JPS6362686A - Multi-joint type robot - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a joint structure of an industrial robot.
It is particularly useful for horizontally articulated robot robots.

<Conventional technology: Traditionally, 5-axis,
Alternatively, (i-axis Roboso 1- is used, three-dimensional (7
In the past, various specialized services were performed by moving the hands of Koroboso 1-, but recently, each arm has been moved two-dimensionally for simple piecing work, such as semiconductor device manufacturing. Horizontally articulated robots have come into use.

This seed mouth bot has a boss I which is rotatable by a drive motor on a base set on the floor, the first arm is fixed horizontally to the tip of the boss, and the first arm is fixed to the tip of the boss in a horizontal direction. A second arm is also provided at the tip of the arm so that it can rotate freely in the horizontal direction.
It has a structure in which a wrist is provided at the tip of the second arm. A servo motor for rotationally driving the second arm is housed in the first arm of this type of horizontally articulated robot, and a servo motor for driving the wrist is housed in the second arm. The evening is stored.

Power cables that feed power to each servo motor and signal cables that transmit other signals from various sensors installed on the wrist etc. are routed around the outside of the post and each art, and are routed through holes provided on the sides of each arm. The structure is such that the cables introduced from the wall are introduced inside the art.

<Problems to be solved by the invention> Conventional multi-jointed robots have various cables stretched around the outer circumferential surface of the arm and post, so the cables may come into contact with the table on which the work is placed while the robot is operating. This may cause problems such as interference.

Furthermore, when repairing or replacing the servo motor or replacing the cable itself, there is the inconvenience of having to cut the cable, resulting in poor workability and poor economic efficiency.

<Means and effects for solving the 1777 problem> The present invention prevents the cable from interfering with other things by putting the cable in the arm as shown in Fig. 1A, and the arm as shown in Fig. 1B. The joint between the arm and the arm is supported by a joint shaft with a hollow part, and the joint drive gear is lubricated in a chamber sealed with an oil seal to prevent oil stains inside the arm. It solves the problems of robots.

Therefore, the cable can pass all the way through the arm from the base of the boss to the wrist of the tip arm, and the oil in the joint drive gear is sealed in the nozzing with an oil seal, so there is no possibility of contaminating the cable. Oil contamination inside and outside can be prevented.

<Example> Figure 1A shows a robot throat according to an embodiment of the present invention, with details of its joint structure omitted, and the details of the joint structure are clarified in Figure 1B. figure.

As is clear from FIGS. 1A and 2, a first arm 2 is rotatably supported at one end on the upper part of the post 1 having a base portion 11 within a predetermined rotation range. A second arm 3 is supported at the tip of the first arm 2 extending horizontally from the post 1 so as to be rotatable within a predetermined range in the horizontal direction.
A wrist 4 is provided at the tip of the second arm 3.

Inside the post 1 is a servo motor 10 that drives the first arm 2 connecting shaft 8, and inside the first arm 2 is a servo motor 20 that drives the joint shaft 5 that connects the second arm.
Inside the second arm 3 is a servo motor 3 that drives the wrist 4.
For example, the first arm 2 has a joint structure with the second arm 3. As is clear from FIG. 1B, the second arm 3
A joint shaft 5 erected above the base, having a bevel gear 51 at the upper end and a hollow hole H3 at the core is rotatably supported at the lower end of the first arm 2 by a bearing 25, and the first arm end wall 22 inner receiving piece 22° and inner receiving piece 23 of partition wall 23
and supports the horizontal rim 24' on the upper surface of the support cylinder 24 having a hollow hole H2 in the center, protruding from the partition wall 23,
A pinion 21 driven by a servo motor 20 is meshed with a gear 51 to enable the joint shaft 5 to rotate around the The joint shaft 5 at the bottom of the bearing 25 is
There is an oil sea between the outer periphery and the inner periphery of the lower end of the first arm.
7, and the meshing portion between the gear 51 and the pinion 21 is connected to the inner surface W1 of the arm side wall and the partition wall, and the outer peripheral wall W of the support tube 24.
It was enclosed in a chamber R surrounded by 2 and sealed with a 71 non-)I) and lubricating oil (=J) was applied.It should be noted that the partition wall 2
A through hole 1) 1 for a single-layer cable passage Jj1 was provided in the upper part of 3.

Further, in this embodiment, the external shape, dimensions, material, etc. are configured in the same manner as the conventional horizontal articulated robot.

As is clear from Figure 2, the first arm plate 2'' and the second arm lower plate are detachable using screws, so the cables are inserted into each arm and power is supplied to the servo motor for each connector arm. For maintenance and
The convenience of inspection was taken into consideration. The various cables 6 from the post 1 to the wrist 4 are routed through the hollow parts of each axis at 8.5 and 9 degrees and inside the arm, with sufficient margin so that there is no problem even if the arm is gripped by the operation of the arm. did.

In the resulting robot, the joint shaft has a hollow part and is driven within a housing sealed with an oil seal, so the gear mechanism can be lubricated without oil leaking inside or outside the arm. The inside and outside of the arm can be kept clean at all times, and since the various cables are not exposed outside the arm, there is no electrical or mechanical interference from the outside.

Note that it is also possible to provide a device for feeding out the connecting shaft 8 between the first arm 2 and the post 1 in the two-part direction, so that the height of the first arm 2 can be adjusted. A separate base is provided at the bottom of the holder so that the boss l-1 and the first arm 2 are fixed to each other, and the first arm 2 is rotated by the rotation of the post l-1. It is also possible to implement it so as to

<Effects of the Invention> As explained in detail above, the present invention connects the joints of a multi-joint type J-pot with a joint shaft having a hollow part and a bearing of a connecting shaft, and connects cables to the hollow part. The drive part of the insertion joint shaft is lubricated in a sealed chamber, and the cables inside the arm are covered with a lid, so the inside and outside of Roposo I can be lubricated without any cables being exposed to the outside of the robot. There is no oil contamination, there is no interference with cables during robot work or troubles caused by external cable tensioning, and there is no contamination of cables with lubricating oil, improving work efficiency.

Furthermore, according to the present invention, when repairing or replacing the servo motor installed in each arm or replacing the cable itself, the work can be done using the lid of the arm concerned, and the connector can be connected inside the arm without any contamination from lubricating oil. Since the electrical circuit only needs to be repaired after that, the work can be done easily inside the clean arm without cutting the cable as in the conventional method, making maintenance and management easier, and improving economic efficiency. .

[Brief explanation of drawings]

FIG. 1A is a schematic explanatory diagram of an embodiment of the robot of the present invention. FIG. 1B is an enlarged sectional view of a joint in an embodiment of the robot of the present invention. FIG. 2 is a perspective view of the robot of FIG. 1A. 1: Bost, 2: First arm 21: Binion, 22: End wall 23: Partition plate, 24: Support tube 25: Bearing, 26.21 oil seal 3: Second arm, 5: Joint shaft 6: Cable .

Claims (1)

[Claims] 1. The connecting joint between the arms is pivotally supported by a joint shaft having a hollow part, and the joint drive gear is lubricated in a chamber sealed with an oil seal, and a cable is connected to the inside of the arm through the hollow part in the shaft. An articulated robot characterized by a penetrating structure.