JPS63267182A - Double arm type 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 (Field of Industrial Application) The present invention relates to a double-arm robot having two working arms that operate independently.

(Prior Art) A conventional device in which two arms are installed on the same support is disclosed in Japanese Patent Application Laid-open No. 7573/1983. This robot has the feature of being able to perform a variety of tasks with a small footprint.

(Problems to be Solved by the Invention) In the above-mentioned robot, the two arms are installed on the same support member, so the installation area of the robot is small, but the driving parts of the two arms are installed on separate support members. Because of this, it is difficult to increase the accuracy of the coaxiality of the arm rotation axes (or the parallelism of the arm translational axes), and also because the two arms are configured to intersect. As the distance between the arms increases, in order for the tools installed at the tips of the two arms to work on the same plane, the distance to the tool must be longer than the tip of one arm, so the tool axis during work must be Problems such as poor accuracy due to falling of the arm and vibration when rotating the arm are likely to occur.Also, since the arm protrudes to the rear of the support, there are problems such as interference with peripheral equipment, wiring, and piping. There was a problem in that it was unsuitable for work such as assembly that required precision in takt time.

(Means for Solving the Problems) The present invention aims to solve the above problems by disposing two motors coaxially on the support part, and rotating the base arms in parallel to the drive shafts of the two motors. A rotary shaft is attached to the tip of each base arm, and a work arm is fixed to the rotary shaft.A pulley is fixed to the rotary shaft of the lower work arm, and a rotation drive source and a belt are fixed to the rotary shaft of the lower work arm. The lower base arm and work arm rotate without interfering with the upper base arm and work arm by connecting the lower work arm below the lower base arm. It is characterized by the following.

Hereinafter, a detailed explanation will be given based on the illustrated embodiment. 1
is a support column, and a support member 2 is coupled to the support column 1. Flanges 3 and 4 are provided at the upper and lower parts of the support member 2, respectively, and motors 5a and 5b are attached to the respective flanges 3 and 4.
The motor 5a is fixed so that its axes are coaxial.
.

Reduction gears (harmonic drive, etc.) 6a and 6b are coupled to each output shaft of 5b. A drive shaft 8 is coupled to the output shaft of the reducer 6a, and a drive shaft 11 is pivotally supported on the output shaft of the reducer 6b by a bearing 10 provided on the support member 2.
are combined. 7.12 is a bearing that pivotally supports the drive shaft 8, 7 is a bearing that supports the flange 3, and 12 is a bearing that supports the drive shaft 11.
They are arranged coaxially within each other. Motor 5 of drive shaft 8
A base arm 9 is connected to the a side. A pulley 14 is rotatably supported by a bearing 13 on the drive shaft 8 within the base arm 9 . The upper end of the pulley 14 protrudes from the base arm 9. Also, a motor 1 is attached to the support member 2.
5 is arranged in parallel with the motor 5a and connected to an output shaft 17 via a speed reducer 16. Pulley 1 is attached to the output shaft 17.
8 is fixed and connected to the protruding portion of the pulley 14 from the base arm 9 by a winding transmission member 19 such as a timing belt or rope.

Further, a base arm 20 is connected to the drive shaft 11 on the motor 5b side of the drive shaft 8, and a pulley 22 is pivotally supported on the drive shaft 8 within the base arm 20 by a bearing 21. The pulley 22 has its upper end connected to the base arm 20.
more prominent. On the other hand, a flange is formed on the side surface of the support member 2, and a motor 23 is provided on the flange so that its axis is parallel to the drive shaft 8. The motor 23 is coupled to an output shaft 25 via a reducer 24,
A pulley 26 is fixed to the output shaft 25, and is connected to a projecting portion of the pulley 22 from the base arm 20 by a winding transmission member 27 such as a timing belt or a rope.

On the other hand, at the tip of the base arm 9, the rotating shaft 28
The rotating shaft 28 is supported parallel to the drive shaft 8 by bearings 29 and 30 provided vertically and facing each other.
A work arm 31 is fixed to the work arm 31.
A gap is provided between the bearing 29 and the pulley 32, in which a pulley 32 is fixed to the rotating shaft 28 and connected to the pulley 14 by a winding transmission means.

``Also, at the tip of the base arm 20, the rotation shaft 33 is rotatably supported by a bearing 34 provided below the base arm 20.The rotation shaft 33 protrudes below the base arm 20 and above the bearing 34. A working arm 35 is fixed to the downwardly projecting part of the shaft 33, and a pulley 36 is fixed to the upwardly projecting part of the rotary shaft 33 in the base arm 20, and is connected to the pulley 22 by a winding transmission means. ing.

On the other hand, a working tool 38 is installed at the tip of the working arm 31 and is linearly slidable in the rotational (or) axial direction by a shaft 37 parallel to the drive shaft 8. 39 is an actuator that drives the shaft 37. Further, the tip of the work arm 35 is rotatable (and/or
or) A hand 41 that linearly slides in the axial direction is provided. Note that an actuator for driving the shaft 40 is provided within the work arm 35.

Further, 42 is wiring and piping connecting the actuator 39 provided at the tip of the work arm, the work tool 38, and a relay board (not shown) provided on the support body, and 43 and 44 are the lower surface of the work arm 35 and the base arm 20, respectively. On the lower surface, the wiring and piping connecting the base arm 20 and the relay board are formed into a coil shape at the portion exposed to the outside of the arm. Note that the base arms 9 and 20 are rotatable without interfering with each other.

Next, the present invention will be explained in detail. The base arm 9 rotates by driving the motor 5a.

Similarly, the motor 5b can rotate the base arm 20, the motor 15 can rotate the work arm 31, and the motor 22 can rotate the work arm 35.

An embodiment according to the present invention will be explained with reference to model diagrams shown in FIGS. 7 to 9. 45 is a parts feeder, 46 is a workpiece,
47 is a work jig, and 48 is a discharge conveyor. The workpiece 46 sent from the parts feeder 45 is chucked 4
Chuck by 1.

Next, the workpiece 46 is set on the jig 47, and the work tool 3
Perform the work according to 8. Conveyor 4 for discharging finished workpieces
Send to 8.

Since the wiring and piping to the lower arm 20.35 are connected below the lower arm, there is no interference with the upper arms 9, 31 when the arm rotates. Furthermore, since the wiring and piping are routed through the base arm 20, they do not hang down significantly, have good followability to the rotation of the arm, and do not interfere with peripheral equipment located below the arm.

(Effects) According to the present invention, two motors are disposed coaxially on the support part, each base arm is fixed to the drive shaft so as to be able to rotate in parallel, and a rotating shaft is attached to the tip of each base arm. attachment,
In the device in which the working arm is fixed to the rotating shaft, the pulley is fixed to the rotating shaft of the lower working arm, and is rotationally connected to the rotating power source by a belt, and the lower working arm is connected to the lower base. The feature is that the lower base arm and work arm can rotate without interfering with the upper base arm and work arm by installing it below the arm, so the two sets of arms can be placed close together. Since it can be installed, accuracy and arm movement are good, and a wide work area can be secured for each arm.

[Brief explanation of drawings]

Fig. 1 is a perspective view of an embodiment of the present invention, Fig. 2 is a partially omitted front view of Fig. 1, Fig. 3 is a sectional view taken along the line A-A in Fig.
The figure is a front cross-sectional view of the rotating portion of the base arm in FIG. 1, FIG. 5 is a front cross-sectional view of the rotating portion of the base arm 9 and work arm 31 in FIG. 1, and FIG. 6 is a front cross-sectional view of the rotating portion of the base arm in FIG. 1. 20 and working arm 35
7 to 9 are front sectional views of the rotating portion of FIG. 2...Supporting members 5a, 5b...Motor 8.11 for rotating the base arm
... Drive shaft 9.20 ... Base arm 31.35 ... Work arm 15.22 ... Motor for rotating work arm Patent applicant Pentel Co., Ltd. Figure 1 Figure 2 Figure 4 Figure 5 Figure 7 Figure 9 Figure 8

Claims (1)

[Claims] Two motors are coaxially arranged on the support part, a base arm is fixed to each drive shaft so as to be able to rotate in parallel, a rotating shaft is attached to the tip of each base arm, and a work arm is attached to the rotating shaft. The pulley is fixed to the rotating shaft of the lower work arm, and the pulley is rotatably connected to the rotation drive source by a belt, and the lower work arm is installed below the lower base arm. A double arm type robot characterized in that a lower base arm and a working arm rotate without interfering with an upper base arm and a working arm.