KR200189267Y1 - Stretching arm for industrial robot - Google Patents

Abstract

The present invention relates to a telescopic arm of an industrial robot having a variable stroke structure, the telescopic arm of the industrial robot is a base plate, a first arm slidably installed on the base plate, a second arm slidably installed on the first arm And a power transmission means for converting the rotational motion by the motor and the motor installed at one end of the first arm into the linear motion of the first arm and the second arm. According to the present invention, it is possible to provide an expansion arm of an industrial robot which is simple in structure and can reduce manufacturing cost.

Description

Stretching arm for industrial robot

The present invention relates to an arm of an industrial robot, and more particularly to an expansion arm of an industrial robot having a variable stroke structure.

An industrial robot, especially a handing industrial robot for transferring a workpiece (hereinafter referred to as a "work") between processes, may be configured to be stretchable so as to reduce the number of arms except when the workpiece is moved to a predetermined position. In many cases, a method of reducing the operating range of the arm to avoid interference with peripheral devices by operating in a state is adopted.

One example of a stretching arm of a conventional industrial robot is disclosed in Japanese Patent Laid-Open No. 60-123294. The telescopic arm disclosed in the above publication is fixed to a moving body at one end of a first arm slidably mounted to a boom installed on a robot body, and a screw shaft of a first ball screw is disposed on the boom in parallel with the first arm. And a drive source and a screw shaft of the first ball screw nut and the second ball screw are rotatably mounted on the movable body, and the second ball screw nut is fixed to the end of the first arm and the second arm slidable. Thus, the driving force of the drive source is transmitted to the screw shaft of the second ball screw and the first ball screw nut through a reduction gear, thereby simultaneously stretching the first and second arms.

However, such a conventional stretching arm of an industrial robot has a problem in that its structure is complicated and difficult to assemble, and the manufacturing cost is high by using a ball screw.

The present invention has been made in view of the above point, and its object is to provide a telescopic arm of an industrial robot which is simple in structure and can reduce manufacturing costs.

1 is a perspective view of an expansion arm of an industrial robot according to an embodiment of the present invention.

FIG. 2 is a perspective view of the main portion of the stretchable arm shown in FIG. 1; FIG.

3 is a cross-sectional view taken along line II of FIG. 2.

4a and 4b is a view for explaining the operation of the elastic arm according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

10 base plate 20 first arm

30: second arm 40: finger portion

50: motor 61, 62, 63, 64: pulley

71: first belt 72: second belt

81: first bracket 82: second bracket

91a: first guide rail 91b: first guide block

92a: 2nd guide rail 92b: 2nd guide block

In order to achieve the above object, the telescopic arm of the industrial robot according to the present invention is a base plate, a first arm slidably installed on the base plate, a second arm slidably installed on the first arm, the first arm And a power transmission means for converting the rotational motion by the motor and the linear motion of the first arm and the second arm installed at one end of the motor.

Here, the power transmission means by the first pulley coupled to the rotational shaft of the motor, the second pulley connected to the first pulley by the first belt, the third pulley coupled to the rotational shaft of the second pulley, by the second belt A fourth pulley connected to a third pulley, one side of which is fixed to the second arm, the other side of which is fixed to the upper end of the second belt, and one side thereof to the base plate, and the other side of which the lower end of the second belt It comprises a second bracket which is fixed to each.

On the other hand, the first arm has an L-shaped cross section, and the base plate is slidably coupled to the bottom of the horizontal portion, and the second arm is slidably coupled to one surface of the vertical portion.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is a perspective view of a retractable arm of an industrial robot according to an embodiment of the present invention, Figure 2 is a perspective view of the main portion of the retractable arm shown in Figure 1, Figure 3 is a cross-sectional view taken along line I-I in FIG.

As shown in Figure 1, the expansion arm of the industrial robot according to the present invention, the base plate 10 is largely fixed to a two-axis (XY-axis) robot, etc., the cross-section is made of an L-shape and the horizontal portion 22 Is slidably installed on the base plate 10, the second arm 30 and the first arm 20 slidably installed on the vertical portion 21 of the first arm 20. One end of the vertical portion 21 is composed of a motor 50 for generating a rotational force. In addition, the other end of the vertical portion 21 of the first arm 20 is generally coupled to the finger portion 40 capable of holding the workpiece.

On the other hand, as shown in Figure 2, the first pulley 61 is coupled to the rotation shaft of the motor 50, the first pulley 61 is a second pulley by a first belt 71 which is a toothed belt. Connected with 62. The second pulley 62 is integrally coupled to the third pulley 63 with the vertical portion 21 of the first arm 20 interposed therebetween, and the third pulley 63 is a second belt (that is, a toothed belt). 72 is connected to the fourth pulley 64 rotatably coupled to the other end of the vertical portion 21 of the first arm 20.

In FIG. 2 and FIG. 3, reference numeral 81 is a first bracket, one side of which is fixed to the upper end of the second arm 30, and the other side of which is fixed to the upper end of the second belt 72. Reference numeral 82 is a second bracket, one side of which is fixed to the lower end of the second belt 72, the other side of which is fixed to the base plate 10.

As shown in FIG. 3, a first guide rail 91a is disposed on the bottom of the horizontal portion 22 of the first arm 20, and a first guide block 91b is provided on the base plate 10 at a position corresponding thereto. Each of them is installed to guide linear movement of the first arm 20 so that the first arm 20 can slide on the base plate 10. In addition, a second guide rail 92a is provided on one surface of the second arm 30, and a second guide block 92b is provided on the vertical portion 21 of the first arm 20 at a position corresponding thereto. The linear movement of the second arm 30 is guided so that the second arm 30 can slide on the vertical portion 21 of the first arm 20.

Figures 4a and 4b is a view for explaining the operation of the elastic arm according to an embodiment of the present invention, Figure 4a shows the state before the operation of the expansion arm, Figure 4b is the expansion arm is operated first The arm 20 and the second arm 30 are shown fully extended relative to the base plate 10.

As shown in FIG. 4A, when the motor 50 is driven while the first and second arms 20 and 30 are reduced, the rotational force generated by the motor 50 is reduced to the first fleet 61 and the first. 2 pulleys (62). The third pulley 63 is also rotated by the rotation of the second pulley 62, so that the second belt 72 rotates with the third pulley 63 and the fourth pulley 64 as two axes. do. At this time, as described above, since the lower end of the second belt 72 is coupled to the base plate 10 by the second bracket 82, the lower end of the second belt 72 serves as a rack. The pulley 63 acts as a pinion, so that the first arm 20 makes a linear movement forward with respect to the base plate 10. At the same time, since the upper end of the second belt 72 is coupled with the second arm 30 by the first bracket 81, the second arm 30 is firstly mounted in accordance with the rotation of the second belt 72. The linear motion of the arm 20 is to be advanced.

As a result, as shown in FIG. 4B, the driving of the motor 50 causes the first arm 20 to the base plate 10 and the second arm 30 to the first arm 20. Move forward at the same time. Thus, the finger portion 40 extends in two strokes when viewed relative to the base plate 10.

On the other hand, when the motor is rotated in reverse, the first arm 20 and the second arm 30 retreat with respect to the base plate 10 in the reverse order as described above.

According to the present invention as described above, by configuring the arm of the industrial robot in two stages of the first and second arms 20, 30, it is possible to avoid interference with the peripheral device during the operation of the robot.

In addition, by operating such a telescopic arm by a mechanism by a pulley and a toothed belt, the structure of the telescopic arm is simple, and there is an effect that the manufacturing cost can be reduced.

In the above, specific preferred embodiments of the present invention have been illustrated and described. However, the present invention is not limited to the above-described embodiment, and various modifications can be made by those skilled in the art without departing from the gist of the present invention claimed in the utility model registration claims. It will be possible.

Claims (3)

Base plate; A first arm slidably mounted on the base plate; A second arm slidably mounted to the first arm; A motor installed at one end of the first arm; And And a power transmission means for converting rotational motion by the motor into linear motions of the first arm and the second arm. The method of claim 1, wherein the power transmission means, A first pulley coupled to the rotating shaft of the motor; A second pulley connected to the first pulley by a first belt; A third pulley coupled to the rotation shaft of the second pulley; A fourth pulley connected to the third pulley by a second belt; A first bracket having one side fixed to the second arm and the other side fixed to an upper end of the second belt; And One end of the telescopic arm of the industrial robot, characterized in that the base plate, the other side includes a second bracket which is respectively fixed to the lower end of the second belt. The method of claim 1, wherein the first arm has an L-shaped cross section, and the base plate is slidably coupled to the bottom of the horizontal portion, and the second arm is slidably coupled to one surface of the vertical portion. Stretch arm of an industrial robot, characterized in that.