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62011524A JP2541534B2 (en) | 1987-01-22 | 1987-01-22 | Industrial robot arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62011524A JP2541534B2 (en) | 1987-01-22 | 1987-01-22 | Industrial robot arm |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS63180490A true JPS63180490A (en) | 1988-07-25 |
JP2541534B2 JP2541534B2 (en) | 1996-10-09 |
Family
ID=11780358
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62011524A Expired - Lifetime JP2541534B2 (en) | 1987-01-22 | 1987-01-22 | Industrial robot arm |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2541534B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005161688A (en) * | 2003-12-03 | 2005-06-23 | Star Seiki Co Ltd | Revolving arm of molded product ejector |
JP2015058463A (en) * | 2013-09-20 | 2015-03-30 | 本田技研工業株式会社 | Welding gun |
JP2018062055A (en) * | 2016-10-14 | 2018-04-19 | マルコ システマナリセ ウント エントヴィックルング ゲーエムベーハー | Metering robot and tool holder |
WO2020095661A1 (en) * | 2018-11-05 | 2020-05-14 | オムロン株式会社 | Robot arm and robot arm manufacturing method |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58143195U (en) * | 1982-03-24 | 1983-09-27 | 日立造船株式会社 | arm for robot |
-
1987
- 1987-01-22 JP JP62011524A patent/JP2541534B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58143195U (en) * | 1982-03-24 | 1983-09-27 | 日立造船株式会社 | arm for robot |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005161688A (en) * | 2003-12-03 | 2005-06-23 | Star Seiki Co Ltd | Revolving arm of molded product ejector |
JP2015058463A (en) * | 2013-09-20 | 2015-03-30 | 本田技研工業株式会社 | Welding gun |
JP2018062055A (en) * | 2016-10-14 | 2018-04-19 | マルコ システマナリセ ウント エントヴィックルング ゲーエムベーハー | Metering robot and tool holder |
US10737380B2 (en) | 2016-10-14 | 2020-08-11 | Marco Systemanalyse Und Entwicklung Gmbh | Metering robot and tool holder for same |
WO2020095661A1 (en) * | 2018-11-05 | 2020-05-14 | オムロン株式会社 | Robot arm and robot arm manufacturing method |
JP2020075300A (en) * | 2018-11-05 | 2020-05-21 | オムロン株式会社 | Robot arm and manufacturing method for robot arm |
CN112689553A (en) * | 2018-11-05 | 2021-04-20 | 欧姆龙株式会社 | Robot arm and method for manufacturing robot arm |
Also Published As
Publication number | Publication date |
---|---|
JP2541534B2 (en) | 1996-10-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPS63180490A (en) | Arm for industrial robot | |
JPS5897565A (en) | Method of steering vehicle and device therefor | |
JPS60118487A (en) | Industrial robot | |
JPH04368276A (en) | Body damping mechanism in rolling stock | |
CN210879740U (en) | Industrial robot manipulator with flexible joint | |
CN219132366U (en) | Integrated upper arm of parallel robot | |
JP2021055806A (en) | Vibration control structure, manufacturing method for vibration control structure, robot, and robot hand | |
CN217669502U (en) | Industrial robot with buffer base for industry | |
JPH03123691U (en) | ||
JPS6231265Y2 (en) | ||
JPS62130192A (en) | Gravity balancer for joint type robot | |
CN213464567U (en) | High-hardness light simulation model | |
CN209095977U (en) | A kind of movement set part of bottle blowing machine | |
JPS6454004U (en) | ||
JPS6128708Y2 (en) | ||
JPS58155195A (en) | Robot arm device | |
JPH01103276A (en) | Industrial robot | |
JPS62189921U (en) | ||
JPH01122101U (en) | ||
JPH09254073A (en) | Multi-joint robot | |
JPS59120569A (en) | Steering wheel | |
JPH0436837B2 (en) | ||
JPS58164998U (en) | Stern rectifying fin device with reinforcement | |
JPS58152698A (en) | Supporting construction for propelling unit of outboard engine | |
JPS60172492A (en) | Arm structure of industrial robot |